2 * Copyright (C) 2006-2011 Department of Control Engineering, FEE,
3 * Czech Technical University in Prague, Czech Republic,
4 * http://dce.fel.cvut.cz/
6 * Copyright (C) 2006-2011 Michal Sojka <sojkam1@fel.cvut.cz>
8 * This program is free software; you can redistribute it and/or modify
9 * it under the terms of the GNU General Public License as published by
10 * the Free Software Foundation; either version 2 of the License, or
11 * (at your option) any later version.
13 * This program is distributed in the hope that it will be useful,
14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16 * GNU General Public License for more details.
18 /* procesor H8S/2638 ver 1.1 */
22 #include <system_def.h>
26 //#include <pxmc_internal.h>
32 #include <periph/sci_rs232.h>
33 #include <periph/sci_channels.h>
42 #include <candriver.h>
43 #include <canOpenDriver.h>
46 #define INLINE /* Empty */
51 * @name Motor control (h8eurobot)
54 /* #define LED_MAIN_LOOP 0 */
55 /* #define LED_CORR_TRIG 2 */
56 /* #define LED_ODO_SEND 3 */
57 #define LED_LIVE 0 /**< D1: Blinks once per second when software is alive */
58 #define LED_CAN_REC 1 /**< D2: Blinks when a CAN message is received:
59 * - 50ms for motion message
60 * - 5ms for other message (corr_trig) */
61 #define LED_ERROR 2 /**< D3: Light = Unhandled exception, Slow blink (4s) = motor error */
62 #define LED_RESET 3 /**< D4: Blinks for 1 s after reset */
66 #define MAX(a,b) ((a)>(b)?(a):(b))
68 bool odometry_triggered = false;
69 unsigned char trig_seq;
71 int cmd_do_quit(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
73 printf("Good bye!\n");
74 *HCAN1_MCR=1; // software reset
79 int cmd_do_canst(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
85 int cmd_do_setflags(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
89 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
91 pxmc_set_flag(mcs,PXMS_PTI_b); // start to updating index pointing to the phase table (ptindx)
92 pxmc_set_flag(mcs,PXMS_PHA_b); // FIXME: is it really need here
93 printf("Flags were set!\n");
97 * Rotates motor slowly four turns forward and than two turns backward
98 * (in a feedforward manner). During movement it displays values read
99 * from HAL sensors and tries to detect correct index mark position.
101 int cmd_do_haltest(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
104 int i, vang, ptindx, ang_deg, dir, rot;
106 int ptmark_errors[10];
107 int err_idx=-1; /* Ignore the first change because */
108 short ptofs = 1; /* it is unlikely that initial offset is 1 (after reset it will be zero) */
109 unsigned last_time = 0;
111 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
113 vang = mcs->pxms_ptvang; /* Remember vang */
116 mcs->pxms_ene=mcs->pxms_me/3;
117 printf("ptindx hal ap ptofs\n");
119 /* Move motor to the initial position */
120 mcs->pxms_flg = PXMS_PHA_m | PXMS_PTI_m; /* Do not update ptindex acording to HALs */
121 mcs->pxms_ptindx=0; /* Set fixed index to phase tables*/
122 motor_do_output(mcs); /* Apply mag. field accoring to our index */
123 last_time = pxmc_msec_counter;
124 while (pxmc_msec_counter < last_time + 1000) /* Wait for motor to move */
128 for (dir=0; dir<2; dir++) {
129 for (rot=0; rot<4; rot++) {
130 pxmc_initialize(); // reset index mark detection
131 if ((dir&1) == 0) ang_deg=0;
133 while (((dir&1) == 0 && ang_deg < 360) ||
134 ((dir&1) != 0 && ang_deg >= 0)) {
136 ptindx = ((long)ang_deg*mcs->pxms_ptirc/360) % mcs->pxms_ptirc;
139 pxmc_call(mcs, mcs->pxms_do_inp); /* Read IRCs */
140 mcs->pxms_ptindx=ptindx;/* Set fixed index to phase tables*/
141 mcs->pxms_flg = PXMS_PHA_m | PXMS_PTI_m; /* Do not update ptindex acording to HALs */
142 motor_do_output(mcs); /* Apply mag. field accoring to our index */
143 last_time = pxmc_msec_counter;
144 while (pxmc_msec_counter < last_time + 4); /* Wait for motor to move */
145 hal = hal_read(mcs); /* read HAL sensors */
146 printf("%d %d %ld %d\n", mcs->pxms_ptindx, hal,
147 mcs->pxms_ap>>PXMC_SUBDIV(mcs), mcs->pxms_ptofs);
148 if (mcs->pxms_ptofs != ptofs) { /* index mark was detected */
149 ptofs = mcs->pxms_ptofs;
150 if ((int)err_idx < (int)(sizeof(ptmark_errors)/sizeof(*ptmark_errors))) {
152 ptmark_errors[err_idx] =
153 mcs->pxms_ptofs + mcs->pxms_ptindx - (mcs->pxms_ap>>PXMC_SUBDIV(mcs));
158 if ((dir&1) == 0) ang_deg++;
164 mcs->pxms_ptvang = vang;
165 motor_do_output(mcs);
166 mcs->pxms_flg = PXMS_ENI_m;
169 for (i=0; i<err_idx; i++) {
171 printf("ptmark error %d\n", ptmark_errors[i]);
172 avg+=ptmark_errors[i];
174 mcs->pxms_ptmark = (mcs->pxms_ptmark + avg/err_idx) % mcs->pxms_ptirc;
175 printf("pxms_ptmark increased by %ld to %d\n", avg/err_idx, mcs->pxms_ptmark);
180 int cmd_do_setindex(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
183 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
184 int index=atol(param[2]);
185 printf("index=%d\n", index);
186 //printf("No errors detected.\n", index);
187 mcs->pxms_ptindx=index;
191 int cmd_do_setvang(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
194 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
195 int index=atol(param[2]);
196 printf("ptvang=%d\n", index);
197 //printf("No errors detected.\n", index);
198 mcs->pxms_ptvang=index;
203 int cmd_do_setshift(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
206 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
207 int index=atol(param[2]);
208 printf("ptshift=%d\n", index);
209 //printf("No errors detected.\n", index);
210 mcs->pxms_ptshift=index;
214 int cmd_do_showene(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
217 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
218 // if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
219 printf("Current ene is: %d\n",mcs->pxms_ene);
220 printf("Current ptindx is: %d\n",mcs->pxms_ptindx);
221 printf("Current ptvang is: %d\n",mcs->pxms_ptvang);
223 printf("Current ptshift is: %d\n",mcs->pxms_ptshift);
224 printf("Current ptofs is: %d\n",mcs->pxms_ptofs);
227 printf("Actual pos is: %ld\n",mcs->pxms_ap>>PXMC_SUBDIV(mcs));
228 printf("Request pos is: %ld\n",mcs->pxms_rp>>PXMC_SUBDIV(mcs));
230 printf("inp_info is: %d\n",*(volatile short*)mcs->pxms_inp_info);
232 //printf("hal is: %d\n", hal_read(mcs) );
234 if((mcs->pxms_flg&PXMS_PTI_m)) printf("PXMS_PTI_m is: enabled\n"); else printf("PXMS_PTI_m is: disabled\n");
235 if((mcs->pxms_flg&PXMS_PHA_m)) printf("PXMS_PHA_m is: enabled\n"); else printf("PXMS_PHA_m is: disabled\n");
239 int cmd_do_nopxmc(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
242 if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
243 pxmc_clear_flag(mcs,PXMS_ENR_b);
244 pxmc_clear_flag(mcs,PXMS_ENO_b);
251 int cmd_do_mypwm(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
255 #define _PXMC_MAX_OUT_ 0x6f
256 const unsigned long ph1[6]={2, 1, 1, 0, 1, 1};
257 const unsigned long ph2[6]={1, 0, 1, 1, 2, 1};
258 const unsigned long ph3[6]={1, 1, 2, 1, 1, 0};
259 #undef _PMXC_MAX_OUT_
262 val=atol(param[2])/2;
264 printf("r=%d val=%d\n", r, val);
266 unsigned pwm1=val*ph1[r];
267 unsigned pwm2=val*ph2[r];
268 unsigned pwm3=val*ph3[r];
269 *PWM_PWBFR1A=(pwm1&0x3ff);
270 *PWM_PWBFR1C=(pwm2&0x3ff);
271 *PWM_PWBFR1E=(pwm3&0x3ff);
276 * Implementation of help command with watchdog
278 static INLINE char *skip_white(char *p)
280 while(isspace((__u8)*p)) p++;
285 #define CMD_ARR_STACK_SIZE 4
286 int cmd_do_help_wd(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
290 const cmd_des_t **des_arr=*(const cmd_des_t ***)des->info[0];
291 cmd_des_t const **arr_stack[CMD_ARR_STACK_SIZE];
294 if (cmd_io->priv.ed_line.io_stack)
295 cmd_io = cmd_io->priv.ed_line.io_stack;
298 filt=skip_white(filt);
299 if(!*filt) filt=NULL;
301 cmd_io_puts(cmd_io,"Help for commands\n");
303 wdg_clear(); /* Added to avoid reseting while listing commands */
306 if(!arr_stack_sp) break;
307 des_arr=arr_stack[--arr_stack_sp];
310 if(des==CMD_DES_CONTINUE_AT_ID){
311 /* list continues at new address */
312 des_arr=(const cmd_des_t **)*des_arr;
315 if(des==CMD_DES_INCLUDE_SUBLIST_ID){
316 /* list includes commands from sublists */
317 if(arr_stack_sp>=CMD_ARR_STACK_SIZE){
320 arr_stack[arr_stack_sp++]=des_arr+1;
321 des_arr=(const cmd_des_t **)*des_arr;
326 if(!filt || !strncmp(des->name,filt,strlen(filt))) {
329 cmd_io_puts(cmd_io,des->name);
330 cmd_io_puts(cmd_io," - ");
331 cmd_io_puts(cmd_io,help);
332 cmd_io_puts(cmd_io, "\r\n");
339 int runtime_display = 0;
342 cmd_des_t const **cmd_list;
344 /* command descriptions */
345 cmd_des_t const cmd_des_help={0, 0,"HELP","prints help for commands",
346 cmd_do_help_wd,{(char*)&cmd_list}};
347 cmd_des_t const cmd_des_showene={0, 0,"SHOWENE?","shows ene and couple others parameters",
350 cmd_des_t const cmd_des_mypwm={0, 0,"x#","test",
352 cmd_des_t const cmd_des_nopxmc={0, 0,"NOPXMC?","switch of pxmc controller and output",
354 cmd_des_t const cmd_des_disp={0, CDESM_OPCHR|CDESM_RW,"DISP","switch on/off runtime display of variables",
355 cmd_do_rw_int, {(char*)&runtime_display}};
356 cmd_des_t const cmd_des_slowgo={0, CDESM_OPCHR|CDESM_RW,"SLOWGO","program controlled movement",
357 cmd_do_rw_int, {(char*)&slowgo}};
358 cmd_des_t const cmd_des_setindex={0, 0,"SETINDEX?","changes pxms_ptindx",
360 cmd_des_t const cmd_des_setvang={0, 0,"SETVANG?","changes pxms_ptvang",
362 cmd_des_t const cmd_des_halindex={0, 0,"HALTEST?","show hal state with respect to ptindex",
364 cmd_des_t const cmd_des_setshift={0, 0,"SETSHIFT?","changes pxms_ptshift",
366 cmd_des_t const cmd_des_quit={0, 0,"QUIT","exit",
368 cmd_des_t const cmd_des_canst={0, 0,"CANST","Print CAN controller status",
371 cmd_des_t const cmd_des_setflags={0, 0,"setflags","set some flags",
375 extern cmd_io_t cmd_io_rs232_line;
376 cmd_des_t const *cmd_list_default[]={
392 (cmd_des_t*)cmd_stm_default,
396 cmd_des_t const **cmd_list=cmd_list_default; /*cmd prikazy pro PC*/
399 void unhandled_exception(void) __attribute__ ((interrupt_handler));
400 void unhandled_exception(void)
403 DEB_LED_ON(LED_ERROR);
405 DEB_LED_OFF(LED_ERROR);
410 void print_mcs_err(pxmc_state_t *mcs, char *name)
412 const char *errmsg[] = {
413 [PXMS_E_COMM&0xff] = "COMM",
414 [PXMS_E_MAXPD&0xff] = "MAXPD",
415 [PXMS_E_OVERL&0xff] = "OVERL",
416 [PXMS_E_HAL&0xff] = "HAL",
417 [PXMS_E_POWER_STAGE&0xff] = "POWER"};
418 printf("PXMC ERROR: %s - %s\n", name, errmsg[mcs->pxms_errno&0xff]);
423 #define ODOMETRY_TABLE_SIZE 10
424 struct odometryData_t
428 } oddata[ODOMETRY_TABLE_SIZE];
431 static INLINE short sendOdometry()
433 static short idxSend=0;
434 static short prevIdxRecive=0xff;
436 if(prevIdxRecive==idxRecive)
438 // Re-send can frames.
442 prevIdxRecive=idxRecive;
443 // Here should be function to send.
451 static INLINE void blink_odo_send(void)
455 if (led) DEB_LED_ON(LED_ODO_SEND);
456 else DEB_LED_OFF(LED_ODO_SEND);
462 * Sends only pxms_ap. Odometry is calculated elsewhere and since we
463 * don't send differences, sequence numbers are not necessary.
465 static INLINE void sendOdometrySimple()
467 /* If the variable is static, it is initialized to zero, so we don't have to initialize it all the time again. */
471 lap = mcs_left.pxms_ap;
472 rap = mcs_right.pxms_ap;
476 m.cob_id.w = CAN_MOTION_ODOMETRY_SIMPLE;
478 /* Data in big-endian, the least significant byte is always zero -
479 * we don't send it */
480 memcpy(&m.data[0], &lap, sizeof(lap)-1);
481 memcpy(&m.data[3], &rap, sizeof(lap)-1);
482 m.data[6] = trig_seq;
483 canMsgTransmit(0, m);
487 static INLINE short storeOdometryInTable()
489 /*FIXME: add detection of error when idxStore>idxRecive.*/
490 oddata[idxStore].dx=x;
491 oddata[idxStore].dy=y;
492 oddata[idxStore].angle=alfa;
493 // Start to count from zero ;)
496 idxStore%=ODOMETRY_TABLE_SIZE;
503 static INLINE void blink_err_led(void)
506 static bool err_led = false;
508 if (err_led) DEB_LED_ON(LED_ERROR);
509 else DEB_LED_OFF(LED_ERROR);
513 static inline bool recoverable_error(pxmc_state_t *mcs)
515 return (mcs->pxms_flg &PXMS_ERR_m &&
516 (mcs->pxms_errno == PXMS_E_MAXPD ||
517 mcs->pxms_errno == PXMS_E_OVERL));
520 static INLINE void handle_motor_errors() {
521 static unsigned last_msg_time=0;
525 if (mcs_left.pxms_flg&PXMS_ERR_m||mcs_right.pxms_flg&PXMS_ERR_m) {
526 pxmc_stop(&mcs_left, 0);
527 pxmc_stop(&mcs_right, 0);
528 if (pxmc_msec_counter - last_msg_time >= 2000) {
530 last_msg_time = pxmc_msec_counter;
531 if (mcs_left.pxms_flg&PXMS_ERR_m) print_mcs_err(&mcs_left, "L");
532 if (mcs_right.pxms_flg&PXMS_ERR_m) print_mcs_err(&mcs_right, "R");
535 /* In case of PXMS_E_MAXPD or PXMS_E_OVERL, we wait 3 seconds and then purge the error. */
536 if (recoverable_error(&mcs_left) ||
537 recoverable_error(&mcs_right)) {
538 static unsigned last_err_time=0;
539 if (last_err_time == 0)
540 last_err_time = pxmc_msec_counter;
541 if (last_err_time != 0 && (pxmc_msec_counter - last_err_time > 3000)) {
542 pxmc_for_each_mcs(i, mcs) {
543 if (recoverable_error(mcs)) {
544 pxmc_set_const_out(mcs,0);
545 pxmc_clear_flag(mcs,PXMS_ERR_b);
554 void led_can_rec(unsigned duration_msec)
557 static unsigned last_rec;
558 static unsigned duration;
560 last_rec = pxmc_msec_counter;
561 duration = MAX(duration_msec, duration);
562 DEB_LED_ON(LED_CAN_REC);
564 if (pxmc_msec_counter - last_rec > duration) {
566 DEB_LED_OFF(LED_CAN_REC);
572 static INLINE void blink_corr_trig(void)
576 if (led) DEB_LED_ON(LED_CORR_TRIG);
577 else DEB_LED_OFF(LED_CORR_TRIG);
583 static INLINE void handle_can_receive(void)
587 while (f_can_receive(0, &msg_rcv)) {
588 switch (msg_rcv.cob_id.w) {
589 case CAN_MOTION_CMD: {
590 short spd_left, spd_right;
591 spd_left = (msg_rcv.data[0] << 8) | msg_rcv.data[1];
592 spd_right= (msg_rcv.data[2] << 8) | msg_rcv.data[3];
594 pxmc_spd(&mcs_left, -spd_left, pxmc_sfikhz*1000 /*timeout in sampling periods = 0.5ms*/);
595 pxmc_spd(&mcs_right,+spd_right, pxmc_sfikhz*1000);
596 /* printf("Left motor speed command: %08x\n",spd_left); */
597 /* printf("Right motor speed command: %08x\n",spd_right); */
602 case CAN_MOTION_RESET: {
603 unsigned now = pxmc_msec_counter;
604 wdg_enable(0); /* 25 us */
605 while (pxmc_msec_counter - now < 10);
606 /* Hopefully, we are reset now. */
615 /* printf("Received message: id=%lx\n", msg_rcv.cob_id.w); */
616 /* for (i = 0 ; i < 8; i++) printf("%02x ", msg_rcv.data[i]); */
622 static INLINE void handle_odometry_send()
624 #define ODOMETRY_PERIOD 43
625 #define ODOMETRY_TIMEOUT (3*ODOMETRY_PERIOD)
627 timeout = ODOMETRY_TIMEOUT,
630 if (odometry_triggered) {
631 odometry_triggered = false;
632 last_send_time = pxmc_msec_counter;
633 sendOdometrySimple();
634 timeout = ODOMETRY_TIMEOUT;
637 if (pxmc_msec_counter - last_send_time >= timeout) {
638 last_send_time = pxmc_msec_counter;
639 sendOdometrySimple();
640 timeout = ODOMETRY_PERIOD;
644 static INLINE void handle_status_send()
646 static unsigned last_send_time=0;
649 if (pxmc_msec_counter - last_send_time >= 500) {
650 last_send_time = pxmc_msec_counter;
651 memset(&m, 0, sizeof(m));
652 m.cob_id.w = CAN_MOTION_STATUS;
654 m.data[0] = mcs_left.pxms_flg & PXMS_ERR_m ? mcs_left.pxms_errno >> 8 : 0;
655 m.data[1] = mcs_left.pxms_flg & PXMS_ERR_m ? mcs_left.pxms_errno & 0xff : 0;
656 m.data[2] = mcs_right.pxms_flg & PXMS_ERR_m ? mcs_right.pxms_errno >> 8 : 0;
657 m.data[3] = mcs_right.pxms_flg & PXMS_ERR_m ? mcs_right.pxms_errno & 0xff : 0;
658 canMsgTransmit(0, m);
662 static INLINE void blink_main_loop()
665 static bool led = false;
667 if (led) DEB_LED_ON(LED_MAIN_LOOP);
668 else DEB_LED_OFF(LED_MAIN_LOOP);
673 static INLINE void handle_leds()
676 static unsigned last=0;
677 static bool on=false;
678 if (pxmc_msec_counter-last >= PERIOD/2) {
683 DEB_LED_ON(LED_LIVE);
687 DEB_LED_OFF(LED_LIVE);
690 DEB_LED_OFF(LED_RESET);
700 void _print(char *ptr);
704 excptvec_initfill(unhandled_exception, 0);
705 sci_rs232_setmode(19200, 0, 0, sci_rs232_chan_default); //PC
706 DEB_LED_ON(LED_RESET);
707 wdg_enable(6); /* 420 ms */
709 _print("CPU initialized\r\n\r\n");
711 printf("Eurobot motor control application.\n"
712 "Copyright (C) 2005-2011 PiKRON s.r.o., P. Pisa, M. Sojka and others.\n"
713 "This is free software; see the source code for copying conditions.\n"
714 "There is ABSOLUTELY NO WARRANTY; not even for MERCHANTABILITY or\n"
715 "FITNESS FOR A PARTICULAR PURPOSE.\n\n");
718 printf("PXMC initialized (motor: %s)", pxmc_variant);
721 int32_t receive_id[] = { CAN_MOTION_CMD, CAN_MOTION_RESET, -1 };
722 canInit(0, 1000000, receive_id);
723 printf("CAN initialized\n");
727 handle_can_receive();
728 handle_odometry_send();
729 handle_status_send();
730 handle_motor_errors();
732 cmd_processor_run(&cmd_io_rs232_line, cmd_list_default); // run command processor on serial line
736 if (runtime_display) {
737 //printf("c=%d idx=%d\n", test_counter, test_index);
738 //printf("ene=%d\n", mcs_left.pxms_ene);
739 //printf("rs=%ld as=%ld\n", mcs_left.pxms_rs, mcs_left.pxms_as);