1 /* procesor H8S/2638 ver 1.1 */
5 #include <system_def.h>
9 //#include <pxmc_internal.h>
15 #include <periph/sci_rs232.h>
16 #include <periph/sci_channels.h>
25 #include <candriver.h>
26 #include <canOpenDriver.h>
29 #define INLINE /* Empty */
34 * @name Motor control (h8eurobot)
37 /* #define LED_MAIN_LOOP 0 */
38 /* #define LED_CORR_TRIG 2 */
39 /* #define LED_ODO_SEND 3 */
40 #define LED_LIVE 0 /**< D1: Blinks once per second when software is alive */
41 #define LED_CAN_REC 1 /**< D2: Blinks when a CAN message is received:
42 * - 50ms for motion message
43 * - 5ms for other message (corr_trig) */
44 #define LED_ERROR 2 /**< D3: Light = Unhandled exception, Slow blink (4s) = motor error */
45 #define LED_RESET 3 /**< D4: Blinks for 1 s after reset */
49 #define MAX(a,b) ((a)>(b)?(a):(b))
51 bool odometry_triggered = false;
52 unsigned char trig_seq;
54 int cmd_do_quit(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
56 printf("Good bye!\n");
57 *HCAN1_MCR=1; // software reset
62 int cmd_do_canst(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
68 int cmd_do_setflags(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
72 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
74 pxmc_set_flag(mcs,PXMS_PTI_b); // start to updating index pointing to the phase table (ptindx)
75 pxmc_set_flag(mcs,PXMS_PHA_b); // FIXME: is it really need here
76 printf("Flags were set!\n");
80 * Rotates motor slowly four turns forward and than two turns backward
81 * (in a feedforward manner). During movement it displays values read
82 * from HAL sensors and tries to detect correct index mark position.
84 int cmd_do_haltest(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
87 int i, vang, ptindx, ang_deg, dir, rot;
89 int ptmark_errors[10];
90 int err_idx=-1; /* Ignore the first change because */
91 short ptofs = 1; /* it is unlikely that initial offset is 1 (after reset it will be zero) */
92 unsigned last_time = 0;
94 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
96 vang = mcs->pxms_ptvang; /* Remember vang */
99 mcs->pxms_ene=mcs->pxms_me/3;
100 printf("ptindx hal ap ptofs\n");
102 /* Move motor to the initial position */
103 mcs->pxms_flg = PXMS_PHA_m | PXMS_PTI_m; /* Do not update ptindex acording to HALs */
104 mcs->pxms_ptindx=0; /* Set fixed index to phase tables*/
105 motor_do_output(mcs); /* Apply mag. field accoring to our index */
106 last_time = pxmc_msec_counter;
107 while (pxmc_msec_counter < last_time + 1000) /* Wait for motor to move */
111 for (dir=0; dir<2; dir++) {
112 for (rot=0; rot<4; rot++) {
113 pxmc_initialize(); // reset index mark detection
114 if ((dir&1) == 0) ang_deg=0;
116 while (((dir&1) == 0 && ang_deg < 360) ||
117 ((dir&1) != 0 && ang_deg >= 0)) {
119 ptindx = ((long)ang_deg*mcs->pxms_ptirc/360) % mcs->pxms_ptirc;
122 pxmc_call(mcs, mcs->pxms_do_inp); /* Read IRCs */
123 mcs->pxms_ptindx=ptindx;/* Set fixed index to phase tables*/
124 mcs->pxms_flg = PXMS_PHA_m | PXMS_PTI_m; /* Do not update ptindex acording to HALs */
125 motor_do_output(mcs); /* Apply mag. field accoring to our index */
126 last_time = pxmc_msec_counter;
127 while (pxmc_msec_counter < last_time + 4); /* Wait for motor to move */
128 hal = hal_read(mcs); /* read HAL sensors */
129 printf("%d %d %ld %d\n", mcs->pxms_ptindx, hal,
130 mcs->pxms_ap>>PXMC_SUBDIV(mcs), mcs->pxms_ptofs);
131 if (mcs->pxms_ptofs != ptofs) { /* index mark was detected */
132 ptofs = mcs->pxms_ptofs;
133 if ((int)err_idx < (int)(sizeof(ptmark_errors)/sizeof(*ptmark_errors))) {
135 ptmark_errors[err_idx] =
136 mcs->pxms_ptofs + mcs->pxms_ptindx - (mcs->pxms_ap>>PXMC_SUBDIV(mcs));
141 if ((dir&1) == 0) ang_deg++;
147 mcs->pxms_ptvang = vang;
148 motor_do_output(mcs);
149 mcs->pxms_flg = PXMS_ENI_m;
152 for (i=0; i<err_idx; i++) {
154 printf("ptmark error %d\n", ptmark_errors[i]);
155 avg+=ptmark_errors[i];
157 mcs->pxms_ptmark = (mcs->pxms_ptmark + avg/err_idx) % mcs->pxms_ptirc;
158 printf("pxms_ptmark increased by %ld to %d\n", avg/err_idx, mcs->pxms_ptmark);
163 int cmd_do_setindex(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
166 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
167 int index=atol(param[2]);
168 printf("index=%d\n", index);
169 //printf("No errors detected.\n", index);
170 mcs->pxms_ptindx=index;
174 int cmd_do_setvang(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
177 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
178 int index=atol(param[2]);
179 printf("ptvang=%d\n", index);
180 //printf("No errors detected.\n", index);
181 mcs->pxms_ptvang=index;
186 int cmd_do_setshift(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
189 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
190 int index=atol(param[2]);
191 printf("ptshift=%d\n", index);
192 //printf("No errors detected.\n", index);
193 mcs->pxms_ptshift=index;
197 int cmd_do_showene(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
200 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
201 // if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
202 printf("Current ene is: %d\n",mcs->pxms_ene);
203 printf("Current ptindx is: %d\n",mcs->pxms_ptindx);
204 printf("Current ptvang is: %d\n",mcs->pxms_ptvang);
206 printf("Current ptshift is: %d\n",mcs->pxms_ptshift);
207 printf("Current ptofs is: %d\n",mcs->pxms_ptofs);
210 printf("Actual pos is: %ld\n",mcs->pxms_ap>>PXMC_SUBDIV(mcs));
211 printf("Request pos is: %ld\n",mcs->pxms_rp>>PXMC_SUBDIV(mcs));
213 printf("inp_info is: %d\n",*(volatile short*)mcs->pxms_inp_info);
215 //printf("hal is: %d\n", hal_read(mcs) );
217 if((mcs->pxms_flg&PXMS_PTI_m)) printf("PXMS_PTI_m is: enabled\n"); else printf("PXMS_PTI_m is: disabled\n");
218 if((mcs->pxms_flg&PXMS_PHA_m)) printf("PXMS_PHA_m is: enabled\n"); else printf("PXMS_PHA_m is: disabled\n");
222 int cmd_do_nopxmc(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
225 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
226 pxmc_clear_flag(mcs,PXMS_ENR_b);
227 pxmc_clear_flag(mcs,PXMS_ENO_b);
234 int cmd_do_mypwm(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
238 #define _PXMC_MAX_OUT_ 0x6f
239 const unsigned long ph1[6]={2, 1, 1, 0, 1, 1};
240 const unsigned long ph2[6]={1, 0, 1, 1, 2, 1};
241 const unsigned long ph3[6]={1, 1, 2, 1, 1, 0};
242 #undef _PMXC_MAX_OUT_
245 val=atol(param[2])/2;
247 printf("r=%d val=%d\n", r, val);
249 unsigned pwm1=val*ph1[r];
250 unsigned pwm2=val*ph2[r];
251 unsigned pwm3=val*ph3[r];
252 *PWM_PWBFR1A=(pwm1&0x3ff);
253 *PWM_PWBFR1C=(pwm2&0x3ff);
254 *PWM_PWBFR1E=(pwm3&0x3ff);
259 * Implementation of help command with watchdog
261 static INLINE char *skip_white(char *p)
263 while(isspace((__u8)*p)) p++;
268 #define CMD_ARR_STACK_SIZE 4
269 int cmd_do_help_wd(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
273 const cmd_des_t **des_arr=*(const cmd_des_t ***)des->info[0];
274 cmd_des_t const **arr_stack[CMD_ARR_STACK_SIZE];
277 if (cmd_io->priv.ed_line.io_stack)
278 cmd_io = cmd_io->priv.ed_line.io_stack;
281 filt=skip_white(filt);
282 if(!*filt) filt=NULL;
284 cmd_io_puts(cmd_io,"Help for commands\n");
286 wdg_clear(); /* Added to avoid reseting while listing commands */
289 if(!arr_stack_sp) break;
290 des_arr=arr_stack[--arr_stack_sp];
293 if(des==CMD_DES_CONTINUE_AT_ID){
294 /* list continues at new address */
295 des_arr=(const cmd_des_t **)*des_arr;
298 if(des==CMD_DES_INCLUDE_SUBLIST_ID){
299 /* list includes commands from sublists */
300 if(arr_stack_sp>=CMD_ARR_STACK_SIZE){
303 arr_stack[arr_stack_sp++]=des_arr+1;
304 des_arr=(const cmd_des_t **)*des_arr;
309 if(!filt || !strncmp(des->name,filt,strlen(filt))) {
312 cmd_io_puts(cmd_io,des->name);
313 cmd_io_puts(cmd_io," - ");
314 cmd_io_puts(cmd_io,help);
315 cmd_io_puts(cmd_io, "\r\n");
322 int runtime_display = 0;
325 cmd_des_t const **cmd_list;
327 /* command descriptions */
328 cmd_des_t const cmd_des_help={0, 0,"HELP","prints help for commands",
329 cmd_do_help_wd,{(char*)&cmd_list}};
330 cmd_des_t const cmd_des_showene={0, 0,"SHOWENE?","shows ene and couple others parameters",
333 cmd_des_t const cmd_des_mypwm={0, 0,"x#","test",
335 cmd_des_t const cmd_des_nopxmc={0, 0,"NOPXMC?","switch of pxmc controller and output",
337 cmd_des_t const cmd_des_disp={0, CDESM_OPCHR|CDESM_RW,"DISP","switch on/off runtime display of variables",
338 cmd_do_rw_int, {(char*)&runtime_display}};
339 cmd_des_t const cmd_des_slowgo={0, CDESM_OPCHR|CDESM_RW,"SLOWGO","program controlled movement",
340 cmd_do_rw_int, {(char*)&slowgo}};
341 cmd_des_t const cmd_des_setindex={0, 0,"SETINDEX?","changes pxms_ptindx",
343 cmd_des_t const cmd_des_setvang={0, 0,"SETVANG?","changes pxms_ptvang",
345 cmd_des_t const cmd_des_halindex={0, 0,"HALTEST?","show hal state with respect to ptindex",
347 cmd_des_t const cmd_des_setshift={0, 0,"SETSHIFT?","changes pxms_ptshift",
349 cmd_des_t const cmd_des_quit={0, 0,"QUIT","exit",
351 cmd_des_t const cmd_des_canst={0, 0,"CANST","Print CAN controller status",
354 cmd_des_t const cmd_des_setflags={0, 0,"setflags","set some flags",
358 extern cmd_io_t cmd_io_rs232_line;
359 cmd_des_t const *cmd_list_default[]={
375 (cmd_des_t*)cmd_stm_default,
379 cmd_des_t const **cmd_list=cmd_list_default; /*cmd prikazy pro PC*/
382 void unhandled_exception(void) __attribute__ ((interrupt_handler));
383 void unhandled_exception(void)
386 DEB_LED_ON(LED_ERROR);
388 DEB_LED_OFF(LED_ERROR);
393 void print_mcs_err(pxmc_state_t *mcs, char *name)
395 const char *errmsg[] = {
396 [PXMS_E_COMM&0xff] = "COMM",
397 [PXMS_E_MAXPD&0xff] = "MAXPD",
398 [PXMS_E_OVERL&0xff] = "OVERL",
399 [PXMS_E_HAL&0xff] = "HAL",
400 [PXMS_E_POWER_STAGE&0xff] = "POWER"};
401 printf("PXMC ERROR: %s - %s\n", name, errmsg[mcs->pxms_errno&0xff]);
406 #define ODOMETRY_TABLE_SIZE 10
407 struct odometryData_t
411 } oddata[ODOMETRY_TABLE_SIZE];
414 static INLINE short sendOdometry()
416 static short idxSend=0;
417 static short prevIdxRecive=0xff;
419 if(prevIdxRecive==idxRecive)
421 // Re-send can frames.
425 prevIdxRecive=idxRecive;
426 // Here should be function to send.
434 static INLINE void blink_odo_send(void)
438 if (led) DEB_LED_ON(LED_ODO_SEND);
439 else DEB_LED_OFF(LED_ODO_SEND);
445 * Sends only pxms_ap. Odometry is calculated elsewhere and since we
446 * don't send differences, sequence numbers are not necessary.
448 static INLINE void sendOdometrySimple()
450 /* If the variable is static, it is initialized to zero, so we don't have to initialize it all the time again. */
454 lap = mcs_left.pxms_ap;
455 rap = mcs_right.pxms_ap;
459 m.cob_id.w = CAN_MOTION_ODOMETRY_SIMPLE;
461 /* Data in big-endian, the least significant byte is always zero -
462 * we don't send it */
463 memcpy(&m.data[0], &lap, sizeof(lap)-1);
464 memcpy(&m.data[3], &rap, sizeof(lap)-1);
465 m.data[6] = trig_seq;
466 canMsgTransmit(0, m);
470 static INLINE short storeOdometryInTable()
472 /*FIXME: add detection of error when idxStore>idxRecive.*/
473 oddata[idxStore].dx=x;
474 oddata[idxStore].dy=y;
475 oddata[idxStore].angle=alfa;
476 // Start to count from zero ;)
479 idxStore%=ODOMETRY_TABLE_SIZE;
486 static INLINE void blink_err_led(void)
489 static bool err_led = false;
491 if (err_led) DEB_LED_ON(LED_ERROR);
492 else DEB_LED_OFF(LED_ERROR);
496 static inline bool recoverable_error(pxmc_state_t *mcs)
498 return (mcs->pxms_flg &PXMS_ERR_m &&
499 (mcs->pxms_errno == PXMS_E_MAXPD ||
500 mcs->pxms_errno == PXMS_E_OVERL));
503 static INLINE void handle_motor_errors() {
504 static unsigned last_msg_time=0;
508 if (mcs_left.pxms_flg&PXMS_ERR_m||mcs_right.pxms_flg&PXMS_ERR_m) {
509 pxmc_stop(&mcs_left, 0);
510 pxmc_stop(&mcs_right, 0);
511 if (pxmc_msec_counter - last_msg_time >= 2000) {
513 last_msg_time = pxmc_msec_counter;
514 if (mcs_left.pxms_flg&PXMS_ERR_m) print_mcs_err(&mcs_left, "L");
515 if (mcs_right.pxms_flg&PXMS_ERR_m) print_mcs_err(&mcs_right, "R");
518 /* In case of PXMS_E_MAXPD or PXMS_E_OVERL, we wait 3 seconds and then purge the error. */
519 if (recoverable_error(&mcs_left) ||
520 recoverable_error(&mcs_right)) {
521 static unsigned last_err_time=0;
522 if (last_err_time == 0)
523 last_err_time = pxmc_msec_counter;
524 if (last_err_time != 0 && (pxmc_msec_counter - last_err_time > 3000)) {
525 pxmc_for_each_mcs(i, mcs) {
526 if (recoverable_error(mcs)) {
527 pxmc_set_const_out(mcs,0);
528 pxmc_clear_flag(mcs,PXMS_ERR_b);
537 void led_can_rec(unsigned duration_msec)
540 static unsigned last_rec;
541 static unsigned duration;
543 last_rec = pxmc_msec_counter;
544 duration = MAX(duration_msec, duration);
545 DEB_LED_ON(LED_CAN_REC);
547 if (pxmc_msec_counter - last_rec > duration) {
549 DEB_LED_OFF(LED_CAN_REC);
555 static INLINE void blink_corr_trig(void)
559 if (led) DEB_LED_ON(LED_CORR_TRIG);
560 else DEB_LED_OFF(LED_CORR_TRIG);
566 static INLINE void handle_can_receive(void)
570 while (f_can_receive(0, &msg_rcv)) {
571 switch (msg_rcv.cob_id.w) {
572 case CAN_MOTION_CMD: {
573 short spd_left, spd_right;
574 spd_left = (msg_rcv.data[0] << 8) | msg_rcv.data[1];
575 spd_right= (msg_rcv.data[2] << 8) | msg_rcv.data[3];
577 pxmc_spd(&mcs_left, -spd_left, pxmc_sfikhz*1000 /*timeout in sampling periods = 0.5ms*/);
578 pxmc_spd(&mcs_right,+spd_right, pxmc_sfikhz*1000);
579 /* printf("Left motor speed command: %08x\n",spd_left); */
580 /* printf("Right motor speed command: %08x\n",spd_right); */
585 case CAN_MOTION_RESET: {
586 unsigned now = pxmc_msec_counter;
587 wdg_enable(0); /* 25 us */
588 while (pxmc_msec_counter - now < 10);
589 /* Hopefully, we are reset now. */
594 odometry_triggered = true;
595 trig_seq = msg_rcv.data[0];
603 /* printf("Received message: id=%lx\n", msg_rcv.cob_id.w); */
604 /* for (i = 0 ; i < 8; i++) printf("%02x ", msg_rcv.data[i]); */
610 static INLINE void handle_odometry_send()
612 #define ODOMETRY_PERIOD 43
613 #define ODOMETRY_TIMEOUT (3*ODOMETRY_PERIOD)
615 timeout = ODOMETRY_TIMEOUT,
618 if (odometry_triggered) {
619 odometry_triggered = false;
620 last_send_time = pxmc_msec_counter;
621 sendOdometrySimple();
622 timeout = ODOMETRY_TIMEOUT;
625 if (pxmc_msec_counter - last_send_time >= timeout) {
626 last_send_time = pxmc_msec_counter;
627 sendOdometrySimple();
628 timeout = ODOMETRY_PERIOD;
632 static INLINE void handle_status_send()
634 static unsigned last_send_time=0;
637 if (pxmc_msec_counter - last_send_time >= 500) {
638 last_send_time = pxmc_msec_counter;
639 memset(&m, 0, sizeof(m));
640 m.cob_id.w = CAN_MOTION_STATUS;
642 m.data[0] = mcs_left.pxms_flg & PXMS_ERR_m ? mcs_left.pxms_errno >> 8 : 0;
643 m.data[1] = mcs_left.pxms_flg & PXMS_ERR_m ? mcs_left.pxms_errno & 0xff : 0;
644 m.data[2] = mcs_right.pxms_flg & PXMS_ERR_m ? mcs_right.pxms_errno >> 8 : 0;
645 m.data[3] = mcs_right.pxms_flg & PXMS_ERR_m ? mcs_right.pxms_errno & 0xff : 0;
646 canMsgTransmit(0, m);
650 static INLINE void blink_main_loop()
653 static bool led = false;
655 if (led) DEB_LED_ON(LED_MAIN_LOOP);
656 else DEB_LED_OFF(LED_MAIN_LOOP);
661 static INLINE void handle_leds()
664 static unsigned last=0;
665 static bool on=false;
666 if (pxmc_msec_counter-last >= PERIOD/2) {
671 DEB_LED_ON(LED_LIVE);
675 DEB_LED_OFF(LED_LIVE);
678 DEB_LED_OFF(LED_RESET);
688 void _print(char *ptr);
692 excptvec_initfill(unhandled_exception, 0);
693 sci_rs232_setmode(19200, 0, 0, sci_rs232_chan_default); //PC
694 DEB_LED_ON(LED_RESET);
695 wdg_enable(6); /* 420 ms */
697 _print("CPU initialized\r\n");
700 printf("PXMC initialized (motor: %s)", pxmc_variant);
703 int32_t receive_id[] = { CAN_CORR_TRIG, CAN_MOTION_CMD, CAN_MOTION_RESET, -1 };
704 canInit(0, 1000000, receive_id);
705 printf("CAN initialized\n");
709 handle_can_receive();
710 handle_odometry_send();
711 handle_status_send();
712 handle_motor_errors();
714 cmd_processor_run(&cmd_io_rs232_line, cmd_list_default); // run command processor on serial line
718 if (runtime_display) {
719 //printf("c=%d idx=%d\n", test_counter, test_index);
720 //printf("ene=%d\n", mcs_left.pxms_ene);
721 //printf("rs=%ld as=%ld\n", mcs_left.pxms_rs, mcs_left.pxms_as);