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[Krobot-commits] [SCM] krobot branch, master, updated. bba0433fac2aeb548186bb883b0016fa3583f8c1
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From: Olivier B. <Ba...@us...> - 2010-03-08 23:14:31
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- Log -----------------------------------------------------------------
commit bba0433fac2aeb548186bb883b0016fa3583f8c1
Author: Olivier BICHLER <oli...@gm...>
Date: Tue Mar 9 00:14:02 2010 +0100
Added safe-guards for the Motor Controller board and implemented host interrupt
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index 04a05cb..cb0e224 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -93,6 +93,7 @@ typedef struct _UP {
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
+#define ERR_LM_POSITION_ERROR 11
// 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 04a05cb..cb0e224 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -93,6 +93,7 @@ typedef struct _UP {
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
+#define ERR_LM_POSITION_ERROR 11
// 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 04a05cb..cb0e224 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -93,6 +93,7 @@ typedef struct _UP {
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
+#define ERR_LM_POSITION_ERROR 11
// 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 04a05cb..cb0e224 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -93,6 +93,7 @@ typedef struct _UP {
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
+#define ERR_LM_POSITION_ERROR 11
// 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 04a05cb..cb0e224 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -93,6 +93,7 @@ typedef struct _UP {
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
+#define ERR_LM_POSITION_ERROR 11
// 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 04a05cb..cb0e224 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -93,6 +93,7 @@ typedef struct _UP {
#define ERR_CMP03_NOT_RESPONDING 8
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
+#define ERR_LM_POSITION_ERROR 11
// 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 491d96d..46f5267 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -11,6 +11,22 @@
volatile DWORD_VAL posRight = 0;
volatile DWORD_VAL posLeft = 0;
+void checkLM629Interrupt(void) {
+ // Ne jamais oublier de resetter l'interruption correspondante sous peine de flooder l'USB dans le cas de la mode LM_POLLING
+ // et de ne pas dcter les interruptions suivantes dans le cas de la mode LM_INTERRUPT !
+ // Toutes les interruptions non masqu doivent e traitici dans le cas de la mode LM_INTERRUPT.
+
+ if (readStatusBit(MOTOR_RIGHT, LM_COMMAND_ERROR) || readStatusBit(MOTOR_LEFT, LM_COMMAND_ERROR)) {
+ error(ERR_LM_COMMAND_ERROR);
+ resetInterrupt(MOTOR_BOTH, LM_COMMAND_ERROR);
+ }
+
+ if (readStatusBit(MOTOR_RIGHT, LM_POSITION_ERROR) || readStatusBit(MOTOR_LEFT, LM_POSITION_ERROR)) {
+ error(ERR_LM_POSITION_ERROR);
+ resetInterrupt(MOTOR_BOTH, LM_POSITION_ERROR);
+ }
+}
+
/**
* Change la direction du BUS de donn
* Cette fonction est utilisen interne et ne doit pas e appelsinon.
@@ -304,28 +320,32 @@ BYTE readStatus(char axis) {
* @return value la valeur du bit, 0 (#FALSE) ou 1 (#TRUE).
*/
BOOL readStatusBit(char axis, BYTE type) {
- BYTE status = 0;
-
- status = readStatus(axis);
- status = (status & type);
-
- if (status != 0)
- return 1;
- else
- return 0;
+ return ((readStatus(axis) & type) != 0);
}
/**
- * Reset les bits d'interruption du/des LM(s).
+ * Reset certains bits d'interruption du/des LM(s).
*
* @param axis l'axe moteur correspondant au LM rogrammer, peut valoir : @n
* #MOTOR_RIGHT le moteur de droite uniquement @n
* #MOTOR_LEFT le moteur de gauche uniquement @n
* #MOTOR_BOTH les 2 moteurs
*/
-void resetInterrupt(char axis) {
+void resetInterrupt(char axis, WORD type) {
writeCommand(axis, LM_CMD_RSTI);
- writeDataWord(axis, 0x0000);
+ writeDataWord(axis, type);
+}
+
+/**
+ * Reset tous les bits d'interruption du/des LM(s).
+ *
+ * @param axis l'axe moteur correspondant au LM rogrammer, peut valoir : @n
+ * #MOTOR_RIGHT le moteur de droite uniquement @n
+ * #MOTOR_LEFT le moteur de gauche uniquement @n
+ * #MOTOR_BOTH les 2 moteurs
+*/
+void resetAllInterrupt(char axis) {
+ resetInterrupt(axis, 0x0000);
}
/**
@@ -365,16 +385,21 @@ initLM_RESET:
// Activation de certaines interruptions
writeCommand(axis, LM_CMD_MSKI);
- writeDataWord(axis, LM_COMMAND_ERROR | LM_INDEX_PULSE);
+
+ #if defined(LM_INTERRUPT)
+ writeDataWord(axis, LM_COMMAND_ERROR | LM_POSITION_ERROR);
+ #else
+ writeDataWord(axis, 0);
+ #endif
// Reset des interruptions
- resetInterrupt(axis);
+ resetAllInterrupt(axis);
if (readStatus(axis) != 0x80 && readStatus(axis) != 0xC0)
goto initLM_RESET;
if (readStatus(axis) == 0xC0)
- resetInterrupt(axis);
+ resetAllInterrupt(axis);
// Chargement des parames du filtre
writeCommand(axis, LM_CMD_LFIL);
@@ -386,6 +411,10 @@ initLM_RESET:
// Application du filtre
writeCommand(axis, LM_CMD_UDF);
+
+ // Srit+ writeCommand(axis, LM_CMD_LPES);
+ writeDataWord(axis, LM_PES_LIMIT);
}
/**
@@ -669,7 +698,7 @@ WORD getIntegrationSum(char axis) {
* @param acc accration, en mm/s, sur 16 bits
*/
void moveForward(short pos, short vel, short acc) {
- resetInterrupt(MOTOR_BOTH);
+ resetAllInterrupt(MOTOR_BOTH);
newPosition(MOTOR_BOTH,
(long) ((float) pos * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -685,7 +714,7 @@ void moveForward(short pos, short vel, short acc) {
* @param acc accration, en mm/s, sur 16 bits
*/
void moveBackward(short pos, short vel, short acc) {
- resetInterrupt(MOTOR_BOTH);
+ resetAllInterrupt(MOTOR_BOTH);
newPosition(MOTOR_BOTH,
- (long) ((float) pos * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -701,7 +730,7 @@ void moveBackward(short pos, short vel, short acc) {
* @param acc accration, en mm/s, sur 16 bits
*/
void turnRight(short angle, short vel, short acc) {
- resetInterrupt(MOTOR_BOTH);
+ resetAllInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
- (long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -721,7 +750,7 @@ void turnRight(short angle, short vel, short acc) {
* @param acc accration, en mm/s, sur 16 bits
*/
void turnLeft(short angle, short vel, short acc) {
- resetInterrupt(MOTOR_BOTH);
+ resetAllInterrupt(MOTOR_BOTH);
newPosition(MOTOR_RIGHT,
(long) ((float) angle * CONST_POS * WHEELS_DIST * COEF_RIGHT_WHEEL),
(long) ((float) vel * COEF_RIGHT_WHEEL * CONST_VEL),
@@ -751,7 +780,7 @@ void turnLeft(short angle, short vel, short acc) {
* Lorsqu'exprimn %, c peut e supeur 00 en valeur absolue.
*/
void turn(short angle, short vel, short acc, short c, BOOL rel) {
- resetInterrupt(MOTOR_BOTH);
+ resetAllInterrupt(MOTOR_BOTH);
if (rel)
c = WHEELS_DIST / 2.0 * (c / 100.0);
@@ -802,7 +831,7 @@ void goTo(short x, short y, short vel, short acc, BYTE mode, short d) {
a = (((float) x)*((float) x) + ((float) y)*((float) y))/4.0;
angle1 = atan2((float)y, (float)x);
- resetInterrupt(MOTOR_BOTH);
+ resetAllInterrupt(MOTOR_BOTH);
if (mode == GOTO_STRAIGHT || d == 0) {
turnRight(90.0 - angle1*180.0/PI, vel, acc);
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.h b/USB_Module/Motor_Controller/Firmware/lm629.h
index a604630..341794a 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.h
+++ b/USB_Module/Motor_Controller/Firmware/lm629.h
@@ -11,7 +11,9 @@
#include "GenericTypeDefs.h"
#include "Compiler.h"
#include "HardwareProfile.h"
+#include "PcInterface.h"
#include "eeprom.h"
+#include "error.h"
#include "motor.h"
// Robot utilis@@ -20,6 +22,8 @@
// Parames graux
#define LM_CLOCK 8e6 ///< Frence horloge LM (en Hz) -- forcnt 6 ou 8 MHz selon la rrence du composant
+#define LM_INTERRUPT
+//#define LM_POLLING
#if defined(KROBOT_2010)
// Constantes pour [Kro]bot 2010
@@ -50,13 +54,15 @@
#define DEFAULT_KP 1 ///< Constante action proportionnelle
#define DEFAULT_KI 0 ///< Constante action intale
#define DEFAULT_KD 0 ///< Constante action dv
- #define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+ #define DEFAULT_IL 1000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+ #define LM_PES_LIMIT 10000 ///< Position Error Stop Limit
#elif defined(KROBOT_PROTO)
// Constantes pour le robot protoype basur des EMG30s
#define DEFAULT_KP 1000 ///< Constante action proportionnelle
#define DEFAULT_KI 1 ///< Constante action intale
#define DEFAULT_KD 0 ///< Constante action dv
#define DEFAULT_IL 10000 ///< Integration Limit -- limite la contribution du terme intateur (doit e non nul si KI est non nul !)
+ #define LM_PES_LIMIT 10000 ///< Position Error Stop Limit
#else
#error Il est nssaire de darer un type de robot tiliser
#endif
@@ -202,6 +208,8 @@
/* Compter 1.5 ms artir d'ici pour que le RESET soit effectif. */ \
}
+void checkLM629Interrupt(void);
+
// Fonctions de bas niveau
void dataBusDirection(char dir);
void waitBusyLM(char axis);
@@ -210,7 +218,8 @@ void writeDataWord(char axis, WORD data);
WORD readDataWord(char axis);
BYTE readStatus(char axis);
BOOL readStatusBit(char axis, BYTE type);
-void resetInterrupt(char axis);
+void resetInterrupt(char axis, WORD type);
+void resetAllInterrupt(char axis);
void initLM(char axis, WORD kp, WORD ki, WORD kd, WORD il);
// Fonctions de rptions des grandeurs actuelles
diff --git a/USB_Module/Motor_Controller/Firmware/main.c b/USB_Module/Motor_Controller/Firmware/main.c
index 387f8ce..7bc8086 100644
--- a/USB_Module/Motor_Controller/Firmware/main.c
+++ b/USB_Module/Motor_Controller/Firmware/main.c
@@ -238,16 +238,17 @@ char ResetSource(void);
// On rtorise l'interruption
PIR1bits.TMR1IF = 0;
}
- /*
- // Interruption provenant du controleur d'interruption
- if (INTCONbits.INT0IF) {
-
- // On rtorise l'interruption
- INTCONbits.INT0IF = 0;
- }
- */
-
+ #if defined(LM_INTERRUPT)
+ // Interruption provenant d'un LM
+ if (INTCONbits.RBIF) {
+ checkLM629Interrupt();
+
+ // On rtorise l'interruption
+ INTCONbits.RBIF = 0;
+ }
+ #endif
+
// restauration des registres de calcul
PRODL = sProdL;
PRODH = sProdH;
@@ -524,6 +525,10 @@ void UserInit(void)
INTCONbits.GIE = 1; // Enables all high priority interrupts
INTCONbits.PEIE = 1; // Enables all low priority peripheral interrupts
+ #if defined(LM_INTERRUPT)
+ INTCONbits.RBIE = 1; // Enable PORTB Interrupt-on-change
+ #endif
+
// Configuration de l'I2C
// OpenI2C(MASTER, SLEW_OFF);
@@ -575,7 +580,20 @@ void ProcessIO(void) {
}
// User Application USB tasks
- if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) return;
+ if((USBDeviceState < CONFIGURED_STATE)||(USBSuspendControl==1)) {
+ // Mesure de srit ce n'est pas normal de perdre la liaison USB au milieu d'une trajectoire
+ if (traj_engaged) {
+ stop(MOTOR_BOTH, TRAJ_STOP_MOTOR_OFF);
+ waitTrajComplete();
+ traj_engaged = 0;
+ }
+
+ return;
+ }
+
+ #if defined(LM_POLLING)
+ checkLM629Interrupt();
+ #endif
if (!HIDTxHandleBusy(USBInHandle) && err[errno] > 0) {
ToSendDataBuffer.HSEQ = 0; // Num sence PC
@@ -605,11 +623,6 @@ void ProcessIO(void) {
}
}
- 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
- }
-
// Machine d't pour la commande CMD_TEST
switch (state) {
case 1:
@@ -835,6 +848,13 @@ void ProcessIO(void) {
case MOTOR_DISABLE:
disableMotor(ReceivedDataBuffer.DATA[1]);
+
+ // Mesure de srit ce n'est pas normal que l'on dctive les moteurs au milieu d'une trajectoire
+ if (traj_engaged) {
+ stop(MOTOR_BOTH, TRAJ_STOP_MOTOR_OFF);
+ waitTrajComplete();
+ traj_engaged = 0;
+ }
break;
default:
@@ -1024,7 +1044,6 @@ void ProcessIO(void) {
word1.byte.LB = ReceivedDataBuffer.DATA[3];
stop(ReceivedDataBuffer.DATA[1], word1.Val);
- //traj_engaged = 0;
break;
case TRAJ_NEW_POSITION:
@@ -1035,7 +1054,7 @@ void ProcessIO(void) {
word3.byte.HB = ReceivedDataBuffer.DATA[6];
word3.byte.LB = ReceivedDataBuffer.DATA[7];
- resetInterrupt(ReceivedDataBuffer.DATA[1]);
+ resetAllInterrupt(ReceivedDataBuffer.DATA[1]);
newPosition(ReceivedDataBuffer.DATA[1],
(long) ((float) word1.Val * COEF_WHEEL),
(long) ((float) word2.Val * COEF_WHEEL * CONST_VEL),
@@ -1048,7 +1067,7 @@ void ProcessIO(void) {
word2.byte.HB = ReceivedDataBuffer.DATA[4];
word2.byte.LB = ReceivedDataBuffer.DATA[5];
- resetInterrupt(ReceivedDataBuffer.DATA[1]);
+ resetAllInterrupt(ReceivedDataBuffer.DATA[1]);
newVelocity(ReceivedDataBuffer.DATA[1],
(long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
(long) ((float) word2.Val * COEF_WHEEL * CONST_ACC),
@@ -1059,7 +1078,7 @@ void ProcessIO(void) {
word1.byte.HB = ReceivedDataBuffer.DATA[2];
word1.byte.LB = ReceivedDataBuffer.DATA[3];
- resetInterrupt(ReceivedDataBuffer.DATA[1]);
+ resetAllInterrupt(ReceivedDataBuffer.DATA[1]);
changeVelocity(ReceivedDataBuffer.DATA[1],
(long) ((float) word1.Val * COEF_WHEEL * CONST_VEL),
ReceivedDataBuffer.DATA[4]);
@@ -1284,10 +1303,6 @@ void USBCBSuspend(void)
//cleared inside the usb_device.c file. Clearing USBActivityIF here will cause
//things to not work as intended.
- // Si on perd la communication avec la carte m, un probl est certainement arriv- // Pour rire les risques on arr les moteurs (en roue libre)
- stop(MOTOR_BOTH, LM_LTRJ_MOTOR_OFF);
-
#if defined(__C30__)
#if 0
U1EIR = 0xFFFF;
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index 03d6dfa..df02379 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 f676229..6ff3456 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,1484 +1,1496 @@
:020000040000FA
-:06000000E5EF30F01200F4
+:060000001FEF31F01200B9
:0600080004EF04F01200F9
:060018000CEF04F01200E1
-:06080000E5EF30F01200EC
-:0608080088EF10F0120061
-:06081800F0EF10F01200E9
-:06082A0004005D62000005
-:100830002601000021000000556200005F01000059
-:100840000800000047620000470100000E000000A1
-:0C085000446200006A0100000300000088
-:04085C0025EC0DF08A
-:10086000FE0EDB5006E1F80E96163C0E9416959897
-:1008700008D0FE0EDB0405E1070E9612C30E94129B
-:1008800095882AEF0DF0D9CFE6FFE1CFD9FFE652E8
-:10089000010EE66EE3DFE5528098FE0EDB5004E0C9
-:1008A000FE0EDB5002080FE1839C808A0000839ECD
-:1008B0000000000000008450010BDF6E838E0000FA
-:1008C0000000DF04F4E0FE0EDB0404E0FE0EDB506B
-:1008D00002080FE1838C809A0000839E00000000D4
-:1008E00000008450010BDF6E838E00000000DF04E7
-:1008F000F4E0E552E552E7CFD9FF1200D9CFE6FF89
-:10090000E1CFD9FFE652FD0EDB50DF6EFE0EDBCFEE
-:10091000E6FFB9DFE552E66AA1DFE552FE0EDB50E5
-:1009200003E1839C808A0CD0FE0EDB0403E1838C00
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