Diff: main.cpp

Revision:

0:f147c77caac0

Child:

1:249f89a36223

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Mar 31 02:08:44 2017 +0000
@@ -0,0 +1,233 @@
+#include "mb.h"
+#include "mbport.h"
+#include "mbed.h" //stanley
+#include "dynamixel.h"
+
+#define DEBUG 1
+
+#if (DEBUG)
+	#define DBGMSG(x)  pc.printf x;
+#else
+    #define DBGMSG(x)
+#endif
+
+
+DigitalOut myled(LED1); //stanley
+
+
+Serial pc(USBTX, USBRX);  //stanley
+
+/* ----------------------- Defines ------------------------------------------*/
+#define REG_INPUT_START (3001)  //not use now stanley
+#define REG_INPUT_NREGS 15		//not use now stanley
+#define REG_HOLDING_START (4001)
+#define REG_HOLDING_NREGS 28
+
+#define SLAVE_ID 0x0A
+#define DEF_MAX_AXIS 7
+  	//==
+    //Modbus struct
+    //==
+    //Input register  0~14 
+    //public UInt16[] PosVal = new UInt16[DEF_MAX_AXIS];  7
+    //public Int16[] VelValue = new Int16[DEF_MAX_AXIS];  7
+    //public Int16 Err_State = 0;						  1	
+
+    ////Holding register  0~5
+    //public Int16 TargetPosX;			1
+    //public Int16 TargetPosY;			1
+    //public Int16 TargetPosZ;			1
+    //public Int16 OPMode;      //P2P	1
+    //public Int16 SpeedRatio; //0~1	1	
+
+enum{
+	DEF_INX_TARGET_POSX=0,
+	DEF_INX_TARGET_POSY,
+	DEF_INX_TARGET_POSZ,
+	DEF_INX_OPMODE,
+	DEF_INX_SPPED_RATIO_L,
+	DEF_INX_SPPED_RATIO_H,
+
+	DEF_INX_TARPOS1=6,
+	DEF_INX_TARPOS2,
+	DEF_INX_TARPOS3,
+	DEF_INX_TARPOS4,
+	DEF_INX_TARPOS5,
+	DEF_INX_TARPOS6,
+	DEF_INX_TARPOS7,
+
+	DEF_INX_POSVAL1=13,
+	DEF_INX_POSVAL2,
+	DEF_INX_POSVAL3,
+	DEF_INX_POSVAL4,
+	DEF_INX_POSVAL5,
+	DEF_INX_POSVAL6,
+	DEF_INX_POSVAL7,
+
+	DEF_INX_VELVAL1=20,
+	DEF_INX_VELVAL2,
+	DEF_INX_VELVAL3,
+	DEF_INX_VELVAL4,
+	DEF_INX_VELVAL5,
+	DEF_INX_VELVAL6,
+	DEF_INX_VELVAL7
+};
+
+enum eOPMode
+{
+    JOG,
+    P2P,
+    SEWING,
+    LINE
+};
+/* ----------------------- Static variables ---------------------------------*/
+static USHORT   usRegInputStart = REG_INPUT_START; //not use now stanley
+static USHORT   usRegInputBuf[REG_INPUT_NREGS]; //not use now stanley
+
+static USHORT   usRegHoldingStart = REG_HOLDING_START;
+static USHORT   usRegHoldingBuf[REG_HOLDING_NREGS];
+
+/* ----------------------- Start implementation -----------------------------*/
+
+int main( void )
+{
+    eMBErrorCode    eStatus;
+
+    eStatus = eMBInit( MB_RTU, SLAVE_ID, 0, 115200, MB_PAR_NONE );
+
+    /* Enable the Modbus Protocol Stack. */
+	eMBEnable(  );
+    //eStatus = eMBEnable(  );
+    
+    // Initialise some registers
+ //   usRegInputBuf[1] = 0x1234;
+ //   usRegInputBuf[2] = 0x5678;
+ //   usRegInputBuf[3] = 0x9abc;  
+	//usRegInputBuf[4] = 0x1000;
+ //   usRegInputBuf[5] = 0x1001;  
+ //   usRegInputBuf[6] = 0x1002;  
+
+	usRegHoldingBuf[DEF_INX_TARGET_POSX]=0;
+	usRegHoldingBuf[DEF_INX_TARGET_POSY]=1000;
+	usRegHoldingBuf[DEF_INX_TARGET_POSZ]=2000;
+	usRegHoldingBuf[DEF_INX_OPMODE]=JOG;
+	
+	float fSpeedRatio=0.345;
+	USHORT* usp=(USHORT*)&fSpeedRatio;
+	usRegHoldingBuf[DEF_INX_SPPED_RATIO_L]=*usp;
+	usRegHoldingBuf[DEF_INX_SPPED_RATIO_H]=*(usp+1);
+
+	for(int i=0;i<DEF_MAX_AXIS;i++)
+	{
+		usRegHoldingBuf[DEF_INX_TARPOS1+i]=500+i;
+		usRegHoldingBuf[DEF_INX_POSVAL1+i]=1000+i;
+		usRegHoldingBuf[DEF_INX_VELVAL1+i]=2000+i;
+	}
+	
+
+	
+	myled=1;//stanley
+	
+    for( ;; )
+    {
+        //(void)eMBPoll(  ); origianl
+		//
+		eStatus=eMBPoll();
+		
+        /* Here we simply count the number of poll cycles. */
+        usRegHoldingBuf[DEF_INX_TARGET_POSX]++;
+		 
+		wait_ms(5);        //stanley
+		if(usRegHoldingBuf[DEF_INX_TARGET_POSX]==200)//stanley
+		{
+			myled=!myled;
+			usRegHoldingBuf[DEF_INX_TARGET_POSX]=0;
+		}
+    }
+}
+
+eMBErrorCode
+eMBRegInputCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs )
+{
+    eMBErrorCode    eStatus = MB_ENOERR;
+    int             iRegIndex;
+
+    if( ( usAddress >= REG_INPUT_START )
+        && ( usAddress + usNRegs <= REG_INPUT_START + REG_INPUT_NREGS ) )
+    {
+        iRegIndex = ( int )( usAddress - usRegInputStart );
+        while( usNRegs > 0 )
+        {
+            *pucRegBuffer++ =
+                ( unsigned char )( usRegInputBuf[iRegIndex] >> 8 );
+            *pucRegBuffer++ =
+                ( unsigned char )( usRegInputBuf[iRegIndex] & 0xFF );
+            iRegIndex++;
+            usNRegs--;
+        }
+    }
+    else
+    {
+        eStatus = MB_ENOREG;
+    }
+
+    return eStatus;
+}
+
+eMBErrorCode
+eMBRegHoldingCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNRegs, eMBRegisterMode eMode )  //change variable to REG_HOLDING ,original is all input register
+{
+    eMBErrorCode    eStatus = MB_ENOERR;
+    int             iRegIndex;
+
+    if (eMode == MB_REG_READ)
+    {
+        if( ( usAddress >= REG_HOLDING_START )
+            && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) )
+        {
+            iRegIndex = ( int )( usAddress - usRegHoldingStart );
+            while( usNRegs > 0 )
+            {
+                *pucRegBuffer++ =
+                    ( unsigned char )( usRegHoldingBuf[iRegIndex] >> 8 );
+                *pucRegBuffer++ =
+                    ( unsigned char )( usRegHoldingBuf[iRegIndex] & 0xFF );
+                iRegIndex++;
+                usNRegs--;
+            }
+        }
+    }
+
+    if (eMode == MB_REG_WRITE)
+    {
+        if( ( usAddress >= REG_HOLDING_START )
+            && ( usAddress + usNRegs <= REG_HOLDING_START + REG_HOLDING_NREGS ) )
+        {
+            iRegIndex = ( int )( usAddress - usRegHoldingStart );
+            while( usNRegs > 0 )
+            {
+                usRegHoldingBuf[iRegIndex] =  ((unsigned int) *pucRegBuffer << 8) | ((unsigned int) *(pucRegBuffer+1));
+                pucRegBuffer+=2;
+                iRegIndex++;
+                usNRegs--;
+            }
+        }
+    }
+
+    return eStatus;
+}
+
+
+eMBErrorCode
+eMBRegCoilsCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNCoils,
+               eMBRegisterMode eMode )
+{
+    return MB_ENOREG;
+}
+
+eMBErrorCode
+eMBRegDiscreteCB( UCHAR * pucRegBuffer, USHORT usAddress, USHORT usNDiscrete )
+{
+    return MB_ENOREG;
+}
+