J L
/
ringBuffer26
ringBuffer26
MotorControl.cpp@1:0cb065f9d55a, 2020-05-18 (annotated)
- Committer:
- Picmon
- Date:
- Mon May 18 19:04:41 2020 +0000
- Revision:
- 1:0cb065f9d55a
- Parent:
- 0:333434a8611b
ring buffer26;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Picmon | 1:0cb065f9d55a | 1 | /* |
Picmon | 1:0cb065f9d55a | 2 | |
Picmon | 1:0cb065f9d55a | 3 | EOL SEQUENCE = NONE ON YAT, PROTOCOL WILL FAIL IF THIS IS NOT DONE |
Picmon | 0:333434a8611b | 4 | |
Picmon | 1:0cb065f9d55a | 5 | */ |
Picmon | 1:0cb065f9d55a | 6 | |
Picmon | 1:0cb065f9d55a | 7 | |
Picmon | 1:0cb065f9d55a | 8 | |
Picmon | 0:333434a8611b | 9 | |
Picmon | 1:0cb065f9d55a | 10 | #include <stdio.h> |
Picmon | 1:0cb065f9d55a | 11 | #include "mbed.h" |
Picmon | 1:0cb065f9d55a | 12 | #include "main.h" |
Picmon | 1:0cb065f9d55a | 13 | #include "MotorControl.h" |
Picmon | 1:0cb065f9d55a | 14 | #include<string> |
Picmon | 0:333434a8611b | 15 | |
Picmon | 1:0cb065f9d55a | 16 | class motorControl{ |
Picmon | 1:0cb065f9d55a | 17 | |
Picmon | 1:0cb065f9d55a | 18 | private: |
Picmon | 1:0cb065f9d55a | 19 | |
Picmon | 1:0cb065f9d55a | 20 | public: |
Picmon | 1:0cb065f9d55a | 21 | |
Picmon | 1:0cb065f9d55a | 22 | protected: |
Picmon | 0:333434a8611b | 23 | |
Picmon | 0:333434a8611b | 24 | }; |
Picmon | 0:333434a8611b | 25 | |
Picmon | 1:0cb065f9d55a | 26 | char *ptr; |
Picmon | 1:0cb065f9d55a | 27 | |
Picmon | 1:0cb065f9d55a | 28 | volatile uint8_t count = 0; |
Picmon | 1:0cb065f9d55a | 29 | |
Picmon | 1:0cb065f9d55a | 30 | bool msgValid = false; |
Picmon | 1:0cb065f9d55a | 31 | bool msgRdy = false; |
Picmon | 1:0cb065f9d55a | 32 | |
Picmon | 1:0cb065f9d55a | 33 | uint8_t i=0; |
Picmon | 1:0cb065f9d55a | 34 | |
Picmon | 1:0cb065f9d55a | 35 | DigitalIn d3_button(D3_BUTTON); |
Picmon | 1:0cb065f9d55a | 36 | DigitalIn d4_button(D4_BUTTON); |
Picmon | 1:0cb065f9d55a | 37 | DigitalIn d5_button(D5_BUTTON); |
Picmon | 1:0cb065f9d55a | 38 | DigitalIn d6_button(D6_BUTTON); |
Picmon | 1:0cb065f9d55a | 39 | DigitalIn d7_button(D7_BUTTON); |
Picmon | 1:0cb065f9d55a | 40 | DigitalIn d8_button(D8_BUTTON); |
Picmon | 1:0cb065f9d55a | 41 | DigitalIn d9_button(D9_BUTTON); |
Picmon | 1:0cb065f9d55a | 42 | DigitalIn d10_button(D10_BUTTON); |
Picmon | 1:0cb065f9d55a | 43 | DigitalIn d11_button(D11_BUTTON); |
Picmon | 1:0cb065f9d55a | 44 | DigitalIn d12_button(D12_BUTTON); |
Picmon | 1:0cb065f9d55a | 45 | |
Picmon | 1:0cb065f9d55a | 46 | DigitalOut a7_out1(A7_OUT1);//mot enable |
Picmon | 1:0cb065f9d55a | 47 | DigitalOut a6_out2(A6_OUT2); |
Picmon | 1:0cb065f9d55a | 48 | DigitalOut a5_out3(A5_OUT3); |
Picmon | 0:333434a8611b | 49 | |
Picmon | 1:0cb065f9d55a | 50 | DigitalIn a4_in1(A4_IN1); |
Picmon | 1:0cb065f9d55a | 51 | DigitalIn a3_in2(A3_IN2); |
Picmon | 1:0cb065f9d55a | 52 | DigitalIn a2_in3(A2_IN3); |
Picmon | 1:0cb065f9d55a | 53 | |
Picmon | 1:0cb065f9d55a | 54 | DigitalOut a1_out(A1_OUT); |
Picmon | 1:0cb065f9d55a | 55 | DigitalOut a0_out(A0_OUT); |
Picmon | 1:0cb065f9d55a | 56 | |
Picmon | 1:0cb065f9d55a | 57 | |
Picmon | 1:0cb065f9d55a | 58 | char rxMsgStore[BUFFER_SIZE];//received message store |
Picmon | 0:333434a8611b | 59 | char mc_Tx_Buffer[BUFFER_SIZE];//transmitted message buffer |
Picmon | 1:0cb065f9d55a | 60 | char mc_Rx_Buffer[BUFFER_SIZE];//received message buffer |
Picmon | 1:0cb065f9d55a | 61 | volatile unsigned char mc_Rx_Rd_Ptr = 0;//circular buffer read pointer |
Picmon | 1:0cb065f9d55a | 62 | volatile unsigned char mc_Rx_Wr_Ptr = 0;//circular buffer write pointer |
Picmon | 1:0cb065f9d55a | 63 | volatile bool rxMsgValid = false;//message received flag |
Picmon | 1:0cb065f9d55a | 64 | volatile bool rxMsgInvalid = false;//message invalid flag |
Picmon | 0:333434a8611b | 65 | |
Picmon | 1:0cb065f9d55a | 66 | char motData[DATA_ITEMS][DATA_BUFFER_SIZE];//data only |
Picmon | 1:0cb065f9d55a | 67 | |
Picmon | 1:0cb065f9d55a | 68 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 69 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 70 | // MOTOR ISR FUNCTIONS |
Picmon | 1:0cb065f9d55a | 71 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 72 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 0:333434a8611b | 73 | |
Picmon | 0:333434a8611b | 74 | void motMsg_RX_ISR(void){ |
Picmon | 0:333434a8611b | 75 | |
Picmon | 1:0cb065f9d55a | 76 | mc_Rx_Buffer[mc_Rx_Wr_Ptr] = mc_debug.getc(); |
Picmon | 0:333434a8611b | 77 | |
Picmon | 1:0cb065f9d55a | 78 | mc_Rx_Wr_Ptr++; |
Picmon | 1:0cb065f9d55a | 79 | count++; |
Picmon | 1:0cb065f9d55a | 80 | |
Picmon | 1:0cb065f9d55a | 81 | if(mc_Rx_Wr_Ptr == (BUFFER_SIZE - 1)) |
Picmon | 1:0cb065f9d55a | 82 | mc_Rx_Wr_Ptr = 0; |
Picmon | 0:333434a8611b | 83 | |
Picmon | 0:333434a8611b | 84 | } |
Picmon | 0:333434a8611b | 85 | |
Picmon | 1:0cb065f9d55a | 86 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 87 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 88 | // MOTOR READ FUNCTIONS |
Picmon | 1:0cb065f9d55a | 89 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 90 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 91 | |
Picmon | 1:0cb065f9d55a | 92 | uint8_t getMotMsg(char *txArray, char *rxArray){ |
Picmon | 1:0cb065f9d55a | 93 | //////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 94 | // get the motor message |
Picmon | 1:0cb065f9d55a | 95 | // |
Picmon | 1:0cb065f9d55a | 96 | // funtion receives command messages eched from the motor controller, the |
Picmon | 1:0cb065f9d55a | 97 | // message eched is checked and verified, if correct the message is parsed |
Picmon | 1:0cb065f9d55a | 98 | // to expose the numerical data, this data is stored in the relevant memory |
Picmon | 1:0cb065f9d55a | 99 | // location for later use |
Picmon | 1:0cb065f9d55a | 100 | // |
Picmon | 1:0cb065f9d55a | 101 | // |
Picmon | 1:0cb065f9d55a | 102 | //////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 103 | uint8_t msgStatus = NULL; |
Picmon | 1:0cb065f9d55a | 104 | static uint8_t msgReTry = 0; |
Picmon | 1:0cb065f9d55a | 105 | |
Picmon | 1:0cb065f9d55a | 106 | while(mc_Rx_Wr_Ptr != mc_Rx_Rd_Ptr){// if not true we have a message to collect |
Picmon | 1:0cb065f9d55a | 107 | |
Picmon | 1:0cb065f9d55a | 108 | rxArray[i] = mc_Rx_Buffer[mc_Rx_Rd_Ptr];//write the charcter into the array element indexed by i |
Picmon | 0:333434a8611b | 109 | |
Picmon | 1:0cb065f9d55a | 110 | if(rxArray[i] == ACK)//read the character from the array elecment indexed by i and if it is <ACK> set message valid flag (msgValid) |
Picmon | 1:0cb065f9d55a | 111 | msgValid = true; |
Picmon | 1:0cb065f9d55a | 112 | |
Picmon | 1:0cb065f9d55a | 113 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 114 | //mc_debug.printf("%c", rxArray[i]);//print out chahacters from array indexed by i |
Picmon | 1:0cb065f9d55a | 115 | //mc_usart.printf("%c", rxArray[i]);//print out chahacters from array indexed by i |
Picmon | 1:0cb065f9d55a | 116 | #endif |
Picmon | 1:0cb065f9d55a | 117 | |
Picmon | 1:0cb065f9d55a | 118 | i++;//increment the array index |
Picmon | 1:0cb065f9d55a | 119 | |
Picmon | 1:0cb065f9d55a | 120 | mc_Rx_Rd_Ptr++;//increment the read pointer |
Picmon | 1:0cb065f9d55a | 121 | |
Picmon | 1:0cb065f9d55a | 122 | count--; |
Picmon | 1:0cb065f9d55a | 123 | |
Picmon | 1:0cb065f9d55a | 124 | if(mc_Rx_Rd_Ptr == (BUFFER_SIZE - 1)) |
Picmon | 1:0cb065f9d55a | 125 | mc_Rx_Rd_Ptr = 0; |
Picmon | 1:0cb065f9d55a | 126 | } |
Picmon | 1:0cb065f9d55a | 127 | |
Picmon | 1:0cb065f9d55a | 128 | if((mc_Rx_Wr_Ptr == mc_Rx_Rd_Ptr)&&(msgValid == true)){//full message received |
Picmon | 1:0cb065f9d55a | 129 | |
Picmon | 1:0cb065f9d55a | 130 | msgValid = false; |
Picmon | 1:0cb065f9d55a | 131 | |
Picmon | 1:0cb065f9d55a | 132 | if(strncmp(txArray, rxArray, strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 133 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 134 | //mc_debug.printf("\r\nEcho compare is Successful, txArray = %s, rxArray = %s\r\n", txArray, rxArray); |
Picmon | 1:0cb065f9d55a | 135 | mc_usart.printf("\r\nEcho compare is Successful, txArray = %s, rxArray = %s\r\n", txArray, rxArray); |
Picmon | 1:0cb065f9d55a | 136 | #endif |
Picmon | 1:0cb065f9d55a | 137 | |
Picmon | 1:0cb065f9d55a | 138 | msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 139 | msgReTry=0; |
Picmon | 1:0cb065f9d55a | 140 | |
Picmon | 1:0cb065f9d55a | 141 | //READ COMMAND TYPE 1 : <COMMAND><CR><VALUE><ACK> |
Picmon | 1:0cb065f9d55a | 142 | if(strncmp(rxArray,"READ DIGITAL INPUTS\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 143 | led1=1; |
Picmon | 1:0cb065f9d55a | 144 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 145 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 146 | data2mem(READ_DIG_IN, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 147 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 148 | //mc_debug.printf("\r\nArray Contents %s\r\n\r\n", motData[READ_DIG_IN]); |
Picmon | 1:0cb065f9d55a | 149 | mc_usart.printf("\r\nArray Contents %s\r\n\r\n", motData[READ_DIG_IN]); |
Picmon | 1:0cb065f9d55a | 150 | #endif |
Picmon | 1:0cb065f9d55a | 151 | } |
Picmon | 1:0cb065f9d55a | 152 | else |
Picmon | 1:0cb065f9d55a | 153 | if(strncmp(rxArray,"READ DIGITAL OUTPUTS\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 154 | led1=1; |
Picmon | 1:0cb065f9d55a | 155 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 156 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 157 | data2mem(READ_DIG_OUT, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 158 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 159 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_DIG_OUT]); |
Picmon | 1:0cb065f9d55a | 160 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_DIG_OUT]); |
Picmon | 1:0cb065f9d55a | 161 | #endif |
Picmon | 1:0cb065f9d55a | 162 | } |
Picmon | 1:0cb065f9d55a | 163 | else |
Picmon | 1:0cb065f9d55a | 164 | if(strncmp(rxArray,"READ CURRENT ACTUAL\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 165 | led1=1; |
Picmon | 1:0cb065f9d55a | 166 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 167 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 168 | data2mem(READ_CURRENT, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 169 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 170 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_CURRENT]); |
Picmon | 1:0cb065f9d55a | 171 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_CURRENT]); |
Picmon | 1:0cb065f9d55a | 172 | #endif |
Picmon | 1:0cb065f9d55a | 173 | } |
Picmon | 1:0cb065f9d55a | 174 | else |
Picmon | 1:0cb065f9d55a | 175 | if(strncmp(rxArray,"READ DRIVE REGISTER\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 176 | led1=1; |
Picmon | 1:0cb065f9d55a | 177 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 178 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 179 | data2mem(READ_DRV_REG, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 180 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 181 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_REG]); |
Picmon | 1:0cb065f9d55a | 182 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_REG]); |
Picmon | 1:0cb065f9d55a | 183 | #endif |
Picmon | 1:0cb065f9d55a | 184 | } |
Picmon | 1:0cb065f9d55a | 185 | else |
Picmon | 1:0cb065f9d55a | 186 | if(strncmp(rxArray,"READ DRIVE REGISTER EXTENDED\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 187 | led1=1; |
Picmon | 1:0cb065f9d55a | 188 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 189 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 190 | data2mem(READ_DRV_REG_EXT, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 191 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 192 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_REG_EXT]); |
Picmon | 1:0cb065f9d55a | 193 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_REG_EXT]); |
Picmon | 1:0cb065f9d55a | 194 | #endif |
Picmon | 1:0cb065f9d55a | 195 | } |
Picmon | 1:0cb065f9d55a | 196 | else |
Picmon | 1:0cb065f9d55a | 197 | if(strncmp(rxArray,"READ DRIVE TEMPERATURE\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 198 | led1=1; |
Picmon | 1:0cb065f9d55a | 199 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 200 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 201 | data2mem(READ_DRV_TEMP, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 202 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 203 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_TEMP]); |
Picmon | 1:0cb065f9d55a | 204 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_TEMP]); |
Picmon | 1:0cb065f9d55a | 205 | #endif |
Picmon | 1:0cb065f9d55a | 206 | } |
Picmon | 1:0cb065f9d55a | 207 | else |
Picmon | 1:0cb065f9d55a | 208 | if(strncmp(rxArray,"READ DRIVE VOLTAGE\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 209 | led1=1; |
Picmon | 1:0cb065f9d55a | 210 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 211 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 212 | data2mem(READ_DRV_VOLTAGE, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 213 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 214 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_VOLTAGE]); |
Picmon | 1:0cb065f9d55a | 215 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_VOLTAGE]); |
Picmon | 1:0cb065f9d55a | 216 | #endif |
Picmon | 1:0cb065f9d55a | 217 | } |
Picmon | 1:0cb065f9d55a | 218 | else |
Picmon | 1:0cb065f9d55a | 219 | if(strncmp(rxArray,"READ DRIVE WORKING SETTINGS\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 220 | led1=1; |
Picmon | 1:0cb065f9d55a | 221 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 222 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 223 | data2mem(READ_DRV_WORKING_SET, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 224 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 225 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_WORKING_SET]); |
Picmon | 1:0cb065f9d55a | 226 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_WORKING_SET]); |
Picmon | 1:0cb065f9d55a | 227 | #endif |
Picmon | 1:0cb065f9d55a | 228 | } |
Picmon | 1:0cb065f9d55a | 229 | else |
Picmon | 1:0cb065f9d55a | 230 | if(strncmp(rxArray,"READ DRIVE WORKING SETTINGS EXTENDED\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 231 | led1=1; |
Picmon | 1:0cb065f9d55a | 232 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 233 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 234 | data2mem(READ_DRV_WORKING_SET_EXT, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 235 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 236 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_WORKING_SET_EXT]); |
Picmon | 1:0cb065f9d55a | 237 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_DRV_WORKING_SET_EXT]); |
Picmon | 1:0cb065f9d55a | 238 | #endif |
Picmon | 1:0cb065f9d55a | 239 | } |
Picmon | 1:0cb065f9d55a | 240 | else |
Picmon | 1:0cb065f9d55a | 241 | if(strncmp(rxArray,"READ ERROR REGISTER\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 242 | led1=1; |
Picmon | 1:0cb065f9d55a | 243 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 244 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 245 | data2mem(READ_ERROR_REG, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 246 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 247 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_ERROR_REG]); |
Picmon | 1:0cb065f9d55a | 248 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_ERROR_REG]); |
Picmon | 1:0cb065f9d55a | 249 | #endif |
Picmon | 1:0cb065f9d55a | 250 | } |
Picmon | 1:0cb065f9d55a | 251 | else |
Picmon | 1:0cb065f9d55a | 252 | if(strncmp(rxArray,"READ FEEDBACK BOOST CURRENT\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 253 | led1=1; |
Picmon | 1:0cb065f9d55a | 254 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 255 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 256 | data2mem(READ_FB_BOOST_CUR, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 257 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 258 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_FB_BOOST_CUR]); |
Picmon | 1:0cb065f9d55a | 259 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_FB_BOOST_CUR]); |
Picmon | 1:0cb065f9d55a | 260 | #endif |
Picmon | 1:0cb065f9d55a | 261 | } |
Picmon | 1:0cb065f9d55a | 262 | else |
Picmon | 1:0cb065f9d55a | 263 | if(strncmp(rxArray,"READ FEEDBACK STATUS\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 264 | led1=1; |
Picmon | 1:0cb065f9d55a | 265 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 266 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 267 | data2mem(READ_FB_STATUS, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 268 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 269 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_FB_STATUS]); |
Picmon | 1:0cb065f9d55a | 270 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_FB_STATUS]); |
Picmon | 1:0cb065f9d55a | 271 | #endif |
Picmon | 1:0cb065f9d55a | 272 | } |
Picmon | 1:0cb065f9d55a | 273 | else |
Picmon | 1:0cb065f9d55a | 274 | if(strncmp(rxArray,"READ FIRMWARE VERSION\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 275 | led1=1; |
Picmon | 1:0cb065f9d55a | 276 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 277 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 278 | data2mem(READ_FW_VERSION, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 279 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 280 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_FW_VERSION]); |
Picmon | 1:0cb065f9d55a | 281 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_FW_VERSION]); |
Picmon | 1:0cb065f9d55a | 282 | #endif |
Picmon | 1:0cb065f9d55a | 283 | } |
Picmon | 1:0cb065f9d55a | 284 | else |
Picmon | 1:0cb065f9d55a | 285 | if(strncmp(rxArray,"READ FIRMWARE CHECKSUM\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 286 | led1=1; |
Picmon | 1:0cb065f9d55a | 287 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 288 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 289 | data2mem(READ_FW_CHECKSUM, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 290 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 291 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_FW_CHECKSUM]); |
Picmon | 1:0cb065f9d55a | 292 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_FW_CHECKSUM]); |
Picmon | 1:0cb065f9d55a | 293 | #endif |
Picmon | 1:0cb065f9d55a | 294 | } |
Picmon | 1:0cb065f9d55a | 295 | else |
Picmon | 1:0cb065f9d55a | 296 | if(strncmp(rxArray,"READ MASTER REGISTER\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 297 | led1=1; |
Picmon | 1:0cb065f9d55a | 298 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 299 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 300 | data2mem(READ_MASTER_REG, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 301 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 302 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_MASTER_REG]); |
Picmon | 1:0cb065f9d55a | 303 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_MASTER_REG]); |
Picmon | 1:0cb065f9d55a | 304 | #endif |
Picmon | 1:0cb065f9d55a | 305 | } |
Picmon | 1:0cb065f9d55a | 306 | else |
Picmon | 1:0cb065f9d55a | 307 | if(strncmp(rxArray,"READ MIN CURRENT\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 308 | led1=1; |
Picmon | 1:0cb065f9d55a | 309 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 310 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 311 | data2mem(READ_MIN_CURRENT, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 312 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 313 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_MIN_CURRENT]); |
Picmon | 1:0cb065f9d55a | 314 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_MIN_CURRENT]); |
Picmon | 1:0cb065f9d55a | 315 | #endif |
Picmon | 1:0cb065f9d55a | 316 | } |
Picmon | 1:0cb065f9d55a | 317 | else |
Picmon | 1:0cb065f9d55a | 318 | if(strncmp(rxArray,"READ MAX CURRENT\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 319 | led1=1; |
Picmon | 1:0cb065f9d55a | 320 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 321 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 322 | data2mem(READ_MAX_CURRENT, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 323 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 324 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_MAX_CURRENT]); |
Picmon | 1:0cb065f9d55a | 325 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_MAX_CURRENT]); |
Picmon | 1:0cb065f9d55a | 326 | #endif |
Picmon | 1:0cb065f9d55a | 327 | } |
Picmon | 1:0cb065f9d55a | 328 | else |
Picmon | 1:0cb065f9d55a | 329 | if(strncmp(rxArray,"READ BOOST CURRENT\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 330 | led1=1; |
Picmon | 1:0cb065f9d55a | 331 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 332 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 333 | data2mem(READ_BOOST_CURRENT, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 334 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 335 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_BOOST_CURRENT]); |
Picmon | 1:0cb065f9d55a | 336 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_BOOST_CURRENT]); |
Picmon | 1:0cb065f9d55a | 337 | #endif |
Picmon | 1:0cb065f9d55a | 338 | } |
Picmon | 1:0cb065f9d55a | 339 | else |
Picmon | 1:0cb065f9d55a | 340 | if(strncmp(rxArray,"READ NOMINAL CURRENT\r", strlen(txArray))==0){ |
Picmon | 1:0cb065f9d55a | 341 | led1=1; |
Picmon | 1:0cb065f9d55a | 342 | //msgStatus = RX_ECHO_VALID; |
Picmon | 1:0cb065f9d55a | 343 | //msgReTry=0; |
Picmon | 1:0cb065f9d55a | 344 | data2mem(READ_NOM_CURRENT, motData, rxArray); |
Picmon | 1:0cb065f9d55a | 345 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 346 | //mc_debug.printf("Array Contents %s\r\n\r\n", motData[READ_NOM_CURRENT]); |
Picmon | 1:0cb065f9d55a | 347 | mc_usart.printf("Array Contents %s\r\n\r\n", motData[READ_NOM_CURRENT]); |
Picmon | 1:0cb065f9d55a | 348 | #endif |
Picmon | 1:0cb065f9d55a | 349 | } |
Picmon | 1:0cb065f9d55a | 350 | } |
Picmon | 1:0cb065f9d55a | 351 | else{ |
Picmon | 0:333434a8611b | 352 | |
Picmon | 1:0cb065f9d55a | 353 | msgStatus = RX_ECHO_FAIL; |
Picmon | 1:0cb065f9d55a | 354 | |
Picmon | 1:0cb065f9d55a | 355 | if(msgReTry < MSG_RETRY_COUNT){//limit message transmit re-tries |
Picmon | 1:0cb065f9d55a | 356 | mc_debug.printf("%s",txArray);//transmit the last message again |
Picmon | 1:0cb065f9d55a | 357 | msgReTry++;//increment the re-try counter |
Picmon | 0:333434a8611b | 358 | |
Picmon | 1:0cb065f9d55a | 359 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 360 | //mc_usart.printf("\r\nEcho compare FAILED, txArray = %s, rxArray = %s\r\n", txArray, rxArray); |
Picmon | 1:0cb065f9d55a | 361 | mc_usart.printf("\r\nTransmit re-try = %d, txArray = %s, rxArray = %s, txArray Length = %d\r\n", msgReTry , txArray, rxArray, strlen(txArray)); |
Picmon | 1:0cb065f9d55a | 362 | #endif |
Picmon | 1:0cb065f9d55a | 363 | } |
Picmon | 1:0cb065f9d55a | 364 | else{ |
Picmon | 1:0cb065f9d55a | 365 | #ifdef DEBUG |
Picmon | 1:0cb065f9d55a | 366 | //mc_debug.printf("\r\nEcho compare has FAILED, txArray = %s, rxArray = %s, txArray Length = %d\r\n", txArray, rxArray, strlen(txArray)); |
Picmon | 1:0cb065f9d55a | 367 | mc_usart.printf("\r\nEcho compare has FAILED, re-try = %d, txArray = %s, rxArray = %s, txArray Length = %d\r\n", msgReTry, txArray, rxArray, strlen(txArray)); |
Picmon | 1:0cb065f9d55a | 368 | #endif |
Picmon | 1:0cb065f9d55a | 369 | msgStatus = REBOOT; |
Picmon | 1:0cb065f9d55a | 370 | msgReTry=0; |
Picmon | 1:0cb065f9d55a | 371 | } |
Picmon | 1:0cb065f9d55a | 372 | } |
Picmon | 1:0cb065f9d55a | 373 | |
Picmon | 1:0cb065f9d55a | 374 | i=0;//reset the array indexer for next message |
Picmon | 1:0cb065f9d55a | 375 | memset(rxArray, NULL, BUFFER_SIZE);//clear the entire buffer for next message |
Picmon | 0:333434a8611b | 376 | } |
Picmon | 1:0cb065f9d55a | 377 | return(msgStatus); |
Picmon | 0:333434a8611b | 378 | } |
Picmon | 0:333434a8611b | 379 | |
Picmon | 0:333434a8611b | 380 | |
Picmon | 1:0cb065f9d55a | 381 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 382 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 383 | // mc_debug FUNCTIONS |
Picmon | 1:0cb065f9d55a | 384 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 385 | //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 386 | |
Picmon | 1:0cb065f9d55a | 387 | |
Picmon | 1:0cb065f9d55a | 388 | void data2mem(uint8_t dataLoc, char destMemArray[][DATA_BUFFER_SIZE], char sourceMemArray[BUFFER_SIZE]){ |
Picmon | 1:0cb065f9d55a | 389 | //////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 390 | // data to memory for command type 1 |
Picmon | 1:0cb065f9d55a | 391 | // |
Picmon | 1:0cb065f9d55a | 392 | // |
Picmon | 1:0cb065f9d55a | 393 | // |
Picmon | 1:0cb065f9d55a | 394 | //////////////////////////////////////////////////////////////////////////////// |
Picmon | 1:0cb065f9d55a | 395 | |
Picmon | 1:0cb065f9d55a | 396 | //parse the string to isolate the VALUE |
Picmon | 1:0cb065f9d55a | 397 | //<COMMAND><CR><VALUE><ACK> |
Picmon | 1:0cb065f9d55a | 398 | |
Picmon | 1:0cb065f9d55a | 399 | ptr = strrchr(sourceMemArray, ACK);//first set a pointer the last <ACK> address in the string,<ACK> is not required and we want this location for null terminator |
Picmon | 0:333434a8611b | 400 | |
Picmon | 1:0cb065f9d55a | 401 | *ptr = '\0';//overwrite <ACK> character with null terminator character, this will serve as end of string terminataor now |
Picmon | 1:0cb065f9d55a | 402 | |
Picmon | 1:0cb065f9d55a | 403 | ptr = strchr(sourceMemArray, '\r');//now set the pointer first <CR> address in the string |
Picmon | 1:0cb065f9d55a | 404 | |
Picmon | 1:0cb065f9d55a | 405 | *ptr++;//point to first character of VALUE (MSB) in the string, <CR> + 1 = <VALUE> |
Picmon | 1:0cb065f9d55a | 406 | |
Picmon | 1:0cb065f9d55a | 407 | strcpy(destMemArray[dataLoc], ptr);//copy the <VALUE> to the destination memory location |
Picmon | 1:0cb065f9d55a | 408 | } |
Picmon | 1:0cb065f9d55a | 409 | |
Picmon | 1:0cb065f9d55a | 410 | void Init(void){ |
Picmon | 1:0cb065f9d55a | 411 | |
Picmon | 1:0cb065f9d55a | 412 | mc_debug.attach(&motMsg_RX_ISR);//start the serial receiver interrupt |
Picmon | 1:0cb065f9d55a | 413 | //mc_usart.attach(&motMsg_RX_ISR);//start the serial receiver interrupt |
Picmon | 1:0cb065f9d55a | 414 | led1=0; |
Picmon | 1:0cb065f9d55a | 415 | |
Picmon | 1:0cb065f9d55a | 416 | |
Picmon | 1:0cb065f9d55a | 417 | mc_usart.printf("\r\n ED Motor Controler API"); |
Picmon | 1:0cb065f9d55a | 418 | mc_usart.printf("\r\n\r\n HARDWARE \t\t= %s", HARDWARE.c_str()); |
Picmon | 1:0cb065f9d55a | 419 | mc_usart.printf("\r\n\r\n SOFTWARE \t\t= %s",SOFTWARE.c_str()); |
Picmon | 1:0cb065f9d55a | 420 | mc_usart.printf("\r\n\r\n AUTHOR \t\t= %s",AUTHOR.c_str()); |
Picmon | 1:0cb065f9d55a | 421 | mc_usart.printf("\r\n\r\n DATE \t\t\t= %s",__DATE__); |
Picmon | 1:0cb065f9d55a | 422 | mc_usart.printf("\r\n\r\n TIME \t\t\t= %s\r\n\r\n",__TIME__); |
Picmon | 0:333434a8611b | 423 | |
Picmon | 1:0cb065f9d55a | 424 | |
Picmon | 1:0cb065f9d55a | 425 | /* |
Picmon | 1:0cb065f9d55a | 426 | d3_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 427 | d4_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 428 | d5_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 429 | d6_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 430 | d7_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 431 | d8_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 432 | d9_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 433 | d10_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 434 | d11_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 435 | d12_button.mode(PullUp); |
Picmon | 1:0cb065f9d55a | 436 | */ |
Picmon | 1:0cb065f9d55a | 437 | |
Picmon | 1:0cb065f9d55a | 438 | a7_out1 = 0;//motor enable |
Picmon | 1:0cb065f9d55a | 439 | a6_out2 = 0; |
Picmon | 1:0cb065f9d55a | 440 | a5_out3 = 0; |
Picmon | 1:0cb065f9d55a | 441 | |
Picmon | 0:333434a8611b | 442 | } |
Picmon | 1:0cb065f9d55a | 443 | |
Picmon | 1:0cb065f9d55a | 444 | long mapI(long x, long in_min, long in_max, long out_min, long out_max){ |
Picmon | 1:0cb065f9d55a | 445 | return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; |
Picmon | 1:0cb065f9d55a | 446 | } |
Picmon | 1:0cb065f9d55a | 447 | |
Picmon | 1:0cb065f9d55a | 448 | float mapF(float in, float inMin, float inMax, float outMin, float outMax){ |
Picmon | 1:0cb065f9d55a | 449 | // check it's within the range |
Picmon | 1:0cb065f9d55a | 450 | if (inMin<inMax) { |
Picmon | 1:0cb065f9d55a | 451 | if (in <= inMin) |
Picmon | 1:0cb065f9d55a | 452 | return outMin; |
Picmon | 1:0cb065f9d55a | 453 | if (in >= inMax) |
Picmon | 1:0cb065f9d55a | 454 | return outMax; |
Picmon | 1:0cb065f9d55a | 455 | } else { // cope with input range being backwards. |
Picmon | 1:0cb065f9d55a | 456 | if (in >= inMin) |
Picmon | 1:0cb065f9d55a | 457 | return outMin; |
Picmon | 1:0cb065f9d55a | 458 | if (in <= inMax) |
Picmon | 1:0cb065f9d55a | 459 | return outMax; |
Picmon | 1:0cb065f9d55a | 460 | } |
Picmon | 1:0cb065f9d55a | 461 | // calculate how far into the range we are |
Picmon | 1:0cb065f9d55a | 462 | float scale = (in-inMin)/(inMax-inMin); |
Picmon | 1:0cb065f9d55a | 463 | // calculate the output. |
Picmon | 1:0cb065f9d55a | 464 | return outMin + scale*(outMax-outMin); |
Picmon | 1:0cb065f9d55a | 465 | } |