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[Krobot-commits] [SCM] krobot branch, master, updated. 58d387423da6e5090bd789065925eac1bf937c5c
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From: Olivier B. <Ba...@us...> - 2010-03-14 11:29:09
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This is an automated email from the git hooks/post-receive script. It was
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The branch, master has been updated
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from 6795c8d0a9e01b24e1762dd433acc9c48591d393 (commit)
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- Log -----------------------------------------------------------------
commit 58d387423da6e5090bd789065925eac1bf937c5c
Author: Olivier BICHLER <oli...@gm...>
Date: Sun Mar 14 12:28:33 2010 +0100
Quelques modifs :
- Changement des valeurs des constantes MOTOR_* pour une implémentation plus simple
- Ajout d'une nouvelle erreur, ERR_INVALID_AXIS, lorsque l'on essaie de lire les deux LM simultanément
- Correction d'un bug dans newVelocity() (il faut réinitialiser la variable arg)
- Les commandes LCD ne renvoient plus de réponse vide
- Ajout d'une nouvelle fonction configAX12() pour initialiser automatiquement les nouveaux AX12
-----------------------------------------------------------------------
Changes:
diff --git a/PC_Mainboard/common/PcInterface.h b/PC_Mainboard/common/PcInterface.h
index cb0e224..a24b00c 100644
--- a/PC_Mainboard/common/PcInterface.h
+++ b/PC_Mainboard/common/PcInterface.h
@@ -94,6 +94,7 @@ typedef struct _UP {
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
#define ERR_LM_POSITION_ERROR 11
+#define ERR_INVALID_AXIS 12
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
@@ -123,17 +124,18 @@ typedef struct _UP {
#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
-#define AX12_RESET 0x11
+#define AX12_PING 1
+#define AX12_READ 2
+#define AX12_WRITE 3
+#define AX12_GOTO 4
+#define AX12_GET_POS 5
+#define AX12_GET_SPEED 6
+#define AX12_GET_LOAD 7
+#define AX12_GET_STATS 8
+#define AX12_WRITE_REG 9
+#define AX12_ACTION 10
+#define AX12_RESET 11
+#define AX12_CONFIG 12
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
@@ -182,9 +184,9 @@ typedef struct _UP {
#define MOTOR_DISABLE 2
#define MOTOR_MOVE 3
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
+#define MOTOR_RIGHT 1 ///< Sction du moteur de droite (moteur 1)
+#define MOTOR_LEFT 2 ///< Sction du moteur de gauche (moteur 2)
+#define MOTOR_BOTH 3 ///< Sction des 2 moteurs simultannt
// XXX omplr
#define READ_VERSION 0x00
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 cb0e224..a24b00c 100644
--- a/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
+++ b/PC_Mainboard/python/dev/USB_Com_Layer/src/PcInterface.h
@@ -94,6 +94,7 @@ typedef struct _UP {
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
#define ERR_LM_POSITION_ERROR 11
+#define ERR_INVALID_AXIS 12
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
@@ -123,17 +124,18 @@ typedef struct _UP {
#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
-#define AX12_RESET 0x11
+#define AX12_PING 1
+#define AX12_READ 2
+#define AX12_WRITE 3
+#define AX12_GOTO 4
+#define AX12_GET_POS 5
+#define AX12_GET_SPEED 6
+#define AX12_GET_LOAD 7
+#define AX12_GET_STATS 8
+#define AX12_WRITE_REG 9
+#define AX12_ACTION 10
+#define AX12_RESET 11
+#define AX12_CONFIG 12
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
@@ -182,9 +184,9 @@ typedef struct _UP {
#define MOTOR_DISABLE 2
#define MOTOR_MOVE 3
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
+#define MOTOR_RIGHT 1 ///< Sction du moteur de droite (moteur 1)
+#define MOTOR_LEFT 2 ///< Sction du moteur de gauche (moteur 2)
+#define MOTOR_BOTH 3 ///< Sction des 2 moteurs simultannt
// XXX omplr
#define READ_VERSION 0x00
diff --git a/PC_Mainboard/python/dev/User_Interface/PcInterface.h b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
index cb0e224..a24b00c 100644
--- a/PC_Mainboard/python/dev/User_Interface/PcInterface.h
+++ b/PC_Mainboard/python/dev/User_Interface/PcInterface.h
@@ -94,6 +94,7 @@ typedef struct _UP {
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
#define ERR_LM_POSITION_ERROR 11
+#define ERR_INVALID_AXIS 12
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
@@ -123,17 +124,18 @@ typedef struct _UP {
#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
-#define AX12_RESET 0x11
+#define AX12_PING 1
+#define AX12_READ 2
+#define AX12_WRITE 3
+#define AX12_GOTO 4
+#define AX12_GET_POS 5
+#define AX12_GET_SPEED 6
+#define AX12_GET_LOAD 7
+#define AX12_GET_STATS 8
+#define AX12_WRITE_REG 9
+#define AX12_ACTION 10
+#define AX12_RESET 11
+#define AX12_CONFIG 12
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
@@ -182,9 +184,9 @@ typedef struct _UP {
#define MOTOR_DISABLE 2
#define MOTOR_MOVE 3
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
+#define MOTOR_RIGHT 1 ///< Sction du moteur de droite (moteur 1)
+#define MOTOR_LEFT 2 ///< Sction du moteur de gauche (moteur 2)
+#define MOTOR_BOTH 3 ///< Sction des 2 moteurs simultannt
// XXX omplr
#define READ_VERSION 0x00
diff --git a/USB_Dev_Board/Firmware/PcInterface.h b/USB_Dev_Board/Firmware/PcInterface.h
index cb0e224..a24b00c 100644
--- a/USB_Dev_Board/Firmware/PcInterface.h
+++ b/USB_Dev_Board/Firmware/PcInterface.h
@@ -94,6 +94,7 @@ typedef struct _UP {
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
#define ERR_LM_POSITION_ERROR 11
+#define ERR_INVALID_AXIS 12
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
@@ -123,17 +124,18 @@ typedef struct _UP {
#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
-#define AX12_RESET 0x11
+#define AX12_PING 1
+#define AX12_READ 2
+#define AX12_WRITE 3
+#define AX12_GOTO 4
+#define AX12_GET_POS 5
+#define AX12_GET_SPEED 6
+#define AX12_GET_LOAD 7
+#define AX12_GET_STATS 8
+#define AX12_WRITE_REG 9
+#define AX12_ACTION 10
+#define AX12_RESET 11
+#define AX12_CONFIG 12
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
@@ -182,9 +184,9 @@ typedef struct _UP {
#define MOTOR_DISABLE 2
#define MOTOR_MOVE 3
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
+#define MOTOR_RIGHT 1 ///< Sction du moteur de droite (moteur 1)
+#define MOTOR_LEFT 2 ///< Sction du moteur de gauche (moteur 2)
+#define MOTOR_BOTH 3 ///< Sction des 2 moteurs simultannt
// XXX omplr
#define READ_VERSION 0x00
diff --git a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
index cb0e224..a24b00c 100644
--- a/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
+++ b/USB_Module/Battery_Monitoring/Firmware/PcInterface.h
@@ -94,6 +94,7 @@ typedef struct _UP {
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
#define ERR_LM_POSITION_ERROR 11
+#define ERR_INVALID_AXIS 12
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
@@ -123,17 +124,18 @@ typedef struct _UP {
#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
-#define AX12_RESET 0x11
+#define AX12_PING 1
+#define AX12_READ 2
+#define AX12_WRITE 3
+#define AX12_GOTO 4
+#define AX12_GET_POS 5
+#define AX12_GET_SPEED 6
+#define AX12_GET_LOAD 7
+#define AX12_GET_STATS 8
+#define AX12_WRITE_REG 9
+#define AX12_ACTION 10
+#define AX12_RESET 11
+#define AX12_CONFIG 12
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
@@ -182,9 +184,9 @@ typedef struct _UP {
#define MOTOR_DISABLE 2
#define MOTOR_MOVE 3
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
+#define MOTOR_RIGHT 1 ///< Sction du moteur de droite (moteur 1)
+#define MOTOR_LEFT 2 ///< Sction du moteur de gauche (moteur 2)
+#define MOTOR_BOTH 3 ///< Sction des 2 moteurs simultannt
// XXX omplr
#define READ_VERSION 0x00
diff --git a/USB_Module/Motor_Controller/Firmware/PcInterface.h b/USB_Module/Motor_Controller/Firmware/PcInterface.h
index cb0e224..a24b00c 100644
--- a/USB_Module/Motor_Controller/Firmware/PcInterface.h
+++ b/USB_Module/Motor_Controller/Firmware/PcInterface.h
@@ -94,6 +94,7 @@ typedef struct _UP {
#define ERR_ADJD_S371_NOT_RESPONDING 9
#define ERR_LM_COMMAND_ERROR 10
#define ERR_LM_POSITION_ERROR 11
+#define ERR_INVALID_AXIS 12
// CMD_SET arguments
#define SET_PORTS_CONFIG_INPUTS 0x00 ///< Dnir les entr du PIC
@@ -123,17 +124,18 @@ typedef struct _UP {
#define RESET_SOURCE_MCLR 0x07 ///< Master Clear Reset
// CMD_AX12
-#define AX12_PING 0x01
-#define AX12_READ 0x02
-#define AX12_WRITE 0x03
-#define AX12_GOTO 0x04
-#define AX12_GET_POS 0x05
-#define AX12_GET_SPEED 0x06
-#define AX12_GET_LOAD 0x07
-#define AX12_GET_STATS 0x08
-#define AX12_WRITE_REG 0x09
-#define AX12_ACTION 0x10 // <-- ou la loose, bibich sait pas compter en hexa -- dim
-#define AX12_RESET 0x11
+#define AX12_PING 1
+#define AX12_READ 2
+#define AX12_WRITE 3
+#define AX12_GOTO 4
+#define AX12_GET_POS 5
+#define AX12_GET_SPEED 6
+#define AX12_GET_LOAD 7
+#define AX12_GET_STATS 8
+#define AX12_WRITE_REG 9
+#define AX12_ACTION 10
+#define AX12_RESET 11
+#define AX12_CONFIG 12
#define AX12_VALUE8 0x00
#define AX12_VALUE16 0x01
@@ -182,9 +184,9 @@ typedef struct _UP {
#define MOTOR_DISABLE 2
#define MOTOR_MOVE 3
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
+#define MOTOR_RIGHT 1 ///< Sction du moteur de droite (moteur 1)
+#define MOTOR_LEFT 2 ///< Sction du moteur de gauche (moteur 2)
+#define MOTOR_BOTH 3 ///< Sction des 2 moteurs simultannt
// XXX omplr
#define READ_VERSION 0x00
diff --git a/USB_Module/Motor_Controller/Firmware/lm629.c b/USB_Module/Motor_Controller/Firmware/lm629.c
index 800bf09..98b3147 100644
--- a/USB_Module/Motor_Controller/Firmware/lm629.c
+++ b/USB_Module/Motor_Controller/Firmware/lm629.c
@@ -21,6 +21,7 @@ void checkLM629Interrupt(void) {
// Toutes les interruptions non masqu doivent e traitici dans le cas de la mode LM_INTERRUPT.
BYTE statusRight = readStatus(MOTOR_RIGHT);
BYTE statusLeft = readStatus(MOTOR_LEFT);
+ char axis = 0;
// Bit 1: Command-Error Interrupt
if ((statusRight & LM_COMMAND_ERROR) || (statusLeft & LM_COMMAND_ERROR)) {
@@ -45,18 +46,17 @@ void checkLM629Interrupt(void) {
}
// Bit 6: Breakpoint Interrupt
- if (statusRight & LM_BREAKPOINT) {
- if (trajLoaded)
- start(MOTOR_RIGHT);
-
- resetInterrupt(MOTOR_RIGHT, LM_BREAKPOINT);
- }
+ if (statusRight & LM_BREAKPOINT)
+ axis|= MOTOR_RIGHT;
- if (statusLeft & LM_BREAKPOINT) {
+ if (statusLeft & LM_BREAKPOINT)
+ axis|= MOTOR_LEFT;
+
+ if (axis > 0) {
if (trajLoaded)
- start(MOTOR_LEFT);
+ start(axis);
- resetInterrupt(MOTOR_LEFT, LM_BREAKPOINT);
+ resetInterrupt(axis, LM_BREAKPOINT);
}
}
@@ -99,7 +99,7 @@ void waitBusyLM(char axis) {
LM_PS = PS_COMMAND; // attendre au moins 30 ns avant LM_READ = 0
// La durd'attente ne devrait pas excr 100 us
- if (axis == MOTOR_RIGHT || axis == MOTOR_BOTH) {
+ if (axis & MOTOR_RIGHT) {
LM_CS1 = 0;
LM_CS2 = 1; // attendre au moins 30 ns avant LM_READ = 0
Nop(); // attends 1 cycle, 8 MHz / 4 = 83.3 ns (> 30 ns)
@@ -117,7 +117,7 @@ void waitBusyLM(char axis) {
}
// La durd'attente ne devrait pas excr 100 us
- if (axis == MOTOR_LEFT || axis == MOTOR_BOTH) {
+ if (axis & MOTOR_LEFT) {
LM_CS1 = 1;
LM_CS2 = 0; // attendre au moins 30 ns avant LM_READ = 0
Nop(); // attends 1 cycle, 8 MHz / 4 = 83.3 ns (> 30 ns)
@@ -153,18 +153,8 @@ void writeCommand(char axis, BYTE command) {
waitBusyLM(axis);
dataBusDirection(DATA_OUT);
- if (axis == MOTOR_RIGHT) {
- LM_CS1 = 0;
- LM_CS2 = 1;
- }
- else if (axis == MOTOR_LEFT) {
- LM_CS1 = 1;
- LM_CS2 = 0;
- }
- else if (axis == MOTOR_BOTH) {
- LM_CS1 = 0;
- LM_CS2 = 0;
- }
+ LM_CS1 = ((axis & MOTOR_RIGHT) == 0);
+ LM_CS2 = ((axis & MOTOR_LEFT) == 0);
LM_PS = PS_COMMAND; // attendre au moins 30 ns avant LM_WRITE = 0
Nop(); // attends 1 cycle, 8 MHz / 4 = 83.3 ns (> 30 ns)
@@ -201,18 +191,8 @@ void writeDataWord(char axis, WORD data) {
waitBusyLM(axis);
dataBusDirection(DATA_OUT);
- if (axis == MOTOR_RIGHT) {
- LM_CS1 = 0;
- LM_CS2 = 1;
- }
- else if (axis == MOTOR_LEFT) {
- LM_CS1 = 1;
- LM_CS2 = 0;
- }
- else if (axis == MOTOR_BOTH) {
- LM_CS1 = 0;
- LM_CS2 = 0;
- }
+ LM_CS1 = ((axis & MOTOR_RIGHT) == 0);
+ LM_CS2 = ((axis & MOTOR_LEFT) == 0);
LM_PS = PS_DATA; // attendre au moins 30 ns avant LM_WRITE = 0
Nop(); // attends 1 cycle, 8 MHz / 4 = 83.3 ns (> 30 ns)
@@ -262,35 +242,36 @@ void writeDataWord(char axis, WORD data) {
WORD readDataWord(char axis) {
WORD_VAL word;
- waitBusyLM(axis);
- dataBusDirection(DATA_IN);
-
- if (axis == MOTOR_RIGHT) {
- LM_CS1 = 0;
- LM_CS2 = 1;
- }
- else if (axis == MOTOR_LEFT) {
- LM_CS1 = 1;
- LM_CS2 = 0;
- }
-
- LM_PS = PS_DATA; // attendre au moins 30 ns avant LM_READ = 0
- Nop(); // attends 1 cycle, 8 MHz / 4 = 83.3 ns (> 30 ns)
- LM_READ = 0; // attendre au moins 180 ns avant de lire le bus
- Nop(); Nop(); Nop(); // attends 3 cycles, 8 MHz / 4 = 250 ns (> 180 ns)
-
- word.byte.HB = LM_DATA_BUS;
-
- LM_READ = 1; // attendre au moins 120 ns avant LM_READ = 0
- Nop(); Nop(); // attends 2 cycles, 8 MHz / 4 = 166 ns (> 120 ns)
- LM_READ = 0; // attendre au moins 180 ns avant de lire le bus
- Nop(); Nop(); Nop(); // attends 3 cycles, 8 MHz / 4 = 250 ns (> 180 ns)
-
- word.byte.LB = LM_DATA_BUS;
-
- LM_READ = 1; // attendre au moins 30 ns avant une autre action
-
- return word.Val;
+ if (axis != MOTOR_RIGHT && axis != MOTOR_LEFT) {
+ error(ERR_INVALID_AXIS);
+ return 0;
+ }
+ else {
+ waitBusyLM(axis);
+ dataBusDirection(DATA_IN);
+
+ // Si axis = MOTOR_BOTH, LM_CS1 = LM_CS2 = 1 : on ne sctionne aucun LM, pour ter un conflit sur le bus
+ LM_CS1 = ((axis & MOTOR_LEFT) != 0);
+ LM_CS2 = ((axis & MOTOR_RIGHT) != 0);
+
+ LM_PS = PS_DATA; // attendre au moins 30 ns avant LM_READ = 0
+ Nop(); // attends 1 cycle, 8 MHz / 4 = 83.3 ns (> 30 ns)
+ LM_READ = 0; // attendre au moins 180 ns avant de lire le bus
+ Nop(); Nop(); Nop(); // attends 3 cycles, 8 MHz / 4 = 250 ns (> 180 ns)
+
+ word.byte.HB = LM_DATA_BUS;
+
+ LM_READ = 1; // attendre au moins 120 ns avant LM_READ = 0
+ Nop(); Nop(); // attends 2 cycles, 8 MHz / 4 = 166 ns (> 120 ns)
+ LM_READ = 0; // attendre au moins 180 ns avant de lire le bus
+ Nop(); Nop(); Nop(); // attends 3 cycles, 8 MHz / 4 = 250 ns (> 180 ns)
+
+ word.byte.LB = LM_DATA_BUS;
+
+ LM_READ = 1; // attendre au moins 30 ns avant une autre action
+
+ return word.Val;
+ }
}
/**
@@ -307,28 +288,29 @@ WORD readDataWord(char axis) {
BYTE readStatus(char axis) {
BYTE status = 0;
- waitBusyLM(axis);
- dataBusDirection(DATA_IN);
-
- if (axis == MOTOR_RIGHT) {
- LM_CS1 = 0;
- LM_CS2 = 1;
- }
- else if (axis == MOTOR_LEFT) {
- LM_CS1 = 1;
- LM_CS2 = 0;
- }
-
- LM_PS = PS_COMMAND; // attendre au moins 30 ns avant LM_READ = 0
- Nop(); // attends 1 cycle, 8 MHz / 4 = 83.3 ns (> 30 ns)
- LM_READ = 0; // attendre au moins 180 ns avant de lire le bus
- Nop(); Nop(); Nop(); // attends 3 cycles, 8 MHz / 4 = 250 ns (> 180 ns)
-
- status = LM_DATA_BUS;
-
- LM_READ = 1; // attendre au moins 30 ns avant une autre action
+ if (axis != MOTOR_RIGHT && axis != MOTOR_LEFT) {
+ error(ERR_INVALID_AXIS);
+ return 0;
+ }
+ else {
+ waitBusyLM(axis);
+ dataBusDirection(DATA_IN);
- return status;
+ // Si axis = MOTOR_BOTH, LM_CS1 = LM_CS2 = 1 : on ne sctionne aucun LM, pour ter un conflit sur le bus
+ LM_CS1 = ((axis & MOTOR_LEFT) != 0);
+ LM_CS2 = ((axis & MOTOR_RIGHT) != 0);
+
+ LM_PS = PS_COMMAND; // attendre au moins 30 ns avant LM_READ = 0
+ Nop(); // attends 1 cycle, 8 MHz / 4 = 83.3 ns (> 30 ns)
+ LM_READ = 0; // attendre au moins 180 ns avant de lire le bus
+ Nop(); Nop(); Nop(); // attends 3 cycles, 8 MHz / 4 = 250 ns (> 180 ns)
+
+ status = LM_DATA_BUS;
+
+ LM_READ = 1; // attendre au moins 30 ns avant une autre action
+
+ return status;
+ }
}
/**
@@ -353,7 +335,12 @@ BYTE readStatus(char axis) {
* @return value la valeur du bit, 0 (#FALSE) ou 1 (#TRUE).
*/
BOOL readStatusBit(char axis, BYTE type) {
- return ((readStatus(axis) & type) != 0);
+ if (axis != MOTOR_RIGHT && axis != MOTOR_LEFT) {
+ error(ERR_INVALID_AXIS);
+ return 0;
+ }
+ else
+ return ((readStatus(axis) & type) != 0);
}
/**
@@ -532,18 +519,19 @@ void newPosition(char axis, DWORD pos, DWORD vel, DWORD acc) {
writeDataWord(axis, velData.word.LW);
if (axis == MOTOR_BOTH && CON_MOTOR_RIGHT == CON_MOTOR_LEFT) {
+ // Dans ce cas, on peut ire simultannt sur les 2 LM pour gagner du temps
posData.Val = CON_MOTOR_RIGHT * pos;
writeDataWord(axis, posData.word.HW);
writeDataWord(axis, posData.word.LW);
}
else {
- if (axis == MOTOR_BOTH || axis == MOTOR_LEFT) {
+ if (axis & MOTOR_LEFT) {
posData.Val = CON_MOTOR_LEFT * pos;
writeDataWord(MOTOR_LEFT, posData.word.HW);
writeDataWord(MOTOR_LEFT, posData.word.LW);
}
- if (axis == MOTOR_BOTH || axis == MOTOR_RIGHT) {
+ if (axis & MOTOR_RIGHT) {
posData.Val = CON_MOTOR_RIGHT * pos;
writeDataWord(MOTOR_RIGHT, posData.word.HW);
writeDataWord(MOTOR_RIGHT, posData.word.LW);
@@ -581,20 +569,23 @@ void newVelocity(char axis, DWORD vel, DWORD acc, char dir) {
arg|= LM_LTRJ_LOAD_ACC;
if (axis == MOTOR_BOTH && CON_MOTOR_RIGHT == CON_MOTOR_LEFT) {
+ // Dans ce cas, on peut ire simultannt sur les 2 LM pour gagner du temps
if (dir == CON_MOTOR_RIGHT)
arg|= LM_LTRJ_FORWARD_DIR;
writeDataWord(axis, arg);
}
else {
- if (axis == MOTOR_BOTH || axis == MOTOR_LEFT) {
+ if (axis & MOTOR_LEFT) {
if (dir == CON_MOTOR_LEFT)
arg|= LM_LTRJ_FORWARD_DIR;
writeDataWord(MOTOR_LEFT, arg);
}
- if (axis == MOTOR_BOTH || axis == MOTOR_RIGHT) {
+ if (axis & MOTOR_RIGHT) {
+ arg = LM_LTRJ_LOAD_VEL | LM_LTRJ_VEL_MODE; // Il faut ritialiser arg
+
if (dir == CON_MOTOR_RIGHT)
arg|= LM_LTRJ_FORWARD_DIR;
@@ -639,10 +630,10 @@ void changeVelocity(char axis, DWORD vel, char dir) {
* #MOTOR_BOTH les 2 moteurs
*/
void start(char axis) {
- if (axis == MOTOR_RIGHT || axis == MOTOR_BOTH)
+ if (axis & MOTOR_RIGHT)
posRight = getRealPosition(MOTOR_RIGHT);
- if (axis == MOTOR_LEFT || axis == MOTOR_BOTH)
+ if (axis & MOTOR_LEFT)
posLeft = getRealPosition(MOTOR_LEFT);
trajLoaded = 0;
@@ -697,13 +688,13 @@ void setBreakpoint(char axis, DWORD pos, BOOL rel) {
else {
writeCommand(axis, LM_CMD_SBPA);
- if (axis == MOTOR_BOTH || axis == MOTOR_LEFT) {
+ if (axis & MOTOR_LEFT) {
posData.Val = posLeft + CON_MOTOR_LEFT * pos;
writeDataWord(MOTOR_LEFT, posData.word.HW);
writeDataWord(MOTOR_LEFT, posData.word.LW);
}
- if (axis == MOTOR_BOTH || axis == MOTOR_RIGHT) {
+ if (axis & MOTOR_RIGHT) {
posData.Val = posRight + CON_MOTOR_RIGHT * pos;
writeDataWord(MOTOR_RIGHT, posData.word.HW);
writeDataWord(MOTOR_RIGHT, posData.word.LW);
@@ -726,8 +717,10 @@ void setBreakpoint(char axis, DWORD pos, BOOL rel) {
DWORD getDesiredPosition(char axis) {
DWORD_VAL posData;
- if (axis == MOTOR_BOTH)
+ if (axis != MOTOR_RIGHT && axis != MOTOR_LEFT) {
+ error(ERR_INVALID_AXIS);
return 0;
+ }
else {
writeCommand(axis, LM_CMD_RDDP);
posData.word.HW = readDataWord(axis);
@@ -749,8 +742,10 @@ DWORD getDesiredPosition(char axis) {
DWORD getRealPosition(char axis) {
DWORD_VAL posData;
- if (axis == MOTOR_BOTH)
+ if (axis != MOTOR_RIGHT && axis != MOTOR_LEFT) {
+ error(ERR_INVALID_AXIS);
return 0;
+ }
else {
writeCommand(axis, LM_CMD_RDRP);
posData.word.HW = readDataWord(axis);
@@ -774,8 +769,10 @@ DWORD getRealPosition(char axis) {
DWORD getDesiredVelocity(char axis) {
DWORD_VAL velData;
- if (axis == MOTOR_BOTH)
+ if (axis != MOTOR_RIGHT && axis != MOTOR_LEFT) {
+ error(ERR_INVALID_AXIS);
return 0;
+ }
else {
writeCommand(axis, LM_CMD_RDDV);
velData.word.HW = readDataWord(axis);
@@ -797,8 +794,10 @@ DWORD getDesiredVelocity(char axis) {
DWORD getRealVelocity(char axis) {
DWORD_VAL velData;
- if (axis == MOTOR_BOTH)
+ if (axis != MOTOR_RIGHT && axis != MOTOR_LEFT) {
+ error(ERR_INVALID_AXIS);
return 0;
+ }
else {
writeCommand(axis, LM_CMD_RDRV);
velData.word.HW = readDataWord(axis);
@@ -818,8 +817,10 @@ DWORD getRealVelocity(char axis) {
* @return WORD la valeur de l'intation, sur 16 bits
*/
WORD getIntegrationSum(char axis) {
- if (axis == MOTOR_BOTH)
+ if (axis != MOTOR_RIGHT && axis != MOTOR_LEFT) {
+ error(ERR_INVALID_AXIS);
return 0;
+ }
else {
writeCommand(axis, LM_CMD_RDSUM);
return readDataWord(axis);
@@ -841,8 +842,10 @@ short getRelPos(char axis) {
return ((float) ((long) getRealPosition(MOTOR_RIGHT) - (long) posRight) / (float) COEF_RIGHT_WHEEL * CON_MOTOR_RIGHT);
else if (axis == MOTOR_LEFT)
return ((float) ((long) getRealPosition(MOTOR_LEFT) - (long) posLeft) / (float) COEF_LEFT_WHEEL * CON_MOTOR_LEFT);
- else
+ else {
+ error(ERR_INVALID_AXIS);
return 0;
+ }
}
/**
diff --git a/USB_Module/Motor_Controller/Firmware/motor.c b/USB_Module/Motor_Controller/Firmware/motor.c
index e42e0b3..7ac42f9 100644
--- a/USB_Module/Motor_Controller/Firmware/motor.c
+++ b/USB_Module/Motor_Controller/Firmware/motor.c
@@ -114,6 +114,10 @@ long getIsens(char axis) {
for (i = 0; i < ISENS_AVR1; i++)
Isens+= Isens2[i];
}
+ else {
+ error(ERR_INVALID_AXIS);
+ return 0;
+ }
return (long) ((((float) Isens / ISENS_AVR0 / ISENS_AVR1) * 5.0 / 1023.0 - 2.5) * ISENS_COEF);
}
@@ -130,14 +134,11 @@ long getIsens(char axis) {
* #MOTOR_BOTH les 2 moteurs
*/
void enableMotor(char axis) {
- if (axis == MOTOR_RIGHT)
- EN_MOTOR1 = 1;
- else if (axis == MOTOR_LEFT)
- EN_MOTOR2 = 1;
- else if (axis == MOTOR_BOTH) {
+ if (axis & MOTOR_RIGHT)
EN_MOTOR1 = 1;
+
+ if (axis & MOTOR_LEFT)
EN_MOTOR2 = 1;
- }
}
/**
@@ -151,14 +152,11 @@ void enableMotor(char axis) {
* #MOTOR_BOTH les 2 moteurs
*/
void disableMotor(char axis) {
- if (axis == MOTOR_RIGHT)
- EN_MOTOR1 = 0;
- else if (axis == MOTOR_LEFT)
- EN_MOTOR2 = 0;
- else if (axis == MOTOR_BOTH) {
+ if (axis & MOTOR_RIGHT)
EN_MOTOR1 = 0;
+
+ if (axis & MOTOR_LEFT)
EN_MOTOR2 = 0;
- }
}
#endif
diff --git a/USB_Module/Motor_Controller/Firmware/motor.h b/USB_Module/Motor_Controller/Firmware/motor.h
index 82862dc..2b628f6 100644
--- a/USB_Module/Motor_Controller/Firmware/motor.h
+++ b/USB_Module/Motor_Controller/Firmware/motor.h
@@ -7,8 +7,11 @@
#define MOTOR_H
#include <adc.h>
+#include "GenericTypeDefs.h"
#include "Compiler.h"
#include "HardwareProfile.h"
+#include "PcInterface.h"
+#include "error.h"
// Parames graux
#define ISENS_R 0.02 ///< Valeur de la rstance de mesure du courant (en ohm)
@@ -47,9 +50,9 @@
#endif
// Constantes programme
-#define MOTOR_RIGHT 0 ///< Sction du moteur de droite (moteur 1)
-#define MOTOR_LEFT 1 ///< Sction du moteur de gauche (moteur 2)
-#define MOTOR_BOTH 2 ///< Sction des 2 moteurs simultannt
+#define MOTOR_RIGHT 1 ///< Sction du moteur de droite (moteur 1)
+#define MOTOR_LEFT 2 ///< Sction du moteur de gauche (moteur 2)
+#define MOTOR_BOTH 3 ///< Sction des 2 moteurs simultannt
#if defined(REV_1_0)
// Board revision 1.0
diff --git a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.cof
index e76d155..453ac5d 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 91a16f9..a50fbfb 100644
--- a/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
+++ b/USB_Module/Motor_Controller/Firmware/output/Motor_controller.hex
@@ -1,1563 +1,1572 @@
:020000040000FA
-:0600000041EF33F0120095
+:0600000098EF33F012003E
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