+++ /dev/null
-/*******************************************************************
- Components for embedded applications builded for
- laboratory and medical instruments firmware
-
- cmd_stm.c - interconnection of Stepper Motor control
- subsystem with RS-232 command processor
- used mainly for controller tuning
-
- Copyright (C) 2001 by Pavel Pisa pisa@cmp.felk.cvut.cz
- (C) 2002 by PiKRON Ltd. http://www.pikron.com
-
- *******************************************************************/
-
-#include <types.h>
-#include <ctype.h>
-#include <string.h>
-#include <stdlib.h>
-#include <utils.h>
-#include <cmd_proc.h>
-#include <cpu_def.h>
-#include <pxmc.h>
-
-/**
- * cmd_opchar_getreg - selects the right axis
- *
- * pxmc is designed for multi axis motion control, so each axis must be identificated.
- * This done by a capital letter. The first axis must be A, the 2nd B, etc.
- */
-pxmc_state_t *cmd_opchar_getreg(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- unsigned chan;
- pxmc_state_t *mcs;
- chan=*param[1]-'A';
- if(chan>=pxmc_main_list.pxml_cnt) return NULL;
- mcs=pxmc_main_list.pxml_arr[chan];
- if(!mcs) return NULL;
- return mcs;
-}
-
-/**
- * cmd_do_reg_go - checks the command format validity and calls pxmc_go.
- *
- * if pxmc_go returns -1, cmd_do_reg_go returns -1.
- */
-int cmd_do_reg_go(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- long val;
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- val=atol(param[3])<<PXMC_SUBDIV(mcs);
- val=pxmc_go(mcs,val,0,0);
- if(val<0)
- return val;
- return 0;
-}
-
-
-/**
- * cmd_do_pwm - checks the command format validity and calls pxmc_set_const_out.
- *
- */
-int cmd_do_pwm(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- int val;
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- val=atoi(param[3]);
- pxmc_set_const_out(mcs,val);
- return 0;
-}
-
-/**
- * cmd_do_reg_hh - checks the command format validity and calls pxmc_hh (home hardware).
- *
- * if pxmc_hh returns -1, cmd_do_reg_hh returns -1.
- */
-int cmd_do_reg_hh(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- long val;
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- val=pxmc_hh(mcs);
- if(val<0)
- return val;
- return 0;
-}
-
-
-/**
- * cmd_do_reg_spd - checks the command format validity and calls pxmc_spd.
- *
- * if pxmc_spd returns -1, cmd_do_reg_spd returns -1.
- */
-int cmd_do_reg_spd(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- long val;
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- val=atol(param[3]);
- val=pxmc_spd(mcs,val,0);
- if(val<0)
- return val;
- return 0;
-}
-
-/**
- * cmd_do_reg_spdfg - checks the command format validity and calls pxmc_spdfg.
- *
- * if pxmc_spdfg returns -1, cmd_do_reg_spdfg returns -1.
- */
-int cmd_do_reg_spdfg(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- long val;
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- val=atol(param[3]);
- val=pxmc_spdfg(mcs,val,0);
- if(val<0)
- return val;
- return 0;
-}
-
-/**
- * cmd_do_stop - checks the command format validity and calls pxmc_stop.
- *
- */
-int cmd_do_stop(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- pxmc_stop(mcs,0);
- return 0;
-}
-
-/**
- * cmd_do_release - checks the command format validity and calls pxmc_set_const_out(mcs,0).
- *
- */
-int cmd_do_release(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- pxmc_set_const_out(mcs,0);
- return 0;
-}
-
-/**
- * cmd_do_clrerr - checks the command format validity, clears the error flag.
- *
- * it also stop the rotation calling pxmc_set_const_out(mcs,0)
- */
-int cmd_do_clrerr(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- pxmc_set_const_out(mcs,0);
- pxmc_clear_flag(mcs,PXMS_ERR_b);
- return 0;
-}
-
-/**
- * cmd_do_zero - checks the command format validity, sets axis position to 0.
- *
- * it also stop the rotation calling pxmc_set_const_out(mcs,0)
- */
-int cmd_do_zero(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- pxmc_set_const_out(mcs,0);
- pxmc_axis_set_pos(mcs,0);
- return 0;
-}
-
-/**
- * cmd_do_align - checks the command format validity, sets offset between table and IRC counter to 0 .
- *
- * it also stop the rotation calling pxmc_set_const_out(mcs,0) and sets axis position to 0.
- */
-int cmd_do_align(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- pxmc_set_const_out(mcs,0);
- pxmc_axis_set_pos(mcs,0);
- mcs->pxms_ptofs=0;
- return 0;
-}
-
-/**
- * cmd_do_reg_rw_pos - read or write function, param is converted in 'long' and shifted
- *
- * if the command typed is a write function, records the value,
- * if it is a read function returns the value asked.
- */
-
-int cmd_do_reg_rw_pos(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- long val;
- long *ptr;
- int opchar;
- pxmc_state_t *mcs;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- ptr=(long*)((long)des->info[0]+(char*)mcs);
- if(opchar==':'){
- val=atol(param[3]);
- *ptr=val<<PXMC_SUBDIV(mcs);
- }else{
- return cmd_opchar_replong(cmd_io, param, (*ptr)>>PXMC_SUBDIV(mcs), 0, 0);
- }
- return 0;
-}
-
-/**
- * cmd_do_reg_short_val - read or write function, param is converted in 'integer'
- *
- * if the command typed is a write function, records the value,
- * if it is a read function returns the value asked.
- */
-
-int cmd_do_reg_short_val(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- int val;
- short *ptr;
- int opchar;
- pxmc_state_t *mcs;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- ptr=(short*)((long)des->info[0]+(char*)mcs);
- if(opchar==':'){
- val=atoi(param[3]);
- *ptr=val;
- }else{
- return cmd_opchar_replong(cmd_io, param, (long)*ptr, 0, 0);
- }
- return 0;
-}
-
-/**
- * cmd_do_reg_long_val - read or write function, param is converted in 'long'
- *
- * if the command typed is a write function, records the value,
- * if it is a read function returns the value asked.
- */
-int cmd_do_reg_long_val(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- long val;
- long *ptr;
- int opchar;
- pxmc_state_t *mcs;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- ptr=(long*)((long)des->info[0]+(char*)mcs);
- if(opchar==':'){
- val=atol(param[3]);
- *ptr=val;
- }else{
- return cmd_opchar_replong(cmd_io, param, (long)*ptr, 0, 0);
- }
- return 0;
-}
-
-
-/**
- * cmd_do_axis_mode - checks the command format and busy flag validity, calls pxmc_axis_mode
- *
- * if pxmc_axis_mode returns -1, cmd_do_axis_mode returns -1.
- */
-int cmd_do_axis_mode(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- int val;
- pxmc_state_t *mcs;
- if(*param[2]!=':') return -CMDERR_OPCHAR;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- if(mcs->pxms_flg&PXMS_BSY_m) return -CMDERR_BSYREG;
- val=atol(param[3]);
- val=pxmc_axis_mode(mcs,val);
- if(val<0)
- return val;
- return 0;
-}
-
-
-int cmd_do_regptmod_short_val(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- int val;
- short *ptr;
- int opchar;
- pxmc_state_t *mcs;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- ptr=(short*)((long)des->info[0]+(char*)mcs);
- if(opchar==':'){
- if(mcs->pxms_flg&PXMS_BSY_m) return -CMDERR_BSYREG;
- pxmc_set_const_out(mcs,0);
- val=atoi(param[3]);
- if((val<((long)des->info[1])) || (val>((long)des->info[2])))
- return -CMDERR_BADPAR;
- *ptr=val;
- val=pxmc_axis_mode(mcs,0);
- if(val<0)
- return val;
- }else{
- return cmd_opchar_replong(cmd_io, param, (long)*ptr, 0, 0);
- }
- return 0;
-}
-
-
-/**
- * cmd_do_reg_type - no code written, will set controller structure
- */
-int cmd_do_reg_type(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- /* should set controller structure */
- return 0;
-}
-
-
-/**
- * cmd_do_regsfrq - sets or returns smapling frequency
- */
-#ifdef WITH_SFI_SEL
-int cmd_do_regsfrq(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- int val;
- int opchar;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- if(opchar==':'){
- val=atoi(param[3]);
- return pxmc_sfi_sel(val);
- }else{
- return cmd_opchar_replong(cmd_io, param, pxmc_get_sfi_hz(NULL), 0, 0);
- }
- return 0;
-}
-#endif /* WITH_SFI_SEL */
-
-
-/* debugging functions */
-int cmd_do_reg_dbgset(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_state_t *mcs;
- int val;
- int opchar;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
- if(opchar==':'){
- val=atoi(param[3]);
- pxmc_dbgset(mcs,pxmc_dbg_ene_as,val);
- }else{
- cmd_io_write(cmd_io,param[0],param[2]-param[0]);
- cmd_io_putc(cmd_io,'=');
- cmd_io_putc(cmd_io,mcs->pxms_flg&PXMS_DBG_m?'1':'0');
- }
- return 0;
-}
-
-
-int cmd_do_reg_dbgpre(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_dbg_hist_t *hist;
- long count, val;
- int i;
- int opchar;
- char *ps;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- ps=param[3];
- if(si_long(&ps,&count,0)<0) return -CMDERR_BADPAR;
- if(!count||(count>0x10000)) return -CMDERR_BADPAR;
- pxmc_dbg_histfree(NULL);
- if((hist=pxmc_dbg_histalloc(count+2))==NULL) return -CMDERR_NOMEM;
- for(i=0;i<count;i++){
- /* ps=cmd_rs232_rdline(cmd_io,1); */ /* !!!!!!!!! */
- if(si_long(&ps,&val,0)<0) return -CMDERR_BADPAR;
- hist->buff[i]=val;
- }
- pxmc_dbg_hist=hist;
- return 0;
-}
-
-
-int cmd_do_reg_dbghis(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_dbg_hist_t *hist;
- long count, val;
- int i, opchar;
- char *ps;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- ps=param[3];
- if(si_long(&ps,&count,0)<0) return -CMDERR_BADPAR;
- if(!count||(count>0x10000)) return -CMDERR_BADPAR;
- hist=pxmc_dbg_hist;
- for(i=0;i<count;i++){
- if(hist&&(&hist->buff[i]<hist->end))
- val=hist->buff[i];
- else
- val=0;
- /* printf("%ld\r\n",val); */ /* !!!!!!!! */
- }
- return 0;
-}
-
-
-int cmd_do_reg_dbggnr(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
-{
- pxmc_state_t *mcs;
- int i;
- int opchar;
-
- if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
- for(i=0;i<pxmc_main_list.pxml_cnt;i++){
- mcs=pxmc_main_list.pxml_arr[i];
- if(mcs&&(mcs->pxms_flg&PXMS_DBG_m)){
- if(pxmc_dbg_gnr(mcs)<0){
- for(i=0;i<pxmc_main_list.pxml_cnt;i++){
- mcs=pxmc_main_list.pxml_arr[i];
- if(mcs&&(mcs->pxms_flg&PXMS_DBG_m))
- pxmc_stop(pxmc_main_list.pxml_arr[i],0);
- }
- return -CMDERR_BADREG;
- }
- }
- }
- pxmc_dbg_hist->ptr=pxmc_dbg_hist->buff;
- return 0;
-}
-
-
-/* motor executable commands */
-cmd_des_t const cmd_des_go={0, CDESM_OPCHR|CDESM_RW,
- "G?","go to target position",cmd_do_reg_go,{}};
-cmd_des_t const cmd_des_pwm={0, CDESM_OPCHR|CDESM_RW,
- "PWM?","direct axis PWM output",cmd_do_pwm,{}};
-cmd_des_t const cmd_des_hh={0, CDESM_OPCHR,"HH?","hard home request for axis",cmd_do_reg_hh,{}};
-cmd_des_t const cmd_des_spd={0, CDESM_OPCHR,"SPD?","speed request for axis",cmd_do_reg_spd,{}};
-cmd_des_t const cmd_des_spdfg={0, CDESM_OPCHR,"SPDFG?",
- "fine grained speed request for axis",cmd_do_reg_spdfg,{}};
-cmd_des_t const cmd_des_stop={0, CDESM_OPCHR,
- "STOP?","stop motion of requested axis",cmd_do_stop,{}};
-cmd_des_t const cmd_des_release={0, CDESM_OPCHR,
- "RELEASE?","releases axis closed loop control",cmd_do_release,{}};
-cmd_des_t const cmd_des_zero={0, CDESM_OPCHR,
- "ZERO?","zero actual position",cmd_do_zero,{}};
-cmd_des_t const cmd_des_align={0, CDESM_OPCHR,
- "ALIGN?","align commutator",cmd_do_align,{}};
-cmd_des_t const cmd_des_clrerr={0, CDESM_OPCHR,
- "PURGE?"," clear 'axis in error state' flag",cmd_do_clrerr,{}};
-/* motors and controllers variables */
-cmd_des_t const cmd_des_ap={0, CDESM_OPCHR|CDESM_RD,
- "AP?","actual position",cmd_do_reg_rw_pos,
- {(char*)pxmc_state_offs(pxms_ap),
- 0}};
-cmd_des_t const cmd_des_st={0, CDESM_OPCHR|CDESM_RD,
- "ST?","axis status bits encoded in number",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_flg),
- 0}};
-cmd_des_t const cmd_des_axerr={0, CDESM_OPCHR|CDESM_RD,
- "AXERR?","last axis error code",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_errno),
- 0}};
-#if 0
-cmd_des_t const cmd_des_r_one={0, CDESM_OPCHR,
- "R?","send R?! or FAIL?! at axis finish",cmd_do_r_one,{}};
-#endif
-cmd_des_t const cmd_des_regp={0, CDESM_OPCHR|CDESM_RW,
- "REGP?","controller proportional gain",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_p),
- 0}};
-cmd_des_t const cmd_des_regi={0, CDESM_OPCHR|CDESM_RW,
- "REGI?","controller integral gain",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_i),
- 0}};
-cmd_des_t const cmd_des_regd={0, CDESM_OPCHR|CDESM_RW,
- "REGD?","controller derivative gain",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_d),
- 0}};
-cmd_des_t const cmd_des_regs1={0, CDESM_OPCHR|CDESM_RW,
- "REGS1?","controller S1",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_s1),
- 0}};
-cmd_des_t const cmd_des_regs2={0, CDESM_OPCHR|CDESM_RW,
- "REGS2?","controller S2",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_s2),
- 0}};
-cmd_des_t const cmd_des_regmd={0, CDESM_OPCHR|CDESM_RW,
- "REGMD?","maximal allowed position error",cmd_do_reg_rw_pos,
- {(char*)pxmc_state_offs(pxms_md),
- 0}};
-cmd_des_t const cmd_des_regms={0, CDESM_OPCHR|CDESM_RW,
- "REGMS?","maximal speed",cmd_do_reg_long_val,
- {(char*)pxmc_state_offs(pxms_ms),
- 0}};
-cmd_des_t const cmd_des_regacc={0, CDESM_OPCHR|CDESM_RW,
- "REGACC?","maximal acceleration",cmd_do_reg_long_val,
- {(char*)pxmc_state_offs(pxms_ma),
- 0}};
-cmd_des_t const cmd_des_regme={0, CDESM_OPCHR|CDESM_RW,
- "REGME?","maximal PWM energy or voltage for axis",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_me),
- 0}};
-cmd_des_t const cmd_des_regcfg={0, CDESM_OPCHR|CDESM_RW,
- "REGCFG?","hard home and profile configuration",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_cfg),
- 0}};
-cmd_des_t const cmd_des_ptirc={0, CDESM_OPCHR|CDESM_RW,
- "REGPTIRC?","number of irc pulses per phase table",cmd_do_regptmod_short_val,
- {(char*)pxmc_state_offs(pxms_ptirc),
- (char*)4,(char*)10000}};
-cmd_des_t const cmd_des_ptper={0, CDESM_OPCHR|CDESM_RW,
- "REGPTPER?","number of elmag. revolutions per phase table",cmd_do_regptmod_short_val,
- {(char*)pxmc_state_offs(pxms_ptper),
- (char*)1,(char*)100}};
-cmd_des_t const cmd_des_ptshift={0, CDESM_OPCHR|CDESM_RW,
- "REGPTSHIFT?","shift (in irc) of generated phase curves",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_ptshift),
- 0}};
-cmd_des_t const cmd_des_ptvang={0, CDESM_OPCHR|CDESM_RW,
- "REGPTVANG?","angle (in irc) between rotor and stator mag. fld.",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_ptvang),
- 0}};
-cmd_des_t const cmd_des_pwm1cor={0, CDESM_OPCHR|CDESM_RW,
- "REGPWM1COR?","PWM1 correction",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_pwm1cor),
- 0}};
-cmd_des_t const cmd_des_pwm2cor={0, CDESM_OPCHR|CDESM_RW,
- "REGPWM2COR?","PWM2 correction",cmd_do_reg_short_val,
- {(char*)pxmc_state_offs(pxms_pwm2cor),
- 0}};
-cmd_des_t const cmd_des_axis_mode={0, CDESM_OPCHR|CDESM_WR,
- "REGMODE?","axis working mode",cmd_do_axis_mode,
- {}};
-#ifdef WITH_SFI_SEL
-cmd_des_t const cmd_des_regsfrq={0, CDESM_OPCHR|CDESM_RW,
- "REGSFRQ","set new sampling frequency",cmd_do_regsfrq,{}};
-#endif /* WITH_SFI_SEL */
-/* axes debugging and tuning */
-cmd_des_t const cmd_des_reg_type={0, CDESM_OPCHR|CDESM_RW,
- "REGTYPE?","unused",cmd_do_reg_type,{}};
-cmd_des_t const cmd_des_reg_dbgset={0, CDESM_OPCHR|CDESM_RW,
- "REGDBG?","sets debug flag",cmd_do_reg_dbgset,{}};
-cmd_des_t const cmd_des_reg_dbgpre={0, CDESM_OPCHR|CDESM_WR,
- "REGDBGPRE","store reference course",cmd_do_reg_dbgpre,{}};
-cmd_des_t const cmd_des_reg_dbghis={0, CDESM_OPCHR|CDESM_WR,
- "REGDBGHIS","read history course",cmd_do_reg_dbghis,{}};
-cmd_des_t const cmd_des_reg_dbggnr={0, CDESM_OPCHR|CDESM_WR,
- "REGDBGGNR","controller response to HIST course",cmd_do_reg_dbggnr,{}};
-
-cmd_des_t const *cmd_stm_default[]={
- &cmd_des_go,
- &cmd_des_pwm,
- /*&cmd_des_hh,*/
- &cmd_des_spd,
- &cmd_des_spdfg,
- &cmd_des_stop,
- &cmd_des_release,
- &cmd_des_zero,
- &cmd_des_align,
- &cmd_des_clrerr,
- &cmd_des_ap,
- &cmd_des_st,
- &cmd_des_axerr,
- /*&cmd_des_r_one,*/
- &cmd_des_regp,
- &cmd_des_regi,
- &cmd_des_regd,
- &cmd_des_regs1,
- &cmd_des_regs2,
- &cmd_des_regmd,
- &cmd_des_regms,
- &cmd_des_regacc,
- &cmd_des_regme,
- &cmd_des_regcfg,
- &cmd_des_ptirc,
- &cmd_des_ptper,
- &cmd_des_ptshift,
- &cmd_des_ptvang,
- &cmd_des_pwm1cor,
- &cmd_des_pwm2cor,
- &cmd_des_axis_mode,
- &cmd_des_reg_type,
-#ifdef WITH_SFI_SEL
- &cmd_des_regsfrq,
-#endif /* WITH_SFI_SEL */
- &cmd_des_reg_dbgset,
- &cmd_des_reg_dbgpre,
- &cmd_des_reg_dbghis,
- &cmd_des_reg_dbggnr,
- NULL
-};
+++ /dev/null
-/* program to test PXMC (for DC motor control) on Hitashi processor H8S2638*/
-
-/* procesor H8S/2638 ver 1.1 */
-#include <stdio.h>
-#include <types.h>
-#include <cpu_def.h>
-#include <mcu_regs.h>
-#include <system_def.h>
-#include <string.h>
-#include <boot_fn.h>
-#include <periph/sci_rs232.h>
-#include <cmd_proc.h>
-#include <stdlib.h>
-#include <pxmc.h>
-#include <pxmcbsp.h>
-
- /* void exit(int status) */
- /* { */
- /* while(1); */
- /* } */
-
-
-
-/**********************************************/
-//other functions
-
- void deb_led_out(char val)
-{
- if (val&1)
- *DIO_PJDR |=PJDR_PJ1DRm;
- else
- *DIO_PJDR &=~PJDR_PJ1DRm;
-
- if (val&2)
- *DIO_PJDR |=PJDR_PJ2DRm;
- else
- *DIO_PJDR &=~PJDR_PJ2DRm;
-
- if (val&4)
- *DIO_PJDR |=PJDR_PJ3DRm;
- else
- *DIO_PJDR &=~PJDR_PJ3DRm;
-}
-
-
-void unhandled_exception(void) __attribute__ ((interrupt_handler));
-/**
- * init - shadow registers, outputs..
- *
- * Initializes P1 and P3 shadow registers,
- * sets PJ.1, PJ.2, PJ.3 LED as outputs,
- * initialises interrupt vector.
- */
-void init()
-{
-#if 0
- DIO_PADR|=0x0f;
- *DIO_PADDR=0x0f; /* A16-A19 are outputs */
-#endif
-
- /* sets shadow registers */
- DIO_P1DDR_shadow=0;
- DIO_P3DDR_shadow=0;
-
- /* sets PJ.1, PJ.2, PJ.3 LED output */
- *DIO_PJDDR &= ~(PJDDR_PJ1DDRm | PJDDR_PJ2DDRm |PJDDR_PJ3DDRm);
- SHADOW_REG_SET(DIO_PJDDR,0xee);
-
- *DIO_P3DR|=0xc5;
- SHADOW_REG_SET(DIO_P3DDR,0x85);
-
- /* initialises interrupt vector */
- excptvec_initfill(unhandled_exception, 0);
-
- /* shows something on debug leds */
- deb_led_out(1);
- FlWait(1*100000);
-
-}
-
-
-//end other functions
-/**********************************************/
-
-
-/**********************************************/
-//Interrupt routines
-
-void unhandled_exception(void)
-{
- deb_led_out(5);
-}
-
-// end Interrupt routines
-/**********************************************/
-
-
-/**********************************************/
-//command processor
-
-
-cmd_des_t const **cmd_list;
-
-cmd_des_t const cmd_des_help={0, 0,"HELP","prints help for commands",
- cmd_do_help,{(char*)&cmd_list}};
-
-extern cmd_des_t *cmd_stm_default[1];
-
-cmd_des_t const *cmd_list_default[]={
-
- &cmd_des_help,
- CMD_DES_INCLUDE_SUBLIST(cmd_stm_default),
- NULL
-};
-
-cmd_des_t const **cmd_list=cmd_list_default;
-
-
-
-//end command processor
-/**********************************************/
-
-/*struktury charakterizujici motor 0*/
-pxmc_state_t mcsX0={
- pxms_flg:0,
- pxms_do_inp:0,
- pxms_do_con:0,
- pxms_do_out:0,
- pxms_do_deb:0,
- pxms_do_gen:0,
- pxms_ap:0, pxms_as:0,
- pxms_rp:155l*256,
- pxms_rs:0, //pxms_subdiv:8,
- pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
- pxms_inp_info:(long)TPU_TCNT1,//TPU_TCNT1 /*chanel TPU A,B*/
- pxms_out_info:(long)PWM_PWBFR1A, /*chanel PWM A,B*/
- pxms_ene:0, pxms_erc:0,
- pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
- pxms_me:0x1800, //6144
- pxms_ptirc:40, // 2000 irc per rev, 200/4 steps /
- pxms_ptper:1,
- pxms_ptptr1:NULL,
- pxms_ptptr2:NULL,
- pxms_cfg:PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m|
- PXMS_CFG_HPS_m|PXMS_CFG_HDIR_m|0x1
-};
-
-
-/*struktury charakterizujici motor 1*/
-pxmc_state_t mcsX1={
- pxms_flg:0,
- pxms_do_inp:0,
- pxms_do_con:0,
- pxms_do_out:0,
- pxms_do_deb:0,
- pxms_do_gen:0,
- pxms_ap:0, pxms_as:0,
- pxms_rp:155l*256,
- pxms_rs:0, //pxms_subdiv:8,
- pxms_md:8000l<<8, pxms_ms:5000, pxms_ma:10,
- pxms_inp_info:(long)TPU_TCNT2, /*chanel TPU C,D*/
- pxms_out_info:(long)PWM_PWBFR1C, /*chanel PWM C,D*/
- pxms_ene:0, pxms_erc:0,
- pxms_p:40, pxms_i:0, pxms_d:1, pxms_s1:0, pxms_s2:0,
- pxms_me:0x1800, //6144
- pxms_ptirc:40, // 2000 irc per rev, 200/4 steps /
- pxms_ptper:1,
- pxms_ptptr1:NULL,
- pxms_ptptr2:NULL,
- pxms_cfg:PXMS_CFG_MD2E_m|PXMS_CFG_HLS_m| //FIXME: nastavit spravne priznaky pro dalsi motorove struktur
- PXMS_CFG_HPS_m|PXMS_CFG_HDIR_m|0x1
-};
-
-/* pxmc_state_t *pxmc_main_arr[] = {&mcsX0,&mcsX1}; */
-
-/* #define SUMMOTORS (sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0])) */
-
-/* pxmc_state_list_t pxmc_main_list = { */
-/* pxml_arr:pxmc_main_arr, */
-/* pxml_cnt:SUMMOTORS */
-/* }; */
-/* FIXME: Application should be able to ovverride pxmc_main_list in BSP. */
-
-
-/******************/
-/* MAIN */
-/******************/
-
-extern cmd_io_t cmd_io_rs232_line;
-
-int main()
-{
-
- cli();
-
- init();
-
- sci_rs232_setmode(19200, 0, 0, sci_rs232_chan_default);
-
- sti();
-
-/* pxmc_initialize(); */
-/* pxmc_axis_mode(pxmc_main_list.pxml_arr[0], 4); */
-
- pxmc_initialize();
- /* Petr Kovacik's version needs the following initialization. FIXME */
-/* pxmc_set_pwm_tpu(); */
-/* pxmc_add_pservice_and_mode(4); /\*Macro - mod=4 tj. all motors are DC*\/ */
-
-
- printf("ready\n");
-
- do{
- cmd_processor_run(&cmd_io_rs232_line, cmd_list_default);
- }while(1);
-
-};
-
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