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1.Combine library into this project 2.Use this to do the complete fuction
Dependencies: DXL_SDK_For_F446RE Matrix Modbus_For_F446RE RobotControl_7Axis mbed
main.cpp@8:0adb0b96d630, 2017-04-10 (annotated)
- Committer:
- stanley1228
- Date:
- Mon Apr 10 23:08:29 2017 +0800
- Revision:
- 8:0adb0b96d630
- Parent:
- 7:9127ccc07448
1.??Modbus ??????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
stanley1228 | 4:8fc956bd0e78 | 1 | //1.IK ¯ÊAlpha beta gamma |
stanley1228 | 4:8fc956bd0e78 | 2 | |
stanley1228 | 0:f147c77caac0 | 3 | #include "mb.h" |
stanley1228 | 0:f147c77caac0 | 4 | #include "mbport.h" |
stanley1228 | 0:f147c77caac0 | 5 | #include "mbed.h" //stanley |
stanley1228 | 0:f147c77caac0 | 6 | #include "dynamixel.h" |
stanley1228 | 4:8fc956bd0e78 | 7 | #include "RobotControl_7Axis.h" |
stanley1228 | 0:f147c77caac0 | 8 | |
stanley1228 | 0:f147c77caac0 | 9 | #define DEBUG 1 |
stanley1228 | 0:f147c77caac0 | 10 | |
stanley1228 | 0:f147c77caac0 | 11 | #if (DEBUG) |
stanley1228 | 0:f147c77caac0 | 12 | #define DBGMSG(x) pc.printf x; |
stanley1228 | 0:f147c77caac0 | 13 | #else |
stanley1228 | 0:f147c77caac0 | 14 | #define DBGMSG(x) |
stanley1228 | 0:f147c77caac0 | 15 | #endif |
stanley1228 | 0:f147c77caac0 | 16 | |
stanley1228 | 0:f147c77caac0 | 17 | |
stanley1228 | 0:f147c77caac0 | 18 | DigitalOut myled(LED1); //stanley |
stanley1228 | 7:9127ccc07448 | 19 | DigitalOut led_D7(D7,PullUp); //stanley |
stanley1228 | 0:f147c77caac0 | 20 | |
stanley1228 | 0:f147c77caac0 | 21 | Serial pc(USBTX, USBRX); //stanley |
stanley1228 | 0:f147c77caac0 | 22 | |
stanley1228 | 0:f147c77caac0 | 23 | /* ----------------------- Defines ------------------------------------------*/ |
stanley1228 | 0:f147c77caac0 | 24 | #define REG_INPUT_START (3001) //not use now stanley |
stanley1228 | 0:f147c77caac0 | 25 | #define REG_INPUT_NREGS 15 //not use now stanley |
stanley1228 | 0:f147c77caac0 | 26 | #define REG_HOLDING_START (4001) |
stanley1228 | 4:8fc956bd0e78 | 27 | #define REG_HOLDING_NREGS 29 |
stanley1228 | 0:f147c77caac0 | 28 | |
stanley1228 | 0:f147c77caac0 | 29 | #define SLAVE_ID 0x0A |
stanley1228 | 0:f147c77caac0 | 30 | #define DEF_MAX_AXIS 7 |
stanley1228 | 0:f147c77caac0 | 31 | //== |
stanley1228 | 0:f147c77caac0 | 32 | //Modbus struct |
stanley1228 | 0:f147c77caac0 | 33 | //== |
stanley1228 | 0:f147c77caac0 | 34 | //Input register 0~14 |
stanley1228 | 0:f147c77caac0 | 35 | //public UInt16[] PosVal = new UInt16[DEF_MAX_AXIS]; 7 |
stanley1228 | 0:f147c77caac0 | 36 | //public Int16[] VelValue = new Int16[DEF_MAX_AXIS]; 7 |
stanley1228 | 0:f147c77caac0 | 37 | //public Int16 Err_State = 0; 1 |
stanley1228 | 0:f147c77caac0 | 38 | |
stanley1228 | 0:f147c77caac0 | 39 | ////Holding register 0~5 |
stanley1228 | 0:f147c77caac0 | 40 | //public Int16 TargetPosX; 1 |
stanley1228 | 0:f147c77caac0 | 41 | //public Int16 TargetPosY; 1 |
stanley1228 | 0:f147c77caac0 | 42 | //public Int16 TargetPosZ; 1 |
stanley1228 | 0:f147c77caac0 | 43 | //public Int16 OPMode; //P2P 1 |
stanley1228 | 0:f147c77caac0 | 44 | //public Int16 SpeedRatio; //0~1 1 |
stanley1228 | 0:f147c77caac0 | 45 | |
stanley1228 | 0:f147c77caac0 | 46 | enum{ |
stanley1228 | 0:f147c77caac0 | 47 | DEF_INX_TARGET_POSX=0, |
stanley1228 | 0:f147c77caac0 | 48 | DEF_INX_TARGET_POSY, |
stanley1228 | 0:f147c77caac0 | 49 | DEF_INX_TARGET_POSZ, |
stanley1228 | 0:f147c77caac0 | 50 | DEF_INX_OPMODE, |
stanley1228 | 0:f147c77caac0 | 51 | DEF_INX_SPPED_RATIO_L, |
stanley1228 | 0:f147c77caac0 | 52 | DEF_INX_SPPED_RATIO_H, |
stanley1228 | 0:f147c77caac0 | 53 | |
stanley1228 | 0:f147c77caac0 | 54 | DEF_INX_TARPOS1=6, |
stanley1228 | 0:f147c77caac0 | 55 | DEF_INX_TARPOS2, |
stanley1228 | 0:f147c77caac0 | 56 | DEF_INX_TARPOS3, |
stanley1228 | 0:f147c77caac0 | 57 | DEF_INX_TARPOS4, |
stanley1228 | 0:f147c77caac0 | 58 | DEF_INX_TARPOS5, |
stanley1228 | 0:f147c77caac0 | 59 | DEF_INX_TARPOS6, |
stanley1228 | 0:f147c77caac0 | 60 | DEF_INX_TARPOS7, |
stanley1228 | 0:f147c77caac0 | 61 | |
stanley1228 | 8:0adb0b96d630 | 62 | DEF_INX_TARVEL1=13, |
stanley1228 | 8:0adb0b96d630 | 63 | DEF_INX_TARVEL2, |
stanley1228 | 8:0adb0b96d630 | 64 | DEF_INX_TARVEL3, |
stanley1228 | 8:0adb0b96d630 | 65 | DEF_INX_TARVEL4, |
stanley1228 | 8:0adb0b96d630 | 66 | DEF_INX_TARVEL5, |
stanley1228 | 8:0adb0b96d630 | 67 | DEF_INX_TARVEL6, |
stanley1228 | 8:0adb0b96d630 | 68 | DEF_INX_TARVEL7, |
stanley1228 | 0:f147c77caac0 | 69 | |
stanley1228 | 8:0adb0b96d630 | 70 | DEF_INX_POSVAL1 = 20, |
stanley1228 | 8:0adb0b96d630 | 71 | DEF_INX_POSVAL2, |
stanley1228 | 8:0adb0b96d630 | 72 | DEF_INX_POSVAL3, |
stanley1228 | 8:0adb0b96d630 | 73 | DEF_INX_POSVAL4, |
stanley1228 | 8:0adb0b96d630 | 74 | DEF_INX_POSVAL5, |
stanley1228 | 8:0adb0b96d630 | 75 | DEF_INX_POSVAL6, |
stanley1228 | 8:0adb0b96d630 | 76 | DEF_INX_POSVAL7, |
stanley1228 | 4:8fc956bd0e78 | 77 | |
stanley1228 | 8:0adb0b96d630 | 78 | DEF_INX_ERR_STATE, |
stanley1228 | 4:8fc956bd0e78 | 79 | DEF_INX_STATE |
stanley1228 | 4:8fc956bd0e78 | 80 | }; |
stanley1228 | 4:8fc956bd0e78 | 81 | |
stanley1228 | 4:8fc956bd0e78 | 82 | enum eState |
stanley1228 | 4:8fc956bd0e78 | 83 | { |
stanley1228 | 4:8fc956bd0e78 | 84 | DONE=0, |
stanley1228 | 4:8fc956bd0e78 | 85 | BUSY |
stanley1228 | 4:8fc956bd0e78 | 86 | |
stanley1228 | 0:f147c77caac0 | 87 | }; |
stanley1228 | 0:f147c77caac0 | 88 | |
stanley1228 | 0:f147c77caac0 | 89 | enum eOPMode |
stanley1228 | 0:f147c77caac0 | 90 | { |
stanley1228 | 4:8fc956bd0e78 | 91 | JOG=0, |
stanley1228 | 0:f147c77caac0 | 92 | P2P, |
stanley1228 | 0:f147c77caac0 | 93 | SEWING, |
stanley1228 | 4:8fc956bd0e78 | 94 | LINE, |
stanley1228 | 4:8fc956bd0e78 | 95 | IDLE |
stanley1228 | 0:f147c77caac0 | 96 | }; |
stanley1228 | 0:f147c77caac0 | 97 | /* ----------------------- Static variables ---------------------------------*/ |
stanley1228 | 0:f147c77caac0 | 98 | static USHORT usRegInputStart = REG_INPUT_START; //not use now stanley |
stanley1228 | 0:f147c77caac0 | 99 | static USHORT usRegInputBuf[REG_INPUT_NREGS]; //not use now stanley |
stanley1228 | 0:f147c77caac0 | 100 | |
stanley1228 | 0:f147c77caac0 | 101 | static USHORT usRegHoldingStart = REG_HOLDING_START; |
stanley1228 | 0:f147c77caac0 | 102 | static USHORT usRegHoldingBuf[REG_HOLDING_NREGS]; |
stanley1228 | 0:f147c77caac0 | 103 | |
stanley1228 | 0:f147c77caac0 | 104 | /* ----------------------- Start implementation -----------------------------*/ |
stanley1228 | 1:249f89a36223 | 105 | Ticker tMobusPoll; |
stanley1228 | 6:e6e7a2ba9f65 | 106 | Ticker tReadMotorInfo; |
stanley1228 | 1:249f89a36223 | 107 | |
stanley1228 | 1:249f89a36223 | 108 | void fMobusPoll() |
stanley1228 | 1:249f89a36223 | 109 | { |
stanley1228 | 1:249f89a36223 | 110 | //(void)eMBPoll( ); origianl |
stanley1228 | 1:249f89a36223 | 111 | // |
stanley1228 | 7:9127ccc07448 | 112 | //led_D7=1; |
stanley1228 | 1:249f89a36223 | 113 | eMBPoll(); |
stanley1228 | 7:9127ccc07448 | 114 | //led_D7=0; |
stanley1228 | 7:9127ccc07448 | 115 | |
stanley1228 | 1:249f89a36223 | 116 | /* Here we simply count the number of poll cycles. */ |
stanley1228 | 5:77e9dc268338 | 117 | //usRegHoldingBuf[DEF_INX_TARGET_POSX]++; |
stanley1228 | 1:249f89a36223 | 118 | |
stanley1228 | 7:9127ccc07448 | 119 | //if(usRegHoldingBuf[DEF_INX_TARGET_POSX]==200)//stanley |
stanley1228 | 7:9127ccc07448 | 120 | //{ |
stanley1228 | 7:9127ccc07448 | 121 | // myled=!myled; |
stanley1228 | 7:9127ccc07448 | 122 | // //usRegHoldingBuf[DEF_INX_TARGET_POSX]=0; |
stanley1228 | 7:9127ccc07448 | 123 | //} |
stanley1228 | 1:249f89a36223 | 124 | } |
stanley1228 | 1:249f89a36223 | 125 | |
stanley1228 | 6:e6e7a2ba9f65 | 126 | unsigned int Modbus_Initial(void) |
stanley1228 | 0:f147c77caac0 | 127 | { |
stanley1228 | 4:8fc956bd0e78 | 128 | eMBErrorCode eStatus; |
stanley1228 | 0:f147c77caac0 | 129 | |
stanley1228 | 7:9127ccc07448 | 130 | eStatus = eMBInit( MB_RTU, SLAVE_ID, 0, 460800, MB_PAR_NONE ); |
stanley1228 | 0:f147c77caac0 | 131 | |
stanley1228 | 0:f147c77caac0 | 132 | /* Enable the Modbus Protocol Stack. */ |
stanley1228 | 0:f147c77caac0 | 133 | eMBEnable( ); |
stanley1228 | 0:f147c77caac0 | 134 | |
stanley1228 | 4:8fc956bd0e78 | 135 | //trial initial value |
stanley1228 | 0:f147c77caac0 | 136 | usRegHoldingBuf[DEF_INX_TARGET_POSX]=0; |
stanley1228 | 0:f147c77caac0 | 137 | usRegHoldingBuf[DEF_INX_TARGET_POSY]=1000; |
stanley1228 | 0:f147c77caac0 | 138 | usRegHoldingBuf[DEF_INX_TARGET_POSZ]=2000; |
stanley1228 | 4:8fc956bd0e78 | 139 | usRegHoldingBuf[DEF_INX_OPMODE]=IDLE; |
stanley1228 | 0:f147c77caac0 | 140 | |
stanley1228 | 0:f147c77caac0 | 141 | float fSpeedRatio=0.345; |
stanley1228 | 0:f147c77caac0 | 142 | USHORT* usp=(USHORT*)&fSpeedRatio; |
stanley1228 | 0:f147c77caac0 | 143 | usRegHoldingBuf[DEF_INX_SPPED_RATIO_L]=*usp; |
stanley1228 | 0:f147c77caac0 | 144 | usRegHoldingBuf[DEF_INX_SPPED_RATIO_H]=*(usp+1); |
stanley1228 | 0:f147c77caac0 | 145 | |
stanley1228 | 0:f147c77caac0 | 146 | for(int i=0;i<DEF_MAX_AXIS;i++) |
stanley1228 | 0:f147c77caac0 | 147 | { |
stanley1228 | 0:f147c77caac0 | 148 | usRegHoldingBuf[DEF_INX_TARPOS1+i]=500+i; |
stanley1228 | 0:f147c77caac0 | 149 | usRegHoldingBuf[DEF_INX_POSVAL1+i]=1000+i; |
stanley1228 | 8:0adb0b96d630 | 150 | usRegHoldingBuf[DEF_INX_TARVEL1+i]=20; |
stanley1228 | 0:f147c77caac0 | 151 | } |
stanley1228 | 0:f147c77caac0 | 152 | |
stanley1228 | 4:8fc956bd0e78 | 153 | |
stanley1228 | 4:8fc956bd0e78 | 154 | tMobusPoll.attach_us(&fMobusPoll,5000); |
stanley1228 | 0:f147c77caac0 | 155 | |
stanley1228 | 4:8fc956bd0e78 | 156 | return 0; |
stanley1228 | 4:8fc956bd0e78 | 157 | } |
stanley1228 | 4:8fc956bd0e78 | 158 | |
stanley1228 | 4:8fc956bd0e78 | 159 | unsigned int Jog_Motion(void) |
stanley1228 | 4:8fc956bd0e78 | 160 | { |
stanley1228 | 4:8fc956bd0e78 | 161 | unsigned int rt=0; |
stanley1228 | 4:8fc956bd0e78 | 162 | |
stanley1228 | 4:8fc956bd0e78 | 163 | float Ang_rad[MAX_AXIS_NUM]={0}; |
stanley1228 | 4:8fc956bd0e78 | 164 | unsigned short int velocity[MAX_AXIS_NUM]={10,10,10,10,10,10,10}; |
stanley1228 | 4:8fc956bd0e78 | 165 | |
stanley1228 | 4:8fc956bd0e78 | 166 | for(int i=Index_AXIS1;i<MAX_AXIS_NUM;i++) |
stanley1228 | 4:8fc956bd0e78 | 167 | { |
stanley1228 | 4:8fc956bd0e78 | 168 | Ang_rad[i]=usRegHoldingBuf[DEF_INX_TARPOS1+i]*DEF_RATIO_PUS_TO_RAD; |
stanley1228 | 8:0adb0b96d630 | 169 | velocity[i]=usRegHoldingBuf[DEF_INX_TARVEL1+i]; |
stanley1228 | 8:0adb0b96d630 | 170 | DBGMSG(("p[%d]=%d\n",i,usRegHoldingBuf[DEF_INX_TARPOS1+i])) |
stanley1228 | 8:0adb0b96d630 | 171 | DBGMSG(("v[%d]=%d\n",i,usRegHoldingBuf[DEF_INX_TARVEL1+i])) |
stanley1228 | 7:9127ccc07448 | 172 | //DBGMSG(("Ang_rad[%d]=%f\n",i,Ang_rad[i])) |
stanley1228 | 4:8fc956bd0e78 | 173 | } |
stanley1228 | 4:8fc956bd0e78 | 174 | |
stanley1228 | 4:8fc956bd0e78 | 175 | |
stanley1228 | 4:8fc956bd0e78 | 176 | |
stanley1228 | 4:8fc956bd0e78 | 177 | |
stanley1228 | 4:8fc956bd0e78 | 178 | //== Output_to_Dynamixel==// |
stanley1228 | 4:8fc956bd0e78 | 179 | rt=Output_to_Dynamixel(Ang_rad,velocity); |
stanley1228 | 4:8fc956bd0e78 | 180 | |
stanley1228 | 4:8fc956bd0e78 | 181 | return rt; |
stanley1228 | 4:8fc956bd0e78 | 182 | } |
stanley1228 | 4:8fc956bd0e78 | 183 | |
stanley1228 | 4:8fc956bd0e78 | 184 | |
stanley1228 | 4:8fc956bd0e78 | 185 | |
stanley1228 | 4:8fc956bd0e78 | 186 | unsigned int P2P_Motion(void) |
stanley1228 | 4:8fc956bd0e78 | 187 | { |
stanley1228 | 4:8fc956bd0e78 | 188 | //================== |
stanley1228 | 4:8fc956bd0e78 | 189 | //== Test IK it need 120ms to calculate |
stanley1228 | 4:8fc956bd0e78 | 190 | //=================== |
stanley1228 | 6:e6e7a2ba9f65 | 191 | //unsigned short int Cur_Pus[MAX_AXIS_NUM]={0}; |
stanley1228 | 4:8fc956bd0e78 | 192 | unsigned short int Tar_Pus[MAX_AXIS_NUM]={0}; |
stanley1228 | 4:8fc956bd0e78 | 193 | //short int Ofset_Pus[MAX_AXIS_NUM]={0}; |
stanley1228 | 5:77e9dc268338 | 194 | short int Tar_Point[3]={0}; |
stanley1228 | 5:77e9dc268338 | 195 | Tar_Point[0]=(short int)usRegHoldingBuf[DEF_INX_TARGET_POSX]; |
stanley1228 | 5:77e9dc268338 | 196 | Tar_Point[1]=(short int)usRegHoldingBuf[DEF_INX_TARGET_POSY]; |
stanley1228 | 5:77e9dc268338 | 197 | Tar_Point[2]=(short int)usRegHoldingBuf[DEF_INX_TARGET_POSZ]; |
stanley1228 | 5:77e9dc268338 | 198 | |
stanley1228 | 5:77e9dc268338 | 199 | DBGMSG(("Tar_Point[%d]=%d\n",0,Tar_Point[0])) |
stanley1228 | 5:77e9dc268338 | 200 | DBGMSG(("Tar_Point[%d]=%d\n",1,Tar_Point[1])) |
stanley1228 | 5:77e9dc268338 | 201 | DBGMSG(("Tar_Point[%d]=%d\n",2,Tar_Point[2])) |
stanley1228 | 5:77e9dc268338 | 202 | |
stanley1228 | 4:8fc956bd0e78 | 203 | //==Target position pulse==// |
stanley1228 | 4:8fc956bd0e78 | 204 | float theta[MAX_AXIS_NUM]={0.0}; |
stanley1228 | 4:8fc956bd0e78 | 205 | unsigned int rt=0,i=0; |
stanley1228 | 4:8fc956bd0e78 | 206 | rt = IK_7DOF(L1,L2,L3,0,0,0,usRegHoldingBuf[DEF_INX_TARGET_POSX]*DEF_RATIO_PUS_TO_RAD,usRegHoldingBuf[DEF_INX_TARGET_POSY]*DEF_RATIO_PUS_TO_RAD,usRegHoldingBuf[DEF_INX_TARGET_POSZ]*DEF_RATIO_PUS_TO_RAD,0,0,0,(float)-DEF_PI*0.5F,theta); |
stanley1228 | 5:77e9dc268338 | 207 | DBGMSG(("rt=%d\n",rt)) |
stanley1228 | 4:8fc956bd0e78 | 208 | if(rt) |
stanley1228 | 4:8fc956bd0e78 | 209 | { |
stanley1228 | 4:8fc956bd0e78 | 210 | return rt; |
stanley1228 | 4:8fc956bd0e78 | 211 | } |
stanley1228 | 4:8fc956bd0e78 | 212 | |
stanley1228 | 4:8fc956bd0e78 | 213 | for(i=Index_AXIS1;i<MAX_AXIS_NUM;i++) |
stanley1228 | 4:8fc956bd0e78 | 214 | { |
stanley1228 | 4:8fc956bd0e78 | 215 | Tar_Pus[i]=theta[i]*DEF_RATIO_RAD_TO_PUS; |
stanley1228 | 5:77e9dc268338 | 216 | DBGMSG(("Tar_Pus[%d]=%d\n",i,Tar_Pus[i])) |
stanley1228 | 4:8fc956bd0e78 | 217 | } |
stanley1228 | 4:8fc956bd0e78 | 218 | |
stanley1228 | 4:8fc956bd0e78 | 219 | //==Current position pulse==// |
stanley1228 | 6:e6e7a2ba9f65 | 220 | //for(i=Index_AXIS1;i<MAX_AXIS_NUM;i++) |
stanley1228 | 6:e6e7a2ba9f65 | 221 | //{ |
stanley1228 | 6:e6e7a2ba9f65 | 222 | // Cur_Pus[i]=dxl_read_word(getMapAxisNO(i),PRESENT_POS); |
stanley1228 | 6:e6e7a2ba9f65 | 223 | //} |
stanley1228 | 4:8fc956bd0e78 | 224 | |
stanley1228 | 4:8fc956bd0e78 | 225 | //==offset postion pulse==// ©|¥¼¥[¤J³t«×³W¹º |
stanley1228 | 4:8fc956bd0e78 | 226 | //for(i=Index_AXIS1;i<MAX_AXIS_NUM;i++) |
stanley1228 | 4:8fc956bd0e78 | 227 | //{ |
stanley1228 | 4:8fc956bd0e78 | 228 | // Ofset_Pus[i]=Tar_Pus[i]-Cur_Pus[i]; |
stanley1228 | 4:8fc956bd0e78 | 229 | //} |
stanley1228 | 4:8fc956bd0e78 | 230 | |
stanley1228 | 4:8fc956bd0e78 | 231 | //== Output_to_Dynamixel==// |
stanley1228 | 7:9127ccc07448 | 232 | unsigned short int velocity[MAX_AXIS_NUM]={10,10,10,10,10,10,500}; |
stanley1228 | 4:8fc956bd0e78 | 233 | rt=Output_to_Dynamixel_pulse(Tar_Pus,velocity); |
stanley1228 | 4:8fc956bd0e78 | 234 | |
stanley1228 | 4:8fc956bd0e78 | 235 | return rt; |
stanley1228 | 4:8fc956bd0e78 | 236 | } |
stanley1228 | 4:8fc956bd0e78 | 237 | |
stanley1228 | 6:e6e7a2ba9f65 | 238 | void ReadMotorInfo() |
stanley1228 | 6:e6e7a2ba9f65 | 239 | { |
stanley1228 | 8:0adb0b96d630 | 240 | //static float pos_pus[MAX_AXIS_NUM]={0}; |
stanley1228 | 8:0adb0b96d630 | 241 | //unsigned int rt=0; |
stanley1228 | 6:e6e7a2ba9f65 | 242 | |
stanley1228 | 7:9127ccc07448 | 243 | |
stanley1228 | 7:9127ccc07448 | 244 | led_D7=1; |
stanley1228 | 8:0adb0b96d630 | 245 | //rt=Read_pos(pos_pus,DEF_UNIT_PUS); |
stanley1228 | 8:0adb0b96d630 | 246 | |
stanley1228 | 6:e6e7a2ba9f65 | 247 | //DBGMSG(("Read_pos rt==%d\n",rt)); |
stanley1228 | 8:0adb0b96d630 | 248 | static USHORT pulse=0; |
stanley1228 | 8:0adb0b96d630 | 249 | |
stanley1228 | 8:0adb0b96d630 | 250 | for(int i=Index_AXIS1;i<MAX_AXIS_NUM-1;i++) |
stanley1228 | 6:e6e7a2ba9f65 | 251 | { |
stanley1228 | 8:0adb0b96d630 | 252 | |
stanley1228 | 8:0adb0b96d630 | 253 | DBGMSG(("gMapAxisID[%d]=%d\n",i,gMapAxisID[i])) |
stanley1228 | 8:0adb0b96d630 | 254 | pulse = dxl_read_word(gMapAxisID[i], PRESENT_POS); |
stanley1228 | 8:0adb0b96d630 | 255 | if(dxl_get_result()==COMM_RXSUCCESS) |
stanley1228 | 8:0adb0b96d630 | 256 | { |
stanley1228 | 8:0adb0b96d630 | 257 | pulse-=gr2m_offset_pulse[i]; |
stanley1228 | 8:0adb0b96d630 | 258 | usRegHoldingBuf[DEF_INX_POSVAL1+i]=pulse; |
stanley1228 | 8:0adb0b96d630 | 259 | DBGMSG(("pulse%d=%d\n",i,pulse)) |
stanley1228 | 8:0adb0b96d630 | 260 | } |
stanley1228 | 8:0adb0b96d630 | 261 | |
stanley1228 | 8:0adb0b96d630 | 262 | |
stanley1228 | 6:e6e7a2ba9f65 | 263 | } |
stanley1228 | 8:0adb0b96d630 | 264 | led_D7=0; |
stanley1228 | 8:0adb0b96d630 | 265 | |
stanley1228 | 8:0adb0b96d630 | 266 | |
stanley1228 | 8:0adb0b96d630 | 267 | //if(rt==0) |
stanley1228 | 8:0adb0b96d630 | 268 | //{ |
stanley1228 | 8:0adb0b96d630 | 269 | // for(int i=0; i<MAX_AXIS_NUM;i++) |
stanley1228 | 8:0adb0b96d630 | 270 | // usRegHoldingBuf[DEF_INX_POSVAL1+i]=(unsigned int)pos_pus[i]; |
stanley1228 | 8:0adb0b96d630 | 271 | // |
stanley1228 | 8:0adb0b96d630 | 272 | //} |
stanley1228 | 8:0adb0b96d630 | 273 | //else |
stanley1228 | 8:0adb0b96d630 | 274 | //{ |
stanley1228 | 8:0adb0b96d630 | 275 | // usRegHoldingBuf[DEF_INX_ERR_STATUS]=rt; |
stanley1228 | 8:0adb0b96d630 | 276 | //} |
stanley1228 | 6:e6e7a2ba9f65 | 277 | //for(i=Index_AXIS1;i<MAX_AXIS_NUM;i++) |
stanley1228 | 6:e6e7a2ba9f65 | 278 | //{ |
stanley1228 | 6:e6e7a2ba9f65 | 279 | // DBGMSG(("X%d=%.2f,",getMapAxisNO(i),pos_deg[i])); |
stanley1228 | 6:e6e7a2ba9f65 | 280 | //} |
stanley1228 | 6:e6e7a2ba9f65 | 281 | //for(i=ID_AXIS1;i<=ID_AXIS7;i++) |
stanley1228 | 6:e6e7a2ba9f65 | 282 | //{ |
stanley1228 | 6:e6e7a2ba9f65 | 283 | // pos = dxl_read_word(i, PRESENT_POS); |
stanley1228 | 6:e6e7a2ba9f65 | 284 | // if(dxl_get_result()!=COMM_RXSUCCESS) |
stanley1228 | 6:e6e7a2ba9f65 | 285 | // pos=-1; |
stanley1228 | 6:e6e7a2ba9f65 | 286 | //} |
stanley1228 | 6:e6e7a2ba9f65 | 287 | } |
stanley1228 | 6:e6e7a2ba9f65 | 288 | |
stanley1228 | 6:e6e7a2ba9f65 | 289 | void ReadMotorInfo_Initial() |
stanley1228 | 6:e6e7a2ba9f65 | 290 | { |
stanley1228 | 7:9127ccc07448 | 291 | tReadMotorInfo.attach_us(&ReadMotorInfo,40000); //Read_pos may cost 10ms |
stanley1228 | 6:e6e7a2ba9f65 | 292 | } |
stanley1228 | 6:e6e7a2ba9f65 | 293 | |
stanley1228 | 4:8fc956bd0e78 | 294 | |
stanley1228 | 4:8fc956bd0e78 | 295 | int main( void ) |
stanley1228 | 4:8fc956bd0e78 | 296 | { |
stanley1228 | 4:8fc956bd0e78 | 297 | unsigned int rt=0; |
stanley1228 | 6:e6e7a2ba9f65 | 298 | Modbus_Initial(); |
stanley1228 | 4:8fc956bd0e78 | 299 | |
stanley1228 | 0:f147c77caac0 | 300 | myled=1;//stanley |
stanley1228 | 0:f147c77caac0 | 301 | |
stanley1228 | 4:8fc956bd0e78 | 302 | |
stanley1228 | 4:8fc956bd0e78 | 303 | rt=dxl_initialize( 1, 1); |
stanley1228 | 6:e6e7a2ba9f65 | 304 | |
stanley1228 | 7:9127ccc07448 | 305 | //ReadMotorInfo_Initial(); |
stanley1228 | 6:e6e7a2ba9f65 | 306 | |
stanley1228 | 4:8fc956bd0e78 | 307 | DBGMSG(("dxl_initialize rt=%d\n",rt)) |
stanley1228 | 4:8fc956bd0e78 | 308 | |
stanley1228 | 4:8fc956bd0e78 | 309 | while(1) |
stanley1228 | 4:8fc956bd0e78 | 310 | { |
stanley1228 | 4:8fc956bd0e78 | 311 | |
stanley1228 | 4:8fc956bd0e78 | 312 | switch(usRegHoldingBuf[DEF_INX_OPMODE]) |
stanley1228 | 4:8fc956bd0e78 | 313 | { |
stanley1228 | 4:8fc956bd0e78 | 314 | |
stanley1228 | 4:8fc956bd0e78 | 315 | case JOG: |
stanley1228 | 4:8fc956bd0e78 | 316 | //usRegHoldingBuf[DEF_INX_STATE]=BUSY; |
stanley1228 | 4:8fc956bd0e78 | 317 | Jog_Motion(); |
stanley1228 | 4:8fc956bd0e78 | 318 | //usRegHoldingBuf[DEF_INX_STATE]=DONE; |
stanley1228 | 4:8fc956bd0e78 | 319 | usRegHoldingBuf[DEF_INX_OPMODE]=IDLE; |
stanley1228 | 4:8fc956bd0e78 | 320 | |
stanley1228 | 4:8fc956bd0e78 | 321 | break; |
stanley1228 | 4:8fc956bd0e78 | 322 | case IDLE: |
stanley1228 | 5:77e9dc268338 | 323 | break; |
stanley1228 | 4:8fc956bd0e78 | 324 | case P2P: |
stanley1228 | 4:8fc956bd0e78 | 325 | P2P_Motion(); |
stanley1228 | 4:8fc956bd0e78 | 326 | usRegHoldingBuf[DEF_INX_OPMODE]=IDLE; |
stanley1228 | 5:77e9dc268338 | 327 | break; |
stanley1228 | 4:8fc956bd0e78 | 328 | case SEWING: |
stanley1228 | 4:8fc956bd0e78 | 329 | case LINE: |
stanley1228 | 4:8fc956bd0e78 | 330 | |
stanley1228 | 4:8fc956bd0e78 | 331 | |
stanley1228 | 4:8fc956bd0e78 | 332 | |
stanley1228 | 4:8fc956bd0e78 | 333 | break; |
stanley1228 | 4:8fc956bd0e78 | 334 | |
stanley1228 | 4:8fc956bd0e78 | 335 | |
stanley1228 | 4:8fc956bd0e78 | 336 | |
stanley1228 | 4:8fc956bd0e78 | 337 | } |
stanley1228 | 7:9127ccc07448 | 338 | |
stanley1228 | 8:0adb0b96d630 | 339 | ReadMotorInfo(); |
stanley1228 | 7:9127ccc07448 | 340 | wait_ms(20); |
stanley1228 | 4:8fc956bd0e78 | 341 | |
stanley1228 | 4:8fc956bd0e78 | 342 | } |
stanley1228 | 1:249f89a36223 | 343 | |
stanley1228 | 0:f147c77caac0 | 344 | } |
stanley1228 | 0:f147c77caac0 | 345 | |
stanley1228 | 0:f147c77caac0 | 346 | eMBErrorCode |
stanley1228 | 0:f147c77caac0 | 347 | eMBRegInputCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs ) |
stanley1228 | 0:f147c77caac0 | 348 | { |
stanley1228 | 0:f147c77caac0 | 349 | eMBErrorCode eStatus = MB_ENOERR; |
stanley1228 | 0:f147c77caac0 | 350 | int iRegIndex; |
stanley1228 | 0:f147c77caac0 | 351 | |
stanley1228 | 0:f147c77caac0 | 352 | if( ( usAddress >= REG_INPUT_START ) |
stanley1228 | 0:f147c77caac0 | 353 | && ( usAddress + usNRegs <= REG_INPUT_START + REG_INPUT_NREGS ) ) |
stanley1228 | 0:f147c77caac0 | 354 | { |
stanley1228 | 0:f147c77caac0 | 355 | iRegIndex = ( int )( usAddress - usRegInputStart ); |
stanley1228 | 0:f147c77caac0 | 356 | while( usNRegs > 0 ) |
stanley1228 | 0:f147c77caac0 | 357 | { |
stanley1228 | 0:f147c77caac0 | 358 | *pucRegBuffer++ = |
stanley1228 | 0:f147c77caac0 | 359 | ( unsigned char )( usRegInputBuf[iRegIndex] >> 8 ); |
stanley1228 | 0:f147c77caac0 | 360 | *pucRegBuffer++ = |
stanley1228 | 0:f147c77caac0 | 361 | ( unsigned char )( usRegInputBuf[iRegIndex] & 0xFF ); |
stanley1228 | 0:f147c77caac0 | 362 | iRegIndex++; |
stanley1228 | 0:f147c77caac0 | 363 | usNRegs--; |
stanley1228 | 0:f147c77caac0 | 364 | } |
stanley1228 | 0:f147c77caac0 | 365 | } |
stanley1228 | 0:f147c77caac0 | 366 | else |
stanley1228 | 0:f147c77caac0 | 367 | { |
stanley1228 | 0:f147c77caac0 | 368 | eStatus = MB_ENOREG; |
stanley1228 | 0:f147c77caac0 | 369 | } |
stanley1228 | 0:f147c77caac0 | 370 | |
stanley1228 | 0:f147c77caac0 | 371 | return eStatus; |
stanley1228 | 0:f147c77caac0 | 372 | } |
stanley1228 | 0:f147c77caac0 | 373 | |
stanley1228 | 0:f147c77caac0 | 374 | eMBErrorCode |
stanley1228 | 0:f147c77caac0 | 375 | eMBRegHoldingCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode ) //change variable to REG_HOLDING ,original is all input register |
stanley1228 | 0:f147c77caac0 | 376 | { |
stanley1228 | 0:f147c77caac0 | 377 | eMBErrorCode eStatus = MB_ENOERR; |
stanley1228 | 0:f147c77caac0 | 378 | int iRegIndex; |
stanley1228 | 0:f147c77caac0 | 379 | |
stanley1228 | 0:f147c77caac0 | 380 | if (eMode == MB_REG_READ) |
stanley1228 | 0:f147c77caac0 | 381 | { |
stanley1228 | 0:f147c77caac0 | 382 | if( ( usAddress >= REG_HOLDING_START ) |
stanley1228 | 0:f147c77caac0 | 383 | && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) ) |
stanley1228 | 0:f147c77caac0 | 384 | { |
stanley1228 | 0:f147c77caac0 | 385 | iRegIndex = ( int )( usAddress - usRegHoldingStart ); |
stanley1228 | 0:f147c77caac0 | 386 | while( usNRegs > 0 ) |
stanley1228 | 0:f147c77caac0 | 387 | { |
stanley1228 | 0:f147c77caac0 | 388 | *pucRegBuffer++ = |
stanley1228 | 0:f147c77caac0 | 389 | ( unsigned char )( usRegHoldingBuf[iRegIndex] >> 8 ); |
stanley1228 | 0:f147c77caac0 | 390 | *pucRegBuffer++ = |
stanley1228 | 0:f147c77caac0 | 391 | ( unsigned char )( usRegHoldingBuf[iRegIndex] & 0xFF ); |
stanley1228 | 0:f147c77caac0 | 392 | iRegIndex++; |
stanley1228 | 0:f147c77caac0 | 393 | usNRegs--; |
stanley1228 | 0:f147c77caac0 | 394 | } |
stanley1228 | 0:f147c77caac0 | 395 | } |
stanley1228 | 0:f147c77caac0 | 396 | } |
stanley1228 | 0:f147c77caac0 | 397 | |
stanley1228 | 0:f147c77caac0 | 398 | if (eMode == MB_REG_WRITE) |
stanley1228 | 0:f147c77caac0 | 399 | { |
stanley1228 | 0:f147c77caac0 | 400 | if( ( usAddress >= REG_HOLDING_START ) |
stanley1228 | 0:f147c77caac0 | 401 | && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) ) |
stanley1228 | 0:f147c77caac0 | 402 | { |
stanley1228 | 0:f147c77caac0 | 403 | iRegIndex = ( int )( usAddress - usRegHoldingStart ); |
stanley1228 | 0:f147c77caac0 | 404 | while( usNRegs > 0 ) |
stanley1228 | 0:f147c77caac0 | 405 | { |
stanley1228 | 0:f147c77caac0 | 406 | usRegHoldingBuf[iRegIndex] = ((unsigned int) *pucRegBuffer << 8) | ((unsigned int) *(pucRegBuffer+1)); |
stanley1228 | 0:f147c77caac0 | 407 | pucRegBuffer+=2; |
stanley1228 | 0:f147c77caac0 | 408 | iRegIndex++; |
stanley1228 | 0:f147c77caac0 | 409 | usNRegs--; |
stanley1228 | 0:f147c77caac0 | 410 | } |
stanley1228 | 0:f147c77caac0 | 411 | } |
stanley1228 | 0:f147c77caac0 | 412 | } |
stanley1228 | 0:f147c77caac0 | 413 | |
stanley1228 | 0:f147c77caac0 | 414 | return eStatus; |
stanley1228 | 0:f147c77caac0 | 415 | } |
stanley1228 | 0:f147c77caac0 | 416 | |
stanley1228 | 0:f147c77caac0 | 417 | |
stanley1228 | 0:f147c77caac0 | 418 | eMBErrorCode |
stanley1228 | 0:f147c77caac0 | 419 | eMBRegCoilsCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNCoils, |
stanley1228 | 0:f147c77caac0 | 420 | eMBRegisterMode eMode ) |
stanley1228 | 0:f147c77caac0 | 421 | { |
stanley1228 | 0:f147c77caac0 | 422 | return MB_ENOREG; |
stanley1228 | 0:f147c77caac0 | 423 | } |
stanley1228 | 0:f147c77caac0 | 424 | |
stanley1228 | 0:f147c77caac0 | 425 | eMBErrorCode |
stanley1228 | 0:f147c77caac0 | 426 | eMBRegDiscreteCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNDiscrete ) |
stanley1228 | 0:f147c77caac0 | 427 | { |
stanley1228 | 0:f147c77caac0 | 428 | return MB_ENOREG; |
stanley1228 | 0:f147c77caac0 | 429 | } |
stanley1228 | 0:f147c77caac0 | 430 |