* Authors:
* - Michal Horn
*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ * This document contains proprietary information belonging to Czech
+ * Technical University in Prague. Passing on and copying of this
+ * document, and communication of its contents is not permitted
+ * without prior written authorization.
*
* File : cmd_pin.c
*
* Abstract:
* Example commands for motor controlling over FlexRay. The first board has connected a control panel
- * with two buttons and variable resistor, the second board has a DC motor connected to the H-bridge.
- * Both boards are connected by the FlexRay bus and user can drive the motor by the control panel
- * (speed, direction and enabling).
+ * with two buttons and variable resistor, the second board has a DC motor connected to the H-bridge.
+ * Both boards are connected by the FlexRay bus and user can drive the motor by the control panel
+ * (speed, direction and enabling).
*/
#include "cmd_motor_example.h"
#ifndef DOCGEN
#include "rpp/rpp.h"
-#include "hal/hal.h"
-#include "drv/drv.h"
+#include "drv/digital_io_def.h"
#include "cmdproc.h"
#define ADC_MAX_VALUE 0x0983
#define RX_ERROR_MAX 100
-#define ENABLE_DEBOUNCE_TIME 2
-#define DIRECTION_DEBOUNCE_TIME 2
+#define ENABLE_DEBOUNCE_TIME 2
+#define DIRECTION_DEBOUNCE_TIME 2
/**
* This structure contains global FlexRay configuration.
static Fr_TMS570LS_ClusterConfigType Fr_cluster_config = {
.gColdStartAttempts = 0x2,
.gListenNoise = 0xF,
- .gMacroPerCycle = 0x15E0, // (cycle period, 5.6us)
+ .gMacroPerCycle = 0x15E0, // (cycle period, 5.6us)
.gMaxWithoutClockCorrectionFatal = 0xF,
.gMaxWithoutClockCorrectionPassive = 0xF,
.gNetworkManagementVectorLength = 12,
.gdMinislot = 0x4,
.gdMinislotActionPointOffset = 0x2,
.gdNIT = 0xAE3,
- .gdSampleClockPeriod = 0, // 10mbit/sec
+ .gdSampleClockPeriod = 0, // 10mbit/sec
.gdStaticSlot = 0x56,
.gdTSSTransmitter = 0xA,
.gdWakeupSymbolRxIdle = 18,
.pMicroPerCycle = 0x36B00,
.pRateCorrectionOut = 0xCD,
.pOffsetCorrectionOut = 0x151,
- .pSamplesPerMicrotick = 0, // 10 mbit/sec
+ .pSamplesPerMicrotick = 0, // 10 mbit/sec
.pSingleSlotEnabled = TRUE,
.pWakeupChannel = FR_CHANNEL_A,
.pWakeupPattern = 2,
* and configures the H-bridge.
*/
static Fr_TMS570LS_NodeConfigType Fr_node_motor_config = {
- .pAllowHaltDueToClock = 0,
- .pAllowPassiveToActive = 0xF,
- .pChannels = FR_CHANNEL_AB,
- .pClusterDriftDamping = 0x1,
- .pDelayCompensationA = 0x3,
- .pDelayCompensationB = 0x3,
- .pExternOffsetCorrection = 0,
- .pExternRateCorrection = 0,
- .pKeySlotUsedForStartup = TRUE,
- .pKeySlotUsedForSync = TRUE,
- .pLatestTx = 0x10D,
- .pMacroInitialOffsetA = 0x6,
- .pMacroInitialOffsetB = 0x6,
- .pMicroInitialOffsetA = 0x18,
- .pMicroInitialOffsetB = 0x18,
- .pMicroPerCycle = 0x36B00,
- .pRateCorrectionOut = 0xCD,
- .pOffsetCorrectionOut = 0x151,
- .pSamplesPerMicrotick = 0, // 10 mbit/sec
- .pSingleSlotEnabled = TRUE,
- .pWakeupChannel = FR_CHANNEL_A,
- .pWakeupPattern = 2,
- .pdAcceptedStartupRange = 0x81,
- .pdListenTimeout = 0x36DA2,
- .pdMaxDrift = 0x151,
- .pDecodingCorrection = 0x33
+ .pAllowHaltDueToClock = 0,
+ .pAllowPassiveToActive = 0xF,
+ .pChannels = FR_CHANNEL_AB,
+ .pClusterDriftDamping = 0x1,
+ .pDelayCompensationA = 0x3,
+ .pDelayCompensationB = 0x3,
+ .pExternOffsetCorrection = 0,
+ .pExternRateCorrection = 0,
+ .pKeySlotUsedForStartup = TRUE,
+ .pKeySlotUsedForSync = TRUE,
+ .pLatestTx = 0x10D,
+ .pMacroInitialOffsetA = 0x6,
+ .pMacroInitialOffsetB = 0x6,
+ .pMicroInitialOffsetA = 0x18,
+ .pMicroInitialOffsetB = 0x18,
+ .pMicroPerCycle = 0x36B00,
+ .pRateCorrectionOut = 0xCD,
+ .pOffsetCorrectionOut = 0x151,
+ .pSamplesPerMicrotick = 0, // 10 mbit/sec
+ .pSingleSlotEnabled = TRUE,
+ .pWakeupChannel = FR_CHANNEL_A,
+ .pWakeupPattern = 2,
+ .pdAcceptedStartupRange = 0x81,
+ .pdListenTimeout = 0x36DA2,
+ .pdMaxDrift = 0x151,
+ .pDecodingCorrection = 0x33
};
/**
* transfer the control data.
*/
static Fr_TMS570LS_BufferConfigType Fr_node_control_static_buffers_config[] = {
- {
- .channel = FR_CHANNEL_AB,
- .cycleCounterFiltering = 0,
- .isTx = TRUE,
- .maxPayload = 2,
- .msgBufferInterrupt = TRUE,
- .payloadPreambleIndicatorTr = FALSE,
- .rejectNullFrames = FALSE,
- .rejectStaticSegment = FALSE,
- .singleTransmit = FALSE,
- .slotId = 1
- },
- {
- .channel = FR_CHANNEL_AB,
- .cycleCounterFiltering = 0,
- .isTx = TRUE,
- .maxPayload = 2,
- .msgBufferInterrupt = TRUE,
- .payloadPreambleIndicatorTr = FALSE,
- .rejectNullFrames = FALSE,
- .rejectStaticSegment = FALSE,
- .singleTransmit = FALSE,
- .slotId = 3
- }
+ {
+ .channel = FR_CHANNEL_AB,
+ .cycleCounterFiltering = 0,
+ .isTx = TRUE,
+ .maxPayload = 2,
+ .msgBufferInterrupt = TRUE,
+ .payloadPreambleIndicatorTr = FALSE,
+ .rejectNullFrames = FALSE,
+ .rejectStaticSegment = FALSE,
+ .singleTransmit = FALSE,
+ .slotId = 1
+ },
+ {
+ .channel = FR_CHANNEL_AB,
+ .cycleCounterFiltering = 0,
+ .isTx = TRUE,
+ .maxPayload = 2,
+ .msgBufferInterrupt = TRUE,
+ .payloadPreambleIndicatorTr = FALSE,
+ .rejectNullFrames = FALSE,
+ .rejectStaticSegment = FALSE,
+ .singleTransmit = FALSE,
+ .slotId = 3
+ }
};
/**
};
/**
- * Loads data into TX buffers for FlexRay node sending the control data.
+ * Loads data into TX buffers for FlexRay node sending the control data.
*
- * After data are copied into TX buffer, the TX request is enabled, which
- * means that message will be transmitted as soon as the frame occures in the
- * communication cycle.
+ * After data are copied into TX buffer, the TX request is enabled, which
+ * means that message will be transmitted as soon as the frame occures in the
+ * communication cycle.
*
- * @param enable enable flag to be send
- * @param direction direction flag to be send
- * @param duty duty cycle value to be send
+ * @param enable enable flag to be send
+ * @param direction direction flag to be send
+ * @param duty duty cycle value to be send
*
- * @return SUCCESS when data were succesfully sent
- * FAILURE when some error occured.
+ * @return SUCCESS when data were succesfully sent
+ * FAILURE when some error occured.
*/
-int8_t transmit_control_data(int enable, int direction, int duty) {
+int8_t transmit_control_data(int enable, int direction, int duty)
+{
uint8_t data[3];
// Write payload for buffer associated with frame 1
* 1 if message no message was received
* 2 if receiving failed
*/
-int receive_control_data(int* enable, int* direction, int* duty) {
+int receive_control_data(int *enable, int *direction, int *duty)
+{
uint8_t data[3];
Fr_RxLPduStatusType status;
uint8_t size;
- if (rpp_fr_receive_lpdu(0, 3, data, &status, &size) == FAILURE) {
+ if (rpp_fr_receive_lpdu(0, 3, data, &status, &size) == FAILURE)
return 2;
- }
- if (status == FR_NOT_RECEIVED) {
+ if (status == FR_NOT_RECEIVED)
return 1;
- }
else {
- *duty = data[0];
- *direction = data[1];
- *enable = data[2];
- return 0;
+ *duty = data[0];
+ *direction = data[1];
+ *enable = data[2];
+ return 0;
}
}
* @param[in] param Parameters of command
* @return 0 when OK or error code
*/
-int cmd_do_control(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- port_desc_t* adc_desc;
- uint32_t adc_values[PORT_ADC_CHANNEL_NUM*2];
- int ret;
- int duty = 0;
- int button = 0;
- int enable = 0;
- int direction = 1;
- int enable_cnt = 0; // Debounce counter for enable button
- int dir_cnt = 0; // Debounce counter for direction button
- uint32_t error;
-
- adc_desc = hal_port_get_dsc(PORT_NAME_ADC, -1);
-
- if (rpp_din_setup(0, FALSE, TRUE, FALSE) == FAILURE) { // For the red button, which is switch to battery
+int cmd_do_control(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+{
+ uint32_t adc_num_values = rpp_port_get_pin_cnt(DIO_PORT_NAME_ADC);
+ uint32_t adc_values[adc_num_values*2];
+ int ret;
+ int duty = 0;
+ int button = 0;
+ int enable = 0;
+ int direction = 1;
+ int enable_cnt = 0; // Debounce counter for enable button
+ int dir_cnt = 0; // Debounce counter for direction button
+ uint32_t error;
+
+ if (rpp_din_setup(0, FALSE, TRUE, FALSE) == FAILURE) { // For the red button, which is switch to battery
rpp_sci_printf("Din 0 setup failed.\n");
return -CMDERR_BADCFG;
- }
- if (rpp_din_setup(1, FALSE, TRUE, FALSE) == FAILURE) { // For the black button, which is switch to ground
+ }
+ if (rpp_din_setup(1, FALSE, TRUE, FALSE) == FAILURE) { // For the black button, which is switch to ground
rpp_sci_printf("Din 1 setup failed.\n");
return -CMDERR_BADCFG;
- }
- if (rpp_din_update() == FAILURE) {
+ }
+ if (rpp_din_update() == FAILURE) {
rpp_sci_printf("Din update failed.\n");
return -CMDERR_BADCFG;
- }
+ }
- if (rpp_fr_init_driver(&Fr_config_node_control, &error) == FAILURE) {
+ if (rpp_fr_init_driver(&Fr_config_node_control, &error) == FAILURE) {
rpp_sci_printf("Fray driver initialization failed: %#x.\n", error);
return -CMDERR_BADCFG;
- }
+ }
if (rpp_fr_init_controller(0, &error) == FAILURE) {
rpp_sci_printf("Fray control node initialization failed: %#x.\n", error);
return -CMDERR_BADCFG;
rpp_sci_printf("Connected.\r\n");
- while(1) {
+ while (1) {
vTaskDelay(10/portTICK_RATE_MS);
- ret = adc_desc->port_getfnc_ptr(adc_desc->config, PORT_ADC_CHANNEL_NUM, adc_values);
- if (ret < 0) {
- rpp_sci_printf("ADC read failed!\n");
- break;
- }
- duty = (100*adc_values[0])/ADC_MAX_VALUE;
- if (rpp_din_update() == FAILURE) {
+ ret = rpp_port_get_val(DIO_PORT_NAME_ADC, adc_num_values, adc_values);
+ if (ret < 0) {
+ rpp_sci_printf("ADC read failed!\n");
+ break;
+ }
+ duty = (100*adc_values[0])/ADC_MAX_VALUE;
+ if (rpp_din_update() == FAILURE) {
rpp_sci_printf("Din update failed.\n");
break;
- }
- button = !rpp_din_get(0);
- if (button == 1) {
- if (enable_cnt++ == ENABLE_DEBOUNCE_TIME) {
- enable = !enable;
- }
- else {
- enable_cnt++;
- }
- }
- else {
- enable_cnt = 0;
- }
- button = rpp_din_get(1);
- if (button == 1) {
- if (dir_cnt++ == DIRECTION_DEBOUNCE_TIME) {
- direction = !direction;
- }
- else {
- dir_cnt++;
- }
- }
- else {
- dir_cnt = 0;
- }
-
- if (transmit_control_data(enable, direction, duty) == FAILURE) {
- rpp_sci_printf("Data transmission failed!\n");
- break;
- }
- rpp_sci_printf("Enable: %d, Direction: %s, Duty: %d%%\r", enable, (direction == 1) ? "L" : "R", duty);
+ }
+ button = !rpp_din_get(0);
+ if (button == 1) {
+ if (enable_cnt++ == ENABLE_DEBOUNCE_TIME)
+ enable = !enable;
+ else
+ enable_cnt++;
+ }
+ else
+ enable_cnt = 0;
+ button = rpp_din_get(1);
+ if (button == 1) {
+ if (dir_cnt++ == DIRECTION_DEBOUNCE_TIME)
+ direction = !direction;
+ else
+ dir_cnt++;
+ }
+ else
+ dir_cnt = 0;
+
+ if (transmit_control_data(enable, direction, duty) == FAILURE) {
+ rpp_sci_printf("Data transmission failed!\n");
+ break;
+ }
+ rpp_sci_printf("Enable: %d, Direction: %s, Duty: %d%%\r", enable, (direction == 1) ? "L" : "R", duty);
}
- if (rpp_fr_halt_communication(0) == FAILURE) {
+ if (rpp_fr_halt_communication(0) == FAILURE)
rpp_sci_printf("FlexRay HALT command failed, please reset the board to stop transmission.\n");
- }
- else {
+ else
rpp_sci_printf("FlexRay halted, reset the board to make FlexRay usable again.\r\n");
- }
return 0;
}
* @param[in] param Parameters of command
* @return 0 when OK or error code
*/
-int cmd_do_motor(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]) {
- double hbr_period = 50; // us
+int cmd_do_motor(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
+{
+ double hbr_period = 50; // us
double control = 0.0;
int hbr_duty = 0;
int direction = 1;
if (rpp_hbr_enable(hbr_period) == FAILURE ||
rpp_hbr_control(0) == FAILURE
- ) {
+ ) {
rpp_sci_printf("H-bridge initialization failed.\n");
return -CMDERR_BADCFG;
}
- if (rpp_fr_init_driver(&Fr_config_node_motor, &error) == FAILURE) {
+ if (rpp_fr_init_driver(&Fr_config_node_motor, &error) == FAILURE) {
rpp_sci_printf("Fray driver initialization failed: %#x.\n", error);
return -CMDERR_BADCFG;
- }
+ }
if (rpp_fr_init_controller(0, &error) == FAILURE) {
rpp_sci_printf("Fray motor node initialization failed: %#x.\n", error);
return -CMDERR_BADCFG;
while (1) {
ret = receive_control_data(&enable, &direction, &hbr_duty);
- if (ret == 2) { // receiving failed
+ if (ret == 2) { // receiving failed
rx_error++;
if (rx_error > RX_ERROR_MAX) {
rpp_sci_printf("Maximum RX errors reached!\n");
break;
}
}
- else if (ret == 0) { // message received
+ else if (ret == 0) { // message received
control = hbr_duty/((double)100) * ((direction == 1) ? -1 : 1) * enable;
- rpp_sci_printf("Enable: %d, Direction: %s, Duty: %d%%\r", enable, (direction == 1) ? "L" : "R", hbr_duty);
+ rpp_sci_printf("Enable: %d, Direction: %s, Duty: %d%%\r", enable, (direction == 1) ? "L" : "R", hbr_duty);
if (rpp_hbr_control(control) == FAILURE) {
rpp_sci_printf("H-bridge control failed!\n");
break;
}
}
}
- if (rpp_hbr_disable() == FAILURE) {
+ if (rpp_hbr_disable() == FAILURE)
rpp_sci_printf("H-bridge disabling failed!\n");
- }
- else {
+ else
rpp_sci_printf("H-bridge disabled.\n");
- }
- if (rpp_fr_halt_communication(0) == FAILURE) {
+ if (rpp_fr_halt_communication(0) == FAILURE)
rpp_sci_printf("FlexRay HALT command failed, please reset the board to stop transmission.\n");
- }
- else {
+ else
rpp_sci_printf("FlexRay halted, reset the board to make FlexRay usable again.\r\n");
- }
return 0;
}
-#endif /* DOCGEN */
+#endif /* DOCGEN */
/** Command descriptor for control */
-cmd_des_t const cmd_des_control={
- 0, 0,
- "demomotctrl","Run motor control demo - reads input and sends it",
- "### Command syntax ###\n"
- "\n"
- " demomotctrl\n"
- "\n"
- "### Description ###\n"
- "\n"
- "This command creates a FlexRay node and starts to read buttons\n"
- "(connected to DIN0 and DIN1) and a potentiometer (ADC1) from a control\n"
- "panel. The read data are sent via FlexRay to the second node, created\n"
- "by running demomotdrive command.\n"
- "\n"
- "The purpose of this pair of commands is to demonstrate functionality\n"
- "of the FlexRay, ADC, DIN and HBR peripherals.\n",
- CMD_HANDLER(cmd_do_control), (void *)&cmd_list_motor_example
- };
+cmd_des_t const cmd_des_control = {
+ 0, 0,
+ "demomotctrl","Run motor control demo - reads input and sends it",
+ "### Command syntax ###\n"
+ "\n"
+ " demomotctrl\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command creates a FlexRay node and starts to read buttons\n"
+ "(connected to DIN0 and DIN1) and a potentiometer (ADC1) from a control\n"
+ "panel. The read data are sent via FlexRay to the second node, created\n"
+ "by running demomotdrive command.\n"
+ "\n"
+ "The purpose of this pair of commands is to demonstrate functionality\n"
+ "of the FlexRay, ADC, DIN and HBR peripherals.\n",
+ CMD_HANDLER(cmd_do_control), (void *)&cmd_list_motor_example
+};
/** Command descriptor for motor */
-cmd_des_t const cmd_des_motor={
- 0, 0,
- "demomotdrive","Run motor control demo - drives the DC motor",
- "### Command syntax ###\n"
- "\n"
- " demomotdrive\n"
- "\n"
- "### Description ###\n"
- "\n"
- "This command creates a FlexRay node and starts to receive the data\n"
- "from another node created by command demomotctrl. The received data\n"
- "are applied to HBR to control the DC motor.\n"
- "\n"
- "The purpose of this pair of commands is to demonstrate functionality\n"
- "of the FlexRay, ADC, DIN and HBR peripherals.\n",
- CMD_HANDLER(cmd_do_motor), (void *)&cmd_list_motor_example
- };
+cmd_des_t const cmd_des_motor = {
+ 0, 0,
+ "demomotdrive","Run motor control demo - drives the DC motor",
+ "### Command syntax ###\n"
+ "\n"
+ " demomotdrive\n"
+ "\n"
+ "### Description ###\n"
+ "\n"
+ "This command creates a FlexRay node and starts to receive the data\n"
+ "from another node created by command demomotctrl. The received data\n"
+ "are applied to HBR to control the DC motor.\n"
+ "\n"
+ "The purpose of this pair of commands is to demonstrate functionality\n"
+ "of the FlexRay, ADC, DIN and HBR peripherals.\n",
+ CMD_HANDLER(cmd_do_motor), (void *)&cmd_list_motor_example
+};
/** List of commands for example, defined as external */
-cmd_des_t const *cmd_list_motor_example[]={
- &cmd_des_control,
- &cmd_des_motor,
- NULL
+cmd_des_t const *cmd_list_motor_example[] = {
+ &cmd_des_control,
+ &cmd_des_motor,
+ NULL
};
projects / pes-rpp / rpp-test-sw.git / blobdiff