--- /dev/null
+/*******************************************************************
+ Components for embedded applications builded for
+ laboratory and medical instruments firmware
+
+ cmd_pxmc.c - interconnection of PXMC library
+ 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 <cmd_proc.h>
+#include <cpu_def.h>
+#include <pxmc.h>
+#include <utils.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_pxmc_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
+/*
+* 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 / commitdiff