autodemo/mirosot_autodemo.c

   1 /*
   2 *  C Implementation: main_test
   3 *
   4 * Description:
   5
   6 *
   7 *
   8 * Author: Petr Kovacik <kovacp1@feld.cvut.cz>, (C) 2006
   9 *
  10 * Copyright:
  11 *
  12 */
  13 #define _USE_EXR_LEVELS 1
  14 #include <types.h>
  15 #include <cpu_def.h>
  16 #include <h8s2638h.h>
  17 #include <periph/sci_rs232.h>
  18 #include <system_def.h>
  19 #include <stdlib.h>
  20 #include <string.h>
  21
  22 #include <pxmc.h>
  23 #include <pxmc_h2638.h>
  24
  25 #include <cmd_proc.h>
  26 #include "cmd_pxmc.h"
  27
  28
  29 /*struktury prikazu cmd*/
  30 cmd_des_t const cmd_des_help={0, 0,"HELP","prints help for commands",
  31                         cmd_do_help,{(char*)&cmd_rs232}};
  32
  33 cmd_des_t const *cmd_rs232_default[]={
  34
  35   &cmd_des_help,
  36   CMD_DES_CONTINUE_AT,   /* list continues at new address */
  37   (cmd_des_t*)cmd_pxmc_default,
  38   NULL
  39 };
  40 cmd_des_t const **cmd_bth=cmd_rs232_default;       /*cmd prikazy pro bth*/
  41 cmd_des_t const **cmd_rs232=cmd_rs232_default;     /*cmd prikazy pro PC*/
  42
  43
  44 /*struktury charakterizujici motor 0*/
  45 pxmc_state_t mcsX0={
  46   pxms_flg:0,
  47   pxms_do_inp:0,
  48   pxms_do_con:0,
  49   pxms_do_out:0,
  50   pxms_do_deb:0,
  51   pxms_do_gen:0,
  52   pxms_ap:0, pxms_as:0,
  53   pxms_rp:155l*256,
  54   pxms_rs:0, //pxms_subdiv:8,
  55   pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
  56   pxms_inp_info:(long)TPU_TCNT1,//TPU_TCNT1                     /*chanel TPU A,B*/
  57   pxms_out_info:(long)PWM_PWBFR1A,                      /*chanel PWM A,B*/
  58   pxms_ene:0, pxms_erc:0,
  59   pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
  60   pxms_me:0x1800, //6144
  61   pxms_ptirc:40, // 2000 irc per rev, 200/4 steps /
  62   pxms_ptper:1,
  63   pxms_ptptr1:NULL,
  64   pxms_ptptr2:NULL,
  65   pxms_cfg:PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m|
  66       PXMS_CFG_HPS_m|PXMS_CFG_HDIR_m|0x1
  67 };
  68
  69
  70 /*struktury charakterizujici motor 1*/
  71 pxmc_state_t mcsX1={
  72   pxms_flg:0,
  73   pxms_do_inp:0,
  74   pxms_do_con:0,
  75   pxms_do_out:0,
  76   pxms_do_deb:0,
  77   pxms_do_gen:0,
  78   pxms_ap:0, pxms_as:0,
  79   pxms_rp:155l*256,
  80   pxms_rs:0, //pxms_subdiv:8,
  81   pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
  82   pxms_inp_info:(long)TPU_TCNT2,                        /*chanel TPU C,D*/
  83   pxms_out_info:(long)PWM_PWBFR1C,                      /*chanel PWM C,D*/
  84   pxms_ene:0, pxms_erc:0,
  85   pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
  86   pxms_me:0x1800, //6144
  87   pxms_ptirc:40, // 2000 irc per rev, 200/4 steps /
  88   pxms_ptper:1,
  89   pxms_ptptr1:NULL,
  90   pxms_ptptr2:NULL,
  91   pxms_cfg:PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m|      //FIXME: nastavit spravne priznaky pro dalsi motorove struktur
  92       PXMS_CFG_HPS_m|PXMS_CFG_HDIR_m|0x1
  93 };
  94
  95 pxmc_state_t *pxmc_main_arr[] = {&mcsX0,&mcsX1};
  96
  97 pxmc_state_list_t pxmc_main_list = {
  98   pxml_arr:pxmc_main_arr,
  99   pxml_cnt:sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0])
 100 };
 101
 102
 103
 104 //*******************************************************
 105
 106 void  unhandled_exception(void) __attribute__ ((interrupt_handler));
 107
 108 /*Interrupt routines*/
 109 void  unhandled_exception(void)
 110 {
 111 };
 112 //********************************************************
 113
 114
 115 int cmd_rs232_processor_run(void)
 116 {
 117   int val;
 118   cmd_io_t* cmd_io;
 119
 120   cmd_io=&cmd_io_rs232;
 121   if(cmd_rs232_line_out(cmd_io))
 122     return 1;
 123
 124   if(cmd_rs232_line_in(cmd_io)<=0)
 125     return 0;
 126
 127   if(cmd_rs232){
 128     val=proc_cmd_line(cmd_io, cmd_rs232, cmd_io->priv.ed_line.in->buf);
 129   }else{
 130     val=-CMDERR_BADCMD;
 131   }
 132
 133   if(cmd_io->priv.ed_line.out->inbuf){
 134     cmd_io_putc(cmd_io,'\r');
 135     cmd_io_putc(cmd_io,'\n');
 136
 137   }else if(val<0){
 138     char s[20];
 139     cmd_io_write(&cmd_io_rs232,"ERROR ",6);
 140     i2str(s,-val,0,0);
 141     cmd_io_write(cmd_io,s,strlen(s));
 142     cmd_io_putc(cmd_io,'\r');
 143     cmd_io_putc(cmd_io,'\n');
 144   }
 145   return 1;
 146 }
 147
 148 extern void _print(char *str);
 149
 150
 151 int main()
 152 {
 153
 154   /********************************************************************************/
 155   *DIO_PJDDR=0xff;      /*output gate*/
 156   *DIO_PEDDR=0xff;      /*output gate*/
 157   *DIO_PEDR=0x60;       /*0x0-LED - light all; 0x6 -ENA,ENB=1, LE33CD=0*/
 158   *DIO_PJDR=0x00;       //rozsviceni vsech diod na */
 159
 160
 161   /*priority preruseni - SCI > TPU*/
 162 /*   *SYS_SYSCR|=SYSCR_INTM1m; */
 163 /*   *INT_IPRA=0x22; *INT_IPRB=0x22; *INT_IPRC=0x04;  */
 164 /*   *INT_IPRD=0x40; *INT_IPRE=0x44; *INT_IPRF=0x55; */
 165 /*   *INT_IPRG=0x55; *INT_IPRH=0x55; *INT_IPRJ=0x06; */
 166 /*   *INT_IPRK=0x67; *INT_IPRM=0x66; */
 167
 168   /*povoleni vsech preruseni atd...*/
 169   cli();
 170   excptvec_initfill(unhandled_exception, 0);
 171
 172   /*nastaveni seriovych linek - Bth, PC*/
 173   //sci_rs232_setmode(RS232_BAUD_RAW | 3, 0, 0, 2);     // HCI - hardcoded 115200
 174   //sci_rs232_setmode(115200, 0, 0, 2); // HCI
 175   sci_rs232_setmode(19200, 0, 0, sci_rs232_chan_default); //PC
 176   sti();
 177
 178   _print("Start\n");
 179
 180   /*nastaveni HW (TPU, PWM)*/
 181   pxmc_set_pwm_tpu();
 182
 183   /*nastaveni DC motoru*/
 184   pxmc_add_pservice_and_mode(4); /*Macro -  mod=4 tj. all motors are DC*/
 185
 186   /*nekonecna smycka obsluhujici bth, pc ...*/
 187 /*   do{ */
 188 /*     cmd_rs232_processor_run();  /\*sber + odesilani cmd prikazu PC*\/ */
 189 /*   }while(1); */
 190 #include "timer3.h"
 191
 192   init_timer3();
 193
 194   long int before = get_timer();
 195   int a=1;
 196   while (1) {
 197     cmd_rs232_processor_run();  /*sber + odesilani cmd prikazu PC*/
 198
 199     long int now = get_timer();
 200
 201     if (now != before)
 202       switch (now % 10) {
 203         case 0:
 204           pxmc_spd(&mcsX0,a*400,0);
 205           pxmc_spd(&mcsX1,-a*700,0);
 206           break;
 207         case 1:
 208           pxmc_spd(&mcsX0,a*700,0);
 209           pxmc_spd(&mcsX1,-a*400,0);
 210           break;
 211         case 2:
 212           pxmc_spd(&mcsX0,a*2000,0);
 213           pxmc_spd(&mcsX1,-a*1200,0);
 214           break;
 215         case 3:
 216           pxmc_spd(&mcsX0,a*1200,0);
 217           pxmc_spd(&mcsX1,-a*2000,0);
 218           break;
 219         case 4:
 220           pxmc_spd(&mcsX0,a*1300,0);
 221           pxmc_spd(&mcsX1,-a*1000,0);
 222           break;
 223         case 5:
 224           pxmc_spd(&mcsX0,a*1300,0);
 225           pxmc_spd(&mcsX1,-a*1000,0);
 226           break;
 227         case 6:
 228           pxmc_spd(&mcsX0,a*100,0);
 229           pxmc_spd(&mcsX1,-a*300,0);
 230           break;
 231         case 7:
 232           pxmc_spd(&mcsX0,a*300,0);
 233           pxmc_spd(&mcsX1,-a*100,0);
 234           break;
 235         case 8:
 236           pxmc_spd(&mcsX0,a*2000,0);
 237           pxmc_spd(&mcsX1,-a*100,0);
 238           break;
 239         case 9:
 240           pxmc_spd(&mcsX0,a*4000,0);
 241           pxmc_spd(&mcsX1,-a*4000,0);
 242           if(a>0) a=-1;
 243           else a=1;
 244           break;
 245
 246       }
 247   }
 248 }