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ringBuffer26
Diff: MotorControl.h
- Revision:
- 1:0cb065f9d55a
- Parent:
- 0:333434a8611b
--- a/MotorControl.h Fri Mar 20 10:54:58 2020 +0000 +++ b/MotorControl.h Mon May 18 19:04:41 2020 +0000 @@ -4,33 +4,197 @@ #include "mbed.h" #include <string> -#define DEBUG_MOTOR +#define DEBUG + + +#define ED_MIN_SPEED 1000 +#define ED_MAX_SPEED 3000000 +#define N_MIN_SPEED 0.001 +#define N_MAX_SPEED 125.000//125.0RPM + +#define REV_MAX_STEPS -2147483648 +#define FWD_MAX_STEPS 2147483648 + +#define MIN_CURRENT 0 +#define MAX_CURRENT 6000//6000mA + +#define MIN_TORQUE 0 +#define MAX_TORQUE 8500//N.m + + +#define SPACE 0x20 +#define ACK 0x06 +#define NAK 0x15 + +#define VALID_MSG_LEN 0x03 + +#define ML_ROTATION 5.6 +#define STEPS_PER_ROTATION 1024 + +#define CW 1 +#define CCW 0 + +#define RX_ECHO_VALID 0 +#define RX_ECHO_FAIL 1 +#define RX_REGITSER_FAIL 2 +#define RX_REGITSER_VALID 3 +#define MSG_RESEND 4 -#define BUFFER_SIZE 32 -#define MESSAGE 20 +#define REBOOT 5 + +#define MSG_RETRY_COUNT 3 + +#define NOT_USED 0 +#define STOP_NO_RAMP 0 +#define STOP_WITH_RAMP 1 +#define STOP_WITH_STEPS 2 + +#define BUFFER_SIZE 50//command message + data +#define DATA_BUFFER_SIZE 20//characters +#define DATA_ITEMS 19 + +//////////////////////////////////////////// +// MOTOR COMMAND RESPONSE DATA STORAGE +/////////////////////////////////////////// +#define READ_DIG_IN 0 +#define READ_DIG_OUT 1 +#define READ_CURRENT 2 +#define READ_DRV_REG 3 +#define READ_DRV_REG_EXT 4 +#define READ_DRV_TEMP 5 +#define READ_DRV_VOLTAGE 6 +#define READ_DRV_WORKING_SET 7 +#define READ_DRV_WORKING_SET_EXT 8 +#define READ_ERROR_REG 9 +#define READ_FB_BOOST_CUR 10 +#define READ_FB_STATUS 11 +#define READ_FW_VERSION 12 +#define READ_FW_CHECKSUM 13 +#define READ_MASTER_REG 14 +#define READ_MIN_CURRENT 15 +#define READ_MAX_CURRENT 16 +#define READ_BOOST_CURRENT 17 +#define READ_NOM_CURRENT 18 + +#define COMMANDS_TO_TEST 10 -#define REV_MAX_STEPS -2147483648 -#define FWD_MAX_STEPS 2147483648 -#define DEBUG + +//////////////////////////////////////////// +// BAUD RATES +/////////////////////////////////////////// +#define SLOW_BAUD 9600 +#define MED_BAUD 115200 +#define FAST_BAUD 921600 + +#define MOT_AL_PDT 0x0001//Protection Drive Thermal +#define MOT_AL_PDV 0x0002//Protection Drive Voltage +#define MOT_AL_PDC 0x0004//Protection Drive Current +#define MOT_AL_POP 0x0008//Protection Open Phase +#define MOT_AL_UNUSED1 0x0010//NOT USED +#define MOT_AL_FE 0x0020//Feedback Error +#define MOT_AL_PCR 0x0040//Protection Current Regulation +#define MOT_AL_POT 0x0080//Protection Open Transistor +#define MOT_AL_UNUSED2 0x0100//NOT USED +#define MOT_AL_SWER 0x0200//Protection Software Error +#define MOT_AL_UNUSED3 0x0400//NOT USED +#define MOT_AL_MC 0x0800//Missing Calibration +#define MOT_AL_WDG 0x1000//Watchdog +#define MOT_AL_EEF 0x2000//EEPROM Fail +#define MOT_AL_I2T 0x4000//I2T Potection +#define MOT_AL_UNUSED4 0x8000//NOT USED + +#define D3_BUTTON D3 +#define D4_BUTTON D4 +#define D5_BUTTON D5 +#define D6_BUTTON D6 +#define D7_BUTTON D7 +#define D8_BUTTON D8 +#define D9_BUTTON D9 +#define D10_BUTTON D10 +#define D11_BUTTON D11 +#define D12_BUTTON D12 -extern RawSerial mc_usart;// this will be USART6 for motor control +#define A7_OUT1 A7 +#define A6_OUT2 A6 +#define A5_OUT3 A5 + +#define A4_IN1 A4 +#define A3_IN2 A3 +#define A2_IN3 A2 + +#define A1_OUT A1 +#define A0_OUT A0 + +extern DigitalIn d3_button; +extern DigitalIn d4_button; +extern DigitalIn d5_button; +extern DigitalIn d6_button; +extern DigitalIn d7_button; +extern DigitalIn d8_button; +extern DigitalIn d9_button; +extern DigitalIn d10_button; +extern DigitalIn d11_button; +extern DigitalIn d12_button; + +extern DigitalOut a7_out1; +extern DigitalOut a6_out2; +extern DigitalOut a5_out3; +extern DigitalIn a4_in1; +extern DigitalIn a3_in2; +extern DigitalIn a2_in3; + +extern DigitalOut a1_out; +extern DigitalOut a0_out; + +extern char motData[][DATA_BUFFER_SIZE];//data only + +extern char binBuffer[]; +extern uint8_t cnt; extern const string rxMsgTable[]; extern char rxMsgStore[];//received local message store extern char mc_Tx_Buffer[];//transmitted message buffer -extern volatile char mc_Rx_Buffer[];//received message buffer +extern char mc_Rx_Buffer[];//received message buffer extern volatile unsigned char mc_Rx_Rd_Ptr;//circulare buffer read pointer extern volatile unsigned char mc_Rx_Wr_Ptr;//circulare buffer write pointer extern unsigned int rx_int;//received integer / character +extern volatile bool rxMsgValid;//message received flag +extern bool msgRdy; -//unsigned char i; -extern bool msgRecFlag;//message received flag +void motEncoderISR(void); + +void int2bin(int value, char* buffer, int bufferSize); +void rstPointers(void); + +void readCurrent(char *array); +bool setDigOutput(uint8_t par1, char *array); +void readDigInput(char *array); +void clrRxMsg(char *array); void motMsg_RX_ISR(void); -bool getMotMsg(char * msgArray); -void motMsgDecode(unsigned int rxMsgTable[], unsigned int rxMsg[]);void clrRxMsg(char array[]); -bool moveMot(uint8_t par1, int32_t par2); +uint8_t getMotMsg(char *txReadCmd, char *rxRegArray); + +bool set_mL(bool direction, uint32_t mL, char *array); +bool setRotMotor(bool direction, char *array); + +void initBuffer(string s, char *array, char character, uint8_t size); + +void dispBuffer(string s, uint8_t size, char array[]); +void dispMotReg(string s, uint8_t regSel, char regArray[9][BUFFER_SIZE]); + + +uint8_t procMotMsg(char *txMsg, char *rxMsg, char motReg[9][BUFFER_SIZE]); +void dispRegDec(string s, uint8_t regSel, char regArray[9][BUFFER_SIZE]); +void dispRegHex(string s, uint8_t regSel, char regArray[9][BUFFER_SIZE]); + + +void data2mem(uint8_t dataLoc, char destMemArray[][DATA_BUFFER_SIZE], char sourceMemArray[BUFFER_SIZE]);//for command with <CR><VALUE> +void Init(void); + +long mapI(long x, long in_min, long in_max, long out_min, long out_max); +float mapF(float in, float inMin, float inMax, float outMin, float outMax); + #endif \ No newline at end of file