brushless.c File Reference

#include <types.h>
#include <cpu_def.h>
#include <mcu_regs.h>
#include <system_def.h>
#include <string.h>
#include <boot_fn.h>
#include <pxmc.h>
#include <pxmcbsp.h>
#include <ctype.h>
#include <stdlib.h>
#include <utils.h>
#include <periph/sci_rs232.h>
#include <periph/sci_channels.h>
#include <stdio.h>
#include <stdbool.h>
#include <cmd_proc.h>
#include "cmd_pxmc.h"
#include <candriver.h>
#include <canOpenDriver.h>
#include <can_ids.h>

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Classes
struct	dbg_prt_des
struct	odometryData_t
Defines
#define	INLINE
#define	MAX(a, b)   ((a)>(b)?(a):(b))
#define	_PXMC_MAX_OUT_   0x6f
#define	CMD_ARR_STACK_SIZE   4
#define	DBGPF_AXES   0x00ff
#define	DBGPF_PER_TIME   0x0100
#define	DBGPF_PER_POS   0x0800
#define	DBGPF_CMD_PROC   0x1000
#define	ODOMETRY_TABLE_SIZE   10
#define	ODOMETRY_PERIOD   43
#define	ODOMETRY_TIMEOUT   (3*ODOMETRY_PERIOD)
#define	PERIOD   1000
Motor control (h8eurobot)
#define	LED_LIVE   0
	D1: Blinks once per second when software is alive.
#define	LED_CAN_REC   1
	D2: Blinks when a CAN message is received: 50ms for motion message 5ms for other message (corr_trig).
#define	LED_ERROR   2
	D3: Light = Unhandled exception, Slow blink (4s) = motor error.
#define	LED_RESET   3
	D4: Blinks for 1 s after reset.
Typedefs
typedef struct dbg_prt_des	dbg_prt_des_t
Functions
int	cmd_do_quit (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_canst (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_setflags (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_haltest (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
	Rotates motor slowly four turns forward and than two turns backward (in a feedforward manner).
int	cmd_do_setindex (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_setvang (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_setshift (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_showene (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_nopxmc (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_mypwm (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_help_wd (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
void	run_dbg_prt (cmd_io_t *cmd_io)
int	cmd_do_switches (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
int	cmd_do_pthalign (cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
void	unhandled_exception (void)
void	print_mcs_err (pxmc_state_t *mcs, char *name)
void	led_can_rec (unsigned duration_msec)
void	_print (char *ptr)
int	main ()
Variables
bool	odometry_triggered = false
unsigned char	trig_seq
unsigned	dbg_prt_flg = 0
const dbg_prt_des_t	dbg_prt_des []
int	runtime_display = 0
int	slowgo = 0
cmd_des_t const **	cmd_list = cmd_list_default
cmd_des_t const	cmd_des_help
cmd_des_t const	cmd_des_showene
cmd_des_t const	cmd_des_mypwm
cmd_des_t const	cmd_des_nopxmc
cmd_des_t const	cmd_des_disp
cmd_des_t const	cmd_des_slowgo
cmd_des_t const	cmd_des_setindex
cmd_des_t const	cmd_des_setvang
cmd_des_t const	cmd_des_halindex
cmd_des_t const	cmd_des_pthalign
cmd_des_t const	cmd_des_setshift
cmd_des_t const	cmd_des_quit
cmd_des_t const	cmd_des_canst
cmd_des_t const	cmd_des_dprint
cmd_des_t const	cmd_des_setflags
cmd_io_t	cmd_io_rs232_line
cmd_des_t const *	cmd_list_default []
short	idxRecive = 0
short	idxStore = 0
struct odometryData_t	oddata [ODOMETRY_TABLE_SIZE]

---

Define Documentation

#define _PXMC_MAX_OUT_   0x6f

#define CMD_ARR_STACK_SIZE   4

#define DBGPF_AXES   0x00ff

#define DBGPF_CMD_PROC   0x1000

#define DBGPF_PER_POS   0x0800

#define DBGPF_PER_TIME   0x0100

#define INLINE

#define MAX	(		a,
			b
	)			((a)>(b)?(a):(b))

#define ODOMETRY_PERIOD   43

#define ODOMETRY_TABLE_SIZE   10

#define ODOMETRY_TIMEOUT   (3*ODOMETRY_PERIOD)

#define PERIOD   1000

---

Typedef Documentation

typedef struct dbg_prt_des dbg_prt_des_t

---

Function Documentation

void _print

(

char *

ptr

)

int cmd_do_canst	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

int cmd_do_haltest	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

Rotates motor slowly four turns forward and than two turns backward (in a feedforward manner).

During movement it displays values read from HAL sensors and tries to detect correct index mark position.

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int cmd_do_help_wd	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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int cmd_do_mypwm	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

int cmd_do_nopxmc	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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int cmd_do_pthalign	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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int cmd_do_quit	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

int cmd_do_setflags	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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int cmd_do_setindex	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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int cmd_do_setshift	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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int cmd_do_setvang	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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int cmd_do_showene	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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int cmd_do_switches	(	cmd_io_t *	cmd_io,
		const struct cmd_des *	des,
		char *	param[]
	)

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void led_can_rec

(

unsigned

duration_msec

)

int main

(

void

)

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void print_mcs_err	(	pxmc_state_t *	mcs,
		char *	name
	)

void run_dbg_prt

(

cmd_io_t *

cmd_io

)

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void unhandled_exception

(

void

)

---

Variable Documentation

cmd_des_t const cmd_des_canst

Initial value:

{0, 0,"CANST","Print CAN controller status",
                              cmd_do_canst}

cmd_des_t const cmd_des_disp

Initial value:

{0, CDESM_OPCHR|CDESM_RW,"DISP","switch on/off runtime display of variables",
                              cmd_do_rw_int, {(char*)&runtime_display}}

cmd_des_t const cmd_des_dprint

Initial value:

{0, 0,"dprint","enable debug messages to print, use + - to add remove, list types ?",
                        cmd_do_switches,
                        {(char*)&dbg_prt_flg,(char*)dbg_prt_des}}

cmd_des_t const cmd_des_halindex

Initial value:

{0, 0,"HALTEST?","show hal state with respect to ptindex",
                                  cmd_do_haltest}

cmd_des_t const cmd_des_help

Initial value:

{0, 0,"HELP","prints help for commands",
                              cmd_do_help_wd,{(char*)&cmd_list}}

cmd_des_t const cmd_des_mypwm

Initial value:

{0, 0,"x#","test",
                               cmd_do_mypwm}

cmd_des_t const cmd_des_nopxmc

Initial value:

{0, 0,"NOPXMC?","switch of pxmc controller and output",
                                cmd_do_nopxmc}

cmd_des_t const cmd_des_pthalign

Initial value:

{0, CDESM_OPCHR|CDESM_RW,"PTHALIGN?","run alignement of phase according to HAL",
                                  cmd_do_pthalign}

cmd_des_t const cmd_des_quit

Initial value:

{0, 0,"QUIT","exit",
                              cmd_do_quit}

cmd_des_t const cmd_des_setflags

Initial value:

{0, 0,"setflags","set some flags",
                                  cmd_do_setflags}

cmd_des_t const cmd_des_setindex

Initial value:

{0, 0,"SETINDEX?","changes pxms_ptindx",
                                  cmd_do_setindex}

cmd_des_t const cmd_des_setshift

Initial value:

{0, 0,"SETSHIFT?","changes pxms_ptshift",
                                  cmd_do_setshift}

cmd_des_t const cmd_des_setvang

Initial value:

{0, 0,"SETVANG?","changes pxms_ptvang",
                                 cmd_do_setvang}

cmd_des_t const cmd_des_showene

Initial value:

{0, 0,"SHOWENE?","shows ene and couple others parameters",
                                 cmd_do_showene}

cmd_des_t const cmd_des_slowgo

Initial value:

{0, CDESM_OPCHR|CDESM_RW,"SLOWGO","program controlled movement",
                                cmd_do_rw_int, {(char*)&slowgo}}

cmd_io_t cmd_io_rs232_line

cmd_des_t const** cmd_list = cmd_list_default

cmd_des_t const* cmd_list_default[]

Initial value:

{

    &cmd_des_help,
    &cmd_des_quit,
    &cmd_des_setflags,
    &cmd_des_mypwm,
    &cmd_des_setindex,
    &cmd_des_setvang,
    &cmd_des_halindex,
    &cmd_des_pthalign,
    &cmd_des_setshift,
    &cmd_des_showene,
    &cmd_des_nopxmc,
    &cmd_des_disp,
    &cmd_des_slowgo,
    &cmd_des_canst,
    &cmd_des_dprint,
    (cmd_des_t*)1,
    (cmd_des_t*)cmd_stm_default,
    NULL
}

const dbg_prt_des_t dbg_prt_des[]

Initial value:

{
  {~0,"all"},
  {1,"A"},{2,"B"},
  {DBGPF_PER_TIME,"time"},
  {DBGPF_PER_POS, "pos"},
  {DBGPF_CMD_PROC,"cmd"},
  {0,NULL}
}

unsigned dbg_prt_flg = 0

short idxRecive = 0

short idxStore = 0

struct odometryData_t oddata[ODOMETRY_TABLE_SIZE]

bool odometry_triggered = false

int runtime_display = 0

int slowgo = 0

unsigned char trig_seq