J L / Mbed 2 deprecated ringBuffer26

ringBuffer26

Dependencies:   mbed

MotorControl.h@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?

UserRevisionLine numberNew contents of line
Picmon 0:333434a8611b 1 #ifndef MOTORCONTROL_H
Picmon 0:333434a8611b 2 #define MOTORCONTROL_H
Picmon 0:333434a8611b 3
Picmon 0:333434a8611b 4 #include "mbed.h"
Picmon 0:333434a8611b 5 #include <string>
Picmon 0:333434a8611b 6
Picmon 1:0cb065f9d55a 7 #define DEBUG
Picmon 1:0cb065f9d55a 8
Picmon 1:0cb065f9d55a 9
Picmon 1:0cb065f9d55a 10 #define ED_MIN_SPEED 1000
Picmon 1:0cb065f9d55a 11 #define ED_MAX_SPEED 3000000
Picmon 1:0cb065f9d55a 12 #define N_MIN_SPEED 0.001
Picmon 1:0cb065f9d55a 13 #define N_MAX_SPEED 125.000//125.0RPM
Picmon 1:0cb065f9d55a 14
Picmon 1:0cb065f9d55a 15 #define REV_MAX_STEPS -2147483648
Picmon 1:0cb065f9d55a 16 #define FWD_MAX_STEPS 2147483648
Picmon 1:0cb065f9d55a 17
Picmon 1:0cb065f9d55a 18 #define MIN_CURRENT 0
Picmon 1:0cb065f9d55a 19 #define MAX_CURRENT 6000//6000mA
Picmon 1:0cb065f9d55a 20
Picmon 1:0cb065f9d55a 21 #define MIN_TORQUE 0
Picmon 1:0cb065f9d55a 22 #define MAX_TORQUE 8500//N.m
Picmon 1:0cb065f9d55a 23
Picmon 1:0cb065f9d55a 24
Picmon 1:0cb065f9d55a 25 #define SPACE 0x20
Picmon 1:0cb065f9d55a 26 #define ACK 0x06
Picmon 1:0cb065f9d55a 27 #define NAK 0x15
Picmon 1:0cb065f9d55a 28
Picmon 1:0cb065f9d55a 29 #define VALID_MSG_LEN 0x03
Picmon 1:0cb065f9d55a 30
Picmon 1:0cb065f9d55a 31 #define ML_ROTATION 5.6
Picmon 1:0cb065f9d55a 32 #define STEPS_PER_ROTATION 1024
Picmon 1:0cb065f9d55a 33
Picmon 1:0cb065f9d55a 34 #define CW 1
Picmon 1:0cb065f9d55a 35 #define CCW 0
Picmon 1:0cb065f9d55a 36
Picmon 1:0cb065f9d55a 37 #define RX_ECHO_VALID 0
Picmon 1:0cb065f9d55a 38 #define RX_ECHO_FAIL 1
Picmon 1:0cb065f9d55a 39 #define RX_REGITSER_FAIL 2
Picmon 1:0cb065f9d55a 40 #define RX_REGITSER_VALID 3
Picmon 1:0cb065f9d55a 41 #define MSG_RESEND 4
Picmon 0:333434a8611b 42
Picmon 1:0cb065f9d55a 43 #define REBOOT 5
Picmon 1:0cb065f9d55a 44
Picmon 1:0cb065f9d55a 45 #define MSG_RETRY_COUNT 3
Picmon 1:0cb065f9d55a 46
Picmon 1:0cb065f9d55a 47 #define NOT_USED 0
Picmon 1:0cb065f9d55a 48 #define STOP_NO_RAMP 0
Picmon 1:0cb065f9d55a 49 #define STOP_WITH_RAMP 1
Picmon 1:0cb065f9d55a 50 #define STOP_WITH_STEPS 2
Picmon 1:0cb065f9d55a 51
Picmon 1:0cb065f9d55a 52 #define BUFFER_SIZE 50//command message + data
Picmon 1:0cb065f9d55a 53 #define DATA_BUFFER_SIZE 20//characters
Picmon 1:0cb065f9d55a 54 #define DATA_ITEMS 19
Picmon 1:0cb065f9d55a 55
Picmon 1:0cb065f9d55a 56 ////////////////////////////////////////////
Picmon 1:0cb065f9d55a 57 // MOTOR COMMAND RESPONSE DATA STORAGE
Picmon 1:0cb065f9d55a 58 ///////////////////////////////////////////
Picmon 1:0cb065f9d55a 59 #define READ_DIG_IN 0
Picmon 1:0cb065f9d55a 60 #define READ_DIG_OUT 1
Picmon 1:0cb065f9d55a 61 #define READ_CURRENT 2
Picmon 1:0cb065f9d55a 62 #define READ_DRV_REG 3
Picmon 1:0cb065f9d55a 63 #define READ_DRV_REG_EXT 4
Picmon 1:0cb065f9d55a 64 #define READ_DRV_TEMP 5
Picmon 1:0cb065f9d55a 65 #define READ_DRV_VOLTAGE 6
Picmon 1:0cb065f9d55a 66 #define READ_DRV_WORKING_SET 7
Picmon 1:0cb065f9d55a 67 #define READ_DRV_WORKING_SET_EXT 8
Picmon 1:0cb065f9d55a 68 #define READ_ERROR_REG 9
Picmon 1:0cb065f9d55a 69 #define READ_FB_BOOST_CUR 10
Picmon 1:0cb065f9d55a 70 #define READ_FB_STATUS 11
Picmon 1:0cb065f9d55a 71 #define READ_FW_VERSION 12
Picmon 1:0cb065f9d55a 72 #define READ_FW_CHECKSUM 13
Picmon 1:0cb065f9d55a 73 #define READ_MASTER_REG 14
Picmon 1:0cb065f9d55a 74 #define READ_MIN_CURRENT 15
Picmon 1:0cb065f9d55a 75 #define READ_MAX_CURRENT 16
Picmon 1:0cb065f9d55a 76 #define READ_BOOST_CURRENT 17
Picmon 1:0cb065f9d55a 77 #define READ_NOM_CURRENT 18
Picmon 1:0cb065f9d55a 78
Picmon 1:0cb065f9d55a 79 #define COMMANDS_TO_TEST 10
Picmon 0:333434a8611b 80
Picmon 1:0cb065f9d55a 81
Picmon 1:0cb065f9d55a 82 ////////////////////////////////////////////
Picmon 1:0cb065f9d55a 83 // BAUD RATES
Picmon 1:0cb065f9d55a 84 ///////////////////////////////////////////
Picmon 1:0cb065f9d55a 85 #define SLOW_BAUD 9600
Picmon 1:0cb065f9d55a 86 #define MED_BAUD 115200
Picmon 1:0cb065f9d55a 87 #define FAST_BAUD 921600
Picmon 1:0cb065f9d55a 88
Picmon 1:0cb065f9d55a 89 #define MOT_AL_PDT 0x0001//Protection Drive Thermal
Picmon 1:0cb065f9d55a 90 #define MOT_AL_PDV 0x0002//Protection Drive Voltage
Picmon 1:0cb065f9d55a 91 #define MOT_AL_PDC 0x0004//Protection Drive Current
Picmon 1:0cb065f9d55a 92 #define MOT_AL_POP 0x0008//Protection Open Phase
Picmon 1:0cb065f9d55a 93 #define MOT_AL_UNUSED1 0x0010//NOT USED
Picmon 1:0cb065f9d55a 94 #define MOT_AL_FE 0x0020//Feedback Error
Picmon 1:0cb065f9d55a 95 #define MOT_AL_PCR 0x0040//Protection Current Regulation
Picmon 1:0cb065f9d55a 96 #define MOT_AL_POT 0x0080//Protection Open Transistor
Picmon 1:0cb065f9d55a 97 #define MOT_AL_UNUSED2 0x0100//NOT USED
Picmon 1:0cb065f9d55a 98 #define MOT_AL_SWER 0x0200//Protection Software Error
Picmon 1:0cb065f9d55a 99 #define MOT_AL_UNUSED3 0x0400//NOT USED
Picmon 1:0cb065f9d55a 100 #define MOT_AL_MC 0x0800//Missing Calibration
Picmon 1:0cb065f9d55a 101 #define MOT_AL_WDG 0x1000//Watchdog
Picmon 1:0cb065f9d55a 102 #define MOT_AL_EEF 0x2000//EEPROM Fail
Picmon 1:0cb065f9d55a 103 #define MOT_AL_I2T 0x4000//I2T Potection
Picmon 1:0cb065f9d55a 104 #define MOT_AL_UNUSED4 0x8000//NOT USED
Picmon 1:0cb065f9d55a 105
Picmon 0:333434a8611b 106
Picmon 1:0cb065f9d55a 107 #define D3_BUTTON D3
Picmon 1:0cb065f9d55a 108 #define D4_BUTTON D4
Picmon 1:0cb065f9d55a 109 #define D5_BUTTON D5
Picmon 1:0cb065f9d55a 110 #define D6_BUTTON D6
Picmon 1:0cb065f9d55a 111 #define D7_BUTTON D7
Picmon 1:0cb065f9d55a 112 #define D8_BUTTON D8
Picmon 1:0cb065f9d55a 113 #define D9_BUTTON D9
Picmon 1:0cb065f9d55a 114 #define D10_BUTTON D10
Picmon 1:0cb065f9d55a 115 #define D11_BUTTON D11
Picmon 1:0cb065f9d55a 116 #define D12_BUTTON D12
Picmon 0:333434a8611b 117
Picmon 1:0cb065f9d55a 118 #define A7_OUT1 A7
Picmon 1:0cb065f9d55a 119 #define A6_OUT2 A6
Picmon 1:0cb065f9d55a 120 #define A5_OUT3 A5
Picmon 1:0cb065f9d55a 121
Picmon 1:0cb065f9d55a 122 #define A4_IN1 A4
Picmon 1:0cb065f9d55a 123 #define A3_IN2 A3
Picmon 1:0cb065f9d55a 124 #define A2_IN3 A2
Picmon 1:0cb065f9d55a 125
Picmon 1:0cb065f9d55a 126 #define A1_OUT A1
Picmon 1:0cb065f9d55a 127 #define A0_OUT A0
Picmon 1:0cb065f9d55a 128
Picmon 1:0cb065f9d55a 129 extern DigitalIn d3_button;
Picmon 1:0cb065f9d55a 130 extern DigitalIn d4_button;
Picmon 1:0cb065f9d55a 131 extern DigitalIn d5_button;
Picmon 1:0cb065f9d55a 132 extern DigitalIn d6_button;
Picmon 1:0cb065f9d55a 133 extern DigitalIn d7_button;
Picmon 1:0cb065f9d55a 134 extern DigitalIn d8_button;
Picmon 1:0cb065f9d55a 135 extern DigitalIn d9_button;
Picmon 1:0cb065f9d55a 136 extern DigitalIn d10_button;
Picmon 1:0cb065f9d55a 137 extern DigitalIn d11_button;
Picmon 1:0cb065f9d55a 138 extern DigitalIn d12_button;
Picmon 1:0cb065f9d55a 139
Picmon 1:0cb065f9d55a 140 extern DigitalOut a7_out1;
Picmon 1:0cb065f9d55a 141 extern DigitalOut a6_out2;
Picmon 1:0cb065f9d55a 142 extern DigitalOut a5_out3;
Picmon 1:0cb065f9d55a 143 extern DigitalIn a4_in1;
Picmon 1:0cb065f9d55a 144 extern DigitalIn a3_in2;
Picmon 1:0cb065f9d55a 145 extern DigitalIn a2_in3;
Picmon 1:0cb065f9d55a 146
Picmon 1:0cb065f9d55a 147 extern DigitalOut a1_out;
Picmon 1:0cb065f9d55a 148 extern DigitalOut a0_out;
Picmon 1:0cb065f9d55a 149
Picmon 1:0cb065f9d55a 150 extern char motData[][DATA_BUFFER_SIZE];//data only
Picmon 1:0cb065f9d55a 151
Picmon 1:0cb065f9d55a 152 extern char binBuffer[];
Picmon 1:0cb065f9d55a 153 extern uint8_t cnt;
Picmon 0:333434a8611b 154 extern const string rxMsgTable[];
Picmon 0:333434a8611b 155 extern char rxMsgStore[];//received local message store
Picmon 0:333434a8611b 156 extern char mc_Tx_Buffer[];//transmitted message buffer
Picmon 1:0cb065f9d55a 157 extern char mc_Rx_Buffer[];//received message buffer
Picmon 0:333434a8611b 158 extern volatile unsigned char mc_Rx_Rd_Ptr;//circulare buffer read pointer
Picmon 0:333434a8611b 159 extern volatile unsigned char mc_Rx_Wr_Ptr;//circulare buffer write pointer
Picmon 0:333434a8611b 160 extern unsigned int rx_int;//received integer / character
Picmon 1:0cb065f9d55a 161 extern volatile bool rxMsgValid;//message received flag
Picmon 1:0cb065f9d55a 162 extern bool msgRdy;
Picmon 0:333434a8611b 163
Picmon 1:0cb065f9d55a 164 void motEncoderISR(void);
Picmon 1:0cb065f9d55a 165
Picmon 1:0cb065f9d55a 166 void int2bin(int value, char* buffer, int bufferSize);
Picmon 0:333434a8611b 167
Picmon 1:0cb065f9d55a 168 void rstPointers(void);
Picmon 1:0cb065f9d55a 169
Picmon 1:0cb065f9d55a 170 void readCurrent(char *array);
Picmon 1:0cb065f9d55a 171 bool setDigOutput(uint8_t par1, char *array);
Picmon 1:0cb065f9d55a 172 void readDigInput(char *array);
Picmon 1:0cb065f9d55a 173 void clrRxMsg(char *array);
Picmon 0:333434a8611b 174 void motMsg_RX_ISR(void);
Picmon 1:0cb065f9d55a 175 uint8_t getMotMsg(char *txReadCmd, char *rxRegArray);
Picmon 1:0cb065f9d55a 176
Picmon 0:333434a8611b 177
Picmon 0:333434a8611b 178
Picmon 0:333434a8611b 179
Picmon 1:0cb065f9d55a 180 bool set_mL(bool direction, uint32_t mL, char *array);
Picmon 1:0cb065f9d55a 181 bool setRotMotor(bool direction, char *array);
Picmon 1:0cb065f9d55a 182
Picmon 1:0cb065f9d55a 183 void initBuffer(string s, char *array, char character, uint8_t size);
Picmon 1:0cb065f9d55a 184
Picmon 1:0cb065f9d55a 185 void dispBuffer(string s, uint8_t size, char array[]);
Picmon 1:0cb065f9d55a 186 void dispMotReg(string s, uint8_t regSel, char regArray[9][BUFFER_SIZE]);
Picmon 1:0cb065f9d55a 187
Picmon 1:0cb065f9d55a 188
Picmon 1:0cb065f9d55a 189 uint8_t procMotMsg(char *txMsg, char *rxMsg, char motReg[9][BUFFER_SIZE]);
Picmon 1:0cb065f9d55a 190 void dispRegDec(string s, uint8_t regSel, char regArray[9][BUFFER_SIZE]);
Picmon 1:0cb065f9d55a 191 void dispRegHex(string s, uint8_t regSel, char regArray[9][BUFFER_SIZE]);
Picmon 1:0cb065f9d55a 192
Picmon 1:0cb065f9d55a 193
Picmon 1:0cb065f9d55a 194 void data2mem(uint8_t dataLoc, char destMemArray[][DATA_BUFFER_SIZE], char sourceMemArray[BUFFER_SIZE]);//for command with <CR><VALUE>
Picmon 1:0cb065f9d55a 195 void Init(void);
Picmon 1:0cb065f9d55a 196
Picmon 1:0cb065f9d55a 197 long mapI(long x, long in_min, long in_max, long out_min, long out_max);
Picmon 1:0cb065f9d55a 198 float mapF(float in, float inMin, float inMax, float outMin, float outMax);
Picmon 1:0cb065f9d55a 199
Picmon 0:333434a8611b 200 #endif