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[Krobot-commits] [SCM] krobot branch, master, updated. a6e8536a3b19b3d0de30a97cf8ea60ccfddce72e
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From: Olivier B. <Ba...@us...> - 2010-03-07 16:20:39
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The branch, master has been updated
via a6e8536a3b19b3d0de30a97cf8ea60ccfddce72e (commit)
from 3f23696522eefa513a92a375459c998e5899df2d (commit)
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- Log -----------------------------------------------------------------
commit a6e8536a3b19b3d0de30a97cf8ea60ccfddce72e
Author: Olivier BICHLER <oli...@gm...>
Date: Sun Mar 7 17:20:06 2010 +0100
Added getIntegrationSum() function and added LM command error reporting
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index eaebb09..fa7faca 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -80,6 +80,7 @@ typedef struct _UP {
#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]
+#define GET_INTEGRATION_SUM 16 ///< Demande au PIC la valeur actuelle du terme integration de l'asservissement [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
@@ -91,6 +92,7 @@ typedef struct _UP {
#define ERR_AX12_CHKSUM 7
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
+#define ERR_LM_COMMAND_ERROR 10
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
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 eaebb09..fa7faca 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -80,6 +80,7 @@ typedef struct _UP {
#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]
+#define GET_INTEGRATION_SUM 16 ///< Demande au PIC la valeur actuelle du terme integration de l'asservissement [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
@@ -91,6 +92,7 @@ typedef struct _UP {
#define ERR_AX12_CHKSUM 7
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
+#define ERR_LM_COMMAND_ERROR 10
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
diff --git a/PC_Mainboard/python/dev/User_Interface/PcInterface.h b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
index eaebb09..fa7faca 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -80,6 +80,7 @@ typedef struct _UP {
#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]
+#define GET_INTEGRATION_SUM 16 ///< Demande au PIC la valeur actuelle du terme integration de l'asservissement [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
@@ -91,6 +92,7 @@ typedef struct _UP {
#define ERR_AX12_CHKSUM 7
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
+#define ERR_LM_COMMAND_ERROR 10
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
diff --git a/USB_Dev_Board/Firmware/PcInterface.h b/USB_Dev_Board/Firmware/PcInterface.h
index eaebb09..fa7faca 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -80,6 +80,7 @@ typedef struct _UP {
#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]
+#define GET_INTEGRATION_SUM 16 ///< Demande au PIC la valeur actuelle du terme integration de l'asservissement [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
@@ -91,6 +92,7 @@ typedef struct _UP {
#define ERR_AX12_CHKSUM 7
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
+#define ERR_LM_COMMAND_ERROR 10
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
diff --git a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
index eaebb09..fa7faca 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -80,6 +80,7 @@ typedef struct _UP {
#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]
+#define GET_INTEGRATION_SUM 16 ///< Demande au PIC la valeur actuelle du terme integration de l'asservissement [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
@@ -91,6 +92,7 @@ typedef struct _UP {
#define ERR_AX12_CHKSUM 7
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
+#define ERR_LM_COMMAND_ERROR 10
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
diff --git a/USB_Module/Motor_Controller/Firmware/PcInterface.h b/USB_Module/Motor_Controller/Firmware/PcInterface.h
index eaebb09..fa7faca 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -80,6 +80,7 @@ typedef struct _UP {
#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]
+#define GET_INTEGRATION_SUM 16 ///< Demande au PIC la valeur actuelle du terme integration de l'asservissement [Carte d'asservissement]
// CMD_ERR arguments
#define ERR_UNKNOWN_CMD 1 ///< Commande inconnue
@@ -91,6 +92,7 @@ typedef struct _UP {
#define ERR_AX12_CHKSUM 7
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
+#define ERR_LM_COMMAND_ERROR 10
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index 2745ac4..491d96d 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -603,7 +603,7 @@ void stop(char axis, WORD type) {
}
/**
- * Rp la position vtable des moteurs drminpar les LMs
+ * Rp la position 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
@@ -624,7 +624,7 @@ DWORD getRealPosition(char axis) {
}
/**
- * Rp la vitesse vtable des moteurs drminpar les LMs
+ * 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
@@ -645,6 +645,23 @@ DWORD getRealVelocity(char axis) {
}
/**
+ * Rp la valeur du terme d'intation.
+ *
+ * @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)
+*/
+WORD getIntegrationSum(char axis) {
+ if (axis == MOTOR_BOTH)
+ return 0;
+ else {
+ writeCommand(axis, LM_CMD_RDSUM);
+ return readDataWord(axis);
+ }
+}
+
+/**
* 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 2107c1c..a604630 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -216,6 +216,7 @@ void initLM(char axis, WORD kp, WORD ki, WORD kd, WORD il);
// Fonctions de rptions des grandeurs actuelles
DWORD getRealPosition(char axis);
DWORD getRealVelocity(char axis);
+WORD getIntegrationSum(char axis);
// Fonctions de gration des trajectoires
void newPosition(char axis, DWORD pos, DWORD vel, DWORD acc);
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 385678c..1b2ade5 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -605,56 +605,41 @@ void ProcessIO(void) {
}
}
- if (state > 0) {
- switch (state) {
- case 1:
- enableMotor(MOTOR_BOTH);
-
- if (initLMs())
- state = 2;
- else
- state = -1;
- break;
+ if (readStatusBit(MOTOR_RIGHT, LM_COMMAND_ERROR) || readStatusBit(MOTOR_LEFT, LM_COMMAND_ERROR)) {
+ error(ERR_LM_COMMAND_ERROR);
+ resetInterrupt(MOTOR_BOTH); // Nssaire car sinon en cas d'erreur on flood l'USB
+ }
- case 2:
- moveForward(1000, 200, 800); // Avance de 10 m
- state = 0;
- break;
-/*
- case 3:
- if (isTrajComplete()) {
- moveBackward(1000, 200, 150); // Recule de 10 m (itesse rite)
- state = 4;
- }
- break;
+ // Machine d't pour la commande CMD_TEST
+ switch (state) {
+ case 1:
+ enableMotor(MOTOR_BOTH);
- case 4:
- if (isTrajComplete()) {
- moveForward(500, 1000, 1000); // Avance de 500 cm
- state = 5;
- }
- break;
+ if (initLMs())
+ state = 2;
+ break;
- case 5:
- if (isTrajComplete()) {
- if (!HIDTxHandleBusy(USBInHandle)) {
- ToSendDataBuffer.HSEQ = 0; // Num sence PC
- ToSendDataBuffer.DSEQ = (UPClientSeq++); // Num sence PIC
- ToSendDataBuffer.CMD = CMD_SEND; // Type requ
- ToSendDataBuffer.ERR = 0; // Erreur
+ case 2:
+ moveForward(1000, 200, 800); // Avance de 10 m
+ state = 0;
+ break;
+/*
+ case 3:
+ if (isTrajComplete()) {
+ moveBackward(1000, 200, 150); // Recule de 10 m (itesse rite)
+ state = 4;
+ }
+ break;
- ToSendDataBuffer.DATA[0] = '\0';
- strcatpgm2ram((char *) &ToSendDataBuffer.DATA[0], (const rom far char *) "Trajectoire comple");
-
- USBInHandle = HIDTxPacket(HID_EP, (BYTE*) &ToSendDataBuffer, 64);
+ case 4:
+ if (isTrajComplete()) {
+ moveForward(500, 1000, 1000); // Avance de 500 cm
+ state = 5;
+ }
+ break;
- // disableMotor(MOTOR_BOTH);
- state = 0;
- }
- }
- break;
-*/
- case -1:
+ case 5:
+ if (isTrajComplete()) {
if (!HIDTxHandleBusy(USBInHandle)) {
ToSendDataBuffer.HSEQ = 0; // Num sence PC
ToSendDataBuffer.DSEQ = (UPClientSeq++); // Num sence PIC
@@ -662,19 +647,18 @@ void ProcessIO(void) {
ToSendDataBuffer.ERR = 0; // Erreur
ToSendDataBuffer.DATA[0] = '\0';
- strcatpgm2ram((char *) &ToSendDataBuffer.DATA[0], (const rom far char *) "Erreur de commande sur les LMs");
-
+ strcatpgm2ram((char *) &ToSendDataBuffer.DATA[0], (const rom far char *) "Trajectoire comple");
+
USBInHandle = HIDTxPacket(HID_EP, (BYTE*) &ToSendDataBuffer, 64);
+
+ // disableMotor(MOTOR_BOTH);
state = 0;
}
- break;
-
- default:
- state = 0;
- }
-
- if (readStatusBit(MOTOR_RIGHT, LM_COMMAND_ERROR) || readStatusBit(MOTOR_LEFT, LM_COMMAND_ERROR))
- state = -1;
+ }
+ break;
+*/
+ default:
+ state = 0;
}
if(!HIDRxHandleBusy(USBOutHandle)) {
@@ -783,6 +767,16 @@ void ProcessIO(void) {
ToSendDataBuffer.DATA[7] = dword.byte.LB;
break;
+ case GET_INTEGRATION_SUM:
+ word1.Val = getIntegrationSum(MOTOR_RIGHT);
+ ToSendDataBuffer.DATA[0] = word1.byte.HB;
+ ToSendDataBuffer.DATA[1] = word1.byte.LB;
+
+ word1.Val = getIntegrationSum(MOTOR_LEFT);
+ ToSendDataBuffer.DATA[2] = word1.byte.HB;
+ ToSendDataBuffer.DATA[3] = word1.byte.LB;
+ break;
+
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 cbcaeca..9577f82 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 aa7754f..c1942b2 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,18 +1,18 @@
:020000040000FA
-:060000000AEF31F01200CE
+:06000000DBEF30F01200FE
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:060800000AEF31F01200C6
-:0608080079EF10F0120070
-:06081800E1EF10F01200F8
-:06082A000400A7620000BB
-:1008300026010000210000009F6200005F0100000F
-:100840000800000091620000470100000E00000057
-:0C0850008E6200006A010000030000003E
-:04085C001BEC0DF094
+:06080000DBEF30F01200F6
+:0608080088EF10F0120061
+:06081800F0EF10F01200E9
+:06082A0004004962000019
+:100830002601000021000000416200005F0100006D
+:100840000800000033620000470100000E000000B5
+:0C085000306200006A010000030000009C
+:04085C0025EC0DF08A
:10086000FE0EDB5006E1F80E96163C0E9416959897
:1008700008D0FE0EDB0405E1070E9612C30E94129B
-:10088000958820EF0DF0D9CFE6FFE1CFD9FFE652F2
+:1008800095882AEF0DF0D9CFE6FFE1CFD9FFE652E8
:10089000010EE66EE3DFE5528098FE0EDB5004E0C9
:1008A000FE0EDB5002080FE1839C808A0000839ECD
:1008B0000000000000008450010BDF6E838E0000FA
@@ -98,1394 +98,1387 @@
:100DB000F3CF00F08250400B01E0010E800DF350A4
:100DC0000010011002100310041005100610DF6E51
:100DD000838EDF5000D0E552E552E7CFD9FF1200F5
-:100DE0001BEC0DF0E652DF6A5EEC0DF0DF6EFD0EDF
+:100DE00025EC0DF0E652DF6A68EC0DF0DF6EFD0ECB
:100DF000DB50DF14DF6EDF5002E0010E01D0000E89
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+:100E0000E5522AEF0DF025EC0DF01D0EAFEC0CF0C5
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