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[Krobot-commits] [SCM] krobot branch, master, updated. fa42027035da13c7ecdd2a9eebda5f869db6bb63
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From: Xavier L. <Ba...@us...> - 2010-02-23 22:56:43
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The branch, master has been updated
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from d5dd29f7cee70a51a4bbfb294b48c970927ace06 (commit)
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- Log -----------------------------------------------------------------
commit fa42027035da13c7ecdd2a9eebda5f869db6bb63
Author: Xavier Lagorce <Xav...@cr...>
Date: Tue Feb 23 23:54:57 2010 +0100
Adding a USB command to get the current velocities of both motors.
Also added the associated command in lm629.c
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index 8fd98e0..e79e8fa 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -78,6 +78,7 @@ typedef struct _UP {
#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
+#define GET_CURRENT_SPEED 15 ///< Demande au PIC la valeur actuelle d'un moteur [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
diff --git a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
index 8fd98e0..e79e8fa 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -78,6 +78,7 @@ typedef struct _UP {
#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
+#define GET_CURRENT_SPEED 15 ///< Demande au PIC la valeur actuelle d'un moteur [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
diff --git a/PC_Mainboard/python/dev/User_Interface/PcInterface.h b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
index 8fd98e0..e79e8fa 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -78,6 +78,7 @@ typedef struct _UP {
#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
+#define GET_CURRENT_SPEED 15 ///< Demande au PIC la valeur actuelle d'un moteur [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
diff --git a/USB_Dev_Board/Firmware/PcInterface.h b/USB_Dev_Board/Firmware/PcInterface.h
index 8fd98e0..e79e8fa 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -78,6 +78,7 @@ typedef struct _UP {
#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
+#define GET_CURRENT_SPEED 15 ///< Demande au PIC la valeur actuelle d'un moteur [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
diff --git a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
index 8fd98e0..e79e8fa 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -78,6 +78,7 @@ typedef struct _UP {
#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
+#define GET_CURRENT_SPEED 15 ///< Demande au PIC la valeur actuelle d'un moteur [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
diff --git a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw
index 192f5e4..4037f9f 100644
Binary files a/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw and b/USB_Module/Motor_Controller/Firmware/Motor_Controller.mcw differ
diff --git a/USB_Module/Motor_Controller/Firmware/PcInterface.h b/USB_Module/Motor_Controller/Firmware/PcInterface.h
index 8fd98e0..e79e8fa 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -78,6 +78,7 @@ typedef struct _UP {
#define GET_CURRENT 12 ///< Valeur instantandu courant dtar la batterie [Battery Monitoring]
#define GET_POWER_STATE 13 ///< Etat de l'alimentation de puissance (On/Off) [Battery Monitoring]
#define GET_BATTERY_STATE 14 ///< Etat des batteries (Pleine charge/Charge moyenne/Charge faible) [Battery Monitoring]
+#define GET_CURRENT_SPEED 15 ///< Demande au PIC la valeur actuelle d'un moteur [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index 0ee0b12..9f5b7e8 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -567,6 +567,27 @@ void stop(char axis, WORD type) {
}
/**
+ * Rp la vitesse vtable des moteurs drminpar les LMs
+ *
+ * @param axis l'axe moteur correspondant au LM, peut valoir : @n
+ * #MOTOR_RIGHT le moteur de droite uniquement @n
+ * #MOTOR_LEFT le moteur de gauche uniquement @n
+ * (spfier les #MOTOR_BOTH est bien demment impossible)
+*/
+DWORD getRealVelocity(char axis) {
+ WORD velData;
+
+ if (axis == MOTOR_BOTH)
+ return 0;
+ else {
+ writeCommand(axis, LM_CMD_RDRV);
+ velData = readDataWord(axis);
+
+ return (((long)velData) << 16);
+ }
+}
+
+/**
* Avance.
*
* @param pos position tteindre, en mm, sur 16 bits
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index a538f3e..8ead717 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -196,6 +196,9 @@ BOOL readStatusBit(char axis, BYTE type);
void resetInterrupt(char axis);
void initLM(char axis, WORD kp, WORD ki, WORD kd, WORD il);
+// Fonctions de rptions des grandeurs actuelles
+DWORD getRealVelocity(char axis);
+
// Fonctions de gration des trajectoires
void newPosition(char axis, DWORD pos, DWORD vel, DWORD acc);
void newVelocity(char axis, DWORD vel, DWORD acc, char dir);
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 1ce9713..3d60360 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -775,6 +775,18 @@ void ProcessIO(void) {
ToSendDataBuffer.DATA[7] = dword.byte.LB;
break;
+ case GET_CURRENT_SPEED:
+ dword.Val = getRealVelocity(MOTOR_RIGHT);
+ ToSendDataBuffer.DATA[0] = dword.byte.MB;
+ ToSendDataBuffer.DATA[1] = dword.byte.UB;
+ ToSendDataBuffer.DATA[2] = dword.byte.HB;
+ ToSendDataBuffer.DATA[3] = dword.byte.LB;
+ dword.Val = getRealVelocity(MOTOR_LEFT);
+ ToSendDataBuffer.DATA[4] = dword.byte.MB;
+ ToSendDataBuffer.DATA[5] = dword.byte.UB;
+ ToSendDataBuffer.DATA[6] = dword.byte.HB;
+ ToSendDataBuffer.DATA[7] = dword.byte.LB;
+
default:
ToSendDataBuffer.ERR = ERR_UNKNOWN_GET;
}
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 591696c..24be1b3 100644
Binary files a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof and b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof differ
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
index 278bba0..b66e9b5 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,1565 +1,1579 @@
:020000040000FA
-:060000005EEF33F0120078
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