+2008.02.15 Incluido destrutor virtual na classe AIC_COMM.
+
+ Alterada a implementacao da serializacao de valores double
+ em AIC_UDP::send_command().
+
+ Corrigido bug no processamento dos argumentos dos comandos
+ AIC_USER0, AIC_USER1, AIC_USER2 e AIC_USER3.
+
+ Incluido o diretorio /usr/src/linux/include, na variavel de
+ ambiente CINCLUDE.
+
+2007.12.05 Criada a classe Sputtering na biblioteca, para suportar a
+ aplicacao de controle do sputtering.
+
+2007.11.28 Criadas constantes com os bits de flags do pacote de status
+ da AIC.
+
+ Processamento de comandos enviados para a AIC alterado para
+ suportar comandos definidos pelo usuario.
+
+2007.11.27 Modificado o arquivo lib/aicio/pwm.a51 para nao utilizar o
+ acelerador matematico, que estava gerando problemas de
+ reentrancia.
+
+ Alterado o arquivo doc/Makefile para utilizar os nomes dos
+ arquivos de layout gerados pela nova versao (20060321) do
+ PCB.
+
+ Criados os programas SputPIDweb, SputPIDDaemon e sputtering.
+
+ Renomeado o programa SputDaemon para SputWeb.
+
+ Criada a versao 1.6.1
+
2006.02.24 Incluidos os esquematicos e o layout do PCB no arquivo de
documentacao em pdf.
-export CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar
+export CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar:.
export DEPPATH=-p /opt/tini/bin/modules.jar
export DEPFILE=-x /opt/tini/bin/owapi_dep.txt
export DEPNAME=-add CAN
export ASMMACRO=/opt/tini/native/bin/Linux/macro
export ASM=/opt/tini/native/bin/Linux/a390
-export CFLAGS=-O2 -Wall -march=i486
-export CINCLUDE=-I. -I${HOME}/include -I/usr/realtime/include -I/usr/local/include
+export CFLAGS=-O2 -Wall
+export CINCLUDE=-I. -I${HOME}/include -I/usr/realtime/include -I/usr/local/include -I/usr/src/linux/include
export CLIBS=-lpthread -lcanlib -lcutil -lconio -lncurses
export CPPFLAGS=
DoorOpen \
DoorWeb \
CmdDaemon \
- SputDaemon
+ SputWeb \
+ SputPIDWeb \
+ SputPIDDaemon
PACKAGES= lib \
${AICPACKAGES} \
jointtst \
motortst \
pid \
+ sputtering \
doc
all:
long Native_startRealtime(void) _JavaNative
{
volatile long period;
- unsigned int count;
aic_initialize(BASE,24.0,20e3,2000);
_asm
clr a
_endasm;
-
-
+
+ return period;
}
/* public static native void stopRealtime() */
int us=10000;
System.out.print("Starting real-time timer with "+us+" us period...");
-// int period=startRealtime(us);
+ int period=startRealtime(us);
System.out.println("done. Effective period: "+period+" us.");
System.out.println("Running PID for "+tfms+" ms...");
System.out.println("...done.");
System.out.print("Stoping real-time timer...");
-// stopRealtime();
+ stopRealtime();
System.out.println("done.");
}
}
// {
// rt_wait_period();
- y+=encoder_read()_and_clear();
+ y+=encoder_read_and_clear();
-// e=ref-y;
- u=0.001*ref;
+ e=ref-y;
-// u+=Kp*(e-e1)+Ki*e+Kd*(e-2*e1+e2);
-// if(u < MIN_U) u=MIN_U;
-// if(u > MAX_U) u=MAX_U;
+ u+=Kp*(e-e1)+Ki*e+Kd*(e-2*e1+e2);
+ if(u < MIN_U) u=MIN_U;
+ if(u > MAX_U) u=MAX_U;
motor_set(u);
-// e2=e1;
-// e1=e;
+ e2=e1;
+ e1=e;
// }
return NULL;
}
count=micro2count(period);
start_rt_timer(count);
pthread_create(&th,NULL,pid,NULL);
-// period=count2micro(count);
+ period=count2micro(count);
pwm_set_duty(500000); // debug
aic_on();
case Host.MOTOR_REF:
{
if(debug) System.out.print("Reference="+host.reference()+"\t");
- aic.pid.set(host.reference());
+ //aic.pid.set(host.reference());
break;
}
case Host.BRAKE_RELEASE:
+++ /dev/null
-DEPNAME:=-add HTTPSERVER
-
-all: SputDaemon.tini
-
-SputDaemon.class: SputDaemon.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
-
-SputHandler.class: SputHandler.java ../lib/AIC.jar
- ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
-
-SputDaemon.tini: SputDaemon.class SputHandler.class ../lib/AIC.jar
- java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputHandler.class -f SputDaemon.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
-
-clean:
- rm -f *.bak *~ *.class
-
-distclean: clean
- rm -f SputDaemon.tini
-
-upload: SputDaemon.tini
- for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
--- /dev/null
+DEPNAME+=-add HTTPSERVER
+NATLIB:=-n sputtering.tlib
+
+all: SputPIDDaemon.tini
+
+SputPIDDaemon.class: SputPIDDaemon.java ../lib/AIC.jar
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} SputPIDDaemon.java
+
+ResetHandler.class: SputPIDDaemon.java ../lib/AIC.jar
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} SputPIDDaemon.java
+
+SputPIDDaemon.tini: SputPIDDaemon.class ../lib/AIC.jar ResetHandler.class
+ java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputPIDDaemon.class -f ResetHandler.class -f MotorHandler.class -f ShutterHandler.class ${APIDBPATH} -o SputPIDDaemon.tini ${LIBPATH} ${NATLIB}
+
+clean:
+ rm -f *.bak *~ *.class *.tlib
+
+distclean: clean
+ rm -f SputPIDDaemon.tini
+
+upload: SputPIDDaemon.tini
+ for i in ${AIC}; do echo put $^ | ftp $$i; done
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Sputtering PID Daemon
+ Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+import br.ufrgs.ece.AIC.*;
+import com.dalsemi.comm.*;
+import com.dalsemi.system.*;
+import java.io.*;
+import java.lang.*;
+
+import com.dalsemi.tininet.http.*;
+import com.dalsemi.tininet.*;
+import java.util.*;
+
+/**
+*/
+public class SputPIDDaemon extends Thread
+{
+ static final int ST=250*4;
+
+ static Sputtering sputtering=new Sputtering();
+ static Host host;
+ static boolean debug=false;
+ static boolean udp=false;
+ static boolean help=false;
+
+ public static void main(String[] args) throws IOException,CanBusException
+ {
+ int hostarg=0;
+
+ System.out.println("AIC Sputtering PID Daemon");
+ System.out.println("Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>.\n");
+ System.out.println(" 2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>.\n");
+
+ switch(args.length)
+ {
+ case 0:
+ {
+ help=true;
+ break;
+ }
+ case 1:
+ {
+ if(args[0].equals("-debug") ||
+ args[0].equals("-UDP")) help=true;
+ break;
+ }
+ case 2:
+ {
+ hostarg=1;
+ if(args[0].equals("-debug")) debug=true;
+ else help=true;
+ break;
+ }
+ case 3:
+ {
+ hostarg=1;
+ if(args[0].equals("-UDP")) udp=true;
+ else help=true;
+ break;
+ }
+ case 4:
+ {
+ hostarg=2;
+ if(args[0].equals("-debug")) debug=true;
+ else help=true;
+ if(args[1].equals("-UDP")) udp=true;
+ else help=true;
+ break;
+ }
+ default:
+ {
+ help=true;
+ }
+ }
+
+
+ if(help)
+ {
+ System.out.println("Usage:\tjava PIDDaemon.tini [-debug] aic_id");
+ System.out.println("\tor");
+ System.out.println("\tjava PIDDaemon.tini [-debug] -UDP controller_host status_port");
+ System.exit(1);
+ }
+ try
+ {
+ if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1]));
+ else host=new HostCAN(Integer.parseInt(args[hostarg]));
+
+ SendOutput sendOutput=new SendOutput();
+ sendOutput.setPriority(Thread.MAX_PRIORITY);
+ sendOutput.start();
+
+ if(debug) System.out.println("sendOutput priority="+sendOutput.getPriority());
+
+ GetReference getReference=new GetReference();
+ getReference.setPriority(Thread.MAX_PRIORITY-1);
+ getReference.start();
+
+ if(debug) System.out.println("getReference priority="+getReference.getPriority());
+
+ HTTPServer httpd=new HTTPServer(80);
+ httpd.setHTTPRoot("/html");
+ httpd.setIndexPage("index.html");
+// httpd.setLogFilename("/log/DoorWeb.txt");
+ httpd.setLogging(false);
+
+ while (true)
+ {
+ try
+ {
+ httpd.serviceRequests();
+ }
+ catch (HTTPServerException e)
+ {
+ System.out.println("Error occured while servicing requests: " + e.getMessage());
+ }
+ }
+
+ }
+ catch (NumberFormatException nfe)
+ {
+ System.out.println("Usage: java PIDDaemon.tini [-debug] [-UDP controller_host port] | aicid");
+ System.exit(1);
+ }
+ }
+}
+
+/**
+*/
+class GetReference extends SputPIDDaemon
+{
+ public static final int SHUTTER=Host.USER0;
+
+ public void run()
+ {
+ try
+ {
+ for(int k=0;;k++)
+ {
+ if(debug) System.out.print("k="+k+"\t");
+
+ byte[] args=new byte[256];
+ int cmd=host.command(args,256);
+
+ if(debug) System.out.println("Command="+ cmd +"\t");
+
+ switch(cmd)
+ {
+ case Host.MOTOR_REF:
+ {
+ if(debug) System.out.println("Run PID Ref="+host.reference()+"\t");
+ while(sputtering.lock() == 0);
+
+ int tick=30000;
+
+ //ref in rad
+ float ref=(float)host.reference();
+
+ float y=sputtering.getOutput();
+
+ sputtering.setReference(ref);
+ if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
+ int period= sputtering.pidStartRealtime(tick);
+ if(debug) System.out.println("done. Effective period: "+period+" us.");
+
+ if(debug) System.out.println("Running sputtering");
+
+ while((Math.abs(ref - y) >= 0.02))
+ {
+ y=sputtering.getOutput();
+ if(debug) System.out.println("\treference="+ref+"\toutput="+y);
+ }
+ if(debug) System.out.println("done.");
+
+ if(debug) System.out.print("Stoping real-time timer...");
+ sputtering.pidStopRealtime();
+ if(debug) System.out.println("done.");
+
+ sputtering.unlock();
+ break;
+ }
+ case Host.RESET:
+ {
+ if(debug) System.out.print("Reset PID...");
+ while(sputtering.lock() == 0);
+ sputtering.findHome();
+ if(debug) System.out.println("done.");
+ sputtering.unlock();
+ break;
+ }
+ case SHUTTER:
+ {
+ int time=0;
+ for(int i=0;i < 4;i++) time=time | ( ( ( ( (int) args[i+1]) & 0xff) << (i*8) ) );
+ if(debug) System.out.println("Shutter Open time="+time+"\t");
+ while(sputtering.lock() == 0);
+
+ int tick=10000;
+ //time in usec
+ int iref= time/tick;
+ sputtering.openShutter(iref);
+
+ if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
+ int period= sputtering.shutterStartRealtime(tick);
+ if(debug) System.out.println("done. Effective period: "+period+" us.");
+
+
+ if(debug) System.out.println("Shutter Opened");
+
+ while(sputtering.getTime() <= iref);
+
+ if(debug) System.out.println("done.");
+
+ if(debug) System.out.print("Stoping real-time timer...");
+ sputtering.shutterStopRealtime();
+ if(debug) System.out.println("done.");
+
+ sputtering.unlock();
+ break;
+ }
+
+ default:
+ {
+ if(debug) System.out.println("Invalid\t");
+ break;
+ }
+
+ }
+ }
+ }
+ catch (Exception all)
+ {
+ all.printStackTrace();
+ }
+ }
+}
+
+/**
+*/
+class SendOutput extends SputPIDDaemon
+{
+ public void run()
+ {
+ try
+ {
+ for(;;)
+ {
+ long timeStart=com.dalsemi.system.Clock.getTickCount();
+
+ int index=0;
+ if(sputtering.getIndex()!=0) index|=Host.INDEX_ON;
+ if(sputtering.lock() == 0) index|=Host.BUSY; else sputtering.unlock();
+
+ double disp=sputtering.getOutput();
+ if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t");
+ host.sendStatus(disp,index);
+
+ long timeEnd=com.dalsemi.system.Clock.getTickCount();;
+ long blockTime=ST-(timeEnd-timeStart);
+ if(debug) System.out.println("Blocking time="+blockTime);
+ if(blockTime > 4) Thread.sleep(blockTime);
+ }
+ }
+ catch(Exception all)
+ {
+ all.printStackTrace();
+ }
+ }
+}
+
+/**
+*/
+class MotorHandler extends SputPIDDaemon implements PostScript
+{
+ /**
+ * This method handles all responses to the the HTTP POST
+ *
+ * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+ * @param out - an Output Stream to the client socket
+ * @param work - HTTPWorker contains utility functions used to URL encode our response
+ * @throws IOException if an IO error occurs
+ */
+ public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+ {
+ while(sputtering.lock() == 0);
+ // Response page
+
+ // HTML headers
+
+ StringBuffer strBuff=new StringBuffer("<html>\r\n"
+ + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
+ + "<title>Motor Control</title>\r\n"
+ + "<body><center><h1>Motor Sendo Posicionado... Aguarde</h1>\r\n");
+
+ PostElement pref = (PostElement)data.elementAt(0);
+
+ // Use HTTPWorker's encode body function to generate the URL encoded response
+ out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+ // Send out the bytes of our response page
+ out.write(strBuff.toString().getBytes());
+
+ // Ensure that our data is written imediatly
+ out.flush();
+
+
+ int iref = Integer.parseInt(pref.value);
+ float ref=iref*(float)Math.PI/180;
+ sputtering.setReference(ref);
+
+ int tfms=10000;
+ int tick=30000;
+ if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
+ int period= sputtering.pidStartRealtime(tick);
+ if(debug) System.out.println("done. Effective period: "+period+" us.");
+
+ if(debug) System.out.println("Running PID for "+tfms+" ms...");
+ int t0=sputtering.getTime();
+ int t=0;
+ int t1;
+
+ System.gc();
+
+ try
+ {
+ long blockTime=2000;
+ if(debug) System.out.println("Blocking time="+blockTime);
+ if(blockTime > 4) Thread.sleep(blockTime);
+ }
+ catch(Exception all)
+ {
+ all.printStackTrace();
+ }
+
+ try
+ {
+ while(t*tick/1000 <= tfms)
+ {
+ t1=sputtering.getTime();
+ t=t1-t0;
+ if(debug) System.out.print("t="+t*tick/1000+" ms");
+ if(debug) System.out.println("\treference="+ref+"\toutput="+sputtering.getOutput());
+ }
+ }
+ catch(Exception all)
+ {
+ System.gc();
+ }
+ if(debug) System.out.println("...done.");
+
+ if(debug) System.out.print("Stoping real-time timer...");
+ sputtering.pidStopRealtime();
+ if(debug) System.out.println("done.");
+
+ sputtering.unlock();
+ }
+}
+
+/**
+*/
+class ResetHandler extends SputPIDDaemon implements PostScript
+{
+ /**
+ * This method handles all responses to the the HTTP POST
+ *
+ * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+ * @param out - an Output Stream to the client socket
+ * @param work - HTTPWorker contains utility functions used to URL encode our response
+ * @throws IOException if an IO error occurs
+ */
+ public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+ {
+ while(sputtering.lock() == 0);
+
+ // HTML headers
+ StringBuffer strBuff=new StringBuffer("<html>\r\n"
+ + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
+ + "<title>Reset Control</title>\r\n"
+ + "<body><center><h1>Motor Sendo Resetado... Aguarde</h1>\r\n");
+
+ // Use HTTPWorker's encode body function to generate the URL encoded response
+ out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+ // Send out the bytes of our response page
+ out.write(strBuff.toString().getBytes());
+
+ // Ensure that our data is written imediatly
+ out.flush();
+
+ if(debug) System.out.println("Resetando Motor...");
+ sputtering.findHome();
+ if(debug) System.out.println("done");
+ sputtering.unlock();
+ }
+}
+
+/**
+*/
+class ShutterHandler extends SputPIDDaemon implements PostScript
+{
+ /**
+ * This method handles all responses to the the HTTP POST
+ *
+ * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+ * @param out - an Output Stream to the client socket
+ * @param work - HTTPWorker contains utility functions used to URL encode our response
+ * @throws IOException if an IO error occurs
+ */
+ public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+ {
+ // HTML headers
+ while(sputtering.lock() == 0);
+ StringBuffer strBuff=new StringBuffer("<html>\r\n"
+ + "<META HTTP-EQUIV=REFRESH CONTENT=\"5;URL=http://"+TININet.getHostname()+"/\">\r\n"
+ + "<title>Shutter Control</title>\r\n"
+ + "<body><center><h1>Shutter Aberto... Aguarde</h1>\r\n");
+
+ PostElement pref = (PostElement)data.elementAt(0);
+
+ // Use HTTPWorker's encode body function to generate the URL encoded response
+ out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+ // Send out the bytes of our response page
+ out.write(strBuff.toString().getBytes());
+
+ // Ensure that our data is written imediatly
+ out.flush();
+
+ int tick=10000;
+
+ int iref = Integer.parseInt(pref.value);
+ iref=iref*1000/tick;
+ sputtering.openShutter(iref);
+
+ if(debug) System.out.println("iRef\n"+iref);
+
+ if(debug) System.out.print("Starting real-time timer with "+tick+" us period...");
+ int period= sputtering.shutterStartRealtime(tick);
+ if(debug) System.out.println("done. Effective period: "+period+" us.");
+
+ while(sputtering.getTime() <= iref);
+
+ if(debug) System.out.println("...done.");
+
+ if(debug) System.out.print("Stoping real-time timer...");
+ sputtering.shutterStopRealtime();
+ if(debug) System.out.println("done.");
+ sputtering.unlock();
+ }
+}
--- /dev/null
+DEPNAME:=-add HTTPSERVER
+NATLIB:=-n sputtering.tlib
+
+all: SputPIDWeb.tini
+
+SputPIDWeb.class: SputPIDWeb.java
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
+
+MotorHandler.class: MotorHandler.java
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
+
+ResetHandler.class: ResetHandler.java
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
+
+ShutterHandler.class: ShutterHandler.java
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^
+
+
+SputPIDWeb.tini: SputPIDWeb.class MotorHandler.class ResetHandler.class ../lib/AIC.jar ShutterHandler.class
+ java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f ShutterHandler.class -f ResetHandler.class -f MotorHandler.class -f SputPIDWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
+
+clean:
+ rm -f *.bak *~ *.class *.tlib
+
+distclean: clean
+ rm -f SputPIDWeb.tini
+
+upload: SputPIDWeb.tini
+ for i in ${AIC}; do echo put $^ | ftp $$i; done
+
\ No newline at end of file
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Door Post Handler
+
+ Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+import br.ufrgs.ece.AIC.*;
+import java.io.*;
+import java.lang.*;
+import java.util.*;
+import com.dalsemi.tininet.http.*;
+import com.dalsemi.system.*;
+import com.dalsemi.tininet.*;
+
+public class MotorHandler extends SputPIDWeb implements PostScript
+{
+ /**
+ * This method handles all responses to the the HTTP POST
+ *
+ * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+ * @param out - an Output Stream to the client socket
+ * @param work - HTTPWorker contains utility functions used to URL encode our response
+ * @throws IOException if an IO error occurs
+ */
+ public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+ {
+ while(sputtering.lock() == 0);
+ // Response page
+
+ // HTML headers
+
+ StringBuffer strBuff=new StringBuffer("<html>\r\n"
+ + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
+ + "<title>Motor Control</title>\r\n"
+ + "<body><center><h1>Motor Sendo Posicionado... Aguarde</h1>\r\n");
+
+ PostElement pref = (PostElement)data.elementAt(0);
+
+ // Use HTTPWorker's encode body function to generate the URL encoded response
+ out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+ // Send out the bytes of our response page
+ out.write(strBuff.toString().getBytes());
+
+ // Ensure that our data is written imediatly
+ out.flush();
+
+
+ int iref = Integer.parseInt(pref.value);
+ float ref=iref*(float)Math.PI/180;
+ sputtering.setReference(ref);
+
+ int tfms=10000;
+
+ int tick=30000;
+ System.out.print("Starting real-time timer with "+tick+" us period...");
+ int period= sputtering.pidStartRealtime(tick);
+ System.out.println("done. Effective period: "+period+" us.");
+
+
+ System.out.println("Running PID for "+tfms+" ms...");
+ int t0=sputtering.getTime();
+ int t=0;
+ int t1;
+
+ System.gc();
+
+ try
+ {
+ long blockTime=2000;
+ System.out.println("Blocking time="+blockTime);
+ if(blockTime > 4) Thread.sleep(blockTime);
+ }
+ catch(Exception all)
+ {
+ all.printStackTrace();
+ }
+
+ try
+ {
+ while(t*tick/1000 <= tfms)
+ {
+ t1=sputtering.getTime();
+ t=t1-t0;
+ System.out.print("t="+t*tick/1000+" ms");
+ System.out.println("\treference="+ref+"\toutput="+sputtering.getOutput());
+ }
+ }
+ catch(Exception all)
+ {
+ System.gc();
+ }
+ System.out.println("...done.");
+
+ System.out.print("Stoping real-time timer...");
+ sputtering.pidStopRealtime();
+ System.out.println("done.");
+
+ sputtering.unlock();
+ }
+}
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Door Post Handler
+
+ Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+import br.ufrgs.ece.AIC.*;
+import java.io.*;
+import java.lang.*;
+import java.util.*;
+import com.dalsemi.tininet.http.*;
+import com.dalsemi.system.*;
+import com.dalsemi.tininet.*;
+
+public class ResetHandler extends SputPIDWeb implements PostScript
+{
+ /**
+ * This method handles all responses to the the HTTP POST
+ *
+ * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+ * @param out - an Output Stream to the client socket
+ * @param work - HTTPWorker contains utility functions used to URL encode our response
+ * @throws IOException if an IO error occurs
+ */
+ public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+ {
+ while(sputtering.lock() == 0);
+
+ // HTML headers
+ StringBuffer strBuff=new StringBuffer("<html>\r\n"
+ + "<META HTTP-EQUIV=REFRESH CONTENT=\"10;URL=http://"+TININet.getHostname()+"/\">\r\n"
+ + "<title>Reset Control</title>\r\n"
+ + "<body><center><h1>Motor Sendo Resetado... Aguarde</h1>\r\n");
+
+ // Use HTTPWorker's encode body function to generate the URL encoded response
+ out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+ // Send out the bytes of our response page
+ out.write(strBuff.toString().getBytes());
+
+ // Ensure that our data is written imediatly
+ out.flush();
+
+ System.out.println("Resetando Motor...");
+ sputtering.findHome();
+ System.out.println("done");
+ sputtering.unlock();
+ }
+}
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Door Post Handler
+
+ Copyright (C) 2006 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+import br.ufrgs.ece.AIC.*;
+import java.io.*;
+import java.lang.*;
+import java.util.*;
+import com.dalsemi.tininet.http.*;
+import com.dalsemi.system.*;
+import com.dalsemi.tininet.*;
+
+public class ShutterHandler extends SputPIDWeb implements PostScript
+{
+ /**
+ * This method handles all responses to the the HTTP POST
+ *
+ * @param data - a Vector of PostElements holding all supplied fields and Values in pairs
+ * @param out - an Output Stream to the client socket
+ * @param work - HTTPWorker contains utility functions used to URL encode our response
+ * @throws IOException if an IO error occurs
+ */
+ public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
+ {
+ while(sputtering.lock() == 0);
+ StringBuffer strBuff=new StringBuffer("<html>\r\n"
+ + "<META HTTP-EQUIV=REFRESH CONTENT=\"5;URL=http://"+TININet.getHostname()+"/\">\r\n"
+ + "<title>Shutter Control</title>\r\n"
+ + "<body><center><h1>Schutter Aberto... Aguarde</h1>\r\n");
+
+ PostElement pref = (PostElement)data.elementAt(0);
+
+ // Use HTTPWorker's encode body function to generate the URL encoded response
+ out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length()));
+
+ // Send out the bytes of our response page
+ out.write(strBuff.toString().getBytes());
+
+ // Ensure that our data is written imediatly
+ out.flush();
+
+ int us=10000;
+ int iref = Integer.parseInt(pref.value);
+ System.out.println("iref\n"+iref);
+
+ iref=iref*1000/us;
+ sputtering.openShutter(iref);
+
+ System.out.print("Starting real-time timer with "+us+" us period...");
+ int period= sputtering.shutterStartRealtime(us);
+ System.out.println("done. Effective period: "+period+" us.");
+
+ while(sputtering.getTime() <= iref);
+
+ System.out.println("...done.");
+
+ System.out.print("Stoping real-time timer...");
+ sputtering.shutterStopRealtime();
+ System.out.println("done.");
+ sputtering.unlock();
+ }
+}
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Sputtering PID Web Server
+ Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+import br.ufrgs.ece.AIC.*;
+import com.dalsemi.tininet.http.HTTPServer;
+import com.dalsemi.tininet.http.HTTPServerException;
+
+class SputPIDWeb
+{
+ static Sputtering sputtering;
+
+ public static void main(String[] args)
+ {
+ System.out.println("Sputtering PID Web Server");
+ System.out.println("Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>");
+ System.out.println(" 2007 Diego Caberlon Santini <w.fetter@ieee.org>.\n");
+
+ HTTPServer httpd=new HTTPServer(80);
+ httpd.setHTTPRoot("/html");
+ httpd.setIndexPage("index.html");
+ httpd.setLogging(false);
+
+ System.out.println("Sputtering web server running...");
+
+ sputtering=new Sputtering();
+
+ while (true)
+ {
+ try
+ {
+ httpd.serviceRequests();
+ }
+ catch (HTTPServerException e)
+ {
+ System.out.println("Error occured while serving requests: " + e.getMessage());
+ }
+ }
+ }
+}
--- /dev/null
+<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+</head>
+<FRAMESET COLS="50%, 50%">
+ <FRAME SRC="reset.html" NORESIZE>
+ <FRAME SRC="shutter.html" NORESIZE>
+ </FRAMESET>
+</FRAMESET>>
+<NOFRAMES>
+<body>
+</body>
+</NOFRAMES>
+</html>
\ No newline at end of file
--- /dev/null
+<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+<title>Motor Control</title>
+</head>
+<FRAMESET ROWS="60%, 40%">
+ <FRAME SRC="motor.html" NORESIZE>
+ <FRAME SRC="frame.html" NORESIZE>
+ </FRAMESET>
+</FRAMESET>>
+<NOFRAMES>
+<body>
+</body>
+</NOFRAMES>
+</html>
\ No newline at end of file
--- /dev/null
+<!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+<title>Motor Control</title>
+</head>
+<body>
+<center>
+<BASE TARGET="_top">
+<h1>Motor Control</h1>
+<HR WIDTH=50%>
+<form method="post" enctype="application/x-www-form-urlencoded"
+action="MotorHandler">
+<input type="radio" name="ref" value="0" > 0<SUP>o</SUP> degree
+<br>
+<input type="radio" name="ref" value="60"> 60<SUP>o</SUP> degree
+<br>
+<input type="radio" name="ref" value="120"> 120<SUP>o</SUP> degree
+<br>
+<input type="radio" name="ref" value="180"> 180<SUP>o</SUP> degree
+<br>
+<input type="radio" name="ref" value="240"> 240<SUP>o</SUP> degree
+<br>
+<input type="radio" name="ref" value="300"> 300<SUP>o</SUP> degree
+<br>
+<br>
+<input type="submit" value="SET">
+</form>
+<HR WIDTH=50%>
+</center>
+</body>
+</html>
\ No newline at end of file
--- /dev/null
+ <!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+<title>Motor Reset</title>
+</head>
+<body>
+<center>
+<BASE TARGET="_top">
+<h1>Motor Reset</h1>
+<br>
+<HR WIDTH=50%>
+<form method="post" enctype="application/x-www-form-urlencoded"
+action="ResetHandler">
+<input type="submit" value="Motor Reset">
+<HR WIDTH=50%>
+</center>
+</body>
+</html>
\ No newline at end of file
--- /dev/null
+ <!DOCTYPE HTML PUBLIC "-//IETF//DTD HTML 2.0//EN">
+<html>
+<head>
+<title>Shutter Open</title>
+</head>
+<body>
+<center>
+<BASE TARGET="_top">
+<h1>Shutter Open</h1>
+<br>
+<HR WIDTH=50%>
+<form method="post" enctype="application/x-www-form-urlencoded"
+action="ShutterHandler">
+<input type="text" name="ref" size="6" value="[ms]">
+<br>
+<input type="submit" value="Shutter Open">
+<HR WIDTH=50%>
+</center>
+</body>
+</html>
\ No newline at end of file
--- /dev/null
+DEPNAME:=-add HTTPSERVER
+
+all: SputWeb.tini
+
+SputWeb.class: SputWeb.java ../lib/AIC.jar
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
+
+SputHandler.class: SputHandler.java ../lib/AIC.jar
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $<
+
+SputWeb.tini: SputWeb.class SputHandler.class ../lib/AIC.jar
+ java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputHandler.class -f SputWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH}
+
+clean:
+ rm -f *.bak *~ *.class
+
+distclean: clean
+ rm -f SputWeb.tini
+
+upload: SputWeb.tini
+ for i in ${AIC}; do echo put $^ | ftp $$i; done
\ No newline at end of file
* @param work - HTTPWorker contains utility functions used to URL encode our response
* @throws IOException if an IO error occurs
*/
-
public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException
{
if(first)
/******************************************************************************
Actuator Interface Card
- Sputtering Daemon
+ Sputtering Web Daemon
Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software; you can redistribute it and/or modify
import com.dalsemi.tininet.http.HTTPServer;
import com.dalsemi.tininet.http.HTTPServerException;
-class SputDaemon
+class SputWeb
{
static Object lock;
public static void main(String[] args)
{
- System.out.println("Sputtering Daemon");
+ System.out.println("Sputtering Web Daemon");
System.out.println("Copyright (C) 2005 Walter Fetter Lages <w.fetter@ieee.org>.\n");
HTTPServer httpd=new HTTPServer(80);
while(*ptr->run) for(int i=-48;i < 48;i++)
{
+
+#ifdef REAL_TIME
rt_task_wait_period();
+#else
+ usleep(ptr->ST*1e6)
+#endif
+
/* if(ptr->controller->getstatus() & AIC_HOST::MOTOR_ON)
{
int index;
case AIC_MOTOR_OFF:
{
run=0;
+ aic.motor.off();
break;
}
case AIC_MOTOR_ACT:
+++ /dev/null
-aicd:lxrt:./aicd;popall:
aic.pdf: aic.dvi
dvipdf aic
-aic.dvi: aic.tex aic.aux aic.bbl \
+aic.dvi: aic.tex \
aictini.eps aicpower.eps aicconn.eps \
- aic_componentpin.eps \
- aic_soldersilk.eps aic_componentsilk.eps \
- aic_group1.eps aic_group2.eps aic_group3.eps aic_group4.eps \
- aic_soldermask.eps aic_componentmask.eps
+ aic_assembly.eps \
+ aic_frontsilk.eps aic_front.eps aic_frontmask.eps \
+ aic_back.eps aic_backmask.eps \
+ aic_fab.eps \
+ aic.aux aic.bbl
latex aic
latex aic
aicconn.eps: aicconn.ps
eps2eps aicconn.ps aicconn.eps
-pcb: aic.net aicpcb.ps aicpcb.pdf #aic.pcb
+pcb: aic.net #aicpcb.ps aicpcb.pdf #aic.pcb
aic.net: $(SCHEMS)
gnetlist -g PCB -o aic.net $(SCHEMS)
#aic.pcb: $(SCHEMS)
# gnetlist -g PCBboard -o aic.pcb $(SCHEMS)
-aic_componentpin.ps: aic_group4.ps aic_componentsilk.ps
- MergePCBPS aic_group4.ps aic_componentsilk.ps > aic_componentpin.ps
-
-aic_componentpin.eps: aic_componentpin.ps
- eps2eps aic_componentpin.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_componentpin.eps
+aic_assembly.eps: aic_assembly.ps
+ eps2eps aic_assembly.ps aictmp.eps
+ pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_assembly.eps
-aic_soldersilk.eps: aic_soldersilk.ps
- eps2eps aic_soldersilk.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_soldersilk.eps
+aic_frontsilk.eps: aic_frontsilk.ps
+ eps2eps aic_frontsilk.ps aictmp.eps
+ pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_frontsilk.eps
-aic_componentsilk.eps: aic_componentsilk.ps
- eps2eps aic_componentsilk.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_componentsilk.eps
+aic_front.eps: aic_front.ps
+ eps2eps aic_front.ps aictmp.eps
+ pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_front.eps
-aic_group1.eps: aic_group1.ps
- eps2eps aic_group1.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_group1.eps
-
-aic_group2.eps: aic_group2.ps
- eps2eps aic_group2.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_group2.eps
-
-aic_group3.eps: aic_group3.ps
- eps2eps aic_group3.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_group3.eps
+aic_frontmask.eps: aic_frontmask.ps
+ eps2eps aic_frontmask.ps aictmp.eps
+ pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_frontmask.eps
-aic_group4.eps: aic_group4.ps
- eps2eps aic_group4.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_group4.eps
+aic_back.eps: aic_back.ps
+ eps2eps aic_back.ps aictmp.eps
+ pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_back.eps
-aic_soldermask.eps: aic_soldermask.ps
- eps2eps aic_soldermask.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_soldermask.eps
+aic_backmask.eps: aic_backmask.ps
+ eps2eps aic_backmask.ps aictmp.eps
+ pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_backmask.eps
-aic_componentmask.eps: aic_componentmask.ps
- eps2eps aic_componentmask.ps aictmp.eps
- pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_componentmask.eps
+aic_fab.eps: aic_fab.ps
+ eps2eps aic_fab.ps aictmp.eps
+ pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_fab.eps
-aicpcb.ps: aic_componentpin.ps aic_soldersilk.ps aic_componentsilk.ps \
- aic_group1.ps aic_group2.ps aic_group3.ps aic_group4.ps \
- aic_soldermask.ps aic_componentmask.ps
- cat aic_componentpin.ps aic_soldersilk.ps aic_componentsilk.ps \
- aic_group1.ps aic_group2.ps aic_group3.ps aic_group4.ps \
- aic_soldermask.ps aic_componentmask.ps > aictmp.ps
- ps2ps aictmp.ps aicpcb.ps
+#aicpcb.ps: aic_assembly.ps aic_frontsilk.ps aic_front.ps aic_frontmask.eps \
+# aic_back.ps aic_backmask.ps \
+# aic_fab.ps
+# cat aic_assembly.ps aic_frontsilk.ps aic_front.ps aic_frontmask.eps \
+# aic_back.ps aic_backmask.ps \
+# aic_fab.ps > aictmp.ps
+# ps2ps aictmp.ps aicpcb.ps
-aicpcb.pdf: aicpcb.ps
- ps2pdf aicpcb.ps
+#aicpcb.pdf: aicpcb.ps
+# ps2pdf aicpcb.ps
bom: aic.bom aic.bpp aic.xrf
doxygen
clean:
- rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old *.ps *.eps *.dvi
+ rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old aicconn.ps aicpower.ps aictini.ps *.eps *.dvi
distclean: clean
rm -f aic*.pdf aic.net aic.bom aic.bpp aic.xrf
\section{Printed Circuit Board}
-\includegraphics{aic_componentpin.eps}
-%\includegraphics{aic_soldersilk.eps}
-\includegraphics{aic_componentsilk.eps}
-\includegraphics{aic_group1.eps}
-\includegraphics{aic_group2.eps}
-\includegraphics{aic_group3.eps}
-\includegraphics{aic_group4.eps}
-\includegraphics{aic_soldermask.eps}
-\includegraphics{aic_componentmask.eps}
+\includegraphics{aic_assembly.eps}
+\includegraphics{aic_frontsilk.eps}
+\includegraphics{aic_front.eps}
+\includegraphics{aic_frontmask.eps}
+\includegraphics{aic_back.eps}
+\includegraphics{aic_backmask.eps}
+\includegraphics{aic_fab.eps}
\end{document}
--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), assembly drawing
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+ /number exch def
+ newpath
+ moveto
+ number 1 sub { lineto } repeat
+ closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+ /thickness exch def /y exch def /x exch def
+ gsave x y translate thickness thickness scale
+ 0.5 MTAN
+ TAN -0.5
+ MTAN -0.5
+ -0.5 MTAN
+ -0.5 TAN
+ MTAN 0.5
+ TAN 0.5
+ 0.5 TAN
+ 8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ x y thickness P
+% draw drilling hole
+ gsave White 0 setlinewidth
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ gsave 0 setlinewidth
+ newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+ White
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ newpath x thickness 2 div sub y thickness 2 div sub moveto
+ thickness 0 rlineto 0 thickness rlineto
+ thickness neg 0 rlineto closepath fill stroke
+% draw drilling hole
+ gsave White 0 setlinewidth
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+ /copper exch def /hole exch def /y exch def /x exch def
+ gsave copper setlinewidth
+ newpath x y hole copper add 2 div 0 360 arc closepath stroke
+ grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+ /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
+ grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
+ /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave White thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
+ grestore
+} def
+
+/B {
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), solder mask solder side
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+ /number exch def
+ newpath
+ moveto
+ number 1 sub { lineto } repeat
+ closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+ /thickness exch def /y exch def /x exch def
+ gsave x y translate thickness thickness scale
+ 0.5 MTAN
+ TAN -0.5
+ MTAN -0.5
+ -0.5 MTAN
+ -0.5 TAN
+ MTAN 0.5
+ TAN 0.5
+ 0.5 TAN
+ 8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ x y thickness P
+% draw drilling hole
+ gsave White 0 setlinewidth
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ gsave 0 setlinewidth
+ newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+ White
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ newpath x thickness 2 div sub y thickness 2 div sub moveto
+ thickness 0 rlineto 0 thickness rlineto
+ thickness neg 0 rlineto closepath fill stroke
+% draw drilling hole
+ gsave White 0 setlinewidth
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+ /copper exch def /hole exch def /y exch def /x exch def
+ gsave copper setlinewidth
+ newpath x y hole copper add 2 div 0 360 arc closepath stroke
+ grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+ /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
+ grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
+ /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave White thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
+ grestore
+} def
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
+ /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath fill stroke
+} def
+
+/PA {
+% pad, same as line
+ L
+} def
+
+/A {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+ /delta exch def /start exch def /thickness exch def
+ /height exch def /width exch def /y exch def /x exch def
+% draw it
+ gsave thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+ x y translate width neg height scale
+ 0 0 1 start start delta add arc save setmatrix stroke
+ grestore
+} def
+
+/CA {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+ /delta exch def /start exch def /thickness exch def
+ /height exch def /width exch def /y exch def /x exch def
+% draw it
+ gsave White thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+ x y translate width neg height scale
+ 0 0 1 start start delta add arc save setmatrix stroke
+ grestore
+} def
+
+/CLRPV {
+% clears a pin/via for groundplane; x,y and thickness are on stack
+ /thickness exch def /y exch def /x exch def
+ gsave White x y thickness P grestore
+} def
+
+/CLRPVSQ {
+% clears a square pin, x,y and thickness are on stack
+ /thickness exch def /y exch def /x exch def
+ gsave White
+ newpath x thickness 2 div sub y thickness 2 div sub moveto
+ thickness 0 rlineto 0 thickness rlineto
+ thickness neg 0 rlineto closepath fill stroke
+ grestore
+} def
+
+/CLRPVR {
+% clears a round pin/via for groundplane; x,y and thickness are on the stack
+ /thickness exch def /y exch def /x exch def
+ gsave White 0 setlinewidth
+ newpath x y thickness 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/CLRPA {
+% clear line, get x1, y1, x2, y2 and thickness from stack
+ /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave White thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
+ grestore
+} def
+
+/CLRB {
+% cleared box, get x1, y1, x2 and y2 from stack
+ /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave White newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath fill stroke
+ grestore
+} def
+
+/FILL {
+% draw a filled rectangle for the ground plane
+% get x1, y1, x2 and y2 from stack
+ /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave 0 setlinewidth
+ newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath fill stroke
+ grestore
+} def
+
+/Outline {
+% outline, get x1, y1, x2 and y2 from stack
+ /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave 0.175 setlinewidth
+ newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath stroke
+ grestore
+} def
+
+/Alignment {
+% alignment targets, get x1, y1, x2, y2 and distance from stack
+ /dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave 0.175 setlinewidth
+ newpath x1 y1 dis add moveto
+ 0 dis 2 mul neg rlineto
+ dis neg dis rmoveto
+ dis 2 mul 0 rlineto
+ stroke
+ newpath x1 y1 dis 0 90 arcn stroke
+ newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+ newpath x2 y2 dis sub moveto
+ 0 2 dis mul rlineto
+ dis dup neg rmoveto
+ 2 dis mul neg 0 rlineto stroke
+ newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+ grestore
+} def
+
+/mysetgray {neg 1.0 add setgray} def
+/mysetrgbcolor {
+ /blue exch def /green exch def /red exch def
+ 1.0 red sub 1.0 green sub 1.0 blue sub setrgbcolor
+} def
+%%EndProlog
+%%BeginDefaults
+%%EndDefaults
+%%BeginSetup
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+153 160 moveto 451 160 lineto 451 673 lineto 153 673 lineto
+closepath fill stroke grestore
+% PCBMIN(-400,-400), PCBMAX(710400,410400)
+% PCBOFFSET(214900,223900), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.00072 0.00072 scale
+214900 223900 translate
+1.000 1.000 scale
+410800 0 translate
+90 rotate
+0 410800 translate
+1 -1 scale
+400 400 translate
+/mysetgray { setgray } def
+/mysetrgbcolor { setrgbcolor } def
+
+/Color {0.302 0.302 0.302 mysetrgbcolor} def Color
+-400 -400 710400 410400 200 Alignment
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), solder mask component side
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+ /number exch def
+ newpath
+ moveto
+ number 1 sub { lineto } repeat
+ closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+ /thickness exch def /y exch def /x exch def
+ gsave x y translate thickness thickness scale
+ 0.5 MTAN
+ TAN -0.5
+ MTAN -0.5
+ -0.5 MTAN
+ -0.5 TAN
+ MTAN 0.5
+ TAN 0.5
+ 0.5 TAN
+ 8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ x y thickness P
+% draw drilling hole
+ gsave White 0 setlinewidth
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/PVR {
+% pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ gsave 0 setlinewidth
+ newpath x y thickness 2 div 0 360 arc closepath fill stroke
+% draw drilling whole
+ White
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/PVSQ {
+% square pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ newpath x thickness 2 div sub y thickness 2 div sub moveto
+ thickness 0 rlineto 0 thickness rlineto
+ thickness neg 0 rlineto closepath fill stroke
+% draw drilling hole
+ gsave White 0 setlinewidth
+ newpath x y drillinghole 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/DH {
+% drill helpher; x, y, hole, copper-thickness are on stack
+ /copper exch def /hole exch def /y exch def /x exch def
+ gsave copper setlinewidth
+ newpath x y hole copper add 2 div 0 360 arc closepath stroke
+ grestore
+} def
+
+/L {
+% line, get x1, y1, x2, y2 and thickness from stack
+ /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
+ grestore
+} def
+
+/CL {
+% line, get x1, y1, x2, y2 and thickness from stack
+ /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave White thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
+ grestore
+} def
+
+/B {
+% filled box, get x1, y1, x2 and y2 from stack
+ /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath fill stroke
+} def
+
+/PA {
+% pad, same as line
+ L
+} def
+
+/A {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+ /delta exch def /start exch def /thickness exch def
+ /height exch def /width exch def /y exch def /x exch def
+% draw it
+ gsave thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+ x y translate width neg height scale
+ 0 0 1 start start delta add arc save setmatrix stroke
+ grestore
+} def
+
+/CA {
+% arc for elements, get x, y, width, height, thickness
+% startangle and delta-angle from stack
+ /delta exch def /start exch def /thickness exch def
+ /height exch def /width exch def /y exch def /x exch def
+% draw it
+ gsave White thickness setlinewidth /save DictMatrix currentmatrix def
+% scaling is less then zero because the coord system has to be swapped
+ x y translate width neg height scale
+ 0 0 1 start start delta add arc save setmatrix stroke
+ grestore
+} def
+
+/CLRPV {
+% clears a pin/via for groundplane; x,y and thickness are on stack
+ /thickness exch def /y exch def /x exch def
+ gsave White x y thickness P grestore
+} def
+
+/CLRPVSQ {
+% clears a square pin, x,y and thickness are on stack
+ /thickness exch def /y exch def /x exch def
+ gsave White
+ newpath x thickness 2 div sub y thickness 2 div sub moveto
+ thickness 0 rlineto 0 thickness rlineto
+ thickness neg 0 rlineto closepath fill stroke
+ grestore
+} def
+
+/CLRPVR {
+% clears a round pin/via for groundplane; x,y and thickness are on the stack
+ /thickness exch def /y exch def /x exch def
+ gsave White 0 setlinewidth
+ newpath x y thickness 2 div 0 360 arc closepath fill stroke
+ grestore
+} def
+
+/CLRPA {
+% clear line, get x1, y1, x2, y2 and thickness from stack
+ /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave White thick setlinewidth
+ x1 y1 moveto x2 y2 lineto stroke
+ grestore
+} def
+
+/CLRB {
+% cleared box, get x1, y1, x2 and y2 from stack
+ /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave White newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath fill stroke
+ grestore
+} def
+
+/FILL {
+% draw a filled rectangle for the ground plane
+% get x1, y1, x2 and y2 from stack
+ /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave 0 setlinewidth
+ newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath fill stroke
+ grestore
+} def
+
+/Outline {
+% outline, get x1, y1, x2 and y2 from stack
+ /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave 0.175 setlinewidth
+ newpath
+ x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto
+ closepath stroke
+ grestore
+} def
+
+/Alignment {
+% alignment targets, get x1, y1, x2, y2 and distance from stack
+ /dis exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def
+ gsave 0.175 setlinewidth
+ newpath x1 y1 dis add moveto
+ 0 dis 2 mul neg rlineto
+ dis neg dis rmoveto
+ dis 2 mul 0 rlineto
+ stroke
+ newpath x1 y1 dis 0 90 arcn stroke
+ newpath x1 y2 dis sub moveto 0 dis rlineto dis 0 rlineto stroke
+ newpath x2 y2 dis sub moveto
+ 0 2 dis mul rlineto
+ dis dup neg rmoveto
+ 2 dis mul neg 0 rlineto stroke
+ newpath x2 y1 dis add moveto 0 dis neg rlineto dis neg 0 rlineto stroke
+ grestore
+} def
+
+/mysetgray {neg 1.0 add setgray} def
+/mysetrgbcolor {
+ /blue exch def /green exch def /red exch def
+ 1.0 red sub 1.0 green sub 1.0 blue sub setrgbcolor
+} def
+%%EndProlog
+%%BeginDefaults
+%%EndDefaults
+%%BeginSetup
+0.0 setlinewidth
+1 setlinecap
+Black
+%%EndSetup
+%%Page: 1 1
+%%BeginPageSetup
+%%EndPageSetup
+gsave White newpath
+153 160 moveto 451 160 lineto 451 673 lineto 153 673 lineto
+closepath fill stroke grestore
+% PCBMIN(-400,-400), PCBMAX(710400,410400)
+% PCBOFFSET(214900,223900), PCBSCALE(1.00000)
+% PCBSTARTDATA --- do not remove ---
+gsave
+0.00072 0.00072 scale
+214900 223900 translate
+1.000 1.000 scale
+410800 0 translate
+90 rotate
+0 410800 translate
+1 -1 scale
+400 400 translate
+/mysetgray { setgray } def
+/mysetrgbcolor { setrgbcolor } def
+
+/Color {0.302 0.302 0.302 mysetrgbcolor} def Color
+-400 -400 710400 410400 200 Alignment
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
--- /dev/null
+%!PS-Adobe-3.0
+%%Title: (unknown), silkscreen, component side
+%%Creator: pcb-bin 20060321
+%%CreationDate: Tue Nov 27 09:49:27 2007
+%%For: fetter (Walter Fetter Lages,,,)
+%%LanguageLevel: 1
+%%Orientation: Portrait
+%%Pages: 1
+%%PageOrder: Ascend
+%%DocumentMedia: A4 594 841
+%%EndComments
+%%BeginProlog
+
+/PcbDict 200 dict def
+PcbDict begin
+PcbDict /DictMatrix matrix put
+
+% some constants
+/Black {0.0 mysetgray} def
+/White {1.0 mysetgray} def
+/TAN {0.207106781} def
+/MTAN {-0.207106781} def
+
+% draw a filled polygon
+% get (x,y)... and number of points from stack
+/PO {
+ /number exch def
+ newpath
+ moveto
+ number 1 sub { lineto } repeat
+ closepath fill stroke
+} def
+
+/P {
+% draw a pin-polygon,
+% get x, y and thickness from stack
+ /thickness exch def /y exch def /x exch def
+ gsave x y translate thickness thickness scale
+ 0.5 MTAN
+ TAN -0.5
+ MTAN -0.5
+ -0.5 MTAN
+ -0.5 TAN
+ MTAN 0.5
+ TAN 0.5
+ 0.5 TAN
+ 8 PO grestore
+} def
+
+/PV {
+% pin or via, x, y and thickness are on the stack
+ /drillinghole exch def /thickness exch def /y exch def /x exch def
+ x y thickness P
+% draw drilling hole
+ gsave White 0 setlinewidth
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+grestore
+% PCBENDDATA --- do not remove ---
+showpage
+%%EOF
Actuator Interface Card
Host Interface Library
- Copyright (C) 2003, 2004 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (C) 2003..2007 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
*/
virtual int get_status(int status,...)=0;
+/** Finalizes an AIC_COMM
+*/
+ virtual ~AIC_COMM(void) {};
+
/** Thrown by AIC errors
* @author Walter Fetter Lages (w.fetter@ieee.org)
*/
/** Provides access to all devices in an Actuator Interface Card
* @author Walter Fetter Lages (w.fetter@ieee.org)
-* @version AIC-1.3.0
+* @version AIC-1.6.1
*/
class AIC
{
+ AIC_COMM *port;
+
public:
/** Motor actuated by AIC
/** Sync-switch read by AIC
*/
AIC_INDEX index;
-
+
/** Initializes an AIC
* @param comm pointer to AIC_COMM object implementing the communication channel
*/
/** Finalizes an AIC
*/
virtual ~AIC(void) {};
+
+/** Resets an AIC
+* @since AIC-1.6.1
+*/
+ void reset(void);
+
+/** Sets the reference for motor controller
+* @param ref reference
+* @since AIC-1.6.1
+*/
+ void reference(double ref);
+
+/** Gets AIC busy status
+* @return 1 if AIC is busy, 0 otherwise
+* @since AIC-1.6.1
+* @see AIC_STATUS
+*/
+ int busy(void);
+
+/** Sends a command and its arguments to AIC
+* @param command Code of the command to send to AIC
+* @param n size of argument buffer
+* @param buffer pointer to arguments
+* @see AIC_COMMAND
+*/
+ void send_command(int command,int n,const void *buffer);
+
};
/**
protected:
double u; ///< Motor voltage
- double ref; ///< PID reference
+ double ref; ///< Controller reference
int status; ///< Current Status
public:
*/
double voltage(void) const;
-/** Gets the reference for PID associtated to motor received with the last command
+/** Gets the reference for Controller associtated to motor received with the last command
* @return reference
* @since AIC-1.6.0
*/
AIC_MOTOR_REF= 0x15, ///< Sets the reference for the motor PID
AIC_STATUS= 0x20, ///< Status identification
AIC_BRAKE_RELEASE= 0x30, ///< Releases brake
- AIC_MOTOR_ON= 0x31 ///< Turns motor on
+ AIC_MOTOR_ON= 0x31, ///< Turns motor on
+ AIC_USER0= 0x3b, ///< User defined command 0
+ AIC_USER1= 0x3c, ///< User defined command 1
+ AIC_USER2= 0x3d, ///< User defined command 2
+ AIC_USER3= 0x3e, ///< User defined command 3
+ AIC_NOP= 0x3f ///< No operation
};
+/** AIC status codes
+*/
+enum AIC_STATUS
+{
+ AIC_INDEX_ON= 0x01, ///< Index on
+ AIC_BUSY= 0x02 ///< AIC is busy
+};
+
+
#endif
*/
class AIC_SIM:public AIC_COMM, public AIC
{
+ int count; ///< Simulated encoder count
+
public:
/** Initialize AIC simulator
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Sputtering Controller Host Interface Library
+ Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <pthread.h>
+
+#include <aicudp.h>
+
+#ifndef _SPUTTERING_H
+#define _SPUTTERING_H
+
+/** @file sputtering.h
+ Sputtering Controller Host Interface Library
+ @author Walter Fetter Lages <w.fetter@ieee.org>
+*/
+
+/** @defgroup sputhost Sputtering Controller Host Interface
+@{
+*/
+
+
+/** SPUTTERING Controller
+* @author Walter Fetter Lages (w.fetter@ieee.org)
+*/
+class SPUTTERING: public AIC_UDP
+{
+ const int SHUTTER;
+ pthread_t get_status_th;
+ volatile int run;
+
+ friend void *get_status(void *arg);
+
+ public:
+
+/** Constructs an SPUTTERING
+* @param name pointer to a string with the name of AIC to be connected to
+* @param statport UDP port used to receive status from AIC
+* @see aicnet.h
+* @since AIC-1.6.1
+*/
+ SPUTTERING(const char *name,int statport=STATUS_PORT);
+
+/** Destroys an SPUTTERING
+*/
+ ~SPUTTERING(void);
+
+/** Opens shutter for specified time
+* @param us time in microseconds
+* @since AIC-1.6.1
+*/
+ void shutter(unsigned int us);
+
+/** Resets an SPUTTERING
+* @since AIC-1.6.1
+*/
+ void reset(void);
+
+/** Sets the reference for motor controller
+* @param ref reference in rad
+* @since AIC-1.6.1
+*/
+ void reference(double ref);
+};
+
+/**
+@}
+*/
+#endif
*/
public static final int MOTOR_ACT=0x10;
-/** Motor PID reference command
+/** Motor controller reference command
*/
public static final int MOTOR_REF=0x15;
*/
public static final int MOTOR_ON=0x31;
-/** Motor on status
+/** User defined command 0
*/
- public static final int MOTOR_IS_ON=1;
+ public static final int USER0=0x3b;
-/** Brake applied status
+/** User defined command 1
*/
- public static final int BRAKE_APPLIED=2;
+ public static final int USER1=0x3c;
+
+/** User defined command 2
+*/
+ public static final int USER2=0x3d;
+
+/** User defined command 3
+*/
+ public static final int USER3=0x3e;
+
+/** No operation command
+*/
+ public static final int NOP=0x3f;
+
+
+/** Index on status
+*/
+ public static final int INDEX_ON=0x01;
+
+/** Busy status
+*/
+ public static final int BUSY=0x02;
/** Voltage aplied to motors
*/
protected double u=0;
-/** Reference for PID associated to motors
+/** Reference for controller associated to motors
*/
protected double ref=0;
-
-/** Brake and motor status
-*/
- protected int status=0;
-
+
/** Gets command received from host computer
* @return command code
* @throws Exception depending on implementation
*/
- abstract public int command() throws Exception;
+ public int command() throws Exception
+ {
+ byte[] args= new byte[256];
+ return command(args,256);
+ }
+
+/** Gets command received from host computer and its arguments array
+* @param args command arguments array. args[0] is the length of actual arguments.
+* @param size size of the arguments array
+* @return command code
+* @throws Exception depending on implementation
+* @since AIC-1.6.1
+*/
+ abstract public int command(byte[] args,int size) throws Exception;
/** Sends encoder displacement and sync-switch status to host
* @param disp encoder displacement in rad
*/
abstract public void sendStatus(int disp,int index) throws Exception;
-/** Gets brake and motor status
-* @return brake and motor status
-*/
- public int getStatus()
- {
- return status;
- }
-
/** Gets motor voltage
* @return motor voltage
*/
return u;
}
-/** Gets PID reference
-* @return PID reference
+/** Gets controller reference
+* @return controller reference
* @since AIC-1.6.0
*/
public double reference()
return ref;
}
}
+
/**
@}
*/
-
/******************************************************************************
Actuator Interface Card
public HostCAN(int aicid,int bus) throws CanBusException
{
u=0;
- status=0;
-
+
id=aicid;
canbus = (bus==0)? new CanBus(CanBus.CANBUS0):new CanBus(CanBus.CANBUS1);
public HostCAN(int aicid) throws CanBusException
{
u=0;
- status=0;
id=aicid;
}
/** Gets command received from host computer
+* @param args command arguments array. args[0] is the length of actual arguments.
+* @param size size of the arguments array
* @return command code
* @throws CanBusException on CAN bus errors
*/
- public int command() throws CanBusException
+ public int command(byte[] args,int size) throws CanBusException
{
-
-
CanFrame frame = new CanFrame();
canbus.receive(frame);
+
+ if(size <= frame.length) args[0]=(byte)(size-1);
+ else args[0]=(byte)frame.length;
+
+ for(int i=0;i < args[0];i++) args[i+1]=frame.data[i];
int cmd=((frame.ID & AIC_CMD_MASK) >> 5);
switch(cmd)
{
- case MOTOR_ON:
- {
- status|=MOTOR_IS_ON;
- break;
- }
- case MOTOR_OFF:
- {
- status &= ~MOTOR_IS_ON;
- break;
- }
case MOTOR_ACT:
{
long U=0;
u=Double.longBitsToDouble(U);
break;
}
- case BRAKE_APPLY:
- {
- status|=BRAKE_APPLIED;
- break;
- }
- case BRAKE_RELEASE:
+ case MOTOR_REF:
{
- status &= ~BRAKE_APPLIED;
+ long R=0;
+ for(int i=0;i < 8;i++) R=R | ( (((long)frame.data[7-i]) << (i*8)) & (0xffL << (i*8)) );
+ ref=Double.longBitsToDouble(R);
break;
}
- case RESET:
- {
- break;
- }
}
-
return cmd;
}
public HostUDP(String controllername,int statport,int cmdport) throws UnknownHostException, SocketException
{
u=0;
- status=0;
+ ref=0;
statusport=statport;
controlleraddr=InetAddress.getByName(controllername);
public HostUDP(String controllername,int statport) throws UnknownHostException, SocketException
{
u=0;
- status=0;
+ ref=0;
statusport=statport;
controlleraddr=InetAddress.getByName(controllername);
public HostUDP(String controllername) throws UnknownHostException, SocketException
{
u=0;
- status=0;
+ ref=0;
statusport=STATUS_PORT;
controlleraddr=InetAddress.getByName(controllername);
}
/** Gets command received from host computer
+* @param args command arguments array. args[0] is the length of actual arguments.
+* @param size size of the arguments array
* @return command code
* @throws IOException on communication errors
*/
- public int command() throws IOException
+ public int command(byte[] args,int size) throws IOException
{
- int count;
-
- byte[] buff= new byte[256];
-
- DatagramPacket p=new DatagramPacket(buff,256);
+ int s;
+ if(size < 256) s=256; else s=size;
+
+ DatagramPacket p=new DatagramPacket(args,s);
cmdfd.receive(p);
- int cmd=buff[0];
+ int cmd=args[0];
+ args[0]=(byte)(p.getLength()-1);
switch(cmd)
{
- case MOTOR_ON:
- {
- status|=MOTOR_IS_ON;
- break;
- }
- case MOTOR_OFF:
- {
- status &= ~MOTOR_IS_ON;
- break;
- }
case MOTOR_ACT:
{
long U=0;
- for(int i=0;i < 8;i++) U=U | ( (((long) buff[7-i+1]) << (i*8)) & (0xffL << (i*8)) );
+ for(int i=0;i < 8;i++) U=U | ( (((long) args[7-i+1]) << (i*8)) & (0xffL << (i*8)) );
u=Double.longBitsToDouble(U);
break;
}
- case BRAKE_APPLY:
- {
- status|=BRAKE_APPLIED;
- break;
- }
- case BRAKE_RELEASE:
+ case MOTOR_REF:
{
- status &= ~BRAKE_APPLIED;
+ long R=0;
+ for(int i=0;i < 8;i++) R=R | ( (((long) args[7-i+1]) << (i*8)) & (0xffL << (i*8)) );
+ ref=Double.longBitsToDouble(R);
break;
}
- case RESET:
- {
- break;
- }
}
return cmd;
${PKGPATH}/HostCAN.class: HostCAN.java
${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . HostCAN.java
+
+${PKGPATH}/Sputtering.class: Sputtering.java
+ ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Sputtering.java
${ASMINC}/tini.inc: ${NATINC}/tini.inc
ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
$(MAKE) -C tlib pwm.mpp
aicio/pwm.mpp: aicio/pwm.a51
- $(MAKE) -C aicio pwm.mpp
+ $(MAKE) -C aicio pwm.mpp
+
+sputtering.tlib: sputtering.mpp
+ ${ASM} ${ASMOPT} sputtering.mpp
+
+sputtering.mpp: tlib/sputtering.mpp ${TRTAIPATH}/lib/rtai.mpp.lib aicio.mpp.lib
+ cat tlib/sputtering.mpp ${TRTAIPATH}/lib/rtai.mpp.lib aicio.mpp.lib > sputtering.mpp
+ echo end >> sputtering.mpp
+tlib/sputtering.mpp: tlib/sputtering.c
+ $(MAKE) -C tlib sputtering.mpp
+
AIC.jar: ${PKGPATH}/PLD.class\
${PKGPATH}/CtrlRegister.class\
${PKGPATH}/PWM.class\
${PKGPATH}/Host.class \
${PKGPATH}/HostUDP.class \
${PKGPATH}/HostCAN.class \
- brake.tlib index.tlib encoder.tlib pwm.tlib
- jar cf AIC.jar ${PKGPATH} brake.tlib index.tlib encoder.tlib pwm.tlib
+ ${PKGPATH}/Sputtering.class \
+ brake.tlib index.tlib encoder.tlib pwm.tlib sputtering.tlib
+ jar cf AIC.jar ${PKGPATH} brake.tlib index.tlib encoder.tlib pwm.tlib sputtering.tlib
aic.o: aic.cpp ../include/aic.h
${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp
aichostcan.o: aichostcan.cpp ../include/aichostcan.h ../include/aicnet.h
${CXX} ${CMPFLAGS} -c aichostcan.cpp
+
+sputtering.o: sputtering.cpp ../include/aicudp.h ../include/sputtering.h
+ ${CXX} ${CMPFLAGS} -c sputtering.cpp
-libaic.a: aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o
- ar -crvs libaic.a aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o
+libaic.a: aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o sputtering.o
+ ar -crvs libaic.a aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o sputtering.o
aicio.mpp.lib: aicio/aicio.mpp.lib
cp aicio/aicio.mpp.lib .
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Sputtering Interface
+ Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+package br.ufrgs.ece.AIC;
+
+/** @addtogroup aicapp
+@{
+*/
+
+/** AIC Sputtering Real Time Interface
+* @author Walter Fetter Lages (w.fetter@ieee.org)
+* @version AIC-1.6.1
+*/
+public final class Sputtering
+{
+/** True if native library was loaded
+*/
+ private static boolean libLoaded=false;
+
+/** Initializes Sputtering
+*/
+ private static native void initialize();
+
+/** Finalizes Sputtering
+*/
+ public native void finalize();
+
+/** Starts a real time PID controller
+* @param period Desired sampling time in us
+* @return Actual sampling time in us
+*/
+ public static native int pidStartRealtime(int period);
+
+/** Stops the real time PID controller
+*/
+ public static native void pidStopRealtime();
+
+/** Sets PID reference
+* @param reference PID set-point
+*/
+ public static native void setReference(float reference);
+
+/** Gets plant output
+* @return Plant output in rad
+*/
+ public static native float getOutput();
+
+/** Gets current time
+* @return Current time in ticks
+*/
+ public static native int getTime();
+
+/** Unlocks Sputtering usage
+*/
+ public static native void unlock();
+
+/** Locks Sputtering usage
+* @return 1 if locked
+*/
+ public static native byte lock();
+
+/** Starts real time shutter controller
+* @param period Desired sampling time in us
+* @return Actual sampling time in us
+*/
+ public static native int shutterStartRealtime(int period);
+
+/** Stops the real time shutter controller
+*/
+ public static native void shutterStopRealtime();
+
+/** Moves motor to home position
+*/
+ public static native void findHome();
+
+/** Gets index sensor status
+* @return Index sensor status
+*/
+ public static native int getIndex();
+
+/** Opens shutter for specified time
+* @param time Time to keep shutter open in us
+*/
+ public static native void openShutter(int time);
+
+/** Constructs a Sputtering objetct
+*/
+ public Sputtering()
+ {
+ if(!libLoaded) System.loadLibrary("sputtering.tlib");
+ libLoaded=true;
+
+ initialize();
+ }
+}
+
+/**
+@}
+*/
brake(comm),
index(comm)
{
+ port=comm;
+}
+
+void AIC::reset(void)
+{
+ port->send_command(AIC_RESET);
+}
+
+void AIC::reference(double ref)
+{
+ port->send_command(AIC_MOTOR_REF,ref);
+}
+
+int AIC::busy(void)
+{
+ unsigned int status;
+ double disp;
+
+ port->get_status(AIC_STATUS,&disp,&status);
+
+ return (status & AIC_BUSY)? 1:0;
+}
+
+void AIC::send_command(int command,int n,const void *buffer)
+{
+ port->send_command(command,n,buffer);
}
va_start(ap,command);
double volt=va_arg(ap,double);
va_end(ap);
- for(int i=0;i < 8;i++) msg[7-i]= ( ( *((unsigned long long *) &volt) ) >> (i*8) ) & 0xff;
+ for(int i=0;i < 8;i++) msg[7-i]= *((char *) &volt + i);
msglen=8;
break;
}
+ case AIC_USER0:
+ case AIC_USER1:
+ case AIC_USER2:
+ case AIC_USER3:
+ {
+ va_list ap;
+ va_start(ap,command);
+ msglen=va_arg(ap,int);
+ unsigned char *ptr=msg;
+ if(msglen > 0) ptr=va_arg(ap,unsigned char *);
+ va_end(ap);
+ if(msglen > 8) throw BAD_SEND();
+ for(unsigned int i=0;i < msglen;i++) msg[i]=ptr[i];
+ break;
+ }
default: throw BAD_COMMAND();
}
throw BAD_SEND();
}
}
-
-
pwm.mpp: pwm.a51 ${TINIINC} ${ASMINC}/aicpld.inc
${ASMMACRO} -I${ASMINC} -e- pwm.a51
-
+
aicio.mpp.lib: brake.mpp index.mpp pwm.mpp encoder.mpp
cat brake.mpp index.mpp pwm.mpp encoder.mpp > aicio.mpp.lib
;
; Actuator Interface Card
; PWM Functions
-; Copyright (C) 2004, 2005 Walter Fetter Lages <w.fetter@ieee.org>
+; Copyright (C) 2004, 2007 Walter Fetter Lages <w.fetter@ieee.org>
+; 2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>
;
; This program is free software; you can redistribute it and/or modify
; it under the terms of the GNU General Public License as published by
pwm_parmok:
- TINIOS_ENTER_CRITICAL_SECTION
-
- mov MCNT1,#10h ; MST=0,MOF=0,SCB=0,CLM=1
- mov MA,r0 ; R3:R2:R1:R0 >> 4 using
- mov MA,r1 ; math acelerator
- mov MA,r2
- mov MA,r3
- mov MCNT0,#0a4h ;/LSHIFT=1,CSE=0,SCE=1,MAS40=4
-pwm_waitshift: mov a,MCNT1
- jb ACC.7,pwm_waitshift ; wait MST cleared
-
- mov a,MA ; the result is 16 bits
- mov a,MA ; discard upper 16 bits
- mov r1,MA
- mov r0,MA
-
- mov MCNT1,#00h ; R1:R0 * max_count using
- mov MB,r0 ; math accelarator
- mov MB,r1
- mov dptr,#pwm_max_count ; load max_count in R5:R4
+ mov a,r0 ;R3:R2:R1:R0 >>4
+ rr a ;R0 >> 4
+ rr a
+ rr a
+ rr a
+ anl a,#00Fh ;discard upper 4 bits
+ mov r0,a
+ mov a,r1 ;R1 >>4
+ rr a
+ rr a
+ rr a
+ rr a
+ mov r1,a ;save R1 >> 4
+ anl a,#0F0h ;discard lower 4 bits
+ orl a,r0 ;sets 4 uppers bits in R0
+ mov r0,a
+ mov a,r1 ;gets R1 >> 4
+ anl a,#00Fh ;discard upper 4 bits
+ mov r1,a
+ mov a,r2 ;R2 >> 4
+ rr a
+ rr a
+ rr a
+ rr a
+ anl a,#0F0h ;discard lower 4 bits
+ orl a,r1
+ mov r1,a
+
+ ;R1:R0*max_count
+ mov dptr, #pwm_max_count ;load max_count in R5:R4
movx a,@dptr
mov r5,a
inc dptr
movx a,@dptr
mov r4,a
- mov MA,a
+
+ mov b,a ;R0*R4
+ mov a,r0
+ mul ab
+
+ mov dpl,a ;LOW
+ mov a,b ;HIGH
+ mov dph,a
+
+ mov a,r1 ;R1*R4
+ mov b,a
+ mov a,r4
+ mul ab
+
+ add a,dph ;LOW
+ mov dph,a
+ mov a,b ;HIGH
+ addc a,#00 ;R4 is free
+ mov dpx,a
+
+ mov a,r0 ;R0*R5
+ mov b,a
+ mov a,r5
+ mul ab
+
+ add a,dph ;LOW
+ mov dph,a
+ mov a,dpx ;LOW+1
+ addc a,b
+ mov dpx,a
+ clr a ;HIGH
+ addc a,#00h
+ mov r4,a ;R0 is free
+
+ mov a,r1 ;R1*R5
+ mov b,a
mov a,r5
+ mul ab
+
+ add a,dpx ;LOW
+ mov dpx,a
+ mov a,r4 ;HIGH
+ addc a,b
+ mov b,a ;discard upper bits
+
+ mov r0,dpl
+ mov r1,dph
+ mov r2,dpx
+ mov r3,b
+
+ ;R3:R2:R1:R0/(1000000/16) 1000000/16=F424h
+ ;c -> dpx
+ ;x -> r3:r2:r1:r0
+ ;y -> dph:dpl = 0xF424
+ ;reste -> r7:r6:r5:r4
+ ;count -> pilha 1
- mov MA,a
-pwm_waitmult: mov a,MCNT1
- jb ACC.7,pwm_waitmult ; wait MST cleared
+
+ mov a,r7
+ push acc
+ mov a,r6
+ push acc
+ clr a ;c=0
+ mov dpx,a
+ mov dph,#0F4h ;y=0xF424
+ mov dpl,#024h
+ mov r7,#000h ;reste=0
+ mov r6,#000h
+ mov r5,#000h
+ mov r4,#000h
+ mov a,#20h ;count=32
+ push acc
+
+pwm_divloop:
+ mov a,r3 ;c = ((x >> (8*sizeof(x)-1)) & 1)
+ rl a
+ anl a,#1
+ mov dpx,a
+
+ clr c ;x = x << 1;
+ mov a,r0
+ rlc a
+ mov r0,a
+ mov a,r1
+ rlc a
+ mov r1,a
+ mov a,r2
+ rlc a
+ mov r2,a
+ mov a,r3
+ rlc a
+ mov r3,a
+ clr c
+
+ ;reste <<= 1
+ mov a,r4
+ rlc a
+ mov r4,a
+ mov a,r5
+ rlc a
+ mov r5,a
+ mov a,r6
+ rlc a
+ mov r6,a
+ mov a,r7
+ rlc a
+ mov r7,a
+ clr c
- mov r3,MA
- mov r2,MA
- mov r1,MA
- mov r0,MA
+
+ mov a,dpx ;if (c)
+ jz pwn_div_ninc_teste
+ mov a,r4
+ orl a,#001h ;reste|=1L
+ mov r4,a
+
+pwn_div_ninc_teste: ;if (reste >= y)
+ mov a,r7
+ jnz pwm_div_y_menor_igual
+ mov a,r6
+ jnz pwm_div_y_menor_igual
+ mov a,r5
+ cjne a,dph,pwm_div_testa_maior
+ mov a,r4
+ cjne a,dpl,pwm_div_testa_maior
+ clr c
- mov MCNT1,#00h ;R1:R0*max_count/(1000000/16) using
- mov MA,r0 ; math accelarator
- mov MA,r1
- mov MA,r2
- mov MA,r3
- mov MB,#24h ; 1000000/16=F424h
- mov MB,#0f4h
-pwm_waitdiv: mov a,MCNT1
- jb ACC.7,pwm_waitdiv ; wait MST cleared
+pwm_div_testa_maior:
+ jnc pwm_div_y_menor_igual
+ ljmp pwm_div_loop_end
- mov a,MA ; The result should be 16 bits
- mov a,MA ; upper 16 bits discarded
- mov r1,MA
- mov r0,MA
+pwm_div_y_menor_igual:
+ mov a,r4 ;reste -= y;
+ clr c
+ subb a,dpl
+ mov r4,a
+ mov a,r5
+ subb a,dph
+ mov r5,a
+ mov a,r6
+ subb a,#00h
+ mov r6,a
+ mov a,r7
+ subb a,#00h
+ mov r7,a
+
+ mov a,r0 ;x |= 1L;
+ orl a,#001h
+ mov r0,a
+
+pwm_div_loop_end: ;while (--count)
+ pop acc
+ dec a
+ push acc
+ jnz pwm_divloop
+
+ pop acc
+ pop acc
+ mov r6,a
+ pop acc
+ mov r7,a
- TINIOS_EXIT_CRITICAL_SECTION
+ mov dptr, #pwm_max_count ;load max_count in R5:R4
+ movx a,@dptr
+ mov r5,a
+ inc dptr
+ movx a,@dptr
+ mov r4,a
clr c ; computes count
EXIT_PCE_SPACE_AND_POP_STATE
RESTORE_STRETCH r0 ; restore original stretch value
-
+
mov dpl,b ; return count in b:dbx:dph:dpl
mov dph,r1
AIC_SIM::AIC_SIM(void)
:AIC(this)
{
+ count=0;
}
int AIC_SIM::get_status(int status,...)
{
- static int i=0;
-
switch(status)
{
case AIC_STATUS:
{
va_list ap;
+
va_start(ap,status);
double *disp=va_arg(ap,double *);
- *disp=i*0.5;
+ *disp=count*0.5;
int *index=va_arg(ap,int *);
- *index=(i/3) % 2;
+ *index=(count % 4 == 0)? AIC_INDEX_ON:0;
va_end(ap);
break;
}
}
- i++;
+ count++;
return status;
}
}
case AIC_RESET:
{
+ count=0;
cout << "AIC Reset\t";
break;
}
}
}
}
-
-
va_start(ap,command);
double volt=va_arg(ap,double);
va_end(ap);
- for(int i=0;i < 8;i++) buff[7-i+len]= ( ( *((unsigned long long *) &volt) ) >> (i*8) ) & 0xff;
+ for(int i=0;i < 8;i++) buff[7-i+len]= *((char *) &volt + i);
len+=8;
break;
}
+ case AIC_MOTOR_REF:
+ {
+ va_list ap;
+ va_start(ap,command);
+ double ref=va_arg(ap,double);
+ va_end(ap);
+ for(int i=0;i < 8;i++) buff[7-i+len]= *((char *) &ref + i);
+ len+=8;
+ break;
+ }
+ case AIC_USER0:
+ case AIC_USER1:
+ case AIC_USER2:
+ case AIC_USER3:
+ {
+ va_list ap;
+ va_start(ap,command);
+ int n=va_arg(ap,int);
+ char *ptr;
+ if(n > 0)
+ {
+ ptr=va_arg(ap,char *);
+ for(int i=0;i < n;i++) buff[len++]=ptr[i];
+ }
+ va_end(ap);
+ if(n > 31) throw BAD_SEND();
+
+ break;
+ }
default: throw BAD_SEND();
}
throw BAD_SEND();
}
}
-
-
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Sputtering Controller Host Interface Library
+ Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <unistd.h>
+#include <sputtering.h>
+
+void *get_status(void *arg)
+{
+ double disp;
+ int index;
+
+
+ SPUTTERING *sputtering=(SPUTTERING *) arg;
+
+ while(sputtering->run)
+ {
+ disp=sputtering->encoder.read(&index);
+ usleep(500000);
+ }
+ pthread_exit(0);
+}
+
+SPUTTERING::SPUTTERING(const char *name,int statusport):
+AIC_UDP(name,statusport),
+SHUTTER(AIC_USER0)
+{
+ run=1;
+ pthread_create(&get_status_th,NULL,&::get_status,this);
+}
+
+SPUTTERING::~SPUTTERING(void)
+{
+ run=0;
+ pthread_join(get_status_th,NULL);
+}
+
+void SPUTTERING::reset(void)
+{
+ while(busy());
+ AIC::reset();
+}
+
+void SPUTTERING::reference(double ref)
+{
+ while(busy());
+ AIC::reference(ref);
+}
+
+void SPUTTERING::shutter(unsigned int us)
+{
+ while(busy());
+ send_command(SHUTTER,sizeof(us),&us);
+}
ASMINC:=../${ASMINC}
TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc
-all: brake.mpp index.mpp encoder.mpp pwm.mpp
+SDCCINCLUDE+= -I../../include
+export SDCCCMPFLAGS=${SDCCFLAGS} ${SDCCINCLUDE}
+
+all: brake.mpp index.mpp encoder.mpp pwm.mpp sputtering.mpp
${ASMINC}/tini.inc: ${NATINC}/tini.inc
ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc
pwm.mpp: pwm.a51 ${TINIINC}
${ASMMACRO} -I${ASMINC} -e- pwm.a51
-
+
+sputtering.mpp: sputtering.a51
+ ${ASMMACRO} -I${ASMINC} -e- sputtering.a51
+
+sputtering.a51: sputtering.c
+ ${SDCC} ${SDCCCMPFLAGS} sputtering.c
+
install:
clean:
- rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst
+ rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst sputtering.a51
distclean: clean
rm -rf AIC.jar *.a
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ Sputtering Real Time Module
+ Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <rtai_sched.h>
+#include <pthread.h>
+
+#include <tmath.h>
+
+#include <aicio.h>
+
+#define BASE 0x800000
+
+#define Kp 0.5
+#define Ki 0.000005
+#define Kd 0.00
+
+#define MIN_U -12.0
+#define MAX_U 12.0
+
+#define DEAD_Z 1.0
+
+#define TOL 0.005
+
+static pthread_t pid_th;
+static pthread_t shutter_th;
+static float u;
+static float y;
+static float ref;
+static float e1;
+static float i;
+static long time_count;
+static long time_ref;
+static unsigned char lock;
+
+static void pid_dummy(void) _naked
+{
+ _asm
+pid_th: db 0,0,0,0
+shutter_th: db 0,0,0,0
+u: db 0,0,0,0
+y: db 0,0,0,0
+ref: db 0,0,0,0
+e1: db 0,0,0,0
+i: db 0,0,0,0
+time_count: db 0,0,0,0
+time_ref: db 0,0,0,0
+lock: db 0
+ _endasm;
+}
+
+/* By now this is not actually a thread as it should be,
+ but a function that is called at each timer interrupt */
+void *shutter(void *arg)
+{
+ time_count++;
+ if(time_count >= time_ref) brake_apply();
+
+ return NULL;
+}
+
+/* By now this is not actually a thread as it should be,
+ but a function that is called at each timer interrupt */
+void *pid(void *arg)
+{
+ float e;
+
+ time_count++;
+
+ y+=encoder_read_and_clear();
+
+ e=ref-y;
+
+ i+=Ki*e;
+
+ u=Kp*e + i + Kd*(e-e1);
+
+ if(u < -TOL) u-=DEAD_Z;
+ if(u > TOL) u+=DEAD_Z;
+
+ if(u < MIN_U) u=MIN_U;
+ if(u > MAX_U) u=MAX_U;
+
+ motor_set(u);
+
+ e1=e;
+
+ return NULL;
+}
+
+
+/* public static native int pidRealtime(int period) */
+long Native_pidStartRealtime(void) _JavaNative
+{
+ long period;
+ RTIME count;
+
+ period = NatLib_LoadInt(0);
+ count=micro2count(period);
+ start_rt_timer(count);
+ pthread_create(&pid_th,NULL,pid,NULL);
+
+ time_count=0;
+
+ _asm
+ clr a
+ _endasm;
+
+ return period;
+}
+
+/* public static native void pidStopRealtime() */
+void Native_pidStopRealtime(void) _JavaNative
+{
+ motor_set(0.0);
+
+ pthread_cancel(pid_th);
+ stop_rt_timer();
+
+ _asm
+ clr a
+ _endasm;
+}
+
+/* public static native int shutterStartRealtime(int period) */
+long Native_shutterStartRealtime(void) _JavaNative
+{
+ long period;
+ RTIME count;
+
+ period = NatLib_LoadInt(0);
+ count=micro2count(period);
+ start_rt_timer(count);
+ pthread_create(&shutter_th,NULL,shutter,NULL);
+
+ time_count=0;
+
+ brake_release();
+
+ _asm
+ clr a
+ _endasm;
+
+ return period;
+}
+
+/* public static native void shutterStopRealtime() */
+void Native_shutterStopRealtime(void) _JavaNative
+{
+
+ pthread_cancel(shutter_th);
+ stop_rt_timer();
+
+ _asm
+ clr a
+ _endasm;
+}
+
+
+/* public static native float getOutput() */
+float Native_getOutput(void) _JavaNative
+{
+ return y;
+}
+
+long Native_getTime(void) _JavaNative
+{
+ return time_count;
+}
+
+long Native_getIndex(void) _JavaNative
+{
+ return index_read();
+}
+
+void Native_findHome(void) _JavaNative
+{
+ motor_set(2.5);
+ while(!(index_read()));
+
+ if(index_read()) motor_set(-1.25);
+
+ while(!(index_read()));
+
+ if(index_read()) motor_set(1.25);
+
+ while(!(index_read()));
+
+ motor_set(0.0);
+
+ encoder_read_and_clear();
+
+ y=0;
+
+ _asm
+ clr a
+ _endasm;
+}
+
+void Native_initialize(void) _JavaNative
+{
+ aic_initialize(BASE,12.0,20e3,4*2048);
+ aic_on();
+ motor_set(0.0);
+ y=0;
+ lock=1;
+
+ _asm
+ clr a
+ _endasm;
+}
+
+void Native_finalize(void) _JavaNative
+{
+ aic_off();
+
+ aic_finalize();
+
+ _asm
+ clr a
+ _endasm;
+}
+
+
+/* public static native void setReference(float reference) */
+void Native_setReference(void) _JavaNative
+{
+ /*
+ volatile long ref =NatLib_LoadInt(0);
+ ref=*((float *) &ref);
+ */
+
+ _asm
+ clr a
+ lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0
+ mov dptr,#ref
+ mov a,r0
+ movx @dptr,a
+ inc dptr
+ mov a,r1
+ movx @dptr,a
+ inc dptr
+ mov a,r2
+ movx @dptr,a
+ inc dptr
+ mov a,r3
+ movx @dptr,a
+ clr a
+ _endasm;
+}
+
+
+/* public static native void openShutter(int timeRef) */
+void Native_openShutter(void) _JavaNative
+{
+ time_ref = NatLib_LoadInt(0);
+
+ _asm
+ clr a
+ _endasm;
+}
+
+unsigned char Native_lock(void) _JavaNative
+{
+ _asm
+ mov dptr,#lock
+ movx a,@dptr
+ djnz ACC,L070185DIE
+ movx @dptr,a
+ mov r0,#0FFh
+ mov r1,#00h
+ mov r2,#00h
+ mov r3,#00h
+ ret
+L070185DIE:
+ inc a;
+ movx @dptr,a
+ clr a;
+ _endasm;
+ return 0x00;
+}
+
+void Native_unlock(void) _JavaNative
+{
+ _asm
+ mov dptr,#lock
+ movx a,@dptr
+ inc a
+ movx @dptr,a
+ clr a;
+ _endasm;
+}
+++ /dev/null
-pid:lxrt:./pid 1;popall:
--- /dev/null
+all: sputtering
+
+sputtering: sputtering.cpp ../include/aic.h ../lib/libaic.a
+ ${CXX} ${CMPFLAGS} -o sputtering sputtering.cpp ${LDFLAGS}
+
+../lib/libaic.a:
+ $(MAKE) -C ../lib
+
+clean:
+ rm -f *~ *.bak *.o
+
+install:
+
+distclean: clean
+ rm -f sputtering *.dat
+
--- /dev/null
+/******************************************************************************
+
+ Actuator Interface Card
+ AIC Sputtering Controller
+ Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+ You can also obtain a copy of the GNU General Public License
+ at <http://www.gnu.org/licenses>.
+
+*******************************************************************************/
+
+#include <iostream>
+using namespace std;
+#include <math.h>
+
+#include <sputtering.h>
+
+int main(int argc,char *argv[])
+{
+
+/* if(argc != 5)
+ {
+ cout << "Sputtering Controller\n";
+ cout << "Copyright (C) 2007 Walter Fetter Lages <w.fetter@ieee.org>.\n";
+ cout << " 2007 Diego Caberlon Santini <diegos@ece.ufrgs.br>.\n";
+ cout << "\tor\n\t" << argv[0] << " aic1 status_port1 aic2 status_port2\n";
+ return -1;
+ }
+*/
+ SPUTTERING sputtering0(argv[1],atoi(argv[2]));
+// SPUTTERING sputtering1(argv[3],atoi(argv[4]));
+
+ sputtering0.reset();
+// sputtering1.reset();
+ cout <<"Reset\n";
+ sputtering0.reference(M_PI*300/180);
+// sputtering1.reference(M_PI*300/180);
+ cout <<"Positioning at 300 degrees\n";
+ sputtering0.shutter(1000000);
+// sputtering1.shutter(1000000);
+ cout <<"open for 1s\n";
+ sputtering0.reference(M_PI*60/180);
+// sputtering1.reference(M_PI*60/180);
+ cout <<"Positioning at 60 degrees\n";
+ sputtering0.shutter(2000000);
+// sputtering1.shutter(2000000);
+ cout <<"Open for 2s\n";
+
+ return 0;
+}
projects / aic.git / commitdiff