J L
ringBuffer26
Diff: main.cpp
- Revision:
- 1:0cb065f9d55a
- Parent:
- 0:333434a8611b
--- a/main.cpp Fri Mar 20 10:54:58 2020 +0000
+++ b/main.cpp Mon May 18 19:04:41 2020 +0000
@@ -1,3 +1,44 @@
+/*
+
+EOL SEQUENCE = NONE ON YAT, PROTOCOL WILL FAIL IF THIS IS NOT DONE
+
+*/
+
+
+#include "mbed.h"
+#include <string>
+#include "MotorControl.h"
+#include "readCommands.h"
+#include "writeCommands.h"
+#include "main.h"
+
+//================================================================================================================================
+// COMPANY : Verderflex
+//
+// PROJECT : ED Motor Controler API
+// DATE : 11th May 2020
+
+string HARDWARE = "Hardware Version : X1.00";
+string SOFTWARE = "Software Version : X1.00";
+string AUTHOR = "Author : Jim Lowe";
+
+/*
+ * Firmware Numbering Scheme, V Major.Minor.Bugfix
+ *
+ * Major : Major Changes to function
+ * Minor : Minor Changes to function
+ * Bugfix : Firmware fixes to function
+ *
+ */
+
+// HARDWARE : NUCLEO-F746ZG + Nextion 4.3" Display
+//
+// COMPILER : Mbed Studio
+
+//================================================================================================================================
+//************************************************ Code Status / Changes ********************************************************
+//================================================================================================================================
+
/*
@@ -10,46 +51,192 @@
In order to compare what was sent to what is echoed back two buffers are required, a TX buffer and an RX buffer, they can then be compared
using memcmp() function
- 19/03/20 Compare of tx and rx buffers can be done
- 20/03/20 Migrate code to mbed studio
-
-
+ 19/03/20 Compare of tx and rx buffers can be done
+ 20/03/20 Migrate code to mbed studio
+ 20/03/20 Code cannot be migrated to mbed studio as the target does not use mbed OS 5
+ 23/03/20 memcmp() and memcpy() implemented and working, comparision of tx and rx buffers can be done
+ 26/03/20 setSpeed(),setTorque(),setRotMotor(),set_mL() write commands tested and working with echo compare
+ 26/03/20_D ACK and NAK added, rx message checked for <CR><ACK> or <NAK>
+ 27/03/20_D Sorting of received massages into register type, echo type and NAK seems to be working
+ 30/03/20_B Process Motor Message function created that combines all message types that can be transmitted and received
+ 31/03/20_D LED1=1 indication validates data automatically, if data is invalid LED1=0
+ 03/04/20_A Setup another serial port required for testing API, one for Debug and the other to communicate with Sagittarius drive
+ 07/04/20_A Simplified so that RX ISR collects the data and stores in the required memory location
+ 08/04/20_B Software manual IMD11 V00R02 changes need to be added to software, this is a lot of work as we now have to collect a lot of bytes returnd from the motor controller
+ 11/05/20_A Back to work,
+*/
+//What is sent is received exactly, no problems
-*/
+RawSerial mc_debug(USBTX, USBRX, MED_BAUD);//debug port PA2_TX, PA15_RX
+RawSerial mc_usart(PA_9,PA_10,MED_BAUD);//motor controller communication port
+//RawSerial mc_debug(PA_2,PB_4,MED_BAUD);//motor controller communication port
-#include "mbed.h"
-#include <string>
-#include "MotorControl.h"
+//RawSerial mc_debug(PA_9,PA_10,MED_BAUD);//motor controller communication port
+//RawSerial mc_usart(USBTX, USBRX, MED_BAUD);//debug port PA2_TX, PA15_RX
+
+Timer tBtn;
DigitalOut led1(LED1);
+Timer t1;
+uint8_t msgResend = false;
+
+float n_speed = 0.001;
+
+uint8_t cmdCnt=0;
+bool rxMsgPending = false;
+
+uint32_t speed=0;
-int main(){
-
- led1=0;
+int main(){//1
+
+ Init();
+
+ //setup motor control
+ a7_out1 = 1;//motor hardware enable
+ setTorque(3456, mc_Tx_Buffer);//set torque 3.456N.m
+ setRotMotor(CCW, mc_Tx_Buffer);//set motor CCW rotation
+ n_speed = 123.456;
+ setSpeed(&n_speed, mc_Tx_Buffer);
- mc_usart.attach(&motMsg_RX_ISR);//start the serial receiver interrupt
- mc_usart.printf("ED Motor Controller Commands\r\n");
-
- clrRxMsg(rxMsgStore);
-
- moveMot(1, 1000);
+ tBtn.start();
- mc_usart.printf("TX Buffer Contents\r\n");
+ t1.start();
+
+ while(1){//2
- for(unsigned char i=0 ; i <BUFFER_SIZE ; i++)
- mc_usart.printf("%c\r\n",mc_Tx_Buffer[i]);
-
- while(1){
+ /*identify the last message sent
+
+ the mc_Tx_Buffer contain the last message sent out which has failed
+ this message need to be resent a number of times (3 tries)
- if(getMotMsg(rxMsgStore)){//get the message from the receive buffer and store it in local message store
+ */
+
+ if(tBtn.read() > 0.100){//every x read the buttons
+
+ tBtn.reset();
+
+ if(d3_button){//speed inc
+ if(t1.read() > 1.0){
+ t1.reset();
+ n_speed+=10;
+
+ }
+ n_speed+=0.001;
+ setSpeed(&n_speed, mc_Tx_Buffer);
+ }
+ else
+ if(d4_button){//speed dec
+ if(t1.read() > 1.0){
+ t1.reset();
+ n_speed-=10;
+ }
+ n_speed-=0.001;
+ setSpeed(&n_speed, mc_Tx_Buffer);
+ }
+ else
+ if(d5_button){//stop
+ stopMot(STOP_NO_RAMP, NOT_USED, mc_Tx_Buffer);
+ }
+ else
+ if(d6_button){
+
+
+ }
+ else
+ if(d7_button){
+
+
+ }
+ else
+ if(d3_button){
+
+
+ }
+ else
+ if(d8_button){
+
+
+ }
+ else
+ if(d9_button){
+
+
+ }
+ else
+ if(d10_button){
+
+
+ }
+ else
+ if(d11_button){
+
- msgRecFlag = false;//clear the message received flag
+ }
+ else
+ if(d12_button){
+
- if(memcmp(rxMsgStore,mc_Tx_Buffer,strlen(rxMsgStore)) == 0){
- led1=1;
- }
- }
- }
-}
\ No newline at end of file
+ }
+ else
+ t1.reset();
+ }
+
+ //mc_debug.printf("cmdCnt = %d", cmdCnt);
+/*
+ switch(cmdCnt){
+ case 0: setRotMotor(CCW, mc_Tx_Buffer);break;//free run the motor CCW
+ case 1: setSpeed(123456, mc_Tx_Buffer);break;//123.456 RPM
+ case 2: setRotMotor(CW, mc_Tx_Buffer);break;//free run the motor CW
+ case 3: setTorque(3456, mc_Tx_Buffer);break;//3.456N.m
+ case 4: setTorque(7000, mc_Tx_Buffer);break;//7N.m
+ case 5: set_mL(CW, 1000, mc_Tx_Buffer);break;//dispence 1000ml running CW
+ case 6: set_mL(CCW, 1000, mc_Tx_Buffer);break;//dispence 1000ml running CW
+ }
+*/
+/*
+ switch(cmdCnt){
+ case READ_DIG_IN: readDigInput(mc_Tx_Buffer);break;
+ case READ_DIG_OUT: readDigOutput(mc_Tx_Buffer);break;
+ case READ_CURRENT: readCurrent(mc_Tx_Buffer);break;
+ case READ_DRV_REG: readDrvReg(mc_Tx_Buffer);break;
+ case READ_DRV_REG_EXT: readDrvRegExt(mc_Tx_Buffer);break;
+ case READ_DRV_TEMP: readTemp(mc_Tx_Buffer);break;
+ case READ_DRV_VOLTAGE: readVoltage(mc_Tx_Buffer);break;
+ case READ_DRV_WORKING_SET: readDrvWorkSet(mc_Tx_Buffer);break;
+ case READ_DRV_WORKING_SET_EXT: readDrvWorkSetExt(mc_Tx_Buffer);break;
+ case READ_ERROR_REG: readErrReg(mc_Tx_Buffer);break;
+ case READ_FB_BOOST_CUR: readFBboostCur(mc_Tx_Buffer);break;
+ case READ_FB_STATUS: readFBstat(mc_Tx_Buffer);break;
+ case READ_FW_VERSION: readFWVwersion(mc_Tx_Buffer);break;
+ case READ_FW_CHECKSUM: readFWChecksum(mc_Tx_Buffer);break;
+ case READ_MASTER_REG: readMastReg(mc_Tx_Buffer);break;
+ case READ_MIN_CURRENT: readMinCur(mc_Tx_Buffer);break;
+ case READ_MAX_CURRENT: readMaxCur(mc_Tx_Buffer);break;
+ case READ_BOOST_CURRENT: readBoostCur(mc_Tx_Buffer);break;
+ case READ_NOM_CURRENT: readNomCur(mc_Tx_Buffer);break;
+ }
+*/
+ /*
+ if(rxMsgPending == false){
+ rxMsgPending = true;
+
+ if(cmdCnt < COMMANDS_TO_TEST)
+ cmdCnt++;
+ else
+ cmdCnt=0;
+ }
+*/
+
+ //while(getMotMsg(mc_Tx_Buffer, rxMsgStore) == RX_ECHO_FAIL);//message has failed so resent the last message again and loop a nuber of re-tries if required.
+
+
+ if(getMotMsg(mc_Tx_Buffer, rxMsgStore) == REBOOT){
+ mc_usart.printf("\r\n\r\nRebooting the system\r\n\r\n");
+ NVIC_SystemReset();
+ }
+
+
+ }//2
+}//1
\ No newline at end of file