--- /dev/null
+/*
+* C Implementation: main_test
+*
+* Description:
+
+*
+*
+* Author: Petr Kovacik <kovacp1@feld.cvut.cz>, (C) 2006
+*
+* Copyright:
+*
+*/
+#define _USE_EXR_LEVELS 1
+#include <types.h>
+#include <cpu_def.h>
+#include <h8s2638h.h>
+#include <periph/sci_rs232.h>
+#include <system_def.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <pxmc.h>
+#include <pxmc_h2638.h>
+
+#include <cmd_proc.h>
+#include "cmd_pxmc.h"
+
+
+/*struktury prikazu cmd*/
+cmd_des_t const cmd_des_help={0, 0,"HELP","prints help for commands",
+ cmd_do_help,{(char*)&cmd_rs232}};
+
+cmd_des_t const *cmd_rs232_default[]={
+
+ &cmd_des_help,
+ CMD_DES_CONTINUE_AT, /* list continues at new address */
+ (cmd_des_t*)cmd_pxmc_default,
+ NULL
+};
+cmd_des_t const **cmd_bth=cmd_rs232_default; /*cmd prikazy pro bth*/
+cmd_des_t const **cmd_rs232=cmd_rs232_default; /*cmd prikazy pro PC*/
+
+
+/*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};
+
+pxmc_state_list_t pxmc_main_list = {
+ pxml_arr:pxmc_main_arr,
+ pxml_cnt:sizeof(pxmc_main_arr)/sizeof(pxmc_main_arr[0])
+};
+
+
+
+//*******************************************************
+
+void unhandled_exception(void) __attribute__ ((interrupt_handler));
+
+/*Interrupt routines*/
+void unhandled_exception(void)
+{
+};
+//********************************************************
+
+
+int cmd_rs232_processor_run(void)
+{
+ int val;
+ cmd_io_t* cmd_io;
+
+ cmd_io=&cmd_io_rs232;
+ if(cmd_rs232_line_out(cmd_io))
+ return 1;
+
+ if(cmd_rs232_line_in(cmd_io)<=0)
+ return 0;
+
+ if(cmd_rs232){
+ val=proc_cmd_line(cmd_io, cmd_rs232, cmd_io->priv.ed_line.in->buf);
+ }else{
+ val=-CMDERR_BADCMD;
+ }
+
+ if(cmd_io->priv.ed_line.out->inbuf){
+ cmd_io_putc(cmd_io,'\r');
+ cmd_io_putc(cmd_io,'\n');
+
+ }else if(val<0){
+ char s[20];
+ cmd_io_write(&cmd_io_rs232,"ERROR ",6);
+ i2str(s,-val,0,0);
+ cmd_io_write(cmd_io,s,strlen(s));
+ cmd_io_putc(cmd_io,'\r');
+ cmd_io_putc(cmd_io,'\n');
+ }
+ return 1;
+}
+
+extern void _print(char *str);
+
+
+int main()
+{
+
+ /********************************************************************************/
+ *DIO_PJDDR=0xff; /*output gate*/
+ *DIO_PEDDR=0xff; /*output gate*/
+ *DIO_PEDR=0x60; /*0x0-LED - light all; 0x6 -ENA,ENB=1, LE33CD=0*/
+ *DIO_PJDR=0x00; //rozsviceni vsech diod na */
+
+
+ /*priority preruseni - SCI > TPU*/
+/* *SYS_SYSCR|=SYSCR_INTM1m; */
+/* *INT_IPRA=0x22; *INT_IPRB=0x22; *INT_IPRC=0x04; */
+/* *INT_IPRD=0x40; *INT_IPRE=0x44; *INT_IPRF=0x55; */
+/* *INT_IPRG=0x55; *INT_IPRH=0x55; *INT_IPRJ=0x06; */
+/* *INT_IPRK=0x67; *INT_IPRM=0x66; */
+
+ /*povoleni vsech preruseni atd...*/
+ cli();
+ excptvec_initfill(unhandled_exception, 0);
+
+ /*nastaveni seriovych linek - Bth, PC*/
+ //sci_rs232_setmode(RS232_BAUD_RAW | 3, 0, 0, 2); // HCI - hardcoded 115200
+ //sci_rs232_setmode(115200, 0, 0, 2); // HCI
+ sci_rs232_setmode(19200, 0, 0, sci_rs232_chan_default); //PC
+ sti();
+
+ _print("Start\n");
+
+ /*nastaveni HW (TPU, PWM)*/
+ pxmc_set_pwm_tpu();
+
+ /*nastaveni DC motoru*/
+ pxmc_add_pservice_and_mode(4); /*Macro - mod=4 tj. all motors are DC*/
+
+ /*nekonecna smycka obsluhujici bth, pc ...*/
+/* do{ */
+/* cmd_rs232_processor_run(); /\*sber + odesilani cmd prikazu PC*\/ */
+/* }while(1); */
+#include "timer3.h"
+
+ init_timer3();
+
+ long int before = get_timer();
+ int a=1;
+ while (1) {
+ cmd_rs232_processor_run(); /*sber + odesilani cmd prikazu PC*/
+
+ long int now = get_timer();
+
+ if (now != before)
+ switch (now % 10) {
+ case 0:
+ pxmc_spd(&mcsX0,a*400,0);
+ pxmc_spd(&mcsX1,-a*700,0);
+ break;
+ case 1:
+ pxmc_spd(&mcsX0,a*700,0);
+ pxmc_spd(&mcsX1,-a*400,0);
+ break;
+ case 2:
+ pxmc_spd(&mcsX0,a*2000,0);
+ pxmc_spd(&mcsX1,-a*1200,0);
+ break;
+ case 3:
+ pxmc_spd(&mcsX0,a*1200,0);
+ pxmc_spd(&mcsX1,-a*2000,0);
+ break;
+ case 4:
+ pxmc_spd(&mcsX0,a*1300,0);
+ pxmc_spd(&mcsX1,-a*1000,0);
+ break;
+ case 5:
+ pxmc_spd(&mcsX0,a*1300,0);
+ pxmc_spd(&mcsX1,-a*1000,0);
+ break;
+ case 6:
+ pxmc_spd(&mcsX0,a*100,0);
+ pxmc_spd(&mcsX1,-a*300,0);
+ break;
+ case 7:
+ pxmc_spd(&mcsX0,a*300,0);
+ pxmc_spd(&mcsX1,-a*100,0);
+ break;
+ case 8:
+ pxmc_spd(&mcsX0,a*2000,0);
+ pxmc_spd(&mcsX1,-a*100,0);
+ break;
+ case 9:
+ pxmc_spd(&mcsX0,a*4000,0);
+ pxmc_spd(&mcsX1,-a*4000,0);
+ if(a>0) a=-1;
+ else a=1;
+ break;
+
+ }
+ }
+}
projects / mirosot.git / blobdiff