rpp-test-sw/commands/cmd_motor_example.c

   1 /*
   2  * Copyright (C) 2012-2013 Czech Technical University in Prague
   3  *
   4  * Created on: 16.5.2013
   5  *
   6  * Authors:
   7  *     - Michal Horn
   8  *
   9  * This program is free software; you can redistribute it and/or modify
  10  * it under the terms of the GNU General Public License as published by
  11  * the Free Software Foundation; either version 2 of the License, or
  12  * (at your option) any later version.
  13  *
  14  * This program is distributed in the hope that it will be useful,
  15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  17  * GNU General Public License for more details.
  18  *
  19  * You should have received a copy of the GNU General Public License
  20  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  21  *
  22  * File : cmd_pin.c
  23  *
  24  * Abstract:
  25  *              Example commands for motor controlling over FlexRay. The first board has connected a control panel
  26  *      with two buttons and variable resistor, the second board has a DC motor connected to the H-bridge.
  27  *      Both boards are connected by the FlexRay bus and user can drive the motor by the control panel
  28  *      (speed, direction and enabling).
  29  */
  30
  31 #include "cmd_motor_example.h"
  32
  33 #ifndef DOCGEN
  34
  35 #include "rpp/rpp.h"
  36 #include "hal/hal.h"
  37 #include "drv/drv.h"
  38 #include "cmdproc.h"
  39
  40 #define ADC_MAX_VALUE 0x0983
  41 #define RX_ERROR_MAX 100
  42 #define ENABLE_DEBOUNCE_TIME    2
  43 #define DIRECTION_DEBOUNCE_TIME 2
  44
  45 /**
  46  * This structure contains global FlexRay configuration.
  47  * All nodes in the network have to use the same values for
  48  * all parameters of this structure.
  49  */
  50 static Fr_TMS570LS_ClusterConfigType Fr_cluster_config = {
  51         .gColdStartAttempts = 0x2,
  52         .gListenNoise = 0xF,
  53         .gMacroPerCycle = 0x15E0,   // (cycle period, 5.6us)
  54         .gMaxWithoutClockCorrectionFatal = 0xF,
  55         .gMaxWithoutClockCorrectionPassive = 0xF,
  56         .gNetworkManagementVectorLength = 12,
  57         .gNumberOfMinislots = 0x15A,
  58         .gNumberOfStaticSlots = 0x8,
  59         .gOffsetCorrectionStart = 0xAE4,
  60         .gPayloadLengthStatic = 0x2,
  61         .gSyncNodeMax = 0xF,
  62         .gdActionPointOffset = 0x4,
  63         .gdCASRxLowMax = 0x43,
  64         .gdDynamicSlotIdlePhase = 0x1,
  65         .gdMinislot = 0x4,
  66         .gdMinislotActionPointOffset = 0x2,
  67         .gdNIT = 0xAE3,
  68         .gdSampleClockPeriod = 0,       // 10mbit/sec
  69         .gdStaticSlot = 0x56,
  70         .gdTSSTransmitter = 0xA,
  71         .gdWakeupSymbolRxIdle = 18,
  72         .gdWakeupSymbolRxLow = 18,
  73         .gdWakeupSymbolRxWindow = 76,
  74         .gdWakeupSymbolTxIdle = 180,
  75         .gdWakeupSymbolTxLow = 60
  76 };
  77
  78 /**
  79  * This structure contains local configuration of the FlexRay node for
  80  * the control panel reading and sending the data.
  81  */
  82 static Fr_TMS570LS_NodeConfigType Fr_node_control_config = {
  83         .pAllowHaltDueToClock = 0,
  84         .pAllowPassiveToActive = 0xF,
  85         .pChannels = FR_CHANNEL_AB,
  86         .pClusterDriftDamping = 0x1,
  87         .pDelayCompensationA = 0x3,
  88         .pDelayCompensationB = 0x3,
  89         .pExternOffsetCorrection = 0,
  90         .pExternRateCorrection = 0,
  91         .pKeySlotUsedForStartup = TRUE,
  92         .pKeySlotUsedForSync = TRUE,
  93         .pLatestTx = 0x10D,
  94         .pMacroInitialOffsetA = 0x6,
  95         .pMacroInitialOffsetB = 0x6,
  96         .pMicroInitialOffsetA = 0x18,
  97         .pMicroInitialOffsetB = 0x18,
  98         .pMicroPerCycle = 0x36B00,
  99         .pRateCorrectionOut = 0xCD,
 100         .pOffsetCorrectionOut = 0x151,
 101         .pSamplesPerMicrotick = 0,      // 10 mbit/sec
 102         .pSingleSlotEnabled = TRUE,
 103         .pWakeupChannel = FR_CHANNEL_A,
 104         .pWakeupPattern = 2,
 105         .pdAcceptedStartupRange = 0x81,
 106         .pdListenTimeout = 0x36DA2,
 107         .pdMaxDrift = 0x151,
 108         .pDecodingCorrection = 0x33
 109 };
 110
 111 /**
 112  * This structure contains local configuration of the FlexRay node for
 113  * the motor driving. This node receives control data from the FlexRay
 114  * and configures the H-bridge.
 115  */
 116 static Fr_TMS570LS_NodeConfigType Fr_node_motor_config = {
 117         .pAllowHaltDueToClock = 0,
 118         .pAllowPassiveToActive = 0xF,
 119         .pChannels = FR_CHANNEL_AB,
 120         .pClusterDriftDamping = 0x1,
 121         .pDelayCompensationA = 0x3,
 122         .pDelayCompensationB = 0x3,
 123         .pExternOffsetCorrection = 0,
 124         .pExternRateCorrection = 0,
 125         .pKeySlotUsedForStartup = TRUE,
 126         .pKeySlotUsedForSync = TRUE,
 127         .pLatestTx = 0x10D,
 128         .pMacroInitialOffsetA = 0x6,
 129         .pMacroInitialOffsetB = 0x6,
 130         .pMicroInitialOffsetA = 0x18,
 131         .pMicroInitialOffsetB = 0x18,
 132         .pMicroPerCycle = 0x36B00,
 133         .pRateCorrectionOut = 0xCD,
 134         .pOffsetCorrectionOut = 0x151,
 135         .pSamplesPerMicrotick = 0,          // 10 mbit/sec
 136         .pSingleSlotEnabled = TRUE,
 137         .pWakeupChannel = FR_CHANNEL_A,
 138         .pWakeupPattern = 2,
 139         .pdAcceptedStartupRange = 0x81,
 140         .pdListenTimeout = 0x36DA2,
 141         .pdMaxDrift = 0x151,
 142         .pDecodingCorrection = 0x33
 143 };
 144
 145 /**
 146  * Message RAM configuration for the node reading the control panel.
 147  */
 148 static Fr_TMS570LS_MsgRAMConfig Fr_node_control_msgRAM_config = {
 149         .dynSegmentBufferCount = 0,
 150         .fifoBufferCount = 0,
 151         .secureBuffers = FR_SB_ALL_REC_DISABLED,
 152         .statSegmentBufferCount = 2,
 153         .syncFramePayloadMultiplexEnabled = 0
 154 };
 155
 156 /**
 157  * Message RAM configuration for the node receiving the control data and driving the H=bridge.
 158  */
 159 static Fr_TMS570LS_MsgRAMConfig Fr_node_motor_msgRAM_config = {
 160         .dynSegmentBufferCount = 0,
 161         .fifoBufferCount = 0,
 162         .secureBuffers = FR_SB_ALL_REC_DISABLED,
 163         .statSegmentBufferCount = 2,
 164         .syncFramePayloadMultiplexEnabled = 0
 165 };
 166
 167 /**
 168  * Static buffers configuration for the node reading the control panel.
 169  * The node is configured as coldstarter and sync node. This is why the first buffer
 170  * is configured as TX.
 171  * The second buffer is configured as TX in single-shot mode. The buffer is used to
 172  * transfer the control data.
 173  */
 174 static Fr_TMS570LS_BufferConfigType Fr_node_control_static_buffers_config[] = {
 175         {
 176                 .channel = FR_CHANNEL_AB,
 177                 .cycleCounterFiltering = 0,
 178                 .isTx = TRUE,
 179                 .maxPayload = 2,
 180                 .msgBufferInterrupt = TRUE,
 181                 .payloadPreambleIndicatorTr = FALSE,
 182                 .rejectNullFrames = FALSE,
 183                 .rejectStaticSegment = FALSE,
 184                 .singleTransmit = FALSE,
 185                 .slotId = 1
 186         },
 187         {
 188                 .channel = FR_CHANNEL_AB,
 189                 .cycleCounterFiltering = 0,
 190                 .isTx = TRUE,
 191                 .maxPayload = 2,
 192                 .msgBufferInterrupt = TRUE,
 193                 .payloadPreambleIndicatorTr = FALSE,
 194                 .rejectNullFrames = FALSE,
 195                 .rejectStaticSegment = FALSE,
 196                 .singleTransmit = FALSE,
 197                 .slotId = 3
 198         }
 199 };
 200
 201 /**
 202  * Static buffers configuration for the node driving the motor.
 203  * The node is configured as coldstarter and sync node. This is why the first buffer
 204  * is configured as TX.
 205  * The second buffer is configured as RX and is receiving the control data.
 206  */
 207 static Fr_TMS570LS_BufferConfigType Fr_node_motor_static_buffers_config[] = {
 208         {
 209                 .channel = FR_CHANNEL_AB,
 210                 .cycleCounterFiltering = 0,
 211                 .isTx = TRUE,
 212                 .maxPayload = 2,
 213                 .msgBufferInterrupt = TRUE,
 214                 .payloadPreambleIndicatorTr = FALSE,
 215                 .rejectNullFrames = FALSE,
 216                 .rejectStaticSegment = FALSE,
 217                 .singleTransmit = FALSE,
 218                 .slotId = 2
 219         },
 220         {
 221                 .channel = FR_CHANNEL_AB,
 222                 .cycleCounterFiltering = 0,
 223                 .isTx = FALSE,
 224                 .maxPayload = 2,
 225                 .msgBufferInterrupt = TRUE,
 226                 .payloadPreambleIndicatorTr = FALSE,
 227                 .rejectNullFrames = FALSE,
 228                 .rejectStaticSegment = FALSE,
 229                 .singleTransmit = FALSE,
 230                 .slotId = 3
 231         }
 232 };
 233
 234 /**
 235  * Unifying configuration structure for the node reading the control panel.
 236  */
 237 static Fr_ConfigType Fr_config_node_control = {
 238         .clusterConfiguration = &Fr_cluster_config,
 239         .dynamicBufferConfigs = NULL,
 240         .fifoBufferConfigs = NULL,
 241         .msgRAMConfig = &Fr_node_control_msgRAM_config,
 242         .nodeConfiguration = &Fr_node_control_config,
 243         .staticBufferConfigs = Fr_node_control_static_buffers_config
 244 };
 245
 246 /**
 247  * Unifying configuration structure for the node driving the motor.
 248  */
 249 static Fr_ConfigType Fr_config_node_motor = {
 250         .clusterConfiguration = &Fr_cluster_config,
 251         .dynamicBufferConfigs = NULL,
 252         .fifoBufferConfigs = NULL,
 253         .msgRAMConfig = &Fr_node_motor_msgRAM_config,
 254         .nodeConfiguration = &Fr_node_motor_config,
 255         .staticBufferConfigs = Fr_node_motor_static_buffers_config
 256 };
 257
 258 /**
 259  *  Loads data into TX buffers for FlexRay node sending the control data.
 260  *
 261  *  After data are copied into TX buffer, the TX request is enabled, which
 262  *  means that message will be transmitted as soon as the frame occures in the
 263  *  communication cycle.
 264  *
 265  *  @param      enable  enable flag to be send
 266  *  @param  direction   direction flag to be send
 267  *  @param      duty    duty cycle value to be send
 268  *
 269  *  @return SUCCESS when data were succesfully sent
 270  *          FAILURE when some error occured.
 271  */
 272 int8_t transmit_control_data(int enable, int direction, int duty)
 273 {
 274         uint8_t data[3];
 275
 276         // Write payload for buffer associated with frame 1
 277         data[0] = duty;
 278         data[1] = direction;
 279         data[2] = enable;
 280         return rpp_fr_transmit_lpdu(0, 3, data, 3);
 281 }
 282
 283 /**
 284  *      Checks if some message was received on message buffer 2 of the FlexRay motor controller node.
 285  *
 286  *      If new message was received, the function copies the data from the buffer.
 287  *
 288  *      @param enable   pointer to variable, where received enable flag will be stored
 289  *      @param direction pointer to variable, where received direction flag will be stored
 290  *      @param duty     pointer to variable, where received duty cycle value will be stored
 291  *      @return 0 if message was received and is correct
 292  *                      1 if message no message was received
 293  *                      2 if receiving failed
 294  */
 295 int receive_control_data(int *enable, int *direction, int *duty)
 296 {
 297         uint8_t data[3];
 298         Fr_RxLPduStatusType status;
 299         uint8_t size;
 300
 301         if (rpp_fr_receive_lpdu(0, 3, data, &status, &size) == FAILURE)
 302                 return 2;
 303         if (status == FR_NOT_RECEIVED)
 304                 return 1;
 305         else {
 306                 *duty = data[0];
 307                 *direction = data[1];
 308                 *enable = data[2];
 309                 return 0;
 310         }
 311 }
 312
 313 /**
 314  * @brief       Read data from control panel and send them to motor controller through FlexRay
 315  *
 316  * This node reads periodically each 10ms the ADC1 channel and computes
 317  * the duty cycle. Then reads DIN0, which is connected to the red
 318  * button on the control panel (connected as switch to battery) and then
 319  * it reads the DIN1, which is connected to the black button (connected as
 320  * switch to ground).
 321  * Finally all data are sent on the Frame 3.
 322  *
 323  *
 324  * @param[in]   cmd_io  Pointer to IO stack
 325  * @param[in]   des             Pointer to command descriptor
 326  * @param[in]   param   Parameters of command
 327  * @return      0 when OK or error code
 328  */
 329 int cmd_do_control(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
 330 {
 331         port_desc_t *adc_desc;
 332         uint32_t adc_values[PORT_ADC_CHANNEL_NUM*2];
 333         int ret;
 334         int duty = 0;
 335         int button = 0;
 336         int enable = 0;
 337         int direction = 1;
 338         int enable_cnt = 0;         // Debounce counter for enable button
 339         int dir_cnt = 0;            // Debounce counter for direction button
 340         uint32_t error;
 341
 342         adc_desc = hal_port_get_dsc(PORT_NAME_ADC, -1);
 343
 344         if (rpp_din_setup(0, FALSE, TRUE, FALSE) == FAILURE) {  // For the red button, which is switch to battery
 345                 rpp_sci_printf("Din 0 setup failed.\n");
 346                 return -CMDERR_BADCFG;
 347         }
 348         if (rpp_din_setup(1, FALSE, TRUE, FALSE) == FAILURE) {  // For the black button, which is switch to ground
 349                 rpp_sci_printf("Din 1 setup failed.\n");
 350                 return -CMDERR_BADCFG;
 351         }
 352         if (rpp_din_update() == FAILURE) {
 353                 rpp_sci_printf("Din update failed.\n");
 354                 return -CMDERR_BADCFG;
 355         }
 356
 357         if (rpp_fr_init_driver(&Fr_config_node_control, &error) == FAILURE) {
 358                 rpp_sci_printf("Fray driver initialization failed: %#x.\n", error);
 359                 return -CMDERR_BADCFG;
 360         }
 361         if (rpp_fr_init_controller(0, &error) == FAILURE) {
 362                 rpp_sci_printf("Fray control node initialization failed: %#x.\n", error);
 363                 return -CMDERR_BADCFG;
 364         }
 365         rpp_sci_printf("Fray control node initialized.\r\n");
 366         rpp_sci_printf("Waiting for network connection...\r\n");
 367
 368         if (rpp_fr_start_communication(0, &error) == FAILURE) {
 369                 rpp_sci_printf("Integration to the network failed: %#x.\n", error);
 370                 return -CMDERR_BADCFG;
 371         }
 372         if (rpp_fr_all_slots(0) == FAILURE) {
 373                 rpp_sci_printf("All slots mode selection failed.\n");
 374                 return -CMDERR_BADCFG;
 375         }
 376
 377         rpp_sci_printf("Connected.\r\n");
 378
 379         while (1) {
 380                 vTaskDelay(10/portTICK_RATE_MS);
 381                 ret = adc_desc->port_getfnc_ptr(adc_desc->config, PORT_ADC_CHANNEL_NUM, adc_values);
 382                 if (ret < 0) {
 383                         rpp_sci_printf("ADC read failed!\n");
 384                         break;
 385                 }
 386                 duty = (100*adc_values[0])/ADC_MAX_VALUE;
 387                 if (rpp_din_update() == FAILURE) {
 388                         rpp_sci_printf("Din update failed.\n");
 389                         break;
 390                 }
 391                 button = !rpp_din_get(0);
 392                 if (button == 1) {
 393                         if (enable_cnt++ == ENABLE_DEBOUNCE_TIME)
 394                                 enable = !enable;
 395                         else
 396                                 enable_cnt++;
 397                 }
 398                 else
 399                         enable_cnt = 0;
 400                 button = rpp_din_get(1);
 401                 if (button == 1) {
 402                         if (dir_cnt++ == DIRECTION_DEBOUNCE_TIME)
 403                                 direction = !direction;
 404                         else
 405                                 dir_cnt++;
 406                 }
 407                 else
 408                         dir_cnt = 0;
 409
 410                 if (transmit_control_data(enable, direction, duty) == FAILURE) {
 411                         rpp_sci_printf("Data transmission failed!\n");
 412                         break;
 413                 }
 414                 rpp_sci_printf("Enable: %d, Direction: %s, Duty: %d%%\r", enable, (direction == 1) ? "L" : "R", duty);
 415         }
 416
 417         if (rpp_fr_halt_communication(0) == FAILURE)
 418                 rpp_sci_printf("FlexRay HALT command failed, please reset the board to stop transmission.\n");
 419         else
 420                 rpp_sci_printf("FlexRay halted, reset the board to make FlexRay usable again.\r\n");
 421         return 0;
 422 }
 423
 424 /**
 425  * @brief       Receive data from FlexRay and control motor on HBR
 426  *
 427  * This FlexRay node receives the control data from the FlexRay network
 428  * and configures the H-bridge to drive the DC motor according the
 429  * parameters from the received message.
 430  *
 431  * @param[in]   cmd_io  Pointer to IO stack
 432  * @param[in]   des             Pointer to command descriptor
 433  * @param[in]   param   Parameters of command
 434  * @return      0 when OK or error code
 435  */
 436 int cmd_do_motor(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
 437 {
 438         double hbr_period = 50; // us
 439         double control = 0.0;
 440         int hbr_duty = 0;
 441         int direction = 1;
 442         int enable = 0;
 443         uint32_t rx_error = 0;
 444         int ret;
 445         uint32_t error;
 446
 447         if (rpp_hbr_enable(hbr_period) == FAILURE ||
 448                 rpp_hbr_control(0) == FAILURE
 449                 ) {
 450                 rpp_sci_printf("H-bridge initialization failed.\n");
 451                 return -CMDERR_BADCFG;
 452         }
 453
 454         if (rpp_fr_init_driver(&Fr_config_node_motor, &error) == FAILURE) {
 455                 rpp_sci_printf("Fray driver initialization failed: %#x.\n", error);
 456                 return -CMDERR_BADCFG;
 457         }
 458         if (rpp_fr_init_controller(0, &error) == FAILURE) {
 459                 rpp_sci_printf("Fray motor node initialization failed: %#x.\n", error);
 460                 return -CMDERR_BADCFG;
 461         }
 462         rpp_sci_printf("Fray motor node initialized.\r\n");
 463         rpp_sci_printf("Waiting for network connection...\r\n");
 464
 465         if (rpp_fr_start_communication(0, &error) == FAILURE) {
 466                 rpp_sci_printf("Integration to the network failed: %#x.\n", error);
 467                 return -CMDERR_BADCFG;
 468         }
 469         if (rpp_fr_all_slots(0) == FAILURE) {
 470                 rpp_sci_printf("All slots mode selection failed.\n");
 471                 return -CMDERR_BADCFG;
 472         }
 473
 474         rpp_sci_printf("Connected.\r\n");
 475
 476         while (1) {
 477                 ret = receive_control_data(&enable, &direction, &hbr_duty);
 478                 if (ret == 2) { // receiving failed
 479                         rx_error++;
 480                         if (rx_error > RX_ERROR_MAX) {
 481                                 rpp_sci_printf("Maximum RX errors reached!\n");
 482                                 break;
 483                         }
 484                 }
 485                 else if (ret == 0) {    // message received
 486                         control = hbr_duty/((double)100) * ((direction == 1) ? -1 : 1) * enable;
 487                         rpp_sci_printf("Enable: %d, Direction: %s, Duty: %d%%\r", enable, (direction == 1) ? "L" : "R", hbr_duty);
 488                         if (rpp_hbr_control(control) == FAILURE) {
 489                                 rpp_sci_printf("H-bridge control failed!\n");
 490                                 break;
 491                         }
 492                 }
 493         }
 494         if (rpp_hbr_disable() == FAILURE)
 495                 rpp_sci_printf("H-bridge disabling failed!\n");
 496         else
 497                 rpp_sci_printf("H-bridge disabled.\n");
 498         if (rpp_fr_halt_communication(0) == FAILURE)
 499                 rpp_sci_printf("FlexRay HALT command failed, please reset the board to stop transmission.\n");
 500         else
 501                 rpp_sci_printf("FlexRay halted, reset the board to make FlexRay usable again.\r\n");
 502         return 0;
 503 }
 504
 505 #endif  /* DOCGEN */
 506
 507 /** Command descriptor for control */
 508 cmd_des_t const cmd_des_control = {
 509         0, 0,
 510         "demomotctrl","Run motor control demo - reads input and sends it",
 511         "### Command syntax ###\n"
 512         "\n"
 513         "    demomotctrl\n"
 514         "\n"
 515         "### Description ###\n"
 516         "\n"
 517         "This command creates a FlexRay node and starts to read buttons\n"
 518         "(connected to DIN0 and DIN1) and a potentiometer (ADC1) from a control\n"
 519         "panel. The read data are sent via FlexRay to the second node, created\n"
 520         "by running demomotdrive command.\n"
 521         "\n"
 522         "The purpose of this pair of commands is to demonstrate functionality\n"
 523         "of the FlexRay, ADC, DIN and HBR peripherals.\n",
 524         CMD_HANDLER(cmd_do_control), (void *)&cmd_list_motor_example
 525 };
 526
 527 /** Command descriptor for motor */
 528 cmd_des_t const cmd_des_motor = {
 529         0, 0,
 530         "demomotdrive","Run motor control demo - drives the DC motor",
 531         "### Command syntax ###\n"
 532         "\n"
 533         "    demomotdrive\n"
 534         "\n"
 535         "### Description ###\n"
 536         "\n"
 537         "This command creates a FlexRay node and starts to receive the data\n"
 538         "from another node created by command demomotctrl. The received data\n"
 539         "are applied to HBR to control the DC motor.\n"
 540         "\n"
 541         "The purpose of this pair of commands is to demonstrate functionality\n"
 542         "of the FlexRay, ADC, DIN and HBR peripherals.\n",
 543         CMD_HANDLER(cmd_do_motor), (void *)&cmd_list_motor_example
 544 };
 545
 546 /** List of commands for example, defined as external */
 547 cmd_des_t const *cmd_list_motor_example[] = {
 548         &cmd_des_control,
 549         &cmd_des_motor,
 550         NULL
 551 };