From: Walter Fetter Lages Date: Sun, 20 May 2018 04:09:57 +0000 (-0300) Subject: Hardware access implemented im assembly as native methods in Java classes. X-Git-Tag: v1.3.0^0 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=48e1f2690876a6e24cf3f18eef209f99484d29d7;p=aic.git Hardware access implemented im assembly as native methods in Java classes. Corrigido bug nas inicializacao das classes AIC_CAN e AIC_HOST_CAN que violava o padrao ISO C++ e impedia estas classes de serem compiladas com o g++ 3.4.3. Alterados os nomes das classes utilizadas para sinalizar excecoes. Foram removidos os prefixos que podem ser deduzidos a partir da hierarquia de classes. Corrigido o log dos comandos no IODaemon no modo debug. Agora e' logado o codigo do comando em decimal. Corrigido bug na classe HostCAN, que fazia com que a filtragem das mensagens nao funcionasse. O centro de mensagens 15 foi desabilitado. A recepcao de mensagens passou a funcionar no modo WriteOver. Corrigido bug nos metodos Encoder::read() e Encoder::readAndClear(). O calculo da conversao de numero de pulsos para radianos estava errado. Removido o flag canWANT_EXCLUSIVE dos construtores das classes AIC_CAN e AIC_HOST_CAN. Com isto pode-se compartilhar a placa PCICAN entre aplicacoes. Criado buffer de mensagens estatico nas classes AIC_CAN e AIC_HOST_CAN para armazenar as mensagens destinada as outras instancias da classe. Criada documentacao on-line para a biblioteca em C++ e em Java utilizando o Doxygen. Eliminada a documentacao utilizando o javadoc. Ajustados os Makefiles para criar os arquivos .runinfo utilizados pelo RTAI-3.x. Removido o periodo do programa pid. Agora o controlador executa com ciclo livre, temporizado pelo processo de amostragem. Criado um destructor virtual para a classe AIC. A falta deste destructor causava erro de segmentacao quando da destruicao do objeto. Alterados programas em C++ para permitirem a passagem na linha de comando do numero da porta de status a ser utilizada (porta de comando no caso do aicd). Criados os programas BrakeApply e BrakeRelease. Criada a macro RESTORE_STRETCH, utilizada nas biblotecas nativas para retornar o strech ao valor original. Criadas versoes das macros SET_STRETCH e RESTORE_STRETCH que nao geram codigo. Atraves de compilacao condicional as versoes que nao geram codigo sao utilizadas quando o valor de strech e' negativo. Esta caracteristica e' utilizada para utilizar o valor de stretch default da TINI. Alterados o esquematico e o layout do PCB para utilizar 6N137 ao inves de 6N136. Alterados os Makefiles dos programas que necessitam do suporte do RTAI para funcionarem com o RTAI-3.x. Alterados programas de teste e aplicativos em Java para eliminar excessoes de endereco invalido, que nao sao mais geradas pela classe AIC. Metodos das classes Brake, Index, Encoder e PWM implementados em Assembly como metodos nativos. --- diff --git a/AICOff/AICOff.java b/AICOff/AICOff.java index 9f4a85e..0ba4624 100644 --- a/AICOff/AICOff.java +++ b/AICOff/AICOff.java @@ -24,29 +24,18 @@ *******************************************************************************/ import br.ufrgs.eletro.AIC.*; -import com.dalsemi.system.*; -import java.io.*; class AICOff { static final int BASE=0x800000; static AIC aic; - public static void main(String[] args) throws IOException + public static void main(String[] args) { System.out.println("AIC Off"); System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n"); - try - { - aic=new AIC(BASE,24.0,20e3,2000); - - aic.off(); - } - catch (IllegalAddressException iae) - { - iae.printStackTrace(); - } - + aic=new AIC(BASE,24.0,20e3,2000); + aic.off(); } } diff --git a/AICOff/Makefile b/AICOff/Makefile index 7b2ca5b..61cc8e0 100644 --- a/AICOff/Makefile +++ b/AICOff/Makefile @@ -1,19 +1,19 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar APIDBPATH=-d /opt/tini/bin/tini.db LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib +JAVAFLAGS=-O -target 1.1 -source 1.3 all: AICOff.tini -AICOff.class: AICOff.java +AICOff.class: AICOff.java ../lib/AIC.jar javac ${JAVAFLAGS} ${CLASSPATH} AICOff.java -AICOff.tini: AICOff.class - java ${CLASSPATH} TINIConvertor -f AICOff.class ${APIDBPATH} -o AICOff.tini ${LIBPATH} +AICOff.tini: AICOff.class ../lib/AIC.jar + java ${CLASSPATH} TINIConvertor -f AICOff.class ${APIDBPATH} ${NATLIB} -o AICOff.tini ${LIBPATH} clean: rm -f *.bak *~ *.class distclean: clean rm -f AICOff.tini - diff --git a/BrakeTest/BrakeApply.java b/BrakeTest/BrakeApply.java new file mode 100644 index 0000000..5493ed6 --- /dev/null +++ b/BrakeTest/BrakeApply.java @@ -0,0 +1,43 @@ +/****************************************************************************** + + Actuator Interface Card + AIC Brake Apply + Copyright (C) 2004 Walter Fetter Lages + + 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 . + +*******************************************************************************/ + +import br.ufrgs.eletro.AIC.*; + +class BrakeApply +{ + static final int BASE=0x800000; + + static AIC aic; + + public static void main(String[] args) + { + System.out.println("AIC Brake Apply"); + System.out.println("Copyright (C) Walter Fetter Lages, 2004.\n"); + + aic=new AIC(BASE,24.0,20e3,2000); + + aic.brake.apply(); + } +} diff --git a/BrakeTest/BrakeRelease.java b/BrakeTest/BrakeRelease.java new file mode 100644 index 0000000..3fb1821 --- /dev/null +++ b/BrakeTest/BrakeRelease.java @@ -0,0 +1,43 @@ +/****************************************************************************** + + Actuator Interface Card + AIC Brake Release + Copyright (C) 2004 Walter Fetter Lages + + 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 . + +*******************************************************************************/ + +import br.ufrgs.eletro.AIC.*; + +class BrakeRelease +{ + static final int BASE=0x800000; + + static AIC aic; + + public static void main(String[] args) + { + System.out.println("AIC Brake Release"); + System.out.println("Copyright (C) Walter Fetter Lages, 2004.\n"); + + aic=new AIC(BASE,24.0,20e3,2000); + + aic.brake.release(); + } +} diff --git a/BrakeTest/BrakeTest.java b/BrakeTest/BrakeTest.java index 0502fdb..bde6b64 100644 --- a/BrakeTest/BrakeTest.java +++ b/BrakeTest/BrakeTest.java @@ -2,7 +2,7 @@ Actuator Interface Card AIC Brake Test - Copyright (C) 2002, 2003 Walter Fetter Lages + Copyright (C) 2002...2004 Walter Fetter Lages 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 @@ -25,7 +25,6 @@ import br.ufrgs.eletro.AIC.*; import com.dalsemi.system.*; -import java.io.*; import java.lang.Math.*; class BrakeTest @@ -41,35 +40,26 @@ class BrakeTest while(TINIOS.uptimeMillis() < time+ms); } - public static void main(String[] args) throws IOException + public static void main(String[] args) { int i; boolean run=true; System.out.println("AIC Brake Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n"); + System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n"); - try - { - aic=new AIC(BASE,24.0,20e3,2000); - - aic.on(); + aic=new AIC(BASE,24.0,20e3,2000); + aic.on(); - while(run) - { - aic.brake.release(); - System.out.println("Brake released"); - delay(ST); - aic.brake.apply(); - System.out.println("Brake applied"); - delay(ST); - } - aic.off(); - } - catch (IllegalAddressException iae) + while(run) { - iae.printStackTrace(); + aic.brake.release(); + System.out.println("Brake released"); + delay(ST); + aic.brake.apply(); + System.out.println("Brake applied"); + delay(ST); } - + aic.off(); } } diff --git a/BrakeTest/Makefile b/BrakeTest/Makefile index 7442771..b773886 100644 --- a/BrakeTest/Makefile +++ b/BrakeTest/Makefile @@ -1,19 +1,32 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar APIDBPATH=-d /opt/tini/bin/tini.db LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib +JAVAFLAGS=-O -target 1.1 -source 1.3 -all: BrakeTest.tini +all: BrakeTest.tini BrakeApply.tini BrakeRelease.tini -BrakeTest.class: BrakeTest.java +BrakeTest.class: BrakeTest.java ../lib/AIC.jar javac ${JAVAFLAGS} ${CLASSPATH} BrakeTest.java -BrakeTest.tini: BrakeTest.class - java ${CLASSPATH} TINIConvertor -f BrakeTest.class ${APIDBPATH} -o BrakeTest.tini ${LIBPATH} +BrakeTest.tini: BrakeTest.class ../lib/AIC.jar + java ${CLASSPATH} TINIConvertor -f BrakeTest.class ${APIDBPATH} ${NATLIB} -o BrakeTest.tini ${LIBPATH} + +BrakeApply.class: BrakeApply.java ../lib/AIC.jar + javac ${JAVAFLAGS} ${CLASSPATH} BrakeApply.java + +BrakeApply.tini: BrakeApply.class ../lib/AIC.jar + java ${CLASSPATH} TINIConvertor -f BrakeApply.class ${APIDBPATH} ${NATLIB} -o BrakeApply.tini ${LIBPATH} + +BrakeRelease.class: BrakeRelease.java ../lib/AIC.jar + javac ${JAVAFLAGS} ${CLASSPATH} BrakeRelease.java + +BrakeRelease.tini: BrakeRelease.class ../lib/AIC.jar + java ${CLASSPATH} TINIConvertor -f BrakeRelease.class ${APIDBPATH} ${NATLIB} -o BrakeRelease.tini ${LIBPATH} clean: - rm -f *.bak *~ BrakeTest.class + rm -f *.bak *~ BrakeTest.class BrakeApply.class BrakeRelease.class distclean: clean - rm -f BrakeTest.tini + rm -f BrakeTest.tini BrakeApply.tini BrakeRelease.tini diff --git a/CANTest/Makefile b/CANTest/Makefile index af33339..54d8e12 100644 --- a/CANTest/Makefile +++ b/CANTest/Makefile @@ -4,7 +4,7 @@ DEPPATH=-p /opt/tini/bin/modules.jar DEPFILE=-x /opt/tini/bin/owapi_dep.txt DEPNAME=-add CAN LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +JAVAFLAGS=-O -target 1.1 -source 1.3 TARGET=aic3 aic5 all: CANRx.tini CANTx.tini diff --git a/CANTest/UPLOADED b/CANTest/UPLOADED deleted file mode 100644 index 571bd41..0000000 --- a/CANTest/UPLOADED +++ /dev/null @@ -1 +0,0 @@ -Thu Dec 11 19:23:53 BRST 2003 diff --git a/Changes b/Changes index 26a48e9..a689b81 100644 --- a/Changes +++ b/Changes @@ -1,3 +1,77 @@ +2004.12.05 Corrigido bug nas inicializacao das classes AIC_CAN e + AIC_HOST_CAN que violava o padrao ISO C++ e impedia estas + classes de serem compiladas com o g++ 3.4.3. + +2004.09.28 Alterados os nomes das classes utilizadas para sinalizar + excecoes. Foram removidos os prefixos que podem ser + deduzidos a partir da hierarquia de classes. + + Corrigido o log dos comandos no IODaemon no modo debug. + Agora e' logado o codigo do comando em decimal. + + Corrigido bug na classe HostCAN, que fazia com que a + filtragem das mensagens nao funcionasse. O centro de + mensagens 15 foi desabilitado. A recepcao de mensagens + passou a funcionar no modo WriteOver. + + Corrigido bug nos metodos Encoder::read() e + Encoder::readAndClear(). O calculo da conversao de numero de + pulsos para radianos estava errado. + + Removido o flag canWANT_EXCLUSIVE dos construtores das + classes AIC_CAN e AIC_HOST_CAN. Com isto pode-se + compartilhar a placa PCICAN entre aplicacoes. + + Criado buffer de mensagens estatico nas classes AIC_CAN e + AIC_HOST_CAN para armazenar as mensagens destinada as outras + instancias da classe. + +2004.06.28 Criada documentacao on-line para a biblioteca em C++ e em + Java utilizando o Doxygen. + + Eliminada a documentacao utilizando o javadoc. + +2004.06.18 Ajustados os Makefiles para criar os arquivos .runinfo + utilizados pelo RTAI-3.x. + + Removido o periodo do programa pid. Agora o controlador + executa com ciclo livre, temporizado pelo processo de + amostragem. + + Criado um destructor virtual para a classe AIC. A falta + deste destructor causava erro de segmentacao quando da + destruicao do objeto. + + Alterados programas em C++ para permitirem a passagem na + linha de comando do numero da porta de status a ser + utilizada (porta de comando no caso do aicd). + +2004.05.26 Criados os programas BrakeApply e BrakeRelease. + +2004.05.18 Criada a macro RESTORE_STRETCH, utilizada nas biblotecas + nativas para retornar o strech ao valor original. + + Criadas versoes das macros SET_STRETCH e RESTORE_STRETCH que + nao geram codigo. Atraves de compilacao condicional as + versoes que nao geram codigo sao utilizadas quando o valor + de strech e' negativo. Esta caracteristica e' utilizada para + utilizar o valor de stretch default da TINI. + + Alterados o esquematico e o layout do PCB para utilizar + 6N137 ao inves de 6N136. + + Alterados os Makefiles dos programas que necessitam do + suporte do RTAI para funcionarem com o RTAI-3.x. + +2004.03.24 Alterados programas de teste e aplicativos em Java para + eliminar excessoes de endereco invalido, que nao sao mais + geradas pela classe AIC. + + Metodos das classes Brake, Index, Encoder e PWM + implementados em Assembly como metodos nativos. + + Criada versao 1.3.0. + 2004.03.08 Consolidadas as constantes definindo enderecos dos dispositivos na AIC na classe PLD. Consolidadas as constantes definindo bits do registrador de controle na @@ -12,14 +86,15 @@ barramento CAN. Os novos codigos conferem uma prioridade mais adequada aos diversos tipos de mensagens. Alterada a documentacao para refletir as mudancas nos protocolos. + Programas em C++ alterados para utilizar comunicacao CAN por default. A comunicacao por UDP e' suportada atraves de opcao na linha de comando. - 2003.12.30 Alterado o protocolo de aplicacao de ASCII para binario, com alteracao no prototipo das funcoes de baixo nivel para transmissao e recepcao de comandos e status. + Criada versao 1.2.0. 2003.12.28 Documentados os protocolos de aplicacao e classes das @@ -39,15 +114,19 @@ programas. 2003.12.18 Alteradas as classes utilizadas para representar excessoes. + Criada uma hierarquia mais detalhada. 2003.12.17 Alteracao na classe AIC_HOST, que tornou-se virtual. + Criadas classes AIC_HOST_UDP e AIC_HOST_CAN, derivadas de AIC_HOST. -2003.12.16 Alteracao da classe AIC, que tornou-se virtual. Criadas - classes AIC_UDP e AIC_CAN, derivadas de AIC. +2003.12.16 Alteracao da classe AIC, que tornou-se virtual. + + Criadas classes AIC_UDP e AIC_CAN, derivadas de AIC. + +2003.12.15 Alteracao na classe Host, que tornou-se abstrata. -2003.12.15 Alteracao na classe Host, que tornou-se abstrata. Criadas - classes HostUDP e HostCAN, derivadas de Host. + Criadas classes HostUDP e HostCAN, derivadas de Host. diff --git a/EncoderTest/EncoderTest.java b/EncoderTest/EncoderTest.java index 8d4492a..bff00f9 100644 --- a/EncoderTest/EncoderTest.java +++ b/EncoderTest/EncoderTest.java @@ -2,7 +2,7 @@ Actuator Interface Card AIC Encoder Test - Copyright (C) 2002, 2003 Walter Fetter Lages + Copyright (C) 2002, 2004 Walter Fetter Lages 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 @@ -25,13 +25,12 @@ import br.ufrgs.eletro.AIC.*; import com.dalsemi.system.*; -import java.io.*; import java.lang.Math.*; class EncoderTest { static final int BASE=0x800000; - static final int ST=0; + static final int ST=500; static final double MV=12.0; static AIC aic; @@ -44,7 +43,7 @@ class EncoderTest while(TINIOS.uptimeMillis() < time+ms); } - static void iter(int i) throws IllegalAddressException + static void iter(int i) { aic.motor.set(i); System.out.print("Motor Voltage: " + i); @@ -57,43 +56,32 @@ class EncoderTest delay(ST); } - public static void main(String[] args) throws IOException + public static void main(String[] args) { int i; boolean run=true; System.out.println("AIC Encoder Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n"); + System.out.println("Copyright (C) Walter Fetter Lages, 2003...2004.\n"); - try - { - - // Janus encoders are 500ppr -// aic=new AIC(BASE,24.0,20e3,2000); + // Janus encoders are 500ppr +// aic=new AIC(BASE,24.0,20e3,2000); - // ASEA encoders are 2048 ppr - aic=new AIC(BASE,24.0,20e3,8192); + // ASEA encoders are 2048 ppr + aic=new AIC(BASE,24.0,20e3,8192); - aic.on(); + aic.on(); - aic.brake.release(); + aic.brake.release(); - for(i=0;(i <= MV) && run;i++) iter(i); - - while(run) - { + for(i=0;(i <= MV) && run;i++) iter(i); - for(i=-(int)MV;(i <= MV) && run;i++) iter(i); - for(i=(int)MV;(i >= -MV) && run;i--) iter(i); - } - - aic.off(); - - } - catch (IllegalAddressException iae) + while(run) { - iae.printStackTrace(); + for(i=-(int)MV;(i <= MV) && run;i++) iter(i); + for(i=(int)MV;(i >= -MV) && run;i--) iter(i); } + aic.off(); } } diff --git a/EncoderTest/Makefile b/EncoderTest/Makefile index d2cbc11..88f1ddb 100644 --- a/EncoderTest/Makefile +++ b/EncoderTest/Makefile @@ -1,16 +1,17 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar APIDBPATH=-d /opt/tini/bin/tini.db LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib +JAVAFLAGS=-O -target 1.1 -source 1.3 TARGET=aic5 all: EncoderTest.tini EncoderClear.tini EncoderRead.tini -EncoderTest.class: EncoderTest.java +EncoderTest.class: EncoderTest.java ../lib/AIC.jar javac ${JAVAFLAGS} ${CLASSPATH} EncoderTest.java -EncoderTest.tini: EncoderTest.class - java ${CLASSPATH} TINIConvertor -f EncoderTest.class ${APIDBPATH} -o EncoderTest.tini ${LIBPATH} +EncoderTest.tini: EncoderTest.class ../lib/AIC.jar + java ${CLASSPATH} TINIConvertor -f EncoderTest.class ${APIDBPATH} ${NATLIB} -o EncoderTest.tini ${LIBPATH} -n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib EncoderClear.class: EncoderClear.java javac ${JAVAFLAGS} ${CLASSPATH} EncoderClear.java diff --git a/IODaemon/IODaemon.java b/IODaemon/IODaemon.java index dd57a27..470e3f6 100644 --- a/IODaemon/IODaemon.java +++ b/IODaemon/IODaemon.java @@ -2,7 +2,7 @@ Actuator Interface Card IO Daemon - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -32,7 +32,7 @@ import java.lang.*; class IODaemon extends Thread { static final int BASE=0x800000; - static final int ST=400; + static final int ST=50; static AIC aic; static Host host; @@ -100,7 +100,7 @@ class IODaemon extends Thread } try { - aic=new AIC(BASE,24.0,20e3,2000); + aic=new AIC(BASE,24.0,20e3,8192); if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1])); else host=new HostCAN(Integer.parseInt(args[hostarg])); SendSensors sendSensors=new SendSensors(); @@ -115,10 +115,6 @@ class IODaemon extends Thread if(debug) System.out.println("getCommand priority="+getCommand.getPriority()); } - catch (IllegalAddressException iae) - { - iae.printStackTrace(); - } catch (NumberFormatException nfe) { System.out.println("Usage: java IODaemon.tini [-debug] [-UDP controller_host port] | aicid"); @@ -143,7 +139,7 @@ class GetCommand extends IODaemon int cmd=host.command(); - if(debug) System.out.print("Command="+ (char) cmd +"\t"); + if(debug) System.out.print("Command="+ cmd +"\t"); switch(cmd) { @@ -184,6 +180,12 @@ class GetCommand extends IODaemon break; } */ + default: + { + if(debug) System.out.print("Invalid\t"); + break; + } + } if(debug) System.out.println(""); } @@ -210,7 +212,7 @@ class SendSensors extends IODaemon if(aic.index.read()) index=1; else index=0; double disp=aic.encoder.read(); - if(debug) System.out.print("Encoder="+disp+"rad\tindex="+index+"\t"); + if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t"); host.sendStatus(disp,index); long timeEnd=TINIOS.uptimeMillis(); diff --git a/IODaemon/Makefile b/IODaemon/Makefile index d461371..b36e314 100644 --- a/IODaemon/Makefile +++ b/IODaemon/Makefile @@ -4,16 +4,17 @@ DEPPATH=-p /opt/tini/bin/modules.jar DEPFILE=-x /opt/tini/bin/owapi_dep.txt DEPNAME=-add CAN LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib +JAVAFLAGS=-O -target 1.1 -source 1.3 TARGET= aic1 aic2 aic3 aic4 aic5 all: IODaemon.tini -IODaemon.class: IODaemon.java +IODaemon.class: IODaemon.java ../lib/AIC.jar javac ${JAVAFLAGS} ${CLASSPATH} IODaemon.java IODaemon.tini: IODaemon.class ../lib/AIC.jar - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f IODaemon.class ${APIDBPATH} -o IODaemon.tini ${LIBPATH} + java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f IODaemon.class ${APIDBPATH} -o IODaemon.tini ${LIBPATH} ${NATLIB} clean: rm -f *.bak *~ *.class UPLOADED diff --git a/IndexTest/IndexTest.java b/IndexTest/IndexTest.java index 0bf10ef..89ac67a 100644 --- a/IndexTest/IndexTest.java +++ b/IndexTest/IndexTest.java @@ -2,7 +2,7 @@ Actuator Interface Card AIC Index Test - Copyright (C) 2002, 2003 Walter Fetter Lages + Copyright (C) 2002, 2004 Walter Fetter Lages 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 @@ -25,7 +25,6 @@ import br.ufrgs.eletro.AIC.*; import com.dalsemi.system.*; -import java.io.*; import java.lang.Math.*; class IndexTest @@ -41,31 +40,23 @@ class IndexTest while(TINIOS.uptimeMillis() < time+ms); } - public static void main(String[] args) throws IOException + public static void main(String[] args) { int i; boolean run=true; System.out.println("AIC Index Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n"); + System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n"); - try - { - aic=new AIC(BASE,24.0,20e3,2000); + aic=new AIC(BASE,24.0,20e3,2000); - aic.on(); + aic.on(); - while(run) - { - System.out.println("Index=" + aic.index.read()); - delay(ST); - } - aic.off(); - } - catch (IllegalAddressException iae) + while(run) { - iae.printStackTrace(); + System.out.println("Index=" + aic.index.read()); + delay(ST); } - + aic.off(); } } diff --git a/IndexTest/Makefile b/IndexTest/Makefile index 0cdab09..82ee860 100644 --- a/IndexTest/Makefile +++ b/IndexTest/Makefile @@ -1,15 +1,16 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar APIDBPATH=-d /opt/tini/bin/tini.db LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +JAVAFLAGS=-O -target 1.1 -source 1.3 +NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib all: IndexTest.tini -IndexTest.class: IndexTest.java +IndexTest.class: IndexTest.java ../lib/AIC.jar javac ${JAVAFLAGS} ${CLASSPATH} IndexTest.java -IndexTest.tini: IndexTest.class - java ${CLASSPATH} TINIConvertor -f IndexTest.class ${APIDBPATH} -o IndexTest.tini ${LIBPATH} +IndexTest.tini: IndexTest.class ../lib/AIC.jar + java ${CLASSPATH} TINIConvertor ${NATLIB} -f IndexTest.class ${APIDBPATH} -o IndexTest.tini ${LIBPATH} clean: rm -f *.bak *~ IndexTest.class diff --git a/JointTest/JointTest.java b/JointTest/JointTest.java index 08c00c3..5e5c65d 100644 --- a/JointTest/JointTest.java +++ b/JointTest/JointTest.java @@ -25,7 +25,6 @@ import br.ufrgs.eletro.AIC.*; import com.dalsemi.system.*; -import java.io.*; import java.lang.Math.*; class JointTest @@ -40,7 +39,7 @@ class JointTest while(TINIOS.uptimeMillis() < time+ms); } - static void iter(double v,int ms) throws IllegalAddressException + static void iter(double v,int ms) { aic.motor.set(v); System.out.print("Motor Voltage: " + v); @@ -49,32 +48,24 @@ class JointTest delay(ms); } - public static void main(String[] args) throws IOException + public static void main(String[] args) { int i; System.out.println("AIC Joint Test Program"); System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n"); - try - { - aic=new AIC(BASE,24.0,20e3,2000); + aic=new AIC(BASE,24.0,20e3,2000); - aic.on(); + aic.on(); - aic.brake.release(); + aic.brake.release(); - while(!aic.index.read()) - { - iter(5,1000); - iter(-5,1000); - } - aic.off(); - } - catch (IllegalAddressException iae) + while(!aic.index.read()) { - iae.printStackTrace(); + iter(5,1000); + iter(-5,1000); } - + aic.off(); } } diff --git a/JointTest/Makefile b/JointTest/Makefile index 2ec6ab2..0b55c16 100644 --- a/JointTest/Makefile +++ b/JointTest/Makefile @@ -1,15 +1,16 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar APIDBPATH=-d /opt/tini/bin/tini.db LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib +JAVAFLAGS=-O -target 1.1 -source 1.3 all: JointTest.tini -JointTest.class: JointTest.java +JointTest.class: JointTest.java ../lib/AIC.jar javac ${JAVAFLAGS} ${CLASSPATH} JointTest.java -JointTest.tini: JointTest.class - java ${CLASSPATH} TINIConvertor -f JointTest.class ${APIDBPATH} -o JointTest.tini ${LIBPATH} +JointTest.tini: JointTest.class ../lib/AIC.jar + java ${CLASSPATH} TINIConvertor -f JointTest.class ${APIDBPATH} -o JointTest.tini ${LIBPATH} ${NATLIB} clean: rm -f *.bak *~ JointTest.class diff --git a/Makefile b/Makefile index d9f8ca6..0d112af 100644 --- a/Makefile +++ b/Makefile @@ -9,6 +9,7 @@ PACKAGES= doc \ JointTest \ MotorReset \ MotorTest \ + PIDDaemon \ StrobeTest \ aicd \ braketst \ diff --git a/MotorReset/Makefile b/MotorReset/Makefile index cedfef0..713016f 100644 --- a/MotorReset/Makefile +++ b/MotorReset/Makefile @@ -1,15 +1,16 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar APIDBPATH=-d /opt/tini/bin/tini.db LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib +JAVAFLAGS=-O -target 1.1 -source 1.3 all: MotorReset.tini -MotorReset.class: MotorReset.java +MotorReset.class: MotorReset.java ../lib/AIC.jar javac ${JAVAFLAGS} ${CLASSPATH} MotorReset.java MotorReset.tini: MotorReset.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f MotorReset.class ${APIDBPATH} -o MotorReset.tini ${LIBPATH} + java ${CLASSPATH} TINIConvertor -f MotorReset.class ${APIDBPATH} -o MotorReset.tini ${LIBPATH} ${NATLIB} clean: rm -f *.bak *~ MotorReset.class diff --git a/MotorReset/MotorReset.java b/MotorReset/MotorReset.java index 11c91c9..ebe1589 100644 --- a/MotorReset/MotorReset.java +++ b/MotorReset/MotorReset.java @@ -25,7 +25,6 @@ import br.ufrgs.eletro.AIC.*; import com.dalsemi.system.*; -import java.io.*; import java.lang.Math.*; class MotorReset @@ -40,7 +39,7 @@ class MotorReset while(TINIOS.uptimeMillis() < time+ms); } - static void iter(double v,int ms) throws IllegalAddressException + static void iter(double v,int ms) { aic.motor.set(v); System.out.print("Motor Voltage: " + v); @@ -49,33 +48,25 @@ class MotorReset delay(ms); } - public static void main(String[] args) throws IOException + public static void main(String[] args) { System.out.println("AIC Joint Test Program"); System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n"); - try - { - aic=new AIC(BASE,24.0,20e3,2000); + aic=new AIC(BASE,24.0,20e3,2000); - aic.on(); + aic.on(); - aic.brake.release(); + aic.brake.release(); - double v=0; - - while(!aic.index.read()) - { - if(v < 24.0) v++; - iter(v,1000); - } - aic.off(); - } - catch (IllegalAddressException iae) + double v=0; + + while(!aic.index.read()) { - iae.printStackTrace(); + if(v < 24.0) v++; + iter(v,1000); } - + aic.off(); } } diff --git a/MotorTest/Makefile b/MotorTest/Makefile index d2a0b40..ae3baad 100644 --- a/MotorTest/Makefile +++ b/MotorTest/Makefile @@ -1,15 +1,16 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar APIDBPATH=-d /opt/tini/bin/tini.db LIBPATH=-path ../lib/AIC.jar -JAVAFLAGS=-O -target 1.1 +NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib +JAVAFLAGS=-O -target 1.1 -source 1.3 all: MotorTest.tini -MotorTest.class: MotorTest.java +MotorTest.class: MotorTest.java ../lib/AIC.jar javac ${JAVAFLAGS} ${CLASSPATH} MotorTest.java MotorTest.tini: MotorTest.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f MotorTest.class ${APIDBPATH} -o MotorTest.tini ${LIBPATH} + java ${CLASSPATH} TINIConvertor -f MotorTest.class ${APIDBPATH} -o MotorTest.tini ${LIBPATH} ${NATLIB} clean: rm -f *.bak *~ MotorTest.class diff --git a/MotorTest/MotorTest.java b/MotorTest/MotorTest.java index f41fcd5..fb2b079 100644 --- a/MotorTest/MotorTest.java +++ b/MotorTest/MotorTest.java @@ -2,7 +2,7 @@ Actuator Interface Card AIC Motor Test - Copyright (C) 2002, 2003 Walter Fetter Lages + Copyright (C) 2002...2004 Walter Fetter Lages 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 @@ -25,13 +25,12 @@ import br.ufrgs.eletro.AIC.*; import com.dalsemi.system.*; -import java.io.*; import java.lang.Math.*; class MotorTest { static final int BASE=0x800000; - static final int ST=50; + static final int ST=100; static AIC aic; @@ -41,7 +40,7 @@ class MotorTest while(TINIOS.uptimeMillis() < time+ms); } - static void iter(int i) throws IllegalAddressException + static void iter(int i) { aic.motor.set(i); System.out.println("Motor Voltage: " + i); @@ -49,35 +48,27 @@ class MotorTest delay(ST); } - public static void main(String[] args) throws IOException + public static void main(String[] args) { int i; boolean run=true; System.out.println("AIC Motor Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n"); + System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n"); - try - { - aic=new AIC(BASE,24.0,20e3,2000); + aic=new AIC(BASE,24.0,20e3,2000); - aic.on(); + aic.on(); - aic.brake.release(); + aic.brake.release(); - for(i=0;(i <= 24) && run;i++) iter(i); + for(i=0;(i <= 24) && run;i++) iter(i); - while(run) - { - for(i=24;(i >= -24) && run;i--) iter(i); - for(i=-24;(i <= 24) && run;i++) iter(i); - } - aic.off(); - } - catch (IllegalAddressException iae) + while(run) { - iae.printStackTrace(); + for(i=24;(i >= -24) && run;i--) iter(i); + for(i=-24;(i <= 24) && run;i++) iter(i); } - + aic.off(); } } diff --git a/PIDDaemon/Makefile b/PIDDaemon/Makefile new file mode 100644 index 0000000..4f158c5 --- /dev/null +++ b/PIDDaemon/Makefile @@ -0,0 +1,40 @@ +CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar +APIDBPATH=-d /opt/tini/bin/tini.db +JAVAFLAGS=-O -target 1.1 -source 1.3 +ASMINC=-I/opt/tini/native/lib +ASMOPT=-f 1.14 -p 390 -l +ASMMACRO=/opt/tini/native/bin/Linux/macro +ASM=/opt/tini/native/bin/Linux/a390 +CC=sdcc +CFLAGS=-mTININative -S + +all: PIDDaemon.tini + +PIDDaemon.class: PIDDaemon.java + javac ${CLASSPATH} ${JAVAFLAGS} PIDDaemon.java + +pid.mpp: pid.a51 + ${ASMMACRO} ${ASMINC} -e- pid.a51 + +globals.mpp: globals.a51 + ${ASMMACRO} ${ASMINC} globals.a51 + +pid.tlib: pid.mpp globals.mpp + cat pid.mpp globals.a51 > lout.mpp + ${ASM} ${ASMOPT} lout.mpp + mv lout.tlib pid.tlib + mv lout.lst pid.lst + +pid.a51: pid.c + ${CC} ${CFLAGS} pid.c + +PIDDaemon.tini: PIDDaemon.class pid.tlib + java ${CLASSPATH} TINIConvertor -n pid.tlib -f PIDDaemon.class ${APIDBPATH} -o PIDDaemon.tini + + +clean: + rm -f *.bak *~ PIDDaemon.class pid.tlib pid.mpp pid.lst pid.a51 globals.mpp lout.mpp lout.lst + +distclean: clean + rm -f PIDDaemon.tini + diff --git a/PIDDaemon/PIDDaemon.java b/PIDDaemon/PIDDaemon.java new file mode 100644 index 0000000..b959ecf --- /dev/null +++ b/PIDDaemon/PIDDaemon.java @@ -0,0 +1,63 @@ +/****************************************************************************** + + Actuator Interface Card + PID Daemon + User Interface Module + Copyright (C) 2004 Walter Fetter Lages + + 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 . + +*******************************************************************************/ + +import com.dalsemi.system.*; + +public class PIDDaemon +{ + public static native int start_rt_timer(int period); + public static native void stop_rt_timer(); + + public static void main(String[] args) + { + System.out.println("PID Daemon"); + System.out.println("Copyright (C) Walter Fetter Lages, 2004.\n"); + + int ms=10; + + System.out.print("Loading native library..."); + System.loadLibrary("pid.tlib"); + System.out.println("done."); + + System.out.print("Starting real-time timer..."); + int period=start_rt_timer(ms); + System.out.println("done. Effective period: "+period); + + System.out.print("Running PID..."); + long time0=TINIOS.uptimeMillis(); + long time=0; + while(time >=0) + { + time=TINIOS.uptimeMillis()-time0; + System.out.println("t="+time); + } + System.out.println("...done."); + + System.out.print("Stoping real-time timer..."); + stop_rt_timer(); + System.out.println("done."); + } +} diff --git a/PIDDaemon/globals.a51 b/PIDDaemon/globals.a51 new file mode 100644 index 0000000..d27c7ca --- /dev/null +++ b/PIDDaemon/globals.a51 @@ -0,0 +1,29 @@ +;****************************************************************************** +; +; Actuator Interface Card +; PID Daemon +; Real Time Module Global Variables +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;*******************************************************************************/ + + +counter: db 0,0,0,0 + end diff --git a/PIDDaemon/pid.c b/PIDDaemon/pid.c new file mode 100644 index 0000000..5c7d766 --- /dev/null +++ b/PIDDaemon/pid.c @@ -0,0 +1,83 @@ +/****************************************************************************** + + Actuator Interface Card + PID Daemon + Real Time Module + Copyright (C) 2004 Walter Fetter Lages + + 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 . + +*******************************************************************************/ + +#define RTIME long + +RTIME Native_start_rt_timer(void) _JavaNative +{ + volatile long period = NatLib_LoadInt(0); + + _asm + + mov T2CON,#00h ; clear TR2 = disable timer 2 + anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt + + mov dps,#1 + mov dptr,#count + mov a,#2bh ; timer 2 + call System_InstallInterrupt + mov dps,#00h + + anl CKCON,#0dfh ; clear T2M = timer 2 uses clock/12 + mov T2MOD,#00h ; clear DCEN = counts up only + +; TINI oscillator is 18432000 => counter=0c400h=100Hz + mov RCAP2L,#00h ; count reload LSB + mov TL2,#00h ; count LSB + mov RCAP2H,#0c4h ; count reload MSB + mov TH2,#0c4h ; count MSB + + orl IP,#20h ; set PT2 = set timer 2 interrupt to high priority + orl IE,#20h ; set ET2 = enable timer 2 interrupt + + mov T2CON,#04h ; set TR2 = enable timer 2 + _endasm; + + return period; +} + +void Native_stop_rt_timer(void) _JavaNative +{ + _asm + mov T2CON,#00h ; clear TR2 = disable timer 2 + anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt + anl IP,#0dfh ; clear PT2 = set timer 2 interrupt to normal priority + _endasm; +} + +static void int2ack(void) +{ + _asm + anl T2CON,#7fh ; clear TF2 = clears timer 2 overflow + _endasm; +} + +static void count(void) interrupt +{ + int2ack(); + + counter++; +} diff --git a/README b/README index 0b45ca4..7d64c07 100644 --- a/README +++ b/README @@ -1,10 +1,5 @@ - Actuator Interface Card +Em funcao de alteracos no protocolo de aplicacao, os programas desta versao +que utilizam comunicacao nao sao compativeis com os correspondentes das +versoes anteriores a 1.2.0. Assim, os daemons que estejam instalados na AIC +devem ser substituidos pela nova versao. -aic-1.*.* based on TINI - -aic-1.2.0 Em funcao de alteracos no protocolo de aplicacao, os - programas que utilizam comunicacao desta versao nao - sao compativeis com os correspondentes das versoes - anteriores. Assim, os daemons que estejam - instalados na AIC devem ser substituidos pela nova - versao. diff --git a/StrobeTest/Makefile b/StrobeTest/Makefile index 13f0708..b58ec5e 100644 --- a/StrobeTest/Makefile +++ b/StrobeTest/Makefile @@ -1,6 +1,6 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar APIDBPATH=-d /opt/tini/bin/tini.db -JAVAFLAGS=-O -target 1.1 +JAVAFLAGS=-O -target 1.1 -source 1.3 all: StrobeTest.tini diff --git a/TODO b/TODO index 793d5e5..515a669 100644 --- a/TODO +++ b/TODO @@ -1,19 +1,24 @@ -- Trocar optos por 6N137. Verificar maxima taxa CAN possivel de ser obtida. +- Utilizar RCCI/RCCL? -- Rotinas em Assembly - Portar as rotinas que devem rodar em tempo real para Assembly, a -principio, como rotinas nativas para serem usadas em Java. Eventualmente -criar versao do IODaemon ou PID totalmente em Assembly. +- Verificar a maxima taxa possivel com CAN. Em Java T=14ms. + +- Verificar se e' vantagem implementar a classe HostCan em Assembly, ja' que +a API CAN e' opcional e implementada em Assembly. Eventualmente aproveitar a +biblioteca nativa da Dallas e chamar diretamente os metodos nativos. + +- Verificar a possibilidade de fazer um piggy-back para utilizar TINIM400. + +- Verificar a possibilidade de utilizar SNAP. + +- Eventualmente criar versao do IODaemon ou PID totalmente em Assembly ou em +C. - Verificar possivel memory leakage no programa jointtst. Apos algum tempo executando o led do HD fica acendendo, indicando possivel uso de memoria -virtual. +virtual. Ocorre no RTAI 24.x. Tambem ocorre no 3.x? - Passar a utilizar IPv6 -- Comunicacao por CAN - Implementada. Falta testar. - - Alterar camada de aplicacao CAN para torna-la compativel com CanOpen. - Alterar protocolo de aplicacao UDP para implementar CAN over IP. @@ -26,11 +31,8 @@ virtual. Trocar os reguladores de alimentacao por reguladores chaveados ou instalar ventoinhas. -- Reguladores CAN - Instalar 7805 nos conectores CAN, de forma a poder alimentar o -barramento com 12V. - -- Implementar PID +- Implementar PID. + Implementado, falta testar. - Portar o Slush para Linux, pelo menos os utilitarios que nao possuem equivalente, como o passwd @@ -43,19 +45,19 @@ equivalente, como o passwd - Portar o Linux/RTAI (uClinux ?) - AIC versao 2.0.0 - TINIDS400? + TINIM400? TSTICK400? SNAP? DIMMPC? DSP? ARM? - FPGA? + FPGA?, Virtex?, Nios? USB? FireWire? Foundation Fieldbus? Profibus? I2C? Compact-PCI? - - + PC-104? + Korebot (http://www.k-team.com)? diff --git a/aicd/Makefile b/aicd/Makefile index 523b564..79dc316 100644 --- a/aicd/Makefile +++ b/aicd/Makefile @@ -2,8 +2,8 @@ PRJLIBDIR=../lib PRJINCLUDE=../include PRJFLAGS=-DREAL_TIME -DVERBOSE -DDEBUG -CFLAGS=-O2 -Wall -mcpu=i486 ${PRJFLAGS} -CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/include/rtai +CFLAGS=-O2 -Wall -march=i486 ${PRJFLAGS} +CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/realtime/include CLIBDIR=-L${HOME}/lib -L/usr/local/lib CLIBS=-lpthread -lcanlib @@ -20,11 +20,8 @@ LIBS=${CPPLIBS} ${CLIBS} CMP= g++ CMPFLAGS= ${FLAGS} ${INCLUDE} LDFLAGS= ${LIBDIR} ${LIBS} -CMPSWTCH= gnu -CMPMESSAGE= '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"' - -all: aicd +all: aicd .runinfo aicd: aicd.cpp ${PRJINCLUDE}/aicsim.h ${PRJINCLUDE}/aichost.h ${PRJLIBDIR}/libaic.a ${CMP} ${CMPFLAGS} -o aicd aicd.cpp ${LDFLAGS} @@ -38,7 +35,8 @@ clean: install: distclean: clean - rm -f aicd - + rm -f aicd .runinfo +.runinfo: runinfo + cp runinfo .runinfo diff --git a/aicd/aicd.cpp b/aicd/aicd.cpp index c92f83c..bc8386a 100644 --- a/aicd/aicd.cpp +++ b/aicd/aicd.cpp @@ -35,8 +35,6 @@ using namespace std; #include -#define KEEP_STATIC_INLINE -#include #include struct SEND_STATUS_ARGS @@ -109,11 +107,11 @@ int main(int argc, char *argv[]) cout << "AIC Host Interface Simulation\n"; cout << "Copyright (C) Walter Fetter Lages 2003.\n"; - if((argc < 2) || (argc > 3) || - ((argc == 3) && strcasecmp(argv[1],"-UDP"))) + if((argc < 2) || (argc > 4) || + ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) { cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP controller_host\n"; + cout << "\tor\n\t" << argv[0] << " -UDP controller [command_port]\n"; return -1; } @@ -123,8 +121,13 @@ int main(int argc, char *argv[]) AIC_SIM aic; AIC_HOST *controller; - if(argc==2) controller=new AIC_HOST_CAN(atoi(argv[1])); - else controller= new AIC_HOST_UDP(argv[2]); + switch(argc) + { + default: + case 2: controller=new AIC_HOST_CAN(atoi(argv[1])); break; + case 3: controller=new AIC_HOST_UDP(argv[2]); break; + case 4: controller=new AIC_HOST_UDP(argv[2],STATUS_PORT,atoi(argv[3])); break; + } #ifdef REAL_TIME unsigned long maintsk_name = nam2num("AICD"); diff --git a/aicd/runinfo b/aicd/runinfo new file mode 100644 index 0000000..2b978b1 --- /dev/null +++ b/aicd/runinfo @@ -0,0 +1 @@ +aicd:lxrt:./aicd;popall: diff --git a/braketst/Makefile b/braketst/Makefile index 1875bd5..1cef1e6 100644 --- a/braketst/Makefile +++ b/braketst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -mcpu=i486 +CFLAGS=-O2 -Wall -march=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcutil -lcanlib diff --git a/braketst/braketst.cpp b/braketst/braketst.cpp index 29f8f3e..376f77e 100644 --- a/braketst/braketst.cpp +++ b/braketst/braketst.cpp @@ -25,6 +25,7 @@ #include using namespace std; +#include #include @@ -38,17 +39,22 @@ int main(int argc,char *argv[]) cout << "\nAIC Brake Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if((argc < 2) || (argc > 3) || - ((argc == 3) && strcasecmp(argv[1],"-UDP"))) + if((argc < 2) || (argc > 4) || + ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) { cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; return -1; } AIC *aic; - if(argc==2) aic=new AIC_CAN(atoi(argv[1])); - else aic=new AIC_UDP(argv[2]); + switch(argc) + { + default: + case 2: aic=new AIC_CAN(atoi(argv[1])); break; + case 3: aic=new AIC_UDP(argv[2]); break; + case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; + } int apply=0; for(int i=0;;i++) diff --git a/doc/Doxyfile b/doc/Doxyfile new file mode 100644 index 0000000..60d94e0 --- /dev/null +++ b/doc/Doxyfile @@ -0,0 +1,1145 @@ +# Doxyfile 1.3.7 + +# This file describes the settings to be used by the documentation system +# doxygen (www.doxygen.org) for a project +# +# All text after a hash (#) is considered a comment and will be ignored +# The format is: +# TAG = value [value, ...] +# For lists items can also be appended using: +# TAG += value [value, ...] +# Values that contain spaces should be placed between quotes (" ") + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded +# by quotes) that should identify the project. + +PROJECT_NAME = "Actuator Interface Card" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. +# This could be handy for archiving the generated documentation or +# if some version control system is used. + +PROJECT_NUMBER = "1.3.0" + +# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) +# base path where the generated documentation will be put. +# If a relative path is entered, it will be relative to the location +# where doxygen was started. If left blank the current directory will be used. + +OUTPUT_DIRECTORY = . + +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 2 levels of 10 sub-directories under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of source +# files, where putting all generated files in the same directory would otherwise +# cause performance problems for the file system. + +CREATE_SUBDIRS = NO + +# The OUTPUT_LANGUAGE tag is used to specify the language in which all +# documentation generated by doxygen is written. Doxygen will use this +# information to generate all constant output in the proper language. +# The default language is English, other supported languages are: +# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, +# Finnish, French, German, Greek, Hungarian, Italian, Japanese, Japanese-en +# (Japanese with English messages), Korean, Korean-en, Norwegian, Polish, Portuguese, +# Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish, and Ukrainian. + +OUTPUT_LANGUAGE = English + +# This tag can be used to specify the encoding used in the generated output. +# The encoding is not always determined by the language that is chosen, +# but also whether or not the output is meant for Windows or non-Windows users. +# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES +# forces the Windows encoding (this is the default for the Windows binary), +# whereas setting the tag to NO uses a Unix-style encoding (the default for +# all platforms other than Windows). + +USE_WINDOWS_ENCODING = NO + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is used +# as the annotated text. Otherwise, the brief description is used as-is. If left +# blank, the following values are used ("$name" is automatically replaced with the +# name of the entity): "The $name class" "The $name widget" "The $name file" +# "is" "provides" "specifies" "contains" "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all inherited +# members of a class in the documentation of that class as if those members were +# ordinary class members. Constructors, destructors and assignment operators of +# the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = NO + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = .. + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like the Qt-style comments (thus requiring an +# explicit @brief command for a brief description. + +JAVADOC_AUTOBRIEF = YES + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the DETAILS_AT_TOP tag is set to YES then Doxygen +# will output the detailed description near the top, like JavaDoc. +# If set to NO, the detailed description appears after the member +# documentation. + +DETAILS_AT_TOP = YES + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = YES + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 8 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources +# only. Doxygen will then generate output that is more tailored for Java. +# For instance, namespaces will be presented as packages, qualified scopes +# will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in +# documentation are documented, even if no documentation was available. +# Private class members and static file members will be hidden unless +# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES + +EXTRACT_ALL = NO + +# If the EXTRACT_PRIVATE tag is set to YES all private members of a class +# will be included in the documentation. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_STATIC tag is set to YES all static members of a file +# will be included in the documentation. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) +# defined locally in source files will be included in the documentation. +# If set to NO only classes defined in header files are included. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = YES + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all +# undocumented members of documented classes, files or namespaces. +# If set to NO (the default) these members will be included in the +# various overviews, but no documentation section is generated. +# This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. +# If set to NO (the default) these classes will be included in the various +# overviews. This option has no effect if EXTRACT_ALL is enabled. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all +# friend (class|struct|union) declarations. +# If set to NO (the default) these declarations will be included in the +# documentation. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation +# that is typed after a \internal command is included. If the tag is set +# to NO (the default) then the documentation will be excluded. +# Set it to YES to include the internal documentation. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate +# file names in lower-case letters. If set to YES upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# users are advised to set this option to NO. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen +# will show members with their full class and namespace scopes in the +# documentation. If set to YES the scope will be hidden. + +HIDE_SCOPE_NAMES = NO + +# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen +# will put a list of the files that are included by a file in the documentation +# of that file. + +SHOW_INCLUDE_FILES = YES + +# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] +# is inserted in the documentation for inline members. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen +# will sort the (detailed) documentation of file and class members +# alphabetically by member name. If set to NO the members will appear in +# declaration order. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = YES + +# The GENERATE_TODOLIST tag can be used to enable (YES) or +# disable (NO) the todo list. This list is created by putting \todo +# commands in the documentation. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or +# disable (NO) the test list. This list is created by putting \test +# commands in the documentation. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or +# disable (NO) the bug list. This list is created by putting \bug +# commands in the documentation. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional +# documentation sections, marked by \if sectionname ... \endif. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines +# the initial value of a variable or define consists of for it to appear in +# the documentation. If the initializer consists of more lines than specified +# here it will be hidden. Use a value of 0 to hide initializers completely. +# The appearance of the initializer of individual variables and defines in the +# documentation can be controlled using \showinitializer or \hideinitializer +# command in the documentation regardless of this setting. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated +# at the bottom of the documentation of classes and structs. If set to YES the +# list will mention the files that were used to generate the documentation. + +SHOW_USED_FILES = YES + +#--------------------------------------------------------------------------- +# configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated +# by doxygen. Possible values are YES and NO. If left blank NO is used. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated by doxygen. Possible values are YES and NO. If left blank +# NO is used. + +WARNINGS = YES + +# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings +# for undocumented members. If EXTRACT_ALL is set to YES then this flag will +# automatically be disabled. + +WARN_IF_UNDOCUMENTED = YES + +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# The WARN_FORMAT tag determines the format of the warning messages that +# doxygen can produce. The string should contain the $file, $line, and $text +# tags, which will be replaced by the file and line number from which the +# warning originated and the warning text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning +# and error messages should be written. If left blank the output is written +# to stderr. + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag can be used to specify the files and/or directories that contain +# documented source files. You may enter file names like "myfile.cpp" or +# directories like "/usr/src/myproject". Separate the files or directories +# with spaces. + +INPUT = . \ + ../include \ + ../lib + + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank the following patterns are tested: +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp +# *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm + +FILE_PATTERNS = *.dox *.h *.inc *.c *.cpp *.java *.a51 + +# The RECURSIVE tag can be used to turn specify whether or not subdirectories +# should be searched for input files as well. Possible values are YES and NO. +# If left blank NO is used. + +RECURSIVE = YES + +# The EXCLUDE tag can be used to specify files and/or directories that should +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or directories +# that are symbolic links (a Unix filesystem feature) are excluded from the input. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. + +EXCLUDE_PATTERNS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or +# directories that contain example code fragments that are included (see +# the \include command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp +# and *.h) to filter out the source-files in the directories. If left +# blank all files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude +# commands irrespective of the value of the RECURSIVE tag. +# Possible values are YES and NO. If left blank NO is used. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or +# directories that contain image that are included in the documentation (see +# the \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command , where +# is the value of the INPUT_FILTER tag, and is the name of an +# input file. Doxygen will then use the output that the filter program writes +# to standard output. + +INPUT_FILTER = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will be used to filter the input files when producing source +# files to browse (i.e. when SOURCE_BROWSER is set to YES). + +FILTER_SOURCE_FILES = NO + +#--------------------------------------------------------------------------- +# configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body +# of functions and classes directly in the documentation. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES (the default) +# then for each documented function all documented +# functions referencing it will be listed. + +REFERENCED_BY_RELATION = YES + +# If the REFERENCES_RELATION tag is set to YES (the default) +# then for each documented function all documented entities +# called/used by that function will be listed. + +REFERENCES_RELATION = YES + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index +# of all compounds will be generated. Enable this if the project +# contains a lot of classes, structs, unions or interfaces. + +ALPHABETICAL_INDEX = NO + +# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then +# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns +# in which this list will be split (can be a number in the range [1..20]) + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all +# classes will be put under the same header in the alphabetical index. +# The IGNORE_PREFIX tag can be used to specify one or more prefixes that +# should be ignored while generating the index headers. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES (the default) Doxygen will +# generate HTML output. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `html' will be used as the default path. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for +# each generated HTML page (for example: .htm,.php,.asp). If it is left blank +# doxygen will generate files with .html extension. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a personal HTML header for +# each generated HTML page. If it is left blank doxygen will generate a +# standard header. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a personal HTML footer for +# each generated HTML page. If it is left blank doxygen will generate a +# standard footer. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading +# style sheet that is used by each HTML page. It can be used to +# fine-tune the look of the HTML output. If the tag is left blank doxygen +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! + +HTML_STYLESHEET = + +# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, +# files or namespaces will be aligned in HTML using tables. If set to +# NO a bullet list will be used. + +HTML_ALIGN_MEMBERS = YES + +# If the GENERATE_HTMLHELP tag is set to YES, additional index files +# will be generated that can be used as input for tools like the +# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) +# of the generated HTML documentation. + +GENERATE_HTMLHELP = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can +# be used to specify the file name of the resulting .chm file. You +# can add a path in front of the file if the result should not be +# written to the html output directory. + +CHM_FILE = + +# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can +# be used to specify the location (absolute path including file name) of +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. + +HHC_LOCATION = + +# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag +# controls if a separate .chi index file is generated (YES) or that +# it should be included in the master .chm file (NO). + +GENERATE_CHI = NO + +# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag +# controls whether a binary table of contents is generated (YES) or a +# normal table of contents (NO) in the .chm file. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members +# to the contents of the HTML help documentation and to the tree view. + +TOC_EXPAND = NO + +# The DISABLE_INDEX tag can be used to turn on/off the condensed index at +# top of each HTML page. The value NO (the default) enables the index and +# the value YES disables it. + +DISABLE_INDEX = NO + +# This tag can be used to set the number of enum values (range [1..20]) +# that doxygen will group on one line in the generated HTML documentation. + +ENUM_VALUES_PER_LINE = 4 + +# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be +# generated containing a tree-like index structure (just like the one that +# is generated for HTML Help). For this to work a browser that supports +# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, +# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are +# probably better off using the HTML help feature. + +GENERATE_TREEVIEW = YES + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be +# used to set the initial width (in pixels) of the frame in which the tree +# is shown. + +TREEVIEW_WIDTH = 250 + +#--------------------------------------------------------------------------- +# configuration options related to the LaTeX output +#--------------------------------------------------------------------------- + +# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will +# generate Latex output. + +GENERATE_LATEX = NO + +# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `latex' will be used as the default path. + +LATEX_OUTPUT = latex + +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. + +LATEX_CMD_NAME = latex + +# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to +# generate index for LaTeX. If left blank `makeindex' will be used as the +# default command name. + +MAKEINDEX_CMD_NAME = makeindex + +# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact +# LaTeX documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_LATEX = NO + +# The PAPER_TYPE tag can be used to set the paper type that is used +# by the printer. Possible values are: a4, a4wide, letter, legal and +# executive. If left blank a4wide will be used. + +PAPER_TYPE = a4wide + +# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX +# packages that should be included in the LaTeX output. + +EXTRA_PACKAGES = + +# The LATEX_HEADER tag can be used to specify a personal LaTeX header for +# the generated latex document. The header should contain everything until +# the first chapter. If it is left blank doxygen will generate a +# standard header. Notice: only use this tag if you know what you are doing! + +LATEX_HEADER = + +# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated +# is prepared for conversion to pdf (using ps2pdf). The pdf file will +# contain links (just like the HTML output) instead of page references +# This makes the output suitable for online browsing using a pdf viewer. + +PDF_HYPERLINKS = YES + +# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of +# plain latex in the generated Makefile. Set this option to YES to get a +# higher quality PDF documentation. + +USE_PDFLATEX = YES + +# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. +# command to the generated LaTeX files. This will instruct LaTeX to keep +# running if errors occur, instead of asking the user for help. +# This option is also used when generating formulas in HTML. + +LATEX_BATCHMODE = YES + +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + +#--------------------------------------------------------------------------- +# configuration options related to the RTF output +#--------------------------------------------------------------------------- + +# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output +# The RTF output is optimized for Word 97 and may not look very pretty with +# other RTF readers or editors. + +GENERATE_RTF = NO + +# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `rtf' will be used as the default path. + +RTF_OUTPUT = rtf + +# If the COMPACT_RTF tag is set to YES Doxygen generates more compact +# RTF documents. This may be useful for small projects and may help to +# save some trees in general. + +COMPACT_RTF = NO + +# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated +# will contain hyperlink fields. The RTF file will +# contain links (just like the HTML output) instead of page references. +# This makes the output suitable for online browsing using WORD or other +# programs which support those fields. +# Note: wordpad (write) and others do not support links. + +RTF_HYPERLINKS = NO + +# Load stylesheet definitions from file. Syntax is similar to doxygen's +# config file, i.e. a series of assignments. You only have to provide +# replacements, missing definitions are set to their default value. + +RTF_STYLESHEET_FILE = + +# Set optional variables used in the generation of an rtf document. +# Syntax is similar to doxygen's config file. + +RTF_EXTENSIONS_FILE = + +#--------------------------------------------------------------------------- +# configuration options related to the man page output +#--------------------------------------------------------------------------- + +# If the GENERATE_MAN tag is set to YES (the default) Doxygen will +# generate man pages + +GENERATE_MAN = NO + +# The MAN_OUTPUT tag is used to specify where the man pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `man' will be used as the default path. + +MAN_OUTPUT = man + +# The MAN_EXTENSION tag determines the extension that is added to +# the generated man pages (default is the subroutine's section .3) + +MAN_EXTENSION = .3 + +# If the MAN_LINKS tag is set to YES and Doxygen generates man output, +# then it will generate one additional man file for each entity +# documented in the real man page(s). These additional files +# only source the real man page, but without them the man command +# would be unable to find the correct page. The default is NO. + +MAN_LINKS = NO + +#--------------------------------------------------------------------------- +# configuration options related to the XML output +#--------------------------------------------------------------------------- + +# If the GENERATE_XML tag is set to YES Doxygen will +# generate an XML file that captures the structure of +# the code including all documentation. + +GENERATE_XML = NO + +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + +# The XML_SCHEMA tag can be used to specify an XML schema, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_SCHEMA = + +# The XML_DTD tag can be used to specify an XML DTD, +# which can be used by a validating XML parser to check the +# syntax of the XML files. + +XML_DTD = + +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + +#--------------------------------------------------------------------------- +# configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- + +# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will +# generate an AutoGen Definitions (see autogen.sf.net) file +# that captures the structure of the code including all +# documentation. Note that this feature is still experimental +# and incomplete at the moment. + +GENERATE_AUTOGEN_DEF = NO + +#--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- + +# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will +# evaluate all C-preprocessor directives found in the sources and include +# files. + +ENABLE_PREPROCESSING = YES + +# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro +# names in the source code. If set to NO (the default) only conditional +# compilation will be performed. Macro expansion can be done in a controlled +# way by setting EXPAND_ONLY_PREDEF to YES. + +MACRO_EXPANSION = YES + +# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES +# then the macro expansion is limited to the macros specified with the +# PREDEFINED and EXPAND_AS_PREDEFINED tags. + +EXPAND_ONLY_PREDEF = YES + +# If the SEARCH_INCLUDES tag is set to YES (the default) the includes files +# in the INCLUDE_PATH (see below) will be search if a #include is found. + +SEARCH_INCLUDES = YES + +# The INCLUDE_PATH tag can be used to specify one or more directories that +# contain include files that are not input files but should be processed by +# the preprocessor. + +INCLUDE_PATH = ../include + +# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard +# patterns (like *.h and *.hpp) to filter out the header-files in the +# directories. If left blank, the patterns specified with FILE_PATTERNS will +# be used. + +INCLUDE_FILE_PATTERNS = + +# The PREDEFINED tag can be used to specify one or more macro names that +# are defined before the preprocessor is started (similar to the -D option of +# gcc). The argument of the tag is a list of macros of the form: name +# or name=definition (no spaces). If the definition and the = are +# omitted =1 is assumed. + +PREDEFINED = + +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then +# this tag can be used to specify a list of macro names that should be expanded. +# The macro definition that is found in the sources will be used. +# Use the PREDEFINED tag if you want to use a different macro definition. + +EXPAND_AS_DEFINED = + +# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then +# doxygen's preprocessor will remove all function-like macros that are alone +# on a line, have an all uppercase name, and do not end with a semicolon. Such +# function macros are typically used for boiler-plate code, and will confuse the +# parser if not removed. + +SKIP_FUNCTION_MACROS = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. + +TAGFILES = + +# When a file name is specified after GENERATE_TAGFILE, doxygen will create +# a tag file that is based on the input files it reads. + +GENERATE_TAGFILE = + +# If the ALLEXTERNALS tag is set to YES all external classes will be listed +# in the class index. If set to NO only the inherited external classes +# will be listed. + +ALLEXTERNALS = NO + +# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed +# in the modules index. If set to NO, only the current project's groups will +# be listed. + +EXTERNAL_GROUPS = YES + +# The PERL_PATH should be the absolute path and name of the perl script +# interpreter (i.e. the result of `which perl'). + +PERL_PATH = /usr/bin/perl + +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- + +# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base or +# super classes. Setting the tag to NO turns the diagrams off. Note that this +# option is superseded by the HAVE_DOT option below. This is only a fallback. It is +# recommended to install and use dot, since it yields more powerful graphs. + +CLASS_DIAGRAMS = YES + +# If set to YES, the inheritance and collaboration graphs will hide +# inheritance and usage relations if the target is undocumented +# or is not a class. + +HIDE_UNDOC_RELATIONS = YES + +# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is +# available from the path. This tool is part of Graphviz, a graph visualization +# toolkit from AT&T and Lucent Bell Labs. The other options in this section +# have no effect if this option is set to NO (the default) + +HAVE_DOT = YES + +# If the CLASS_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect inheritance relations. Setting this tag to YES will force the +# the CLASS_DIAGRAMS tag to NO. + +CLASS_GRAPH = YES + +# If the COLLABORATION_GRAPH and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for each documented class showing the direct and +# indirect implementation dependencies (inheritance, containment, and +# class references variables) of the class with other documented classes. + +COLLABORATION_GRAPH = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + +# If set to YES, the inheritance and collaboration graphs will show the +# relations between templates and their instances. + +TEMPLATE_RELATIONS = NO + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDE_GRAPH, and HAVE_DOT +# tags are set to YES then doxygen will generate a graph for each documented +# file showing the direct and indirect include dependencies of the file with +# other documented files. + +INCLUDE_GRAPH = YES + +# If the ENABLE_PREPROCESSING, SEARCH_INCLUDES, INCLUDED_BY_GRAPH, and +# HAVE_DOT tags are set to YES then doxygen will generate a graph for each +# documented header file showing the documented files that directly or +# indirectly include this file. + +INCLUDED_BY_GRAPH = YES + +# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will +# generate a call dependency graph for every global function or class method. +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. + +CALL_GRAPH = NO + +# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen +# will graphical hierarchy of all classes instead of a textual one. + +GRAPHICAL_HIERARCHY = YES + +# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images +# generated by dot. Possible values are png, jpg, or gif +# If left blank png will be used. + +DOT_IMAGE_FORMAT = png + +# The tag DOT_PATH can be used to specify the path where the dot tool can be +# found. If left blank, it is assumed the dot tool can be found on the path. + +DOT_PATH = + +# The DOTFILE_DIRS tag can be used to specify one or more directories that +# contain dot files that are included in the documentation (see the +# \dotfile command). + +DOTFILE_DIRS = + +# The MAX_DOT_GRAPH_WIDTH tag can be used to set the maximum allowed width +# (in pixels) of the graphs generated by dot. If a graph becomes larger than +# this value, doxygen will try to truncate the graph, so that it fits within +# the specified constraint. Beware that most browsers cannot cope with very +# large images. + +MAX_DOT_GRAPH_WIDTH = 1024 + +# The MAX_DOT_GRAPH_HEIGHT tag can be used to set the maximum allows height +# (in pixels) of the graphs generated by dot. If a graph becomes larger than +# this value, doxygen will try to truncate the graph, so that it fits within +# the specified constraint. Beware that most browsers cannot cope with very +# large images. + +MAX_DOT_GRAPH_HEIGHT = 1024 + +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes that +# lay further from the root node will be omitted. Note that setting this option to +# 1 or 2 may greatly reduce the computation time needed for large code bases. Also +# note that a graph may be further truncated if the graph's image dimensions are +# not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH and MAX_DOT_GRAPH_HEIGHT). +# If 0 is used for the depth value (the default), the graph is not depth-constrained. + +MAX_DOT_GRAPH_DEPTH = 0 + +# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will +# generate a legend page explaining the meaning of the various boxes and +# arrows in the dot generated graphs. + +GENERATE_LEGEND = YES + +# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will +# remove the intermediate dot files that are used to generate +# the various graphs. + +DOT_CLEANUP = YES + +#--------------------------------------------------------------------------- +# Configuration::additions related to the search engine +#--------------------------------------------------------------------------- + +# The SEARCHENGINE tag specifies whether or not a search engine should be +# used. If set to NO the values of all tags below this one will be ignored. + +SEARCHENGINE = YES diff --git a/doc/Makefile b/doc/Makefile index 4ca569f..45f72e5 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -1,13 +1,13 @@ SCHEMS=aictini.sch aicpower.sch aicconn.sch -all: doc pcb bom sch +all: doc pcb bom html doc: aic.ps aic.pdf aic.ps: aic.dvi dvips aic -aic.pdf: aic.ps +aic.pdf: aic.dvi dvipdf aic aic.dvi: aic.tex aic.aux aic.bbl @@ -53,20 +53,17 @@ aic.bpp: aic.bom aic.xrf: aic.bom bom_xref.sh aic.bom > aic.xrf -sch: aicsch.ps aicsch.pdf +html: html/index.html -aicsch.ps: aictini.ps aicpower.ps aicconn.ps - cat aictini.ps aicpower.ps aicconn.ps > aictmp.ps - ps2ps aictmp.ps aicsch.ps - -aicsch.pdf: aicsch.ps - ps2pdf aicsch.ps aicsch.pdf +html/index.html: Doxyfile aic.dox + doxygen clean: rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old mucs.in mucs.out aictmp.ps distclean: clean rm -f aic.ps aic*.pdf aic.dvi aic.net aic.bom aic.bpp aic.xrf + rm -r html update: $(SCHEMS) gschupdate $(SCHEMS) diff --git a/doc/aic.dox b/doc/aic.dox new file mode 100644 index 0000000..b8d1689 --- /dev/null +++ b/doc/aic.dox @@ -0,0 +1,16 @@ +/** @mainpage Actuator Interface Card + +@author Walter Fetter Lages + +@section intro Introduction + +The operation of AIC and its communication with host computer is +supported by the class libraries AIC.jar and libaic.a. The AIC.jar package +is used by Java programs executing in AIC, while libaic.a is used by C++ +programs executing in host computer. + +Classes in AIC.jar implement the @ref aichardware. + +Classes in libaic.a implement the @ref aichost and the @ref aicsim. +*/ + diff --git a/doc/aic.pcb b/doc/aic.pcb index 34219f7..7c4b5f8 100644 --- a/doc/aic.pcb +++ b/doc/aic.pcb @@ -1,12 +1,12 @@ # release: pcb 1.6.3 -# date: Mon Mar 31 16:58:42 2003 +# date: Tue May 18 17:58:36 2004 # user: fetter (Prof. Walter Fetter) # host: elisyum.eletro PCB("" 7100 4100) Grid(50 0 0) -Cursor(800 0 3) +Cursor(50 150 3) Flags(0x000000d0) Groups("1,2,3,s:4,5,6,c:7:8:") Styles("Signal,10,40,20:Power,25,60,35:Fat,40,60,35:Skinny,1,36,15") @@ -1190,7 +1190,7 @@ Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3375 2800 0 100 0x000000 Mark (3225 2900) ) -Element(0x00000000 "optical coupling device" "U4" "6N136" 5825 405 0 100 0x00000000) +Element(0x00000000 "optical coupling device" "U4" "6N137" 5825 405 0 100 0x00000000) ( Pin(5775 575 60 35 "NC" "1" 0x00000101) Pin(5875 575 60 35 "A+" "2" 0x00000001) @@ -1227,7 +1227,7 @@ Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5725 1910 0 100 0x00000000) Mark (5825 2100) ) -Element(0x00000000 "optical coupling device" "U5" "6N136" 5825 1005 0 100 0x00000000) +Element(0x00000000 "optical coupling device" "U5" "6N137" 5825 1005 0 100 0x00000000) ( Pin(5775 1175 60 35 "NC" "1" 0x00000101) Pin(5875 1175 60 35 "A+" "2" 0x00000001) @@ -1925,7 +1925,7 @@ Element(0x00000000 "R 0.25W" "R4" "390" 5555 505 1 100 0x00000000) Mark (5575 625) ) -Element(0x00000000 "optical coupling device" "U13" "6N136" 4025 405 0 100 0x00000000) +Element(0x00000000 "optical coupling device" "U13" "6N137" 4025 405 0 100 0x00000000) ( Pin(3975 575 60 35 "NC" "1" 0x00000101) Pin(4075 575 60 35 "A+" "2" 0x00000001) @@ -1944,7 +1944,7 @@ Element(0x00000000 "optical coupling device" "U13" "6N136" 4025 405 0 100 0x0000 Mark (3975 575) ) -Element(0x00000000 "optical coupling device" "U14" "6N136" 4925 1005 0 100 0x00000000) +Element(0x00000000 "optical coupling device" "U14" "6N137" 4925 1005 0 100 0x00000000) ( Pin(4875 1175 60 35 "NC" "1" 0x00000101) Pin(4975 1175 60 35 "A+" "2" 0x00000001) @@ -2002,7 +2002,7 @@ Element(0x00000000 "R 0.25W" "R2" "2k2" 4655 505 1 100 0x00000000) Mark (4675 625) ) -Element(0x00000000 "optical coupling device" "U12" "6N136" 4925 405 0 100 0x00000000) +Element(0x00000000 "optical coupling device" "U12" "6N137" 4925 405 0 100 0x00000000) ( Pin(4875 575 60 35 "NC" "1" 0x00000101) Pin(4975 575 60 35 "A+" "2" 0x00000001) @@ -2047,7 +2047,7 @@ Element(0x00000000 "R 0.25W" "R8" "390" 5555 1105 1 100 0x00000000) Mark (5575 1225) ) -Element(0x00000000 "optical coupling device" "U15" "6N136" 4025 1005 0 100 0x00000000) +Element(0x00000000 "optical coupling device" "U15" "6N137" 4025 1005 0 100 0x00000000) ( Pin(3975 1175 60 35 "NC" "1" 0x00000101) Pin(4075 1175 60 35 "A+" "2" 0x00000001) @@ -2464,7 +2464,7 @@ Layer(1 "solder") Line(645 2570 760 2570 10 0x00000000) Text(800 175 0 100 "Fernando Pessutto" 0x00000080) Text(800 250 0 100 "(C) 2003 Walter Fetter Lages" 0x00000080) - Text(800 325 0 100 "AIC-1.1.0" 0x00000080) + Text(800 325 0 100 "AIC-1.3.0" 0x00000080) Text(800 100 0 100 "SOLDER" 0x00000080) ) Layer(2 "GND-sldr") @@ -2907,7 +2907,7 @@ Layer(4 "component") Line(1475 1400 1450 1375 10 0x00000000) Text(1025 300 0 100 "Fernando Pessutto" 0x00000000) Text(775 225 0 100 "(c) 2003 Walter Fetter Lages" 0x00000000) - Text(775 150 0 100 "AIC-1.1.0" 0x00000000) + Text(775 150 0 100 "AIC-1.3.0" 0x00000000) Text(775 75 0 100 "COMPONENT" 0x00000000) ) Layer(5 "GND-comp") diff --git a/doc/aic.tex b/doc/aic.tex index 8621e8e..1575492 100644 --- a/doc/aic.tex +++ b/doc/aic.tex @@ -1,16 +1,10 @@ -\documentclass[a4paper,12pt,brazil]{article} -\usepackage{babel} +\documentclass{deleticle} \usepackage{float} -\usepackage{times} \newcommand{\foreign}[1]{{\it #1}} -\title{ -Universidade Federal do Rio Grande do Sul\\ -Escola de Engenharia\\ -Departamento de Engenharia El\'etrica\\ -Actuator Interface Card\\ -Vers\~ao 1.2.0} +\title{Actuator Interface Card\\ +Versão 1.3.0} \author{Prof. Walter Fetter Lages} @@ -21,33 +15,41 @@ Vers\~ao 1.2.0} \bibliographystyle{abbrv} -\part{Hardware} +\section{Mapa de Endereços} - -\section{Mapa de Endere\c{c}os} - -O espa\c{c}o de endere\c{c}amento da AIC \'e ocupado por dois conjuntos de -dispositivos: os dispositivos existentes na pr\'opria TINI e os dispositivos +O espaço de endereçamento da AIC é ocupado por dois conjuntos de +dispositivos: os dispositivos existentes na própria TINI e os dispositivos externos. \subsection{Dispositivos da TINI} -O mapa de endere\c{c}os da TINI \'e mostrado na tabela \ref{tab:addmap}. -Note-se que o software da TINI apresenta para o usu\'ario uma mem\'oria -linear\cite{tinispec}. Os endere\c{c}os habilitados atrav\'es de $\overline{\mbox{PCE0}}$, -$\overline{\mbox{PCE1}}$, $\overline{\mbox{PCE2}}$ e -$\overline{\mbox{PCE3}}$ s\~ao acessados no firmware da TINI atrav\'es das -faixas 800000H-8FFFFFH, 900000H-9FFFFFH, A00000H-AFFFFFH e -B00000H-BFFFFFH, respectivamente. +O mapa de endereços da TINI é mostrado na tabela \ref{tab:addmap}. Note-se +que o software da TINI apresenta para o usuário uma memória +linear\cite{tinispec}. Os endereços habilitados através de +$\overline{\mbox{PCE0}}$, $\overline{\mbox{PCE1}}$, $\overline{\mbox{PCE2}}$ +e $\overline{\mbox{PCE3}}$, são acessados no firmware da TINI através das +faixas 800000H-8FFFFFH, 900000H-9FFFFFH, A00000H-AFFFFFH e B00000H-BFFFFFH, +respectivamente. + +Para acesso em Assembly é conveniente lembrar que a TINI utiliza por default +os bits $\overline{\mbox{PDCE0}}$, $\overline{\mbox{PDCE1}}$, +$\overline{\mbox{PDCE2}}$, $\overline{\mbox{PDCE3}}$ setados, o que combina +os espaços de endereçamento de dados e de programa. Neste modo, são +utilizados apenas os sinais $\overline{\mbox{CE0}}$, +$\overline{\mbox{CE1}}$, $\overline{\mbox{CE2}}$ e $\overline{\mbox{CE3}}$. +Assim, para acesso aos dispositivos habilitados por +$\overline{\mbox{PCE0}}$, $\overline{\mbox{PCE1}}$, $\overline{\mbox{PCE2}}$ +ou $\overline{\mbox{PCE3}}$ é necessário primeiro desabilitar o espaço de +endereçamento combinado. -\begin{table}[htb] +\begin{table}[htbp] \small -\caption{Mapa de Endere\c{c}os da TINI RevD} +\caption{Mapa de Endereços da TINI RevD} \label{tab:addmap} \begin{center} \begin{tabular}{ccccc} \hline \hline -Endere\c{c}o & STROBE & Nome & Dispositivo & Refer\^encia\\ +Endereço & STROBE & Nome & Dispositivo & Referência\\ \hline 000000H-0FFFFFH & $\overline{\mbox{RCE0}}$ & 512Kx8 FLASH & Flash Memory & U2\\ 100000H-1FFFFFH & $\overline{\mbox{CE1}}$ & 512Kx8 SRAM & SRAM & U4\\ @@ -67,19 +69,19 @@ Endere\c{c}o & STROBE & Nome & Dispositivo & Refer\^encia\\ \subsection{Dispositivos Externos} -Os dispositivos externos podem ser mapeados, atrav\'es de jumper, em -qualquer dos espa\c{c}os de endere\c{c}amento selecionados por +Os dispositivos externos podem ser mapeados, através de jumper, em +qualquer dos espaços de endereçamento selecionados por $\overline{\mbox{PCE0}}$-$\overline{\mbox{PCE3}}$. A tabela \ref{tab:extmap} -mostra o mapeamento de endere\c{c}os dentro da faixa selecionada pelo +mostra o mapeamento de endereços dentro da faixa selecionada pelo jumper. -\begin{table}[htb] -\caption{Mapa de Endere\c{c}os de Dispositivos Externos} +\begin{table}[htbp] +\caption{Mapa de Endereços de Dispositivos Externos} \label{tab:extmap} \begin{center} \begin{tabular}{cccc} \hline \hline -Endere\c{c}o & Nome & Dispositivo & Refer\^encia\\ +Endereço & Nome & Dispositivo & Referência\\ \hline X80000H - X80003H & PWM & 8254 & U6\\ X80004H - X8FFFFH & Alias PWM & 8254 & U6\\ @@ -94,8 +96,8 @@ XA0001H - XAFFFFH & Alias Controller & 22V10 & U8\\ \subsection{Registrador de Controle} -Este registrador (endere\c{c}o XA0000H) \'e implementado em um 22V10 e os -seus bits est\~ao descritos na tabela \ref{tab:ctrlreg}. +Este registrador (endereço XA0000H) é implementado em um 22V10 e os +seus bits estão descritos na tabela \ref{tab:ctrlreg}. \begin{table}[htbp] \caption{Registrador de Controle} @@ -103,9 +105,9 @@ seus bits est\~ao descritos na tabela \ref{tab:ctrlreg}. \begin{center} \begin{tabular}{ccl} \hline \hline -Bit & Opera\c{c}\~ao & Descri\c{c}\~ao\\ +Bit & Operação & Descrição\\ \hline -D0 & R & \'{\i}ndice\\ +D0 & R & índice\\ \hline D1D0 & W\\ 00 & & Desabilita PWM\\ @@ -120,7 +122,7 @@ D1D0 & W\\ \section{Conector Traseiro} Os sinais de interface da AIC com os atuadores, sensores e barramento CAN -est\~ao dispon\'{\i}veis no conector traseiro. A pinagem deste conector \'e +estão disponíveis no conector traseiro. A pinagem deste conector é detalhada na tabela \ref{tab:backpinout}. @@ -130,68 +132,66 @@ detalhada na tabela \begin{center} \begin{tabular}{ccp{7.5cm}} \hline \hline -Pino & Sinal & Descri\c{c}\~ao\\ +Pino & Sinal & Descrição\\ \hline -A1 & CANL0 & Sinal de n\'{\i}vel baixo do CAN 0\\ -B1, B2 & GNDCAN0 & Terra da alimenta\c{c}\~ao do CAN 0\\ -C2 & CANH0 & Sinal de n\'{\i}vel alto do CAN 0\\ -C1, A2 & VCAN0 & Entrada de alimenta\c{c}\~ao do CAN 0\\ -A3 & CANL1 & Sinal de n\'{\i}vel baixo do CAN 1 \\ -B3, B4 & GNDCAN1 & Terra da alimenta\c{c}\~ao do CAN 1\\ -C4 & CANH1 & Sinal de n\'{\i}vel alto do CAN 1\\ -C3, A4 & VCAN1 & Entrada de alimenta\c{c}\~ao do CAN 1\\ +A1 & CANL0 & Sinal de nível baixo do CAN 0\\ +B1, B2 & GNDCAN0 & Terra da alimentação do CAN 0\\ +C2 & CANH0 & Sinal de nível alto do CAN 0\\ +C1, A2 & VCAN0 & Entrada de alimentação do CAN 0\\ +A3 & CANL1 & Sinal de nível baixo do CAN 1 \\ +B3, B4 & GNDCAN1 & Terra da alimentação do CAN 1\\ +C4 & CANH1 & Sinal de nível alto do CAN 1\\ +C3, A4 & VCAN1 & Entrada de alimentação do CAN 1\\ \hline B5, B6 & GND & Terra do encoder\\ A5 & CHA & Canal A do encoder\\ -C5, A6 & Vcc & Sa\'{\i}da de alimenta\c{c}\~ao do encoder\\ +C5, A6 & Vcc & Saída de alimentação do encoder\\ C6 & CHB & Canal B do encoder\\ \hline -A7 & GND & Terra do \'{\i}ndice\\ -B7 & INDEX & Sinal de \'{\i}ndice\\ -C7 & +24V & Sa\'{\i}da de alimenta\c{c}\~ao do sensor de \'{\i}ndice\\ +A7 & GND & Terra do índice\\ +B7 & INDEX & Sinal de índice\\ +C7 & +24V & Saída de alimentação do sensor de índice\\ \hline A22, B22, C22 & GND & Terra do freio\\ -A23, B23, C23 & /RELEASE & Sinal de libera\c{c}\~ao do freio\\ -A24, B24, C24 & +24V & Sa\'{\i}da de alimenta\c{c}\~ao do freio\\ +A23, B23, C23 & /RELEASE & Sinal de liberação do freio\\ +A24, B24, C24 & +24V & Saída de alimentação do freio\\ \hline -A25, B25, C25 & MOTOR+ & Alimenta\c{c}\~ao do motor\\ -A26, B26, C26 & MOTOR- & Alimenta\c{c}\~ao do motor\\ +A25, B25, C25 & MOTOR+ & Alimentação do motor\\ +A26, B26, C26 & MOTOR- & Alimentação do motor\\ \hline -A27, B27, C27 & GND & Terra da Alimenta\c{c}\~ao de +5V\\ -A28, B28, C28 & Vcc & Sa\'{\i}da de Alimenta\c{c}\~ao +5V -(opcionalmente entrada, se o regulador n\~ao for instalado na placa) \\ -A29, B29, C29 & +12V & Sa\'{\i}da de Alimenta\c{c}\~ao +12V -(opcionalmente entrada, se o regulador n\~ao for instalado na placa) \\ -A30, B30, C30 & GND & Terra da Alimenta\c{c}\~ao de +12V\\ -A31, B31, C31 & GND & Terra da Alimenta\c{c}\~ao de +24V\\ -A32, B32, C32 & +24V & Entrada de Alimenta\c{c}\~ao +24V\\ +A27, B27, C27 & GND & Terra da Alimentação de +5V\\ +A28, B28, C28 & Vcc & Saída de Alimentação +5V +(opcionalmente entrada, se o regulador não for instalado na placa) \\ +A29, B29, C29 & +12V & Saída de Alimentação +12V +(opcionalmente entrada, se o regulador não for instalado na placa) \\ +A30, B30, C30 & GND & Terra da Alimentação de +12V\\ +A31, B31, C31 & GND & Terra da Alimentação de +24V\\ +A32, B32, C32 & +24V & Entrada de Alimentação +24V\\ \hline \end{tabular} \end{center} \end{table} -\part{Software} +\section{Organização do Software} -\section{Organiza\c{c}\~ao do Software} - -No diret\'orio \verb$aic$ existem diversos arquivos e diret\'orios. Alguns -diret\'orios come\c{c}am com letra mai\'uscula. Estes diret\'orios cont\'em -programas em Java e que devem rodar na AIC. Os diret\'orios que come\c{c}am -com letras min\'usculas cont\'em programas que devem rodar no \foreign{host}. Note-se que a -maioria deles tem duas vers\~oes: Uma que roda na AIC e outra que roda no \foreign{host}. -A id\'eia \'e que estes programas testam a mesma coisa, mas um testa rodando -diretamente na AIC e o outro testa rodando no \foreign{host} e enviando comandos que s\~ao -interpretados e executados na AIC. S\~ao os seguintes os arquivos e -diret\'orios existentes: +No diretório \verb$aic$ existem diversos arquivos e diretórios. Alguns +diretórios começam com letra maiúscula. Estes diretórios contém +programas em Java e que devem rodar na AIC. Os diretórios que começam +com letras minúsculas contém programas que devem rodar no \foreign{host}. Note-se que a +maioria deles tem duas versões: Uma que roda na AIC e outra que roda no \foreign{host}. +A idéia é que estes programas testam a mesma coisa, mas um testa rodando +diretamente na AIC e o outro testa rodando no \foreign{host} e enviando comandos que são +interpretados e executados na AIC. São os seguintes os arquivos e +diretórios existentes: \begin{description} \item[{\tt AICOff}] Desliga todos os dispositivos, para ser executado na AIC. -\item[{\tt CANTest}] Teste da comunica\c{c}\~ao atrav\'es do barramento CAN. +\item[{\tt CANTest}] Teste da comunicação através do barramento CAN. -\item[{\tt Changes}] Hist\'orico de altera\c{c}\~oes. +\item[{\tt Changes}] Histórico de alterações. \item[{\tt COPYING}] GNU General Public License. @@ -207,30 +207,30 @@ Interpreta os comandos enviados pelo \foreign{host} e executa-os. \item[{\tt JointTest/}] Teste da junta, para ser executado na AIC. \item[{\tt Makefile}] Arquivo de Make para compilar todo o software da AIC, -inclusive documenta\c{c}\~ao. Adicionalmente, cada diret\'orio tem o seu -pr\'oprio {\tt Makefile}, que compila os programas que est\~ao l\'a. +inclusive documentação. Adicionalmente, cada diretório tem o seu +próprio {\tt Makefile}, que compila os programas que estão lá. -\item[{\tt MotorReset/}] Reseta o atuador, move o motor at\'e acionar o fim +\item[{\tt MotorReset/}] Reseta o atuador, move o motor até acionar o fim de curso , para ser executado na AIC. \item[{\tt MotorTest/}] Teste do motor, para ser executado na AIC. \item[{\tt StrobeTest/}] Teste do PLD, para ser executado na AIC. -\item[{\tt TODO}] Arquivo com a descri\c{c}\~ao das tarefas a realizar. +\item[{\tt TODO}] Arquivo com a descrição das tarefas a realizar. \item[{\tt aicd/}] Emulador da AIC para rodar em outro computador, ou seja pode-se -utilizar outro computador para emular a AIC. Isto \'e utilizado, basicamente, para -teste dos protocolos de comunica\c{c}\~ao. Por default o emulador \'e um -programa de tempo real utilizando o RTAI. Assim, para executa-lo \'e -necess\'ario que os m\'odulos do RTAI estejam carregados. +utilizar outro computador para emular a AIC. Isto é utilizado, basicamente, para +teste dos protocolos de comunicação. Por default o emulador é um +programa de tempo real utilizando o RTAI. Assim, para executa-lo é +necessário que os módulos do RTAI estejam carregados. \item[{\tt braketst/}] Teste do freio, para ser executado no \foreign{host}. -\item[{\tt doc/}] Documenta\c{c}\~ao. +\item[{\tt doc/}] Documentação. -\item[{\tt doc/javadocs}] Documenta\c{c}\~ao das classes Java, produzida -pelo programa {\tt javadoc}. +\item[{\tt doc/html}] Documentação das bibliotecas, produzida +pelo programa {\tt doxygen}. \item[{\tt encodertst/}] Teste do encoder, para ser executado no \foreign{host}. @@ -252,64 +252,64 @@ em C++. \end{description} -\section{Protocolo de Aplica\c{c}\~ao Utilizado para Comunica\c{c}\~ao via +\section{Protocolo de Aplicação Utilizado para Comunicação via UDP} \label{sec:UDP} -A figura~\ref{fig:genpacket} mostra o formato gen\'erico dos datagramas que -s\~ao transmitidos entre a AIC e o \foreign{host} atrav\'es do protocolo -UDP. Desde a vers\~ao 1.2.0 os diversos campos do pacote s\~ao codificados -em bin\'ario, com os campos delimitados pelo seu tamanho. (at\'e a vers\~ao +A figura~\ref{fig:genpacket} mostra o formato genérico dos datagramas que +são transmitidos entre a AIC e o \foreign{host} através do protocolo +UDP. Desde a versão 1.2.0 os diversos campos do pacote são codificados +em binário, com os campos delimitados pelo seu tamanho. (até a versão 1.1.0 os campos eram codificados em ASCII e separados pelo caractere de -espa\c{c}o). A tabela~\ref{tab:genpacket} detalha os campos do datagrama. +espaço). A tabela~\ref{tab:genpacket} detalha os campos do datagrama. \begin{figure}[H] \begin{center} \begin{tabular}{|c|c|} \hline -identifica\c{c}\~ao & argumentos \\ +identificação & argumentos \\ \hline \end{tabular} \end{center} -\caption{Formato gen\'erico do datagrama de aplica\c{c}\~ao.} +\caption{Formato genérico do datagrama de aplicação.} \label{fig:genpacket} \end{figure} \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama de aplica\c{c}\~ao.} +\caption{Descrição do datagrama de aplicação.} \label{tab:genpacket} \begin{tabular}{lcp{8.5cm}} \hline -Campo & tamanho & Descri\c{c}\~ao\\ +Campo & tamanho & Descrição\\ \hline \hline -identifica\c{c}\~ao & byte & Identifica\c{c}\~ao do comando enviado para a AIC +identificação & byte & Identificação do comando enviado para a AIC ou do \foreign{status} enviado para o \foreign{host}. Para manter compatibilidade - com o protocolo utilizado para transmiss\~ao + com o protocolo utilizado para transmissão por CAN apenas os 6 bits menos - significativos s\~ao utilizados como - identifica\c{c}\~ao.\\ - & & 0x00 = inv\'alido\\ + significativos são utilizados como + identificação.\\ + & & 0x00 = inválido\\ & & 0x01 = \foreign{reset}\\ & & 0x02 = desliga motor \\ & & 0x03 = aplica freio\\ - & & 0x10 = aplica tens\~ao no motor\\ + & & 0x10 = aplica tensão no motor\\ & & 0x20 = \foreign{status}\\ & & 0x30 = libera freio\\ & & 0x31 = liga motor \\ -argumentos & & par\^ametros para o comando, ou dados de \foreign{status}, - se forem necess\'arios.\\ +argumentos & & parâmetros para o comando, ou dados de \foreign{status}, + se forem necessários.\\ \hline \end{tabular} \end{center} \end{table} -O campo destinado aos argumentos \'e de tamanho vari\'avel. Tamb\'em \'e -importante ressaltar este campo pode n\~ao ser utilizado em -fun\c{c}\~ao do tipo de datagrama. Para os c\'odigos utilizados no campo de -identifica\c{c}\~ao existem constantes definidas no arquivo {\tt aicnet.h} +O campo destinado aos argumentos é de tamanho variável. Também é +importante ressaltar este campo pode não ser utilizado em +função do tipo de datagrama. Para os códigos utilizados no campo de +identificação existem constantes definidas no arquivo {\tt aicnet.h} (para ser utilizado em programas em C ou C++) e na classe {\tt Host.class} (para ser utilizado em programas em Java). Os datagramas trocados entre a AIC e o \foreign{host} podem ser classificados em datagramas enviados do \foreign{host} para a @@ -317,24 +317,24 @@ AIC e datagramas enviados da AIC para o \foreign{host}. \subsection{Datagramas Enviados pelo \foreign{host} para a AIC} -Os datagramas enviados pelo \foreign{host} para a AIC s\~ao utilizados para comandar +Os datagramas enviados pelo \foreign{host} para a AIC são utilizados para comandar os diversos dispositivos. \subsubsection{\foreign{Reset}} -O datagrama transmitido pelo \foreign{host} para resetar a AIC \'e detalhado -na tabela~\ref{tab:reset}. N\~ao \'e utilizado o campo de argumentos. +O datagrama transmitido pelo \foreign{host} para resetar a AIC é detalhado +na tabela~\ref{tab:reset}. Não é utilizado o campo de argumentos. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama \foreign{reset}.} +\caption{Descrição do datagrama \foreign{reset}.} \label{tab:reset} \begin{tabular}{lcl} \hline Campo & Tamanho & Valor\\ \hline \hline Identificador & 8 bits & 0x01\\ -Argumentos & & N\~ao utilizado\\ +Argumentos & & Não utilizado\\ \hline \end{tabular} \end{center} @@ -342,20 +342,20 @@ Argumentos & & N\~ao utilizado\\ \subsubsection{Desliga Motor} -O datagrama transmitido pelo \foreign{host} para desligar o motor \'e -detalhado na tabela~\ref{tab:turnoff}. N\~ao \'e utilizado o campo de +O datagrama transmitido pelo \foreign{host} para desligar o motor é +detalhado na tabela~\ref{tab:turnoff}. Não é utilizado o campo de argumentos. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama desliga motor.} +\caption{Descrição do datagrama desliga motor.} \label{tab:turnoff} \begin{tabular}{lcl} \hline Campo & Tamanho & Valor\\ \hline \hline Identificador & 8 bits & 0x02\\ -Argumentos & & N\~ao utilizado\\ +Argumentos & & Não utilizado\\ \hline \end{tabular} \end{center} @@ -364,41 +364,41 @@ Argumentos & & N\~ao utilizado\\ \subsubsection{Aplica Freio} O datagrama transmitido pelo \foreign{host}, para aplicar o freio -eletromagn\'etico (colocando a sa\'{\i}da correspondente no estado inativo) -\'e detalhado na tabela~\ref{tab:brakeon}. N\~ao \'e utilizado o campo de +eletromagnético (colocando a saída correspondente no estado inativo) +é detalhado na tabela~\ref{tab:brakeon}. Não é utilizado o campo de argumentos. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama aplica freio.} +\caption{Descrição do datagrama aplica freio.} \label{tab:brakeon} \begin{tabular}{lcl} \hline Campo & Tamanho & Valor\\ \hline \hline Identificador & 8 bits & 0x03\\ -Argumentos & & N\~ao utilizado\\ +Argumentos & & Não utilizado\\ \hline \end{tabular} \end{center} \end{table} -\subsubsection{Aplica Tens\~ao no Motor} +\subsubsection{Aplica Tensão no Motor} -O datagrama transmitido do \foreign{host} para aplicar uma tens\~ao no motor -\'e descrito na tabela~\ref{tab:voltage}. +O datagrama transmitido do \foreign{host} para aplicar uma tensão no motor +é descrito na tabela~\ref{tab:voltage}. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama aplica tens~ao no motor.} +\caption{Descrição do datagrama aplica tens~ao no motor.} \label{tab:voltage} \begin{tabular}{lcp{8.5cm}} \hline Campo & Tamanho & Valor\\ \hline \hline Identificador & 8 bits & 0x10\\ -tens\~ao & 64 bits & Tens\~ao a ser aplicada no motor em IEEE-754 precis\~ao - dupla. Os bits mais significativos s\~ao transmitidos primeiro.\\ +tensão & 64 bits & Tensão a ser aplicada no motor em IEEE-754 precisão + dupla. Os bits mais significativos são transmitidos primeiro.\\ \hline \end{tabular} \end{center} @@ -408,19 +408,19 @@ tens\~ao & 64 bits & Tens\~ao a ser aplicada no motor em IEEE-754 precis\~ao \subsubsection{Libera Freio} O datagrama transmitido pelo \foreign{host} para liberar o freio -eletromagn\'etico (ativando a sa\'{\i}da correspondente) \'e detalhado na -tabela~\ref{tab:brakeoff}. N\~ao \'e utilizado o campo de argumentos. +eletromagnético (ativando a saída correspondente) é detalhado na +tabela~\ref{tab:brakeoff}. Não é utilizado o campo de argumentos. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama libera freio.} +\caption{Descrição do datagrama libera freio.} \label{tab:brakeoff} \begin{tabular}{lcl} \hline Campo & Tamanho & Valor\\ \hline \hline Identificador & 8 bits & 0x30\\ -Argumentos & & N\~ao utilizado\\ +Argumentos & & Não utilizado\\ \hline \end{tabular} \end{center} @@ -428,20 +428,20 @@ Argumentos & & N\~ao utilizado\\ \subsubsection{Liga Motor} -O datagrama transmitido pelo \foreign{host}, para ligar o motor (com tens\~ao de 0V -aplicada nele) \'e detalhado na -tabela~\ref{tab:turnon}. N\~ao \'e utilizado o campo de argumentos. +O datagrama transmitido pelo \foreign{host}, para ligar o motor (com tensão de 0V +aplicada nele) é detalhado na +tabela~\ref{tab:turnon}. Não é utilizado o campo de argumentos. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama liga motor.} +\caption{Descrição do datagrama liga motor.} \label{tab:turnon} \begin{tabular}{lcl} \hline Campo & Tamanho & Valor\\ \hline \hline Identificador & 8 bits & 0x31\\ -Argumentos & & N\~ao utilizado\\ +Argumentos & & Não utilizado\\ \hline \end{tabular} \end{center} @@ -449,79 +449,79 @@ Argumentos & & N\~ao utilizado\\ \subsection{Datagramas Enviados pelo AIC para o \foreign{host}} -Os datagramas enviados pela AIC para o \foreign{host} s\~ao utilizados para +Os datagramas enviados pela AIC para o \foreign{host} são utilizados para reportar o \foreign{status} dos diversos dispositivos. \subsubsection{\foreign{Status}} O datagrama transmitido pela AIC para o \foreign{host} com a -informa\c{c}\~ao de \foreign{status} dos dispositivos \'e detalhado na +informação de \foreign{status} dos dispositivos é detalhado na tabela~\ref{tab:status}. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama \foreign{status}.} +\caption{Descrição do datagrama \foreign{status}.} \label{tab:status} \begin{tabular}{lcp{8.5cm}} \hline Campo & Tamanho & Valor\\ \hline \hline Identificador & 8 bits & 0x20\\ -Deslocamento & 64 bits & Deslocamento do motor desde o \'ultimo datagrama de - status, em IEEE-754 precis\~ao dupla. Os bits mais - significativos s\~ao transmitidos primeiro.\\ -\'Indice & 32 bits & Estado da \foreign{sync-switch} (0 ou 1), em - complemento 2. Os bits mais significativos s\~ao +Deslocamento & 64 bits & Deslocamento do motor desde o último datagrama de + status, em IEEE-754 precisão dupla. Os bits mais + significativos são transmitidos primeiro.\\ +Índice & 32 bits & Estado da \foreign{sync-switch} (0 ou 1), em + complemento 2. Os bits mais significativos são transmitidos primeiro.\\ \hline \end{tabular} \end{center} \end{table} -\section{Protocolo de Aplica\c{c}\~ao Utilizado para Comunica\c{c}\~ao via +\section{Protocolo de Aplicação Utilizado para Comunicação via CAN} \label{sec:CAN} -O protocolo de aplica\c{c}\~ao para comunica\c{c}\~ao via CAN utiliza o -campo {\bf identifier} do quadro CAN para identificar a AIC \`a qual -refere-se a mensagem (AIC de origem ou destino da mensagem) e o c\'odigo do +O protocolo de aplicação para comunicação via CAN utiliza o +campo {\bf identifier} do quadro CAN para identificar a AIC à qual +refere-se a mensagem (AIC de origem ou destino da mensagem) e o código do comando enviado para a AIC ou do \foreign{status} enviado para o -\foreign{host}. Todas as mensagens s\~ao transmitidas atrav\'es de um quadro -de dados utilizando o identificador padr\~ao de 11 bits. Os dados associados -ao comando ou \foreign{status} s\~ao transmitidos em bin\'ario. Inteiros -s\~ao codificados em complemento 2 com 32 bits. N\'umeros em ponto flutuante -s\~ao codificados em IEEE-754. Os bits mais significativos s\~ao +\foreign{host}. Todas as mensagens são transmitidas através de um quadro +de dados utilizando o identificador padrão de 11 bits. Os dados associados +ao comando ou \foreign{status} são transmitidos em binário. Inteiros +são codificados em complemento 2 com 32 bits. Números em ponto flutuante +são codificados em IEEE-754. Os bits mais significativos são transmitidos primeiro. A tabela~\ref{tab:canident} detalha o formato do campo identificador do quadro de dados CAN. Para manter a compatibilidade -com o protocolo utilizado quando a comunica\c{c}\~ao \'e via UDP, s\~ao -utilizados os mesmos c\'odigos de comando ou \foreign{status}. No entanto, -como s\~ao utilizados apenas 6 bits para isto, os dois bits mais -significativos n\~ao s\~ao transmitidos no quadro CAN. Estes bits s\~ao +com o protocolo utilizado quando a comunicação é via UDP, são +utilizados os mesmos códigos de comando ou \foreign{status}. No entanto, +como são utilizados apenas 6 bits para isto, os dois bits mais +significativos não são transmitidos no quadro CAN. Estes bits são suprimidos e reinseridos pelas rotinas das bibliotecas (vide -se\c{c}\~ao~\ref{sec:lib}), de forma a manter uma interface com o usu\'ario -uniforme independente do meio de transmiss\~ao. +seção~\ref{sec:lib}), de forma a manter uma interface com o usuário +uniforme independente do meio de transmissão. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do campo identificador do quadro de dados CAN.} +\caption{Descrição do campo identificador do quadro de dados CAN.} \label{tab:canident} \begin{tabular}{lp{12cm}} \hline -Bits & Descri\c{c}\~ao\\ +Bits & Descrição\\ \hline \hline -10-5 & C\'odigo do comando enviado para a AIC +10-5 & Código do comando enviado para a AIC ou do \foreign{status} enviado para o \foreign{host}.\\ - & 000000 = inv\'alido\\ + & 000000 = inválido\\ & 000001 = \foreign{reset}\\ & 000010 = desliga motor \\ & 000011 = aplica freio\\ - & 010000 = aplica tens\~ao no motor\\ + & 010000 = aplica tensão no motor\\ & 100000 = \foreign{status}\\ & 110000 = libera freio\\ & 110001 = liga motor \\ -4-0 & Identifica\c{c}\~ao da AIC \`a qual refere-se +4-0 & Identificação da AIC à qual refere-se a mensagem (AIC de origem ou destino da mensagem)\\ - & 00000 mensagem n\~ao associada qualquer AIC espec\'{\i}fica\\ + & 00000 mensagem não associada qualquer AIC específica\\ & 00001 AIC 1\\ & 00010 AIC 2\\ & $\vdots$\\ @@ -531,13 +531,13 @@ Bits & Descri\c{c}\~ao\\ \end{center} \end{table} -Os dados associados ao comando ou \foreign{status} s\~ao transmitidos em -bin\'ario no campo de dados do quadro CAN. Inteiros s\~ao codificados em -complemento 2 com 32 bits. N\'umeros em ponto flutuante s\~ao codificados em -IEEE-754. Os bits mais significativos s\~ao transmitidos primeiro. +Os dados associados ao comando ou \foreign{status} são transmitidos em +binário no campo de dados do quadro CAN. Inteiros são codificados em +complemento 2 com 32 bits. Números em ponto flutuante são codificados em +IEEE-754. Os bits mais significativos são transmitidos primeiro. -Para os c\'odigos de comando ou \foreign{status} utilizados no campo de -identifica\c{c}\~ao existem constantes definidas no arquivo {\tt aicnet.h} +Para os códigos de comando ou \foreign{status} utilizados no campo de +identificação existem constantes definidas no arquivo {\tt aicnet.h} (para ser utilizado em programas em C ou C++) e na classe {\tt Host.class} (para ser utilizado em programas em Java). As mensagens trocadas entre a AIC e o \foreign{host} podem ser classificadas em mensagens enviadas do @@ -546,24 +546,24 @@ e o \foreign{host} podem ser classificadas em mensagens enviadas do \subsection{Mensagens Enviadas pelo \foreign{host} para a AIC} -As mensagens enviadas pelo \foreign{host} para a AIC s\~ao utilizados para +As mensagens enviadas pelo \foreign{host} para a AIC são utilizados para comandar os diversos dispositivos. \subsubsection{\foreign{Reset}} -A mensagem transmitida pelo \foreign{host} para resetar a AIC \'e detalhada -na tabela~\ref{tab:resetcan}. N\~ao \'e utilizado o campo de dados. +A mensagem transmitida pelo \foreign{host} para resetar a AIC é detalhada +na tabela~\ref{tab:resetcan}. Não é utilizado o campo de dados. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem \foreign{reset}.} +\caption{Descrição da mensagem \foreign{reset}.} \label{tab:resetcan} \begin{tabular}{cl} \hline Campo & Valor\\ \hline \hline Identificador & 000001xxxxx\\ -Dados & N\~ao utilizado\\ +Dados & Não utilizado\\ \hline \end{tabular} \end{center} @@ -571,19 +571,19 @@ Dados & N\~ao utilizado\\ \subsubsection{Desliga Motor} -A mensagem transmitida pelo \foreign{host} para desligar o motor \'e -detalhada na tabela~\ref{tab:turnoffcan}. N\~ao \'e utilizado o campo de dados. +A mensagem transmitida pelo \foreign{host} para desligar o motor é +detalhada na tabela~\ref{tab:turnoffcan}. Não é utilizado o campo de dados. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem desliga motor.} +\caption{Descrição da mensagem desliga motor.} \label{tab:turnoffcan} \begin{tabular}{cl} \hline Campo & Valor\\ \hline \hline Identificador &000010xxxxx\\ -Dados & N\~ao utilizado\\ +Dados & Não utilizado\\ \hline \end{tabular} \end{center} @@ -592,41 +592,41 @@ Dados & N\~ao utilizado\\ \subsubsection{Aplica freio} A mensagem transmitida pelo \foreign{host}, para aplicar o freio -eletromagn\'etico (colocando a sa\'{\i}da correspondente no estado inativo) -\'e detalhada na tabela~\ref{tab:brakeoncan}. N\~ao \'e utilizado o campo de +eletromagnético (colocando a saída correspondente no estado inativo) +é detalhada na tabela~\ref{tab:brakeoncan}. Não é utilizado o campo de dados. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem aplica freio.} +\caption{Descrição da mensagem aplica freio.} \label{tab:brakeoncan} \begin{tabular}{cl} \hline Campo & Valor\\ \hline \hline Identificador & 000011xxxxx\\ -Dados & N\~ao utilizado\\ +Dados & Não utilizado\\ \hline \end{tabular} \end{center} \end{table} -\subsubsection{Aplica Tens\~ao no Motor} +\subsubsection{Aplica Tensão no Motor} -A mensagem transmitida do \foreign{host} para aplicar uma tens\~ao no motor -\'e descrita na tabela~\ref{tab:voltagecan}. +A mensagem transmitida do \foreign{host} para aplicar uma tensão no motor +é descrita na tabela~\ref{tab:voltagecan}. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem aplica tens\~ao no motor.} +\caption{Descrição da mensagem aplica tensão no motor.} \label{tab:voltagecan} \begin{tabular}{cp{11cm}} \hline Campo & Valor\\ \hline \hline Identificador & 010000xxxxx\\ -Dados & Tens\~ao a ser aplicada no motor em IEEE-754 - precis\~ao dupla, com o MSB transmitido primeiro.\\ +Dados & Tensão a ser aplicada no motor em IEEE-754 + precisão dupla, com o MSB transmitido primeiro.\\ \hline \end{tabular} \end{center} @@ -635,19 +635,19 @@ Dados & Tens\~ao a ser aplicada no motor em IEEE-754 \subsubsection{Libera Freio} A mensagem transmitida pelo \foreign{host} para liberar o freio -eletromagn\'etico (ativando a sa\'{\i}da correspondente) \'e detalhada na -tabela~\ref{tab:brakeoffcan}. N\~ao \'e utilizado o campo de dados. +eletromagnético (ativando a saída correspondente) é detalhada na +tabela~\ref{tab:brakeoffcan}. Não é utilizado o campo de dados. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem libera freio.} +\caption{Descrição da mensagem libera freio.} \label{tab:brakeoffcan} \begin{tabular}{cl} \hline Campo & Valor\\ \hline \hline Identificador & 110000xxxxx\\ -Dados & N\~ao utilizado\\ +Dados & Não utilizado\\ \hline \end{tabular} \end{center} @@ -656,19 +656,19 @@ Dados & N\~ao utilizado\\ \subsubsection{Liga Motor} -A mensagem transmitida pelo \foreign{host}, para ligar o motor (com tens\~ao -de 0V aplicada nele) \'e detalhada na tabela~\ref{tab:turnoncan}. N\~ao \'e +A mensagem transmitida pelo \foreign{host}, para ligar o motor (com tensão +de 0V aplicada nele) é detalhada na tabela~\ref{tab:turnoncan}. Não é utilizado o campo de dados. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem liga motor.} +\caption{Descrição da mensagem liga motor.} \label{tab:turnoncan} \begin{tabular}{cl} \hline Campo & Valor\\ \hline \hline Identificador & 110001xxxxx\\ -Dados & N\~ao utilizado\\ +Dados & Não utilizado\\ \hline \end{tabular} \end{center} @@ -676,29 +676,29 @@ Dados & N\~ao utilizado\\ \subsection{Mensagens Enviadas pelo AIC para o \foreign{host}} -As mensagens enviadas pela AIC para o \foreign{host} s\~ao utilizadas para +As mensagens enviadas pela AIC para o \foreign{host} são utilizadas para reportar o \foreign{status} dos diversos dispositivos. \subsubsection{\foreign{Status}} -A mensagem transmitida pela AIC para o \foreign{host} com a informa\c{c}\~ao -de \foreign{status} dos dispositivos \'e detalhada na +A mensagem transmitida pela AIC para o \foreign{host} com a informação +de \foreign{status} dos dispositivos é detalhada na tabela~\ref{tab:statuscan}. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem \foreign{status}.} +\caption{Descrição da mensagem \foreign{status}.} \label{tab:statuscan} \begin{tabular}{cp{11cm}} \hline Campo & Valor\\ \hline \hline Identificador & 100000xxxxx\\ -Dados & Deslocamento do motor desde o \'ultimo datagrama de - status. O deslocamento \'e codificado em IEEE-754 e ocupa os +Dados & Deslocamento do motor desde o último datagrama de + status. O deslocamento é codificado em IEEE-754 e ocupa os primeiros 4 bytes do campo de dados.\\ & Estado da \foreign{sync-switch} (0 ou 1). Codificado em - complemento 2, ocupando os \'ultimos 4 bytes do + complemento 2, ocupando os últimos 4 bytes do campo de dados.\\ \hline \end{tabular} @@ -708,535 +708,31 @@ Dados & Deslocamento do motor desde o \'ultimo datagrama de \section{Bibliotecas} \label{sec:lib} -A opera\c{c}\~ao da AIC e da comunica\c{c}\~ao com o \foreign{host} \'e +A operação da AIC e da comunicação com o \foreign{host} é suportada pelas bibliotecas de classes {\tt AIC.jar} e {\tt libaic.a}. A -biblioteca {\tt AIC.jar} \'e utilizada pelos programas em Java que executam -na AIC, enquanto a biblioteca {\tt libaic.a} \'e utilizada pelos programas em +biblioteca {\tt AIC.jar} é utilizada pelos programas em Java que executam +na AIC, enquanto a biblioteca {\tt libaic.a} é utilizada pelos programas em C++ que executam no \foreign{host}. -A documenta\c{c}\~ao da biblioteca {\tt AIC.jar} foi gerada automaticamente -atrav\'es do utilit\'ario {\tt javadoc} e est\'a dispon\'{\i}vel em {\tt -doc/javadocs/index.html}. +A documentação destas bibliotecas foi gerada automaticamente através do +utilitário {\tt doxygen} e está disponível em {\tt doc/html/index.htm}. As classes contidas na biblioteca {\tt libaic.a} podem ser divididas em dois -grupos: classes utilizadas para opera\c{c}\~ao da AIC e classes para -Emula\c{c}\~ao da AIC em outro computador. Este \'ultimo conjunto de classes -\'e utilizado basicamente pelo programa {\tt aicd}. - -\subsection{Classes para Opera\c{c}\~ao da AIC} - -\subsubsection{Classe {\tt AIC\underline{ }COMM}} - -Declarada em {\tt aic.h}. \'E utilizada para encapsular a comunica\c{c}\~ao -do \foreign{host} com a AIC. Define as seguintes fun\c{c}\~oes virtuais: - -\begin{verbatim} - virtual void send_command(int cmd,...)=0; -\end{verbatim} - -Utilizada para enviar para a AIC o comando {\tt cmd} e os argumentos -necess\'arios, passados na ordem em que s\~ao descritos nas tabelas das -se\c{c}\~oes~\ref{sec:UDP} e~\ref{sec:CAN}. - -\begin{verbatim} - virtual int get_status(int status,...)=0; -\end{verbatim} - -Utilizada para receber da AIC uma mensagem de \foreign{status} do tipo -descrito por {\tt status}. Os demais argumentos devem ser ponteiros para -receber os dados de status, passados na ordem em que s\~ao descritos nas -tabelas das se\c{c}\~oes~\ref{sec:UDP} e~\ref{sec:CAN}. - -\subsubsection{Classe {\tt AIC\underline{ }MOTOR}} - -Declarada em {\tt aic.h}. Esta classe \'e utilizada para implementar a -classe AIC e, a princ\'{\i}pio, n\~ao deve ser utilizada diretamente. -Implementa fun\c{c}\~oes que comandam, atrav\'es do canal de -comunica\c{c}\~ao, o \foreign{driver} do motor da AIC: - -\begin{verbatim} - AIC_MOTOR(AIC_COMM *comm); -\end{verbatim} - -\foreign{Constructor} que inicializa o objeto a ser criado, em especial, -armazenando um ponteiro para a classe que implementa o canal de -comunica\c{c}\~ao. - -\begin{verbatim} - void on(void); -\end{verbatim} - -Liga o motor, com tens\~ao de 0V aplicada. - -\begin{verbatim} - void off(void); -\end{verbatim} - -Desliga o motor. - -\begin{verbatim} - double operator=(double voltage); -\end{verbatim} - -Aplica uma tens\~ao no motor. - -\subsubsection{Classe {\tt AIC\underline{ }ENCODER}} - -Declarada em {\tt aic.h}. Esta classe \'e utilizada para implementar a -classe AIC e, a princ\'{\i}pio, n\~ao deve ser utilizada diretamente. -Implementa fun\c{c}\~oes que acessam, atrav\'es do canal de -comunica\c{c}\~ao, o encoder da AIC: - -\begin{verbatim} - AIC_ENCODER(AIC_COMM *comm); -\end{verbatim} - -\foreign{Constructor} que inicializa o objeto a ser criado, em especial, -armazenando um ponteiro para a classe que implementa o canal de -comunica\c{c}\~ao. - -\begin{verbatim} - double read(void); -\end{verbatim} - -Obt\'em a leitura do encoder. - -\begin{verbatim} - double read(int *index); -\end{verbatim} - -Obt\'em a leitura do encoder e do \foreign{sync-switch}. - - -\subsubsection{Classe {\tt AIC\underline{ }BRAKE}} - -Declarada em {\tt aic.h}. Esta classe \'e utilizada para implementar a -classe AIC e, a princ\'{\i}pio, n\~ao deve ser utilizada diretamente. -Implementa fun\c{c}\~oes que acessam, atrav\'es do canal de -comunica\c{c}\~ao, o \foreign{driver} do freio eletromagn\'etico da AIC: - -\begin{verbatim} - AIC_BRAKE(AIC_COMM *comm); -\end{verbatim} - -\foreign{Constructor} que inicializa o objeto a ser criado, em especial, -armazenando um ponteiro para a classe que implementa o canal de -comunica\c{c}\~ao. - -\begin{verbatim} - void apply(void); -\end{verbatim} - -Aplica o freio eletromagn\'etico, colocando a sa\'{\i}da correspondente no estado inativo. - -\begin{verbatim} - void release(void); -\end{verbatim} - -Libera o freio eletromagn\'etico, colocando a sa\'{\i}da correspondente no estado ativo. - -\subsubsection{Classe {\tt AIC\underline{ }INDEX}} - -Declarada em {\tt aic.h}. Esta classe \'e utilizada para implementar a -classe AIC e, a princ\'{\i}pio, n\~ao deve ser utilizada diretamente. -Implementa fun\c{c}\~oes que acessam, atrav\'es do canal de -comunica\c{c}\~ao, o \foreign{sync-switch} da AIC: - -\begin{verbatim} - AIC_INDEX(AIC_COMM *comm); -\end{verbatim} - -\foreign{Constructor} que inicializa o objeto a ser criado, em especial, -armazenando um ponteiro para a classe que implementa o canal de -comunica\c{c}\~ao. - -\begin{verbatim} - int read(void); -\end{verbatim} - -Obt\'em a leitura do \foreign{sync-switch}. - -\begin{verbatim} - int read(double *disp); -\end{verbatim} - -Obt\'em a leitura do \foreign{sync-switch} e do \foreign{encoder}. - - -\subsubsection{Classe {\tt AIC}} - -Declarada em {\tt aic.h}. Encapsula os dispositivos existentes em uma AIC. -Para ser utilizada esta classe precisa ser associada \`a um canal de -comunica\c{c}\~ao, o que \'e feito atrav\'es do seu \foreign{constructor}. -No entanto, tipicamente, esta classe ser\'a utilizada atrav\'es das classes -derivadas {\tt AIC\underline{ }UDP} e {\tt AIC\underline{ }CAN}, que j\'a -incluem o canal de comunica\c{c}\~ao UDP ou CAN, respectivamente. - -Esta classe declara os seguintes objetos: - -\begin{verbatim} - AIC_MOTOR motor; - AIC_ENCODER encoder; - AIC_BRAKE brake; - AIC_INDEX index; -\end{verbatim} - -\noindent e o seguinte \foreign{constructor}: - -\begin{verbatim} - AIC(AIC_COMM *comm); -\end{verbatim} - -\noindent que inicializa o objeto a ser criado, em especial, -armazenando um ponteiro para a classe que implementa o canal de -comunica\c{c}\~ao. - -\subsubsection{Classe {\tt AIC\underline{ }UDP}} - -Declarada em {\tt aicudp.h}. Derivada (por deriva\c{c}\~ao p\'ublica) das -classes {\tt AIC\underline{ }COMM} e {\tt AIC}. \'E a classe {\tt AIC} -associada a um canal de comunica\c{c}\~ao por UDP. Esta classe \'e para ser -utilizada pelo usu\'ario quando deseja acessar a AIC atrav\'es de UDP. -Implementa as seguintes fun\c{c}\~oes: - -\begin{verbatim} - AIC_UDP(const char *aicname,int statport=STATUS_PORT, - int cmdport=CMD_PORT); -\end{verbatim} - -\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }UDP} com -conex\~ao por UDP \`a AIC com nome contido na \foreign{string} {\tt -aicname}. \'E feito um \foreign{bind} na porta {\tt statusport} para receber -os datagramas de \foreign{status} enviados pela AIC. Os comandos s\~ao -enviados para a porta {\tt cmdport} da AIC. {\tt STATUS\underline{ }PORT} e -{\tt CMD\underline{ }PORT} s\~ao constantes definidas em {\tt aicnet.h} com -os n\'umeros das portas default. - -\begin{verbatim} - virtual ~AIC_UDP(void); -\end{verbatim} - -\foreign{Destructor} que fecha os \foreign{sockets} abertos pelo -\foreign{constructor}. - -\begin{verbatim} - void send_command(int cmd,...); -\end{verbatim} - -Utilizada para enviar para a AIC o comando {\tt cmd} e os argumentos -necess\'arios, passados na ordem em que s\~ao descritos nas tabela da -se\c{c}\~ao~\ref{sec:UDP}. -\'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente declarada -na classe {\tt AIC\underline{ }COMM}. - -\begin{verbatim} - int get_status(int status,...); -\end{verbatim} - -Utilizada para receber da AIC uma mensagem de \foreign{status} do tipo -descrito por {\tt status}. Os demais argumentos devem ser ponteiros para -receber os dados de status, passados na ordem em que s\~ao descritos nas -tabelas da se\c{c}\~ao~\ref{sec:UDP}. -\'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente declarada -na classe {\tt AIC\underline{ }COMM}. - -\subsubsection{Classe {\tt AIC\underline{ }CAN}} - -Declarada em {\tt aiccan.h}. Derivada (por deriva\c{c}\~ao p\'ublica) das -classes {\tt AIC\underline{ }COMM} e {\tt AIC}. \'E a classe {\tt AIC} -associada a um canal de comunica\c{c}\~ao por CAN. Esta classe \'e para ser -utilizada pelo usu\'ario quando deseja acessar a AIC atrav\'es de CAN. -Implementa as seguintes fun\c{c}\~oes: - -\begin{verbatim} - AIC_CAN(int aic,int bus=0); -\end{verbatim} - -\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }CAN} com -conex\~ao por CAN \`a AIC de n\'umero {\tt aic} no barramento {\tt bus}. Por -default \'e utilizado o barramento 0. - -\begin{verbatim} - virtual ~AIC_CAN(void); -\end{verbatim} - -\foreign{Destructor} que fecha a conex\~ao CAN aberta pelo -\foreign{constructor}. - -\begin{verbatim} - void send_command(int cmd,...); -\end{verbatim} - -Utilizada para enviar para a AIC o comando {\tt cmd} e os argumentos -necess\'arios, passados na ordem em que s\~ao descritos nas tabela da -se\c{c}\~ao~\ref{sec:CAN}. \'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual -correspondente declarada na classe {\tt AIC\underline{ }COMM}. - -\begin{verbatim} - int get_status(int status,...); -\end{verbatim} - -Utilizada para receber da AIC uma mensagem de \foreign{status} do tipo -descrito por {\tt status}. Os demais argumentos devem ser ponteiros para -receber os dados de status, passados na ordem em que s\~ao descritos nas -tabelas da se\c{c}\~ao~\ref{sec:CAN}. \'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente -declarada na classe {\tt AIC\underline{ }COMM}. - -\subsection{Constantes para Comunica\c{c}\~ao entre AIC e \foreign{host}} - -O arquivo {\tt aicnet.h} define diversas constantes para implementa\c{c}\~ao -da comunica\c{c}\~ao entre AIC e \foreign{host}. Obviamente estas constantes -devem ser utilizadas ao inv\'es de serem utilizados diretamente os -caracteres e n\'umeros definidos nos protocolos, para manter a -compatibilidade em caso de altera\c{c}\~ao no protocolo. - -\subsubsection{Constantes de Identifica\c{c}\~ao dos Comandos} - -As seguintes constantes est\~ao definidas para os comandos descritos na -tabela~\ref{tab:genpacket}: - -\begin{description} - -\item[{\tt AIC\underline{ }MOTOR\underline{ }ACT}:] Aplica tens\~ao no motor - -\item[{\tt AIC\underline{ }MOTOR\underline{ }ON}:] Liga motor - -\item[{\tt AIC\underline{ }MOTOR\underline{ }OFF}:] Desliga motor - -\item[{\tt AIC\underline{ }BRAKE\underline{ }RELEASE}:] Libera freio - -\item[{\tt AIC\underline{ }BRAKE\underline{ }APPLY}:] Aplica freio - -\item[{\tt AIC\underline{ }RESET}:] \foreign{Reset} - -\item[{\tt AIC\underline{ }STATUS}:] \foreign{Status} - -\end{description} - -\subsubsection{Constantes com N\'umeros de Porta Default} - -As seguintes constantes definem as portas default utilizadas na -comunica\c{c}\~ao via UDP: - -\begin{description} - -\item[{\tt CMD\underline{ }PORT}:] Porta para envio dos comandos para a AIC - -\item[{\tt STATUS\underline{ }PORT}:] Porta para recep\c{c}\~ao do \foreign{status} -pelo \foreign{host}. - -\end{description} - -\subsection{Classes para Emula\c{c}\~ao da AIC} - -As classes a seguir s\~ao utilizadas para emular o comportamento da AIC em -outro computador. Assim, s\~ao basicamente utilizadas no programa {\tt -aicd}. - -\subsubsection{Classe {\tt AIC\underline{ }SIM}} - -Declarada em {\tt aicsim.h}. Derivada (por deriva\c{c}\~ao p\'ublica) das -classes {\tt AIC\underline{ }COMM} e {\tt AIC}. \'E uma classe {\tt AIC} -onde a comunica\c{c}\~ao com a AIC real \'e emulada. Os comandos enviados -para a AIC s\~ao logados em {\tt cout}. Tamb\'em \'e equivalente \`a classe -AIC dispon\'{\i}vel em {\tt AIC.jar} (para ser utilizada na AIC), com a -diferen\c{c}a de que ao inv\'es do acesso ao \foreign{hardware} tem-se o log -dos comandos. A informa\c{c}\~ao de \foreign{status} gerada incrementa -continuamente o n\'umero de pulsos dos \foreign{encoders}. Esta classe \'e -para ser utilizada pelo usu\'ario quando deseja emular o acesso a AIC. -Implementa as seguintes fun\c{c}\~oes: - -\begin{verbatim} - AIC_SIM(void); -\end{verbatim} - -\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }SIM} para -simular a conex\~ao com uma AIC real. - -\begin{verbatim} - void send_command(int cmd,...); -\end{verbatim} - -Utilizada para enviar para a AIC o comando {\tt cmd} e os argumentos -necess\'arios, passados na ordem em que s\~ao descritos nas tabela da -se\c{c}\~ao~\ref{sec:UDP}. No entanto, ao inv\'es de enviar os comandos -atrav\'es de uma conex\~ao UDP, os mesmos s\~ao logados em {\tt cout}. \'E a -implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente declarada na -classe {\tt AIC\underline{ }COMM}. - -\begin{verbatim} - int get_status(int status,...); -\end{verbatim} - -Utilizada para receber da AIC uma mensagem de \foreign{status} do tipo -descrito por {\tt status}. Os demais argumentos devem ser ponteiros para -receber os dados de status, passados na ordem em que s\~ao descritos nas -tabelas da se\c{c}\~ao~\ref{sec:CAN}. No entanto, ao -inv\'es dos dados serem recebidos por uma conex\~ao UDP s\~ao emulados -localmente com um incremento do n\'umero de pulsos do encoder e -alterna\c{c}\~ao do \'{\i}ndice entre 0 e 1 a cada chamada. \'E a -implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente declarada na -classe {\tt AIC\underline{ }COMM}. - -\subsubsection{Classe {\tt AIC\underline{ }HOST}} - -Declarada em {\tt aichost.h}. Esta classe encapsula a comunica\c{c}\~ao -entre a AIC (emulada em um computador) e o \foreign{host}. \'E equivalente -\`a classe {\tt Host} dispon\'{\i}vel em {\tt AIC.jar} (para ser utilizada na AIC), com a -diferen\c{c}a de que ao inv\'es de prover a conex\~ao entre a AIC e o -\foreign{host} prov\^e a comunica\c{c}\~ao entre a AIC emulada e o -\foreign{host}. Define as seguintes fun\c{c}\~oes: - -\begin{verbatim} - AIC_HOST(void); -\end{verbatim} - -\foreign{Constructor}, que inicializa o objeto, alocando os recursos -necess\'arios. - -\begin{verbatim} - virtual ~AIC_HOST(void); -\end{verbatim} - -\foreign{Destructor}, que libera os recursos alocados para o objeto. - -\begin{verbatim} - virtual int command(void)=0; -\end{verbatim} - -Retorna o c\'odigo de comando recebido pelo canal de comunica\c{c}\~ao como -definido nas se\c{c}\~oes~\ref{sec:UDP} e~\ref{sec:CAN}. - -\begin{verbatim} - int getstatus(void) const; -\end{verbatim} - -Retorna o \foreign{status} da AIC emulada. O \foreign{status} \'e um -\foreign{bit-map} onde est\~ao definidas as seguintes constantes para -manipula\c{c}\~ao dos bits: - -\begin{description} -\item[{\tt MOTOR\underline{ }ON}:] Em 1 se o motor est\'a ligado. -\item[{\tt BRAKE\underline{ }APPLIED}:] Em 1 se o freio eletromagn\'etico -est\'a aplicado. -\end{description} - -\begin{verbatim} - virtual void send_status(double disp,int index)=0; -\end{verbatim} - -Envia o \foreign{status} da AIC para o \foreign{host} com um deslocamento de {\tt disp} -radianos e com o \foreign{status} do \foreign{sync-switch} em {\tt index}. - -\begin{verbatim} - double voltage(void) const; -\end{verbatim} - -Retorna a tens\~ao a ser aplicada no motor recebida com o \'ultimo comando -correspondente. Isto e\' quando a fun\c{c}\~ao {\tt command} retornou {\tt -AIC\underline{ }MOTOR\underline{ }ACT}. - -\subsubsection{Classe {\tt AIC\underline{ }HOST\underline{ }UDP}} - -Declarada em {\tt aichostudp.h}. Derivada (por deriva\c{c}\~ao p\'ublica) da -classe {\tt AIC\underline{ }HOST}. Implementa a comunica\c{c}\~ao por UDP -entre a AIC emulada e o \foreign{host}. \'E equivalente \`a classe {\tt -HostUDP} dispon\'{\i}vel em {\tt AIC.jar} (para ser utilizada na AIC), com a -diferen\c{c}a de que ao inv\'es de prover a conex\~ao entre a AIC e o -\foreign{host} prov\^e a comunica\c{c}\~ao entre a AIC emulada e o -\foreign{host}. Implementa as seguintes fun\c{c}\~oes: - -\begin{verbatim} - AIC_HOST_UDP(const char *controllername, - int statusport=STATUS_PORT,int cmdport=CMD_PORT); -\end{verbatim} - -\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }HOST\underline{ }UDP} - com conex\~ao por UDP ao \foreign{host} com nome -contido na \foreign{string} {\tt controllername}. \'E feito um -\foreign{bind} na porta {\tt cmdport} para receber os datagramas de controle -enviados pelo \foreign{host}. Os datagramas de \foreign{status} s\~ao -enviados para a porta {\tt statusport} do \foreign{host}. {\tt -STATUS\underline{ }PORT} e {\tt CMD\underline{ }PORT} s\~ao constantes -definidas em {\tt aicnet.h} com os n\'umeros das portas default. - -\begin{verbatim} - ~AIC_HOST_UDP(void); -\end{verbatim} - -\foreign{Destructor} que fecha os \foreign{sockets} abertos pelo -\foreign{constructor}. - -\begin{verbatim} - int command(void); -\end{verbatim} - -Retorna o c\'odigo de comando recebido pelo canal de comunica\c{c}\~ao como -definido na se\c{c}\~ao~\ref{sec:UDP}. \'E a implementa\c{c}\~ao da -fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOST}. - -\begin{verbatim} - void send_status(double disp,int index); -\end{verbatim} - -Envia o \foreign{status} da AIC emulada para o \foreign{host} com um -deslocamento de {\tt disp} radianos e com o \foreign{status} do -\foreign{sync-switch} em {\tt index}. \'E a implementa\c{c}\~ao da -fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOST}. - -\subsubsection{Classe {\tt AIC\underline{ }HOST\underline{ }CAN}} - -Declarada em {\tt aichostcan.h}. Derivada (por deriva\c{c}\~ao p\'ublica) da -classe {\tt AIC\underline{ }HOST}. Implementa a comunica\c{c}\~ao por CAN -entre a AIC emulada e o \foreign{host}. \'E equivalente \`a classe {\tt -HostCAN} dispon\'{\i}vel em {\tt AIC.jar} (para ser utilizada na AIC), com a -diferen\c{c}a de que ao inv\'es de prover a conex\~ao entre a AIC e o -\foreign{host} prov\^e a comunica\c{c}\~ao entre a AIC emulada e o -\foreign{host}. Implementa as seguintes fun\c{c}\~oes: - -\begin{verbatim} - AIC_HOST_CAN(int aicid,int bus=0); -\end{verbatim} - -\foreign{Constructor} que cria um objeto {\tt AIC\underline{ }HOST\underline{ }CAN} - com conex\~ao por CAN ao \foreign{host}, utilizando o identificador {\tt -aicid} para a AIC emulada e o barramento {\tt bus}. Por default \'e -utilizado o barramento 0. - -\begin{verbatim} - ~AIC_HOST_CAN(void); -\end{verbatim} - -\foreign{Destructor} que fecha os \foreign{sockets} abertos pelo -\foreign{constructor}. - -\begin{verbatim} - int command(void); -\end{verbatim} - -Retorna o c\'odigo de comando recebido pelo canal de comunica\c{c}\~ao como -definido na se\c{c}\~ao~\ref{sec:CAN}. \'E a implementa\c{c}\~ao da -fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOST}. - -\begin{verbatim} - void send_status(double disp,int index); -\end{verbatim} +grupos: classes utilizadas para operação da AIC e classes para +Emulação da AIC em outro computador. Este último conjunto de classes +é utilizado basicamente pelo programa {\tt aicd}. -Envia o \foreign{status} da AIC emulada para o \foreign{host} com um -deslocamento de {\tt disp} radianos e com o \foreign{status} do -\foreign{sync-switch} em {\tt index}. \'E a implementa\c{c}\~ao da -fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOST}. -\section{Exemplo Utilizando Comunica\c{c}\~ao por UDP} +\section{Exemplo Utilizando Comunicação por UDP} -Neste exemplo ser\~ao utilizados os programas \verb$IODaemon$ e -\verb$jointtst$. Para obter o arquivo execut\'avel de cada um, basta entrar -nos diret\'orios correspondentes e digitar \verb$make$. Digitando-se -\verb$make distclean$, apaga-se a vers\~ao existente para for\c{c}ar a -compila\c{c}\~ao de tudo novamente. A mesma coisa vale para todos os +Neste exemplo serão utilizados os programas \verb$IODaemon$ e +\verb$jointtst$. Para obter o arquivo executável de cada um, basta entrar +nos diretórios correspondentes e digitar \verb$make$. Digitando-se +\verb$make distclean$, apaga-se a versão existente para forçar a +compilação de tudo novamente. A mesma coisa vale para todos os Makefiles. -Ap\'os compilar o \verb$IODaemon$, necessita-se carregar o execut\'avel +Após compilar o \verb$IODaemon$, necessita-se carregar o executável produzido, chamado \verb$IODaemon.tini$, na AIC. Isto pode ser feito por FTP. Para tanto, digita-se @@ -1244,8 +740,8 @@ Para tanto, digita-se ftp aic1 \end{verbatim} -\noindent o \foreign{login} \'e \emph{root} e a senha \emph{tini}. A seguir, -deve-se entrar no modo bin\'ario digitando +\noindent o \foreign{login} é \emph{root} e a senha \emph{tini}. A seguir, +deve-se entrar no modo binário digitando \begin{verbatim} bin @@ -1263,14 +759,14 @@ put IODaemon.tini quit \end{verbatim} -Para rodar o \verb$IODaemon.tini$, \'e necess\'ario logar-se em uma das AICs, +Para rodar o \verb$IODaemon.tini$, é necessário logar-se em uma das AICs, por exemplo na \verb$aic1$ por telnet, digitando \begin{verbatim} telnet aic1 \end{verbatim} -J\'a no \foreign{prompt} da \verb$aic1$, o programa pode ser executado +Já no \foreign{prompt} da \verb$aic1$, o programa pode ser executado digitando-se \begin{verbatim} @@ -1279,17 +775,17 @@ java IODaemon.tini -debug -UDP janus 9871 \begin{description} -\item[{\tt -debug}] \'e opcional e causa o \foreign{log} da tens\~ao +\item[{\tt -debug}] é opcional e causa o \foreign{log} da tensão aplicada nos motores, leituras dos encoders e outros detalhes no terminal. -Se n\~ao for utilizado n\~ao haver\'a \foreign{log}. +Se não for utilizado não haverá \foreign{log}. -\item[{\tt -UDP}] \'e a op\c{c}\~ao para utilizar comunica\c{c}\~ao por UDP, -j\'a que o default \'e utilizar comunica\c{c}\~ao por CAN. +\item[{\tt -UDP}] é a opção para utilizar comunicação por UDP, +já que o default é utilizar comunicação por CAN. -\item[{\tt janus}] \'e o nome do \foreign{host} para onde as leituras dos sensores devem -ser enviadas e de onde ser\~ao recebidos os comandos. +\item[{\tt janus}] é o nome do \foreign{host} para onde as leituras dos sensores devem +ser enviadas e de onde serão recebidos os comandos. -\item[{\tt 9871}] \'e o n\'umero da porta UDP do \foreign{host} para onde devem ser enviadas as +\item[{\tt 9871}] é o número da porta UDP do \foreign{host} para onde devem ser enviadas as leituras do sensores. \end{description} @@ -1298,9 +794,9 @@ Ao executar o \verb$IODaemon$ perde-se o controle do terminal. Para abortar o programa, pode-se abrir outro terminal no \foreign{host} e dar outro telnet para a \verb$aic1$. A seguir, pode-se digitar \verb$ps$ para verificar os processos executando e um \verb$kill n$ para abortar o processo \verb$n$ (onde -\verb$n$ \'e o n\'umero de processo do \verb$IODaemon$.) +\verb$n$ é o número de processo do \verb$IODaemon$.) -O \emph{software} do \foreign{host} est\'a no diret\'orio \verb$jointtst$. Para +O \emph{software} do \foreign{host} está no diretório \verb$jointtst$. Para executa-lo basta digitar \begin{verbatim} @@ -1310,10 +806,10 @@ jointtst -UDP aic1 9871 Este programa gera uma rampas de $0$ a $+24V$, de $+24V$ a $-24V$ e de $-24V$ a $+24V$ repetidamente para o motor. -Para executar o programa nas outras AICs, o procedimento \'e semelhante, basta -utilizar um n\'umero de porta diferente para cada uma delas (sugere-se 9871, -9872, 9873...) e executar uma c\'opia do \verb$jointtest$ para cada AIC, -eventualmente cada uma na sua pr\'opria janela. +Para executar o programa nas outras AICs, o procedimento é semelhante, basta +utilizar um número de porta diferente para cada uma delas (sugere-se 9871, +9872, 9873...) e executar uma cópia do \verb$jointtest$ para cada AIC, +eventualmente cada uma na sua própria janela. \bibliography{aic} diff --git a/doc/aicpcb.ps b/doc/aicpcb.ps new file mode 100644 index 0000000..2976884 --- /dev/null +++ b/doc/aicpcb.ps @@ -0,0 +1,58032 @@ +%!PS-Adobe-3.0 +%%Pages: (atend) +%%BoundingBox: 43 276 551 565 +%%HiResBoundingBox: 43.950000 276.950000 550.050000 564.050000 +%................................... +%%Creator: GNU Ghostscript 550 (pswrite) +%%CreationDate: 2003/11/28 11:03:43 +%%DocumentData: Clean7Bit +%%LanguageLevel: 2 +%%EndComments +%%BeginProlog +% This copyright applies to everything between here and the %%EndProlog: +% Copyright (C) 1998 Aladdin Enterprises, Menlo Park, CA. 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mils moveto -(1.1.0) show +(1.3.0) show grestore gsave @@ -5893,7 +5893,7 @@ gsave setfont 54500 mils 68900 mils moveto -(Vb) show +(Vx) show grestore newpath @@ -5979,7 +5979,14 @@ grestore +gsave +/Helvetica findfont +14.000000 scalefont +setfont +53400 mils 69600 mils moveto +(6N137) show +grestore grestore @@ -5990,7 +5997,7 @@ gsave setfont 53400 mils 69600 mils moveto -(6N136) show +(6N137) show grestore gsave @@ -6108,7 +6115,7 @@ gsave setfont 54500 mils 64600 mils moveto -(Vb) show +(Vx) show grestore newpath @@ -6194,7 +6201,14 @@ grestore +gsave +/Helvetica findfont +14.000000 scalefont +setfont +53400 mils 65300 mils moveto +(6N137) show +grestore grestore @@ -6205,7 +6219,7 @@ gsave setfont 53400 mils 65300 mils moveto -(6N136) show +(6N137) show grestore gsave @@ -6343,11 +6357,11 @@ gsave 14.000000 scalefont setfont -53700 mils (Vb) stringwidth pop +53700 mils (Vx) stringwidth pop -1 mul add 62600 mils moveto -(Vb) show +(Vx) show grestore newpath @@ -6445,7 +6459,17 @@ 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/dev/null +++ b/doc/javadocs/allclasses-frame.html @@ -0,0 +1,51 @@ + + + + + + +All Classes + + + + + + +All Classes +
+ + + + + +
AIC +
+Brake +
+CtrlRegister +
+Encoder +
+Host +
+HostCAN +
+HostUDP +
+Index +
+Motor +
+PLD +
+PWM +
+
+ + + diff --git a/doc/javadocs/allclasses-noframe.html b/doc/javadocs/allclasses-noframe.html new file mode 100644 index 0000000..425e265 --- /dev/null +++ b/doc/javadocs/allclasses-noframe.html @@ -0,0 +1,51 @@ + + + + + + +All Classes + + + + + + +All Classes +
+ + + + + +
AIC +
+Brake +
+CtrlRegister +
+Encoder +
+Host +
+HostCAN +
+HostUDP +
+Index +
+Motor +
+PLD +
+PWM +
+
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/AIC.html b/doc/javadocs/br/ufrgs/eletro/AIC/AIC.html new file mode 100644 index 0000000..c711891 --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/AIC.html @@ -0,0 +1,393 @@ + + + + + + +AIC + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class AIC

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.AIC
+
+
+
+
public class AIC
extends java.lang.Object
+ +

+Provides access to all devices in an Actuator Interface Card +

+ +

+

+
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + + + + + + + + + + + + + +
+Field Summary
+ br.ufrgs.eletro.AIC.Brakebrake + +
+          Brake actuaded by AIC
+ br.ufrgs.eletro.AIC.Encoderencoder + +
+          Encoder read by AIC
+ br.ufrgs.eletro.AIC.Indexindex + +
+          Sync-switch read by AIC
+ br.ufrgs.eletro.AIC.Motormotor + +
+          Motor actuated by AIC
+  + + + + + + + + + + +
+Constructor Summary
AIC(int base, + double vm, + double freq, + int np) + +
+          Initializes an AIC
+  + + + + + + + + + + + + + + + + + + + +
+Method Summary
+ voidfinalize() + +
+          Finalizes an AIC
+ voidoff() + +
+          Turns an AIC off
+ voidon() + +
+          Turns an AIC on
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + +
+Field Detail
+ +

+motor

+
+public br.ufrgs.eletro.AIC.Motor motor
+
+
Motor actuated by AIC +

+

+
See Also:
Motor
+
+
+ +

+encoder

+
+public br.ufrgs.eletro.AIC.Encoder encoder
+
+
Encoder read by AIC +

+

+
See Also:
Encoder
+
+
+ +

+brake

+
+public br.ufrgs.eletro.AIC.Brake brake
+
+
Brake actuaded by AIC +

+

+
See Also:
Brake
+
+
+ +

+index

+
+public br.ufrgs.eletro.AIC.Index index
+
+
Sync-switch read by AIC +

+

+
See Also:
Index
+
+ + + + + + + + +
+Constructor Detail
+ +

+AIC

+
+public AIC(int base,
+           double vm,
+           double freq,
+           int np)
+
+
Initializes an AIC +

+

Parameters:
base - Base address for on board devices
vm - Motor Voltage
freq - PWM frequency
np - Pulses per encoder revolution
+ + + + + + + + +
+Method Detail
+ +

+on

+
+public void on()
+
+
Turns an AIC on +

+

+
+
+
+
+ +

+off

+
+public void off()
+
+
Turns an AIC off +

+

+
+
+
+
+ +

+finalize

+
+public void finalize()
+
+
Finalizes an AIC +

+

+
Overrides:
finalize in class java.lang.Object
+
+
+
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/Brake.html b/doc/javadocs/br/ufrgs/eletro/AIC/Brake.html new file mode 100644 index 0000000..fb834c2 --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/Brake.html @@ -0,0 +1,272 @@ + + + + + + +Brake + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class Brake

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.Brake
+
+
+
+
public final class Brake
extends java.lang.Object
+ +

+Provides access to electromagnetic brake in an Actuator Interface Card +

+ +

+

+
Version:
AIC-1.3.0
+ +
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + + + +
+Constructor Summary
Brake(int base) + +
+          Initializes Brake.
+  + + + + + + + + + + + + + + + +
+Method Summary
+static voidapply() + +
+          Applies the electromagnetic brake
+static voidrelease() + +
+          Releases the electromagnetic brake
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + + + + +
+Constructor Detail
+ +

+Brake

+
+public Brake(int base)
+
+
Initializes Brake. Loads the corresponding native library. +

+

Parameters:
base - Base address for on board devices
+ + + + + + + + +
+Method Detail
+ +

+apply

+
+public static void apply()
+
+
Applies the electromagnetic brake +

+

+
+
+
+
+ +

+release

+
+public static void release()
+
+
Releases the electromagnetic brake +

+

+
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/CTRL.html b/doc/javadocs/br/ufrgs/eletro/AIC/CTRL.html new file mode 100644 index 0000000..bef561a --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/CTRL.html @@ -0,0 +1,306 @@ + + + + + + +CTRL + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
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+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class CTRL

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.CTRL
+
+
+
+
public class CTRL
extends java.lang.Object
+ +

+Provides bitmap constants for the control register in an Actuator Interface Card +

+ +

+

+
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + + + + + + + + + + + + + +
+Field Summary
+static intBRAKEAPPLY + +
+          Apply Brake
+static intBRAKERELEASE + +
+          Release Brake
+static intPWMDISABLE + +
+          PWM disable
+static intPWMENABLE + +
+          PWM enable
+  + + + + + + + + + + +
+Constructor Summary
CTRL() + +
+           
+  + + + + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + +
+Field Detail
+ +

+PWMDISABLE

+
+public static final int PWMDISABLE
+
+
PWM disable +

+

+
See Also:
Constant Field Values
+
+
+ +

+PWMENABLE

+
+public static final int PWMENABLE
+
+
PWM enable +

+

+
See Also:
Constant Field Values
+
+
+ +

+BRAKEAPPLY

+
+public static final int BRAKEAPPLY
+
+
Apply Brake +

+

+
See Also:
Constant Field Values
+
+
+ +

+BRAKERELEASE

+
+public static final int BRAKERELEASE
+
+
Release Brake +

+

+
See Also:
Constant Field Values
+
+ + + + + + + + +
+Constructor Detail
+ +

+CTRL

+
+public CTRL()
+
+
+ + + + +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/CtrlRegister.html b/doc/javadocs/br/ufrgs/eletro/AIC/CtrlRegister.html new file mode 100644 index 0000000..e356079 --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/CtrlRegister.html @@ -0,0 +1,312 @@ + + + + + + +CtrlRegister + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class CtrlRegister

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.CtrlRegister
+
+
+ +

+

+
public class CtrlRegister
extends java.lang.Object
+ +

+Provides constants for using the control register in an Actuator Interface Card +

+ +

+

+
Since:
AIC-1.2.0
+ +
Version:
AIC-1.3.0
+ +
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + + + + + + + + + + + + + +
+Field Summary
+static intBRAKEAPPLY + +
+          Deprecated. Apply Brake
+static intBRAKERELEASE + +
+          Deprecated. Release Brake
+static intPWMDISABLE + +
+          Deprecated. PWM disable
+static intPWMENABLE + +
+          Deprecated. PWM enable
+  + + + + + + + + + + +
+Constructor Summary
CtrlRegister() + +
+          Deprecated.  
+  + + + + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + +
+Field Detail
+ +

+PWMDISABLE

+
+public static final int PWMDISABLE
+
+
Deprecated. 
PWM disable +

+

+
See Also:
Constant Field Values
+
+
+ +

+PWMENABLE

+
+public static final int PWMENABLE
+
+
Deprecated. 
PWM enable +

+

+
See Also:
Constant Field Values
+
+
+ +

+BRAKEAPPLY

+
+public static final int BRAKEAPPLY
+
+
Deprecated. 
Apply Brake +

+

+
See Also:
Constant Field Values
+
+
+ +

+BRAKERELEASE

+
+public static final int BRAKERELEASE
+
+
Deprecated. 
Release Brake +

+

+
See Also:
Constant Field Values
+
+ + + + + + + + +
+Constructor Detail
+ +

+CtrlRegister

+
+public CtrlRegister()
+
+
Deprecated. 
+ + + + +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/Encoder.html b/doc/javadocs/br/ufrgs/eletro/AIC/Encoder.html new file mode 100644 index 0000000..897553b --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/Encoder.html @@ -0,0 +1,409 @@ + + + + + + +Encoder + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class Encoder

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.Encoder
+
+
+
+
public final class Encoder
extends java.lang.Object
+ +

+Provides access to incremental encoder in an Actuator Interface Card +

+ +

+

+
Version:
AIC-1.3.0
+ +
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + +
+Field Summary
+ intPULSES + +
+          Number of pulses per revolution of the encoder, considering the + quadrature decoder
+  + + + + + + + + + + +
+Constructor Summary
Encoder(int base, + int pulses) + +
+          Initializes Encoder, clears the counter on the quadrature decoder chip
+  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+Method Summary
+static voidclear() + +
+          Clears the counter on the quadrature decoder chip
+ voidfinalize() + +
+          Finalizes Encoder
+static intgetCount() + +
+          Gets the count on the quadrature decoder chip
+static intgetCountAndClear() + +
+          Gets the count and clears the counter on the quadrature decoder chip
+ doubleread() + +
+          Reads the counter on the quadrature decoder chip and converts the motion + to radians
+ doublereadAndClear() + +
+          Reads the counter on the quadrature decoder chip, converts the motion + to radians and clears the counter
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + +
+Field Detail
+ +

+PULSES

+
+public final int PULSES
+
+
Number of pulses per revolution of the encoder, considering the + quadrature decoder +

+

+
+
+ + + + + + + + +
+Constructor Detail
+ +

+Encoder

+
+public Encoder(int base,
+               int pulses)
+
+
Initializes Encoder, clears the counter on the quadrature decoder chip +

+

Parameters:
base - Base address for on board devices
pulses - Number of pulses per revolution of the encoder, considering the + quadrature decoder
+ + + + + + + + +
+Method Detail
+ +

+clear

+
+public static void clear()
+
+
Clears the counter on the quadrature decoder chip +

+

+
+
+
+
+ +

+finalize

+
+public void finalize()
+
+
Finalizes Encoder +

+

+
Overrides:
finalize in class java.lang.Object
+
+
+
+
+
+
+ +

+getCount

+
+public static int getCount()
+
+
Gets the count on the quadrature decoder chip +

+

+ +
Returns:
the number of pulses (in 2-complement) since the last time + the counter was cleared
+
+
+
+ +

+getCountAndClear

+
+public static int getCountAndClear()
+
+
Gets the count and clears the counter on the quadrature decoder chip +

+

+ +
Returns:
the number of pulses (in 2-complement) since the last time + the counter was cleared
+
+
+
+ +

+read

+
+public double read()
+
+
Reads the counter on the quadrature decoder chip and converts the motion + to radians +

+

+ +
Returns:
the displacement in radians since the last time + the encoder was cleared
+
+
+
+ +

+readAndClear

+
+public double readAndClear()
+
+
Reads the counter on the quadrature decoder chip, converts the motion + to radians and clears the counter +

+

+ +
Returns:
the displacement in radians since the last time + the encoder was cleared
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/Host.html b/doc/javadocs/br/ufrgs/eletro/AIC/Host.html new file mode 100644 index 0000000..cb5ff5c --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/Host.html @@ -0,0 +1,604 @@ + + + + + + +Host + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class Host

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.Host
+
+
+
Direct Known Subclasses:
HostCAN, HostUDP
+
+
+
+
public abstract class Host
extends java.lang.Object
+ +

+Provides access host computer through a devived class +

+ +

+

+
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
See Also:
HostCAN, +HostUDP
+
+ +

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+Field Summary
+static intBRAKE_APPLIED + +
+          Brake applied status
+static intBRAKE_APPLY + +
+          Brake apply command
+static intBRAKE_RELEASE + +
+          Brake release command
+static intINVALID + +
+          Invalid command
+static intMOTOR_ACT + +
+          Motor actuate command
+static intMOTOR_IS_ON + +
+          Motor on status
+static intMOTOR_OFF + +
+          Motor off command
+static intMOTOR_ON + +
+          Motor on command
+static intRESET + +
+          AIC reset command
+protected  intstatus + +
+          Brake and motor status
+static intSTATUS + +
+          Status message identifier
+protected  doubleu + +
+          Voltage aplied to motors
+  + + + + + + + + + + +
+Constructor Summary
Host() + +
+           
+  + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+Method Summary
+abstract  intcommand() + +
+          Gets command received from host computer
+ intgetStatus() + +
+          Gets brake and motor status
+abstract  voidsendStatus(double disp, + int index) + +
+          Sends encoder displacement and sync-switch status to host
+abstract  voidsendStatus(int disp, + int index) + +
+          Sends encoder displacement and sync-switch status to host
+ doublevoltage() + +
+          Gets motor voltage
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + +
+Field Detail
+ +

+INVALID

+
+public static final int INVALID
+
+
Invalid command +

+

+
See Also:
Constant Field Values
+
+
+ +

+RESET

+
+public static final int RESET
+
+
AIC reset command +

+

+
See Also:
Constant Field Values
+
+
+ +

+MOTOR_OFF

+
+public static final int MOTOR_OFF
+
+
Motor off command +

+

+
See Also:
Constant Field Values
+
+
+ +

+BRAKE_APPLY

+
+public static final int BRAKE_APPLY
+
+
Brake apply command +

+

+
See Also:
Constant Field Values
+
+
+ +

+MOTOR_ACT

+
+public static final int MOTOR_ACT
+
+
Motor actuate command +

+

+
See Also:
Constant Field Values
+
+
+ +

+STATUS

+
+public static final int STATUS
+
+
Status message identifier +

+

+
See Also:
Constant Field Values
+
+
+ +

+BRAKE_RELEASE

+
+public static final int BRAKE_RELEASE
+
+
Brake release command +

+

+
See Also:
Constant Field Values
+
+
+ +

+MOTOR_ON

+
+public static final int MOTOR_ON
+
+
Motor on command +

+

+
See Also:
Constant Field Values
+
+
+ +

+MOTOR_IS_ON

+
+public static final int MOTOR_IS_ON
+
+
Motor on status +

+

+
See Also:
Constant Field Values
+
+
+ +

+BRAKE_APPLIED

+
+public static final int BRAKE_APPLIED
+
+
Brake applied status +

+

+
See Also:
Constant Field Values
+
+
+ +

+u

+
+protected double u
+
+
Voltage aplied to motors +

+

+
+
+
+ +

+status

+
+protected int status
+
+
Brake and motor status +

+

+
+
+ + + + + + + + +
+Constructor Detail
+ +

+Host

+
+public Host()
+
+
+ + + + + + + + +
+Method Detail
+ +

+command

+
+public abstract int command()
+                     throws java.lang.Exception
+
+
Gets command received from host computer +

+

+ +
Returns:
command code +
Throws: +
java.lang.Exception - depending on implementation
+
+
+
+ +

+sendStatus

+
+public abstract void sendStatus(double disp,
+                                int index)
+                         throws java.lang.Exception
+
+
Sends encoder displacement and sync-switch status to host +

+

+
Parameters:
disp - encoder displacement in rad
index - sync-switch status +
Throws: +
java.lang.Exception - depending on implementation
+
+
+
+ +

+sendStatus

+
+public abstract void sendStatus(int disp,
+                                int index)
+                         throws java.lang.Exception
+
+
Sends encoder displacement and sync-switch status to host +

+

+
Parameters:
disp - encoder displacement in pulses
index - sync-switch status +
Throws: +
java.lang.Exception - depending on implementation
+
+
+
+ +

+getStatus

+
+public int getStatus()
+
+
Gets brake and motor status +

+

+ +
Returns:
brake and motor status
+
+
+
+ +

+voltage

+
+public double voltage()
+
+
Gets motor voltage +

+

+ +
Returns:
motor voltage
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/HostCAN.html b/doc/javadocs/br/ufrgs/eletro/AIC/HostCAN.html new file mode 100644 index 0000000..e437004 --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/HostCAN.html @@ -0,0 +1,392 @@ + + + + + + +HostCAN + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class HostCAN

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.Host
+        |
+        +--br.ufrgs.eletro.AIC.HostCAN
+
+
+
+
public class HostCAN
extends Host
+ +

+Provides access host computer through CAN bus +

+ +

+

+
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
See Also:
HostUDP
+
+ +

+ + + + + + + + + + +
+Field Summary
+  + + + + + + + +
Fields inherited from class br.ufrgs.eletro.AIC.Host
BRAKE_APPLIED, BRAKE_APPLY, BRAKE_RELEASE, INVALID, MOTOR_ACT, MOTOR_IS_ON, MOTOR_OFF, MOTOR_ON, RESET, status, STATUS, u
+  + + + + + + + + + + + + + +
+Constructor Summary
HostCAN(int aicid) + +
+          Initializes HostCAN using CAN bus 0 as default
HostCAN(int aicid, + int bus) + +
+          Initializes HostCAN
+  + + + + + + + + + + + + + + + + + + + + + + + +
+Method Summary
+ intcommand() + +
+          Gets command received from host computer
+ voidfinalize() + +
+          Finalizes HostCAN
+ voidsendStatus(double disp, + int index) + +
+          Sends encoder displacement and sync-switch status to host
+ voidsendStatus(int disp, + int index) + +
+          Sends encoder displacement and sync-switch status to host
+  + + + + + + + +
Methods inherited from class br.ufrgs.eletro.AIC.Host
getStatus, voltage
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + + + + +
+Constructor Detail
+ +

+HostCAN

+
+public HostCAN(int aicid,
+               int bus)
+        throws com.dalsemi.comm.CanBusException
+
+
Initializes HostCAN +

+

Parameters:
aicid - AIC identification on bus from 1 to 31
bus - CAN bus to use 0 or 1 +
Throws: +
com.dalsemi.comm.CanBusException - on CAN bus errors
+
+ +

+HostCAN

+
+public HostCAN(int aicid)
+        throws com.dalsemi.comm.CanBusException
+
+
Initializes HostCAN using CAN bus 0 as default +

+

Parameters:
aicid - AIC identification on bus from 1 to 31 +
Throws: +
com.dalsemi.comm.CanBusException - on CAN bus errors
+ + + + + + + + +
+Method Detail
+ +

+finalize

+
+public void finalize()
+              throws com.dalsemi.comm.CanBusException
+
+
Finalizes HostCAN +

+

+
Overrides:
finalize in class java.lang.Object
+
+
+ +
Throws: +
com.dalsemi.comm.CanBusException - on CAN bus errors
+
+
+
+ +

+command

+
+public int command()
+            throws com.dalsemi.comm.CanBusException
+
+
Gets command received from host computer +

+

+
Specified by:
command in class Host
+
+
+ +
Returns:
command code +
Throws: +
com.dalsemi.comm.CanBusException - on CAN bus errors
+
+
+
+ +

+sendStatus

+
+public void sendStatus(double disp,
+                       int index)
+                throws com.dalsemi.comm.CanBusException
+
+
Sends encoder displacement and sync-switch status to host +

+

+
Specified by:
sendStatus in class Host
+
+
+
Parameters:
disp - encoder displacement in rad
index - sync-switch status +
Throws: +
com.dalsemi.comm.CanBusException - on CAN bus errors
+
+
+
+ +

+sendStatus

+
+public void sendStatus(int disp,
+                       int index)
+                throws com.dalsemi.comm.CanBusException
+
+
Sends encoder displacement and sync-switch status to host +

+

+
Specified by:
sendStatus in class Host
+
+
+
Parameters:
disp - encoder displacement in pulses
index - sync-switch status +
Throws: +
com.dalsemi.comm.CanBusException - on CAN bus errors
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/HostUDP.html b/doc/javadocs/br/ufrgs/eletro/AIC/HostUDP.html new file mode 100644 index 0000000..e0592a7 --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/HostUDP.html @@ -0,0 +1,418 @@ + + + + + + +HostUDP + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class HostUDP

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.Host
+        |
+        +--br.ufrgs.eletro.AIC.HostUDP
+
+
+
+
public class HostUDP
extends Host
+ +

+Provides access host computer through UDP connetion +

+ +

+

+
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
See Also:
HostCAN
+
+ +

+ + + + + + + + + + +
+Field Summary
+  + + + + + + + +
Fields inherited from class br.ufrgs.eletro.AIC.Host
BRAKE_APPLIED, BRAKE_APPLY, BRAKE_RELEASE, INVALID, MOTOR_ACT, MOTOR_IS_ON, MOTOR_OFF, MOTOR_ON, RESET, status, STATUS, u
+  + + + + + + + + + + + + + + + + +
+Constructor Summary
HostUDP(java.lang.String controllername) + +
+          Initializes HostUDP using default status and command port numbers
HostUDP(java.lang.String controllername, + int statport) + +
+          Initializes HostUDP using default command port numbers
HostUDP(java.lang.String controllername, + int statport, + int cmdport) + +
+          Initializes HostUDP
+  + + + + + + + + + + + + + + + + + + + + + + + +
+Method Summary
+ intcommand() + +
+          Gets command received from host computer
+ voidfinalize() + +
+          Finalizes HostUDP
+ voidsendStatus(double disp, + int index) + +
+          Sends encoder displacement and sync-switch status to host
+ voidsendStatus(int disp, + int index) + +
+          Sends encoder displacement and sync-switch status to host
+  + + + + + + + +
Methods inherited from class br.ufrgs.eletro.AIC.Host
getStatus, voltage
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + + + + +
+Constructor Detail
+ +

+HostUDP

+
+public HostUDP(java.lang.String controllername,
+               int statport,
+               int cmdport)
+        throws java.net.UnknownHostException,
+               java.net.SocketException
+
+
Initializes HostUDP +

+

Parameters:
controllername - name of host computer
statport - UDP port on host to send status to
cmdport - UDP port on AIC to receive commands from host +
Throws: +
java.net.UnknownHostException - if host is unknown +
java.net.SocketException - on socket errors
+
+ +

+HostUDP

+
+public HostUDP(java.lang.String controllername,
+               int statport)
+        throws java.net.UnknownHostException,
+               java.net.SocketException
+
+
Initializes HostUDP using default command port numbers +

+

Parameters:
controllername - name of host computer
statport - UDP port on host to send status to +
Throws: +
java.net.UnknownHostException - if host is unknown +
java.net.SocketException - on socket errors
+
+ +

+HostUDP

+
+public HostUDP(java.lang.String controllername)
+        throws java.net.UnknownHostException,
+               java.net.SocketException
+
+
Initializes HostUDP using default status and command port numbers +

+

Parameters:
controllername - name of host computer +
Throws: +
java.net.UnknownHostException - if host is unknown +
java.net.SocketException - on socket errors
+ + + + + + + + +
+Method Detail
+ +

+finalize

+
+public void finalize()
+
+
Finalizes HostUDP +

+

+
Overrides:
finalize in class java.lang.Object
+
+
+
+
+
+
+ +

+command

+
+public int command()
+            throws java.io.IOException
+
+
Gets command received from host computer +

+

+
Specified by:
command in class Host
+
+
+ +
Returns:
command code +
Throws: +
java.io.IOException - on communication errors
+
+
+
+ +

+sendStatus

+
+public void sendStatus(double disp,
+                       int index)
+                throws java.io.IOException
+
+
Sends encoder displacement and sync-switch status to host +

+

+
Specified by:
sendStatus in class Host
+
+
+
Parameters:
disp - encoder displacement in rad
index - sync-switch status +
Throws: +
java.io.IOException - on communication errors
+
+
+
+ +

+sendStatus

+
+public void sendStatus(int disp,
+                       int index)
+                throws java.io.IOException
+
+
Sends encoder displacement and sync-switch status to host +

+

+
Specified by:
sendStatus in class Host
+
+
+
Parameters:
disp - encoder displacement in pulses
index - sync-switch status +
Throws: +
java.io.IOException - on communication errors
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/Index.html b/doc/javadocs/br/ufrgs/eletro/AIC/Index.html new file mode 100644 index 0000000..6871109 --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/Index.html @@ -0,0 +1,252 @@ + + + + + + +Index + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class Index

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.Index
+
+
+
+
public final class Index
extends java.lang.Object
+ +

+Provides access to sync-switch in an Actuator Interface Card +

+ +

+

+
Version:
AIC-1.3.0
+ +
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + + + +
+Constructor Summary
Index(int base) + +
+          Initializes Index
+  + + + + + + + + + + + +
+Method Summary
+static booleanread() + +
+          Reads the sync-switch
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + + + + +
+Constructor Detail
+ +

+Index

+
+public Index(int base)
+
+
Initializes Index +

+

Parameters:
base - Base address for on board devices
+ + + + + + + + +
+Method Detail
+ +

+read

+
+public static boolean read()
+
+
Reads the sync-switch +

+

+ +
Returns:
the sync-switch state
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/Motor.html b/doc/javadocs/br/ufrgs/eletro/AIC/Motor.html new file mode 100644 index 0000000..be8b26d --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/Motor.html @@ -0,0 +1,340 @@ + + + + + + +Motor + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class Motor

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.Motor
+
+
+
+
public class Motor
extends java.lang.Object
+ +

+Provices access to the motor driver in an Actuator Interface Card +

+ +

+

+
Version:
AIC-1.3.0
+ +
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + + + + + + +
+Constructor Summary
Motor(int baseadd, + double voltage) + +
+          Initializes the motor driver using the default PWM frequency (20KHz)
Motor(int baseadd, + double voltage, + double freq) + +
+          Initializes the motor driver
+  + + + + + + + + + + + + + + + + + + + + + + + +
+Method Summary
+ voidfinalize() + +
+          Finalizes the motor driver
+ voidoff() + +
+          Turns the motor driver off
+ voidon() + +
+          Turns the motor driver on
+ doubleset(double voltage) + +
+          Sets the voltage to be applied by the motor driver
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + + + + +
+Constructor Detail
+ +

+Motor

+
+public Motor(int baseadd,
+             double voltage,
+             double freq)
+
+
Initializes the motor driver +

+

Parameters:
baseadd - Base address for on board devices
voltage - Motor Voltage
freq - PWM frequency
+
+ +

+Motor

+
+public Motor(int baseadd,
+             double voltage)
+
+
Initializes the motor driver using the default PWM frequency (20KHz) +

+

Parameters:
baseadd - Base address for on board devices
voltage - Motor Voltage
+ + + + + + + + +
+Method Detail
+ +

+finalize

+
+public void finalize()
+
+
Finalizes the motor driver +

+

+
Overrides:
finalize in class java.lang.Object
+
+
+
+
+
+
+ +

+on

+
+public void on()
+
+
Turns the motor driver on +

+

+
+
+
+
+ +

+off

+
+public void off()
+
+
Turns the motor driver off +

+

+
+
+
+
+ +

+set

+
+public double set(double voltage)
+
+
Sets the voltage to be applied by the motor driver +

+

+
Parameters:
voltage - to be applied by the motor driver +
Returns:
the duty-cycle of the associated PWM
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/PLD.html b/doc/javadocs/br/ufrgs/eletro/AIC/PLD.html new file mode 100644 index 0000000..7ac164b --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/PLD.html @@ -0,0 +1,295 @@ + + + + + + +PLD + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class PLD

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.PLD
+
+
+ +

+

+
public class PLD
extends java.lang.Object
+ +

+Provides constants defining addresses for devices in an Actuator Interface Card +

+ +

+

+
Since:
AIC-1.2.0
+ +
Version:
AIC-1.3.0
+ +
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + + + + + + + + + +
+Field Summary
+static intCONTROL + +
+          Deprecated. Control register address
+static intENCODER + +
+          Deprecated. Encoder address
+static intPWM + +
+          Deprecated. PWM address
+  + + + + + + + + + + +
+Constructor Summary
PLD() + +
+          Deprecated.  
+  + + + + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + +
+Field Detail
+ +

+PWM

+
+public static final int PWM
+
+
Deprecated. 
PWM address +

+

+
See Also:
PWM, +Constant Field Values
+
+
+ +

+ENCODER

+
+public static final int ENCODER
+
+
Deprecated. 
Encoder address +

+

+
See Also:
Encoder, +Constant Field Values
+
+
+ +

+CONTROL

+
+public static final int CONTROL
+
+
Deprecated. 
Control register address +

+

+
See Also:
CtrlRegister, +Constant Field Values
+
+ + + + + + + + +
+Constructor Detail
+ +

+PLD

+
+public PLD()
+
+
Deprecated. 
+ + + + +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/PWM.html b/doc/javadocs/br/ufrgs/eletro/AIC/PWM.html new file mode 100644 index 0000000..8c7a7c6 --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/PWM.html @@ -0,0 +1,479 @@ + + + + + + +PWM + + + + + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ +

+ +br.ufrgs.eletro.AIC +
+Class PWM

+
+java.lang.Object
+  |
+  +--br.ufrgs.eletro.AIC.PWM
+
+
+
+
public final class PWM
extends java.lang.Object
+ +

+Provices access to the PWM in an Actuator Interface Card +

+ +

+

+
Version:
AIC-1.3.0
+ +
Author:
Walter Fetter Lages (w.fetter@ieee.org)
+ +
+
+ +

+ + + + + + + + + + + + + + + + + + +
+Field Summary
+static doubleREF_FREQ + +
+          Reference frequency = 10MHz
+static doubleSW_FREQ + +
+          Default Switching Frequency = 20KHz
+  + + + + + + + + + + + + + +
+Constructor Summary
PWM(int base) + +
+          Initializes the PWM using the default PWM frequency (20KHz)
PWM(int base, + double freq) + +
+          Initializes the PWM
+  + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+Method Summary
+ voidfinalize() + +
+          Finalizes the PWM
+ doublegetFreq() + +
+          Returns the frequency of PWM
+static voidoff() + +
+          Turns the PWM off
+static voidon() + +
+          Turns the PWM on
+static voidsetCount(int count) + +
+          Sets the frequency of PWM in cycles of 10MHz
+ intsetDuty(double dutycycle) + +
+          Sets the duty-cycle of PWM
+static intsetDuty(int dutycycle) + +
+          Sets the duty-cycle of PWM
+ voidsetFreq(double frequency) + +
+          Sets the frequency of PWM
+  + + + + + + + +
Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
+  +

+ + + + + + + + +
+Field Detail
+ +

+REF_FREQ

+
+public static final double REF_FREQ
+
+
Reference frequency = 10MHz +

+

+
See Also:
Constant Field Values
+
+
+ +

+SW_FREQ

+
+public static final double SW_FREQ
+
+
Default Switching Frequency = 20KHz +

+

+
See Also:
Constant Field Values
+
+ + + + + + + + +
+Constructor Detail
+ +

+PWM

+
+public PWM(int base,
+           double freq)
+
+
Initializes the PWM +

+

Parameters:
freq - PWM frequency
+
+ +

+PWM

+
+public PWM(int base)
+
+
Initializes the PWM using the default PWM frequency (20KHz) +

+

+ + + + + + + + +
+Method Detail
+ +

+setCount

+
+public static void setCount(int count)
+
+
Sets the frequency of PWM in cycles of 10MHz +

+

+
Parameters:
count - number of cycles from 10 to 65530. Default + value is 500
Since:
AIC-1.3.0
+
+
+ + +
+ +

+setFreq

+
+public void setFreq(double frequency)
+
+
Sets the frequency of PWM +

+

+
Parameters:
frequency - frequency in Hz from 152.60Hz to 1MHz. Default + value is 20KHz
+
+
+
+ +

+getFreq

+
+public double getFreq()
+
+
Returns the frequency of PWM +

+

+ +
Returns:
PWM frequency in Hz
+
+
+
+ +

+finalize

+
+public void finalize()
+
+
Finalizes the PWM +

+

+
Overrides:
finalize in class java.lang.Object
+
+
+
+
+
+
+ +

+setDuty

+
+public int setDuty(double dutycycle)
+
+
Sets the duty-cycle of PWM +

+

+
Parameters:
dutycycle - to be used by PWM as a double from 0 to 1.0 +
Returns:
the count value programmed to the PWM timer
+
+
+
+ +

+setDuty

+
+public static int setDuty(int dutycycle)
+
+
Sets the duty-cycle of PWM +

+

+
Parameters:
dutycycle - to be used by PWM as a int from 0 to 1000000 +
Returns:
the count value programmed to the PWM timer
+
+
+
+ +

+on

+
+public static void on()
+
+
Turns the PWM on +

+

+
+
+
+
+ +

+off

+
+public static void off()
+
+
Turns the PWM off +

+

+
+
+
+ +
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package   Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV CLASS  + NEXT CLASS + FRAMES   + NO FRAMES   +  + + +
+ SUMMARY: NESTED | FIELD | CONSTR | METHOD +DETAIL: FIELD | CONSTR | METHOD
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/package-frame.html b/doc/javadocs/br/ufrgs/eletro/AIC/package-frame.html new file mode 100644 index 0000000..39e3e1a --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/package-frame.html @@ -0,0 +1,52 @@ + + + + + + +br.ufrgs.eletro.AIC() + + + + + + +br.ufrgs.eletro.AIC + + + + +
+Classes  + +
+AIC +
+Brake +
+CtrlRegister +
+Encoder +
+Host +
+HostCAN +
+HostUDP +
+Index +
+Motor +
+PLD +
+PWM
+ + + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/package-summary.html b/doc/javadocs/br/ufrgs/eletro/AIC/package-summary.html new file mode 100644 index 0000000..d5a2d91 --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/package-summary.html @@ -0,0 +1,172 @@ + + + + + + +br.ufrgs.eletro.AIC() + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
 Package  Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV PACKAGE  + NEXT PACKAGE + FRAMES   + NO FRAMES   +  + + +
+ + +
+

+Package br.ufrgs.eletro.AIC +

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+Class Summary
AICProvides access to all devices in an Actuator Interface Card
BrakeProvides access to electromagnetic brake in an Actuator Interface Card
CtrlRegisterDeprecated.  
EncoderProvides access to incremental encoder in an Actuator Interface Card
HostProvides access host computer through a devived class
HostCANProvides access host computer through CAN bus
HostUDPProvides access host computer through UDP connetion
IndexProvides access to sync-switch in an Actuator Interface Card
MotorProvices access to the motor driver in an Actuator Interface Card
PLDDeprecated.  
PWMProvices access to the PWM in an Actuator Interface Card
+  + +

+

+ + + + + + + + + + + + + +
+ + + + + + + + + + +
 Package  Class  Tree  Deprecated  Index  Help 
+		 + +
+ PREV PACKAGE  + NEXT PACKAGE + FRAMES   + NO FRAMES   +  + + +
+ + +
+ + + diff --git a/doc/javadocs/br/ufrgs/eletro/AIC/package-tree.html b/doc/javadocs/br/ufrgs/eletro/AIC/package-tree.html new file mode 100644 index 0000000..a42269d --- /dev/null +++ b/doc/javadocs/br/ufrgs/eletro/AIC/package-tree.html @@ -0,0 +1,129 @@ + + + + + + +br.ufrgs.eletro.AIC Class Hierarchy + + + + + + + + + + + + + + + + + + +
+ + + + + + + + + + +
Package  Class   Tree  Deprecated  Index  Help 
+		 + +
+ PREV  + NEXT + FRAMES   + NO FRAMES   +  + + +
+ + +
+
+

+Hierarchy For Package br.ufrgs.eletro.AIC +

+
+

+Class Hierarchy +

+
    +
  • class java.lang.Object
      +
    • class br.ufrgs.eletro.AIC.AIC
    • class br.ufrgs.eletro.AIC.Brake
    • class br.ufrgs.eletro.AIC.CtrlRegister
    • class br.ufrgs.eletro.AIC.Encoder
    • class br.ufrgs.eletro.AIC.Host +
    • class br.ufrgs.eletro.AIC.Index
    • class br.ufrgs.eletro.AIC.Motor
    • class br.ufrgs.eletro.AIC.PLD
    • class br.ufrgs.eletro.AIC.PWM
    +
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+br.ufrgs.*
+ +

+ + + + + + + + + + + + + + + + + + + + + + + + + + + +
br.ufrgs.eletro.AIC.CtrlRegister
+public static final intBRAKEAPPLY2
+public static final intBRAKERELEASE3
+public static final intPWMDISABLE0
+public static final intPWMENABLE1
+ +

+ +

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
br.ufrgs.eletro.AIC.Host
+public static final intBRAKE_APPLIED2
+public static final intBRAKE_APPLY3
+public static final intBRAKE_RELEASE48
+public static final intINVALID0
+public static final intMOTOR_ACT16
+public static final intMOTOR_IS_ON1
+public static final intMOTOR_OFF2
+public static final intMOTOR_ON49
+public static final intRESET1
+public static final intSTATUS32
+ +

+ +

+ + + + + + + + + + + + + + + + + + + + + + +
br.ufrgs.eletro.AIC.PLD
+public static final intCONTROL655360
+public static final intENCODER589824
+public static final intPWM524288
+ +

+ +

+ + + + + + + + + + + + + + + + + +
br.ufrgs.eletro.AIC.PWM
+public static final doubleREF_FREQ1.0E7d
+public static final doubleSW_FREQ20000.0d
+ +

+ +

+

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+Deprecated API

+
+ + + + + + + + + + + +
+Deprecated Classes
br.ufrgs.eletro.AIC.CtrlRegister +
+            
br.ufrgs.eletro.AIC.PLD +
+            
+  +

+

+ + + + + + + + + + + + + +
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+How This API Document Is Organized

+
+This API (Application Programming Interface) document has pages corresponding to the items in the navigation bar, described as follows.

+Package

+
+ +

+Each package has a page that contains a list of its classes and interfaces, with a summary for each. This page can contain four categories:

    +
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+
+

+Class/Interface

+
+ +

+Each class, interface, nested class and nested interface has its own separate page. Each of these pages has three sections consisting of a class/interface description, summary tables, and detailed member descriptions:

    +
  • Class inheritance diagram
  • Direct Subclasses
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  • Class/interface declaration
  • Class/interface description +

    +

  • Nested Class Summary
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  • Constructor Summary
  • Method Summary +

    +

  • Field Detail
  • Constructor Detail
  • Method Detail
+Each summary entry contains the first sentence from the detailed description for that item. The summary entries are alphabetical, while the detailed descriptions are in the order they appear in the source code. This preserves the logical groupings established by the programmer.
+

+Tree (Class Hierarchy)

+
+There is a Class Hierarchy page for all packages, plus a hierarchy for each package. Each hierarchy page contains a list of classes and a list of interfaces. The classes are organized by inheritance structure starting with java.lang.Object. The interfaces do not inherit from java.lang.Object.
    +
  • When viewing the Overview page, clicking on "Tree" displays the hierarchy for all packages.
  • When viewing a particular package, class or interface page, clicking "Tree" displays the hierarchy for only that package.
+
+

+Deprecated API

+
+The Deprecated API page lists all of the API that have been deprecated. A deprecated API is not recommended for use, generally due to improvements, and a replacement API is usually given. Deprecated APIs may be removed in future implementations.
+

+Index

+
+The Index contains an alphabetic list of all classes, interfaces, constructors, methods, and fields.
+

+Prev/Next

+These links take you to the next or previous class, interface, package, or related page.

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+These links show and hide the HTML frames. All pages are available with or without frames. +

+

+Serialized Form

+Each serializable or externalizable class has a description of its serialization fields and methods. This information is of interest to re-implementors, not to developers using the API. While there is no link in the navigation bar, you can get to this information by going to any serialized class and clicking "Serialized Form" in the "See also" section of the class description. +

+ + +This help file applies to API documentation generated using the standard doclet. + +
+

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+ + +A B C E F G H I M O P R S U V
+

+A

+
+
AIC - class br.ufrgs.eletro.AIC.AIC.
Provides access to all devices in an Actuator Interface Card
AIC(int, double, double, int) - +Constructor for class br.ufrgs.eletro.AIC.AIC +
Initializes an AIC +
apply() - +Static method in class br.ufrgs.eletro.AIC.Brake +
Applies the electromagnetic brake +
+
+

+B

+
+
br.ufrgs.eletro.AIC - package br.ufrgs.eletro.AIC
 
brake - +Variable in class br.ufrgs.eletro.AIC.AIC +
Brake actuaded by AIC +
Brake - class br.ufrgs.eletro.AIC.Brake.
Provides access to electromagnetic brake in an Actuator Interface Card
BRAKE_APPLIED - +Static variable in class br.ufrgs.eletro.AIC.Host +
Brake applied status +
BRAKE_APPLY - +Static variable in class br.ufrgs.eletro.AIC.Host +
Brake apply command +
BRAKE_RELEASE - +Static variable in class br.ufrgs.eletro.AIC.Host +
Brake release command +
Brake(int) - +Constructor for class br.ufrgs.eletro.AIC.Brake +
Initializes Brake. +
BRAKEAPPLY - +Static variable in class br.ufrgs.eletro.AIC.CtrlRegister +
Deprecated. Apply Brake +
BRAKERELEASE - +Static variable in class br.ufrgs.eletro.AIC.CtrlRegister +
Deprecated. Release Brake +
+
+

+C

+
+
clear() - +Static method in class br.ufrgs.eletro.AIC.Encoder +
Clears the counter on the quadrature decoder chip +
command() - +Method in class br.ufrgs.eletro.AIC.Host +
Gets command received from host computer +
command() - +Method in class br.ufrgs.eletro.AIC.HostUDP +
Gets command received from host computer +
command() - +Method in class br.ufrgs.eletro.AIC.HostCAN +
Gets command received from host computer +
CONTROL - +Static variable in class br.ufrgs.eletro.AIC.PLD +
Deprecated. Control register address +
CtrlRegister - class br.ufrgs.eletro.AIC.CtrlRegister.
Deprecated.  
CtrlRegister() - +Constructor for class br.ufrgs.eletro.AIC.CtrlRegister +
Deprecated.   +
+
+

+E

+
+
encoder - +Variable in class br.ufrgs.eletro.AIC.AIC +
Encoder read by AIC +
Encoder - class br.ufrgs.eletro.AIC.Encoder.
Provides access to incremental encoder in an Actuator Interface Card
ENCODER - +Static variable in class br.ufrgs.eletro.AIC.PLD +
Deprecated. Encoder address +
Encoder(int, int) - +Constructor for class br.ufrgs.eletro.AIC.Encoder +
Initializes Encoder, clears the counter on the quadrature decoder chip +
+
+

+F

+
+
finalize() - +Method in class br.ufrgs.eletro.AIC.PWM +
Finalizes the PWM +
finalize() - +Method in class br.ufrgs.eletro.AIC.Motor +
Finalizes the motor driver +
finalize() - +Method in class br.ufrgs.eletro.AIC.Encoder +
Finalizes Encoder +
finalize() - +Method in class br.ufrgs.eletro.AIC.AIC +
Finalizes an AIC +
finalize() - +Method in class br.ufrgs.eletro.AIC.HostUDP +
Finalizes HostUDP +
finalize() - +Method in class br.ufrgs.eletro.AIC.HostCAN +
Finalizes HostCAN +
+
+

+G

+
+
getCount() - +Static method in class br.ufrgs.eletro.AIC.Encoder +
Gets the count on the quadrature decoder chip +
getCountAndClear() - +Static method in class br.ufrgs.eletro.AIC.Encoder +
Gets the count and clears the counter on the quadrature decoder chip +
getFreq() - +Method in class br.ufrgs.eletro.AIC.PWM +
Returns the frequency of PWM +
getStatus() - +Method in class br.ufrgs.eletro.AIC.Host +
Gets brake and motor status +
+
+

+H

+
+
Host - class br.ufrgs.eletro.AIC.Host.
Provides access host computer through a devived class
Host() - +Constructor for class br.ufrgs.eletro.AIC.Host +
  +
HostCAN - class br.ufrgs.eletro.AIC.HostCAN.
Provides access host computer through CAN bus
HostCAN(int) - +Constructor for class br.ufrgs.eletro.AIC.HostCAN +
Initializes HostCAN using CAN bus 0 as default +
HostCAN(int, int) - +Constructor for class br.ufrgs.eletro.AIC.HostCAN +
Initializes HostCAN +
HostUDP - class br.ufrgs.eletro.AIC.HostUDP.
Provides access host computer through UDP connetion
HostUDP(String) - +Constructor for class br.ufrgs.eletro.AIC.HostUDP +
Initializes HostUDP using default status and command port numbers +
HostUDP(String, int) - +Constructor for class br.ufrgs.eletro.AIC.HostUDP +
Initializes HostUDP using default command port numbers +
HostUDP(String, int, int) - +Constructor for class br.ufrgs.eletro.AIC.HostUDP +
Initializes HostUDP +
+
+

+I

+
+
index - +Variable in class br.ufrgs.eletro.AIC.AIC +
Sync-switch read by AIC +
Index - class br.ufrgs.eletro.AIC.Index.
Provides access to sync-switch in an Actuator Interface Card
Index(int) - +Constructor for class br.ufrgs.eletro.AIC.Index +
Initializes Index +
INVALID - +Static variable in class br.ufrgs.eletro.AIC.Host +
Invalid command +
+
+

+M

+
+
motor - +Variable in class br.ufrgs.eletro.AIC.AIC +
Motor actuated by AIC +
Motor - class br.ufrgs.eletro.AIC.Motor.
Provices access to the motor driver in an Actuator Interface Card
MOTOR_ACT - +Static variable in class br.ufrgs.eletro.AIC.Host +
Motor actuate command +
MOTOR_IS_ON - +Static variable in class br.ufrgs.eletro.AIC.Host +
Motor on status +
MOTOR_OFF - +Static variable in class br.ufrgs.eletro.AIC.Host +
Motor off command +
MOTOR_ON - +Static variable in class br.ufrgs.eletro.AIC.Host +
Motor on command +
Motor(int, double) - +Constructor for class br.ufrgs.eletro.AIC.Motor +
Initializes the motor driver using the default PWM frequency (20KHz) +
Motor(int, double, double) - +Constructor for class br.ufrgs.eletro.AIC.Motor +
Initializes the motor driver +
+
+

+O

+
+
off() - +Static method in class br.ufrgs.eletro.AIC.PWM +
Turns the PWM off +
off() - +Method in class br.ufrgs.eletro.AIC.Motor +
Turns the motor driver off +
off() - +Method in class br.ufrgs.eletro.AIC.AIC +
Turns an AIC off +
on() - +Static method in class br.ufrgs.eletro.AIC.PWM +
Turns the PWM on +
on() - +Method in class br.ufrgs.eletro.AIC.Motor +
Turns the motor driver on +
on() - +Method in class br.ufrgs.eletro.AIC.AIC +
Turns an AIC on +
+
+

+P

+
+
PLD - class br.ufrgs.eletro.AIC.PLD.
Deprecated.  
PLD() - +Constructor for class br.ufrgs.eletro.AIC.PLD +
Deprecated.   +
PULSES - +Variable in class br.ufrgs.eletro.AIC.Encoder +
Number of pulses per revolution of the encoder, considering the + quadrature decoder +
PWM - class br.ufrgs.eletro.AIC.PWM.
Provices access to the PWM in an Actuator Interface Card
PWM - +Static variable in class br.ufrgs.eletro.AIC.PLD +
Deprecated. PWM address +
PWM(int) - +Constructor for class br.ufrgs.eletro.AIC.PWM +
Initializes the PWM using the default PWM frequency (20KHz) +
PWM(int, double) - +Constructor for class br.ufrgs.eletro.AIC.PWM +
Initializes the PWM +
PWMDISABLE - +Static variable in class br.ufrgs.eletro.AIC.CtrlRegister +
Deprecated. PWM disable +
PWMENABLE - +Static variable in class br.ufrgs.eletro.AIC.CtrlRegister +
Deprecated. PWM enable +
+
+

+R

+
+
read() - +Method in class br.ufrgs.eletro.AIC.Encoder +
Reads the counter on the quadrature decoder chip and converts the motion + to radians +
read() - +Static method in class br.ufrgs.eletro.AIC.Index +
Reads the sync-switch +
readAndClear() - +Method in class br.ufrgs.eletro.AIC.Encoder +
Reads the counter on the quadrature decoder chip, converts the motion + to radians and clears the counter +
REF_FREQ - +Static variable in class br.ufrgs.eletro.AIC.PWM +
Reference frequency = 10MHz +
release() - +Static method in class br.ufrgs.eletro.AIC.Brake +
Releases the electromagnetic brake +
RESET - +Static variable in class br.ufrgs.eletro.AIC.Host +
AIC reset command +
+
+

+S

+
+
sendStatus(double, int) - +Method in class br.ufrgs.eletro.AIC.Host +
Sends encoder displacement and sync-switch status to host +
sendStatus(double, int) - +Method in class br.ufrgs.eletro.AIC.HostUDP +
Sends encoder displacement and sync-switch status to host +
sendStatus(double, int) - +Method in class br.ufrgs.eletro.AIC.HostCAN +
Sends encoder displacement and sync-switch status to host +
sendStatus(int, int) - +Method in class br.ufrgs.eletro.AIC.Host +
Sends encoder displacement and sync-switch status to host +
sendStatus(int, int) - +Method in class br.ufrgs.eletro.AIC.HostUDP +
Sends encoder displacement and sync-switch status to host +
sendStatus(int, int) - +Method in class br.ufrgs.eletro.AIC.HostCAN +
Sends encoder displacement and sync-switch status to host +
set(double) - +Method in class br.ufrgs.eletro.AIC.Motor +
Sets the voltage to be applied by the motor driver +
setCount(int) - +Static method in class br.ufrgs.eletro.AIC.PWM +
Sets the frequency of PWM in cycles of 10MHz +
setDuty(double) - +Method in class br.ufrgs.eletro.AIC.PWM +
Sets the duty-cycle of PWM +
setDuty(int) - +Static method in class br.ufrgs.eletro.AIC.PWM +
Sets the duty-cycle of PWM +
setFreq(double) - +Method in class br.ufrgs.eletro.AIC.PWM +
Sets the frequency of PWM +
status - +Variable in class br.ufrgs.eletro.AIC.Host +
Brake and motor status +
STATUS - +Static variable in class br.ufrgs.eletro.AIC.Host +
Status message identifier +
SW_FREQ - +Static variable in class br.ufrgs.eletro.AIC.PWM +
Default Switching Frequency = 20KHz +
+
+

+U

+
+
u - +Variable in class br.ufrgs.eletro.AIC.Host +
Voltage aplied to motors +
+
+

+V

+
+
voltage() - +Method in class br.ufrgs.eletro.AIC.Host +
Gets motor voltage +
+
+A B C E F G H I M O P R S U V + + + + + + + + + + + + +
+ + + + + + + + + + +
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Package Hierarchies:
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+
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+Class Hierarchy +

+
    +
  • class java.lang.Object
      +
    • class br.ufrgs.eletro.AIC.AIC
    • class br.ufrgs.eletro.AIC.Brake
    • class br.ufrgs.eletro.AIC.CtrlRegister
    • class br.ufrgs.eletro.AIC.Encoder
    • class br.ufrgs.eletro.AIC.Host +
    • class br.ufrgs.eletro.AIC.Index
    • class br.ufrgs.eletro.AIC.Motor
    • class br.ufrgs.eletro.AIC.PLD
    • class br.ufrgs.eletro.AIC.PWM
    +
+
+ + + + + + + + + + + + + +
+ + + + + + + + + + +
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+ + + diff --git a/doc/javadocs/stylesheet.css b/doc/javadocs/stylesheet.css new file mode 100644 index 0000000..b62ecb5 --- /dev/null +++ b/doc/javadocs/stylesheet.css @@ -0,0 +1,29 @@ +/* Javadoc style sheet */ + +/* Define colors, fonts and other style attributes here to override the defaults */ + +/* Page background color */ +body { background-color: #FFFFFF } + +/* Table colors */ +.TableHeadingColor { background: #CCCCFF } /* Dark mauve */ +.TableSubHeadingColor { background: #EEEEFF } /* Light mauve */ +.TableRowColor { background: #FFFFFF } /* White */ + +/* Font used in left-hand frame lists */ +.FrameTitleFont { font-size: 10pts; font-family: Helvetica, Arial, san-serif } +.FrameHeadingFont { font-size: 10pts; font-family: Helvetica, Arial, san-serif } +.FrameItemFont { font-size: 10pts; font-family: Helvetica, Arial, san-serif } + +/* Example of smaller, sans-serif font in frames */ +/* .FrameItemFont { font-size: 10pt; font-family: Helvetica, Arial, sans-serif } */ + +/* Navigation bar fonts and colors */ +.NavBarCell1 { background-color:#EEEEFF;}/* Light mauve */ +.NavBarCell1Rev { background-color:#00008B;}/* Dark Blue */ +.NavBarFont1 { font-family: Arial, Helvetica, sans-serif; color:#000000;} +.NavBarFont1Rev { font-family: Arial, Helvetica, sans-serif; color:#FFFFFF;} + +.NavBarCell2 { font-family: Arial, Helvetica, sans-serif; background-color:#FFFFFF;} +.NavBarCell3 { font-family: Arial, Helvetica, sans-serif; background-color:#FFFFFF;} + diff --git a/doc/suppliers.txt b/doc/suppliers.txt deleted file mode 100644 index 1700fe4..0000000 --- a/doc/suppliers.txt +++ /dev/null @@ -1,80 +0,0 @@ -Na Kvaser - -A placa que eu e o Bracarense temos e' a PCIcan D. Aparentemente ela saiu de -linha e foi substituida pela PCIcan HS/HS. Parece ser a mesma placa com -outro nome. Talvez valha a pena conferir com o fabricante as diferencas -entre elas. - -Na ibutton , 1 componente para cada controlador. - -TINI Board (DSTIN1-1MG) - -Na USDigital , 1 componente para dada controlador - -E6M-2048-157-H - -CTOOLS-157 (apenas 1 no total) - -Na Arrow , 1 componente de cada para cada controlador. - -GAL22V10D-10LP -HCTL-2016 -CP82C54-10 -IRLZ24N (+ alguns sobressalentes) -MXO45HS-10.0000MHZ -PT78ST112V -PCA82C250 (2 por controlador) - -Na Digi-key , tambem 1 de cada para cada controlador. - -MAX4429CPA-ND -LT1162CN-ND -H5096-ND -H8096-ND -WM1700-ND -IRF1010N-ND (4 por controlador + alguns sobressalentes) -PT78ST105V-ND - -Os demais componentes podem ser comprados no mercado local (quantidades por -controlador). - -4 6N137 -1 CAPACITOR 2.2nF -1 CAPACITOR 220nF -1 RJ45 FEMALE -1 DB9 FEMALE -2 DB9 MALE -1 1N4007 -3 1N4148 -1 HEADER8 -1 JUMPER -1 LED GREEN -1 LED RED -2 CAPACITOR 1000uF x 35V -1 CAPACITOR 100uF x 16V -1 CAPACITOR 100uF x 25V -2 CAPACITOR 10uF x 25V -2 CAPACITOR 1uF x 25V -1 CAPACITOR 4.7uF x 16V -1 RESISTOR 10K -1 RESISTOR 1K5 -4 RESISTOR 2K2 -2 RESISTOR 2K7 -2 RESISTOR 330 -4 RESISTOR 390 -1 SWITCH_PUSHBUTTON_NO -1 Gabinete -Fios -Flat cable -solda -parafusos -retentores para os DB9 -Soquetes: -2 DIP24 slim -1 DIP24 wide -7 DIP8 -1 DIP16 - -Placas de circuito impresso a serem fabricadas. Aproximadamente R$ 1000,00 pelo lote de -30. Talvez menos, se puder ser aproveitado o fotolito utilizado da ultima -vez. diff --git a/encodertst/Makefile b/encodertst/Makefile index 0b03a64..c433a45 100644 --- a/encodertst/Makefile +++ b/encodertst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -mcpu=i486 +CFLAGS=-O2 -Wall -march=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcanlib diff --git a/encodertst/encodertst.cpp b/encodertst/encodertst.cpp index d42084c..6258ad6 100644 --- a/encodertst/encodertst.cpp +++ b/encodertst/encodertst.cpp @@ -36,17 +36,22 @@ int main(int argc,char *argv[]) cout << "\nAIC Encoder Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if((argc < 2) || (argc > 3) || - ((argc == 3) && strcasecmp(argv[1],"-UDP"))) + if((argc < 2) || (argc > 4) || + ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) { cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; return -1; } AIC *aic; - if(argc==2) aic=new AIC_CAN(atoi(argv[1])); - else aic=new AIC_UDP(argv[2]); + switch(argc) + { + default: + case 2: aic=new AIC_CAN(atoi(argv[1])); break; + case 3: aic=new AIC_UDP(argv[2]); break; + case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; + } for(;;) { diff --git a/include/aic.h b/include/aic.h index 5a3f1be..94d3a87 100644 --- a/include/aic.h +++ b/include/aic.h @@ -1,8 +1,8 @@ /****************************************************************************** - - Actuator Interface Card + Actuator Interface Card Host Interface Library - Copyright (C) 2003 Walter Fetter Lages + + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -26,78 +26,216 @@ #ifndef _AIC_H #define _AIC_H +/** @file aic.h + Host Interface Library + @author Walter Fetter Lages +*/ + +/** @defgroup aichost AIC Host Interface +@{ +*/ + +/** Encapsulates functions used to provide communication between host and AIC +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_COMM { public: - + +/** Sends a command and its arguments to AIC +* @param command Code of the command to send to AIC +* @param ... Command arguments +* @see AIC_COMMAND +*/ virtual void send_command(int command,...)=0; + +/** Receives a status message from AIC +* @param status Code of the status sent by AIC +* @param ... Pointers to status arguments +* @see AIC_COMMAND +*/ virtual int get_status(int status,...)=0; + +/** Thrown by AIC errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD { }; + +/** Thrown by AIC command errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ + class BAD_COMMAND: public BAD { }; - class AIC_BAD { }; - class AIC_BAD_COMMAND: public AIC_BAD { }; - class AIC_BAD_SEND: public AIC_BAD { }; - class AIC_BAD_RECEIVE: public AIC_BAD { }; +/** Thrown by AIC send errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ + class BAD_SEND: public BAD { }; + +/** Thrown by AIC receive errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ + class BAD_RECEIVE: public BAD { }; }; +/** Provices access to the motor driver in an Actuator Interface Card +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_MOTOR { +/** Communication channel +*/ AIC_COMM *port; public: +/** Initializes the motor driver +* @param comm pointer to AIC_COMM object implementing the communication channel +*/ AIC_MOTOR(AIC_COMM *comm); + +/** Turns the motor driver on +*/ void on(void); + +/** Turns the motor driver off +*/ void off(void); + +/** Sets the voltage to be applied by the motor driver +* @param voltage to be applied by the motor driver +* @return the duty-cycle of the associated PWM +*/ double operator=(double voltage); }; - +/** Provides access to incremental encoder in an Actuator Interface Card +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_ENCODER { +/** Communication channel +*/ AIC_COMM *port; public: +/** Initializes encoder, clears the counter on the quadrature decoder chip +* @param comm pointer to AIC_COMM object implementing the communication channel +*/ AIC_ENCODER(AIC_COMM *comm); + +/** Reads the displacement of encoder in radians +* @return the displacement in radians since the last time +* the encoder was read +*/ double read(void); + +/** Reads the displacement of encoder in radians and the status of the sync-switch +* @param index pointer to an int where the sync-switch status is returned +* @return the displacement in radians since the last time +* the encoder was read +*/ double read(int *index); }; +/** Provides access to electromagnetic brake in an Actuator Interface Card +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_BRAKE { +/** Communication channel +*/ AIC_COMM *port; public: +/** Initializes brake +* @param comm pointer to AIC_COMM object implementing the communication channel +*/ AIC_BRAKE(AIC_COMM *comm); + +/** Applies the electromagnetic brake +*/ void apply(void); + +/** Releases the electromagnetic brake +*/ void release(void); }; + +/** Provides access to sync-switch in an Actuator Interface Card +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_INDEX { +/** Communication channel +*/ AIC_COMM *port; public: +/** Initializes index +* @param comm pointer to AIC_COMM object implementing the communication channel +*/ AIC_INDEX(AIC_COMM *comm); + +/** Reads the sync-switch +* @return the sync-switch state +*/ int read(void); + +/** Reads the sync-switch and the encoder displacement in radians +* @param disp pointer to a double where encoder displacement is returned +* @return the sync-switch state +*/ int read(double *disp); }; - +/** Provides access to all devices in an Actuator Interface Card +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC { public: +/** Motor actuated by AIC +*/ AIC_MOTOR motor; + +/** Encoder read by AIC +*/ AIC_ENCODER encoder; + +/** Brake actuaded by AIC +*/ AIC_BRAKE brake; - AIC_INDEX index; - AIC::AIC(AIC_COMM *comm); +/** Sync-switch read by AIC +*/ + AIC_INDEX index; +/** Initializes an AIC +* @param comm pointer to AIC_COMM object implementing the communication channel +*/ + AIC(AIC_COMM *comm); + +/** Finalizes an AIC +*/ + virtual ~AIC(void) {}; }; +/** +@} +*/ #endif diff --git a/include/aiccan.h b/include/aiccan.h index 501788d..eb6cbd8 100644 --- a/include/aiccan.h +++ b/include/aiccan.h @@ -31,29 +31,99 @@ #include +/** @file aiccan.h + CAN Communication + @author Walter Fetter Lages +*/ + +/** @defgroup aichost AIC Host Interface +@{ +*/ + + + +/** Implements a CAN communication channel +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_CAN:public AIC_COMM, public AIC { - const static int AIC_ID_MASK=0x01f; - const static int AIC_CMD_MASK=0x7e0; - - canHandle handle; - int aicnumber; + /// AIC CAN identification mask + const static int AIC_ID_MASK=0x01f; ///< AIC CAN identification mask + + const static int AIC_CMD_MASK=0x7e0; ///< AIC CAN command mask + canHandle handle; ///< Handle to a CAN channel + int aicnumber; ///< Number of aic to communicate + public: +/** Creates a CAN channel to AIC +* @param aic number of aic to be connected to +* @param bus CAN bus to use +*/ AIC_CAN(int aic,int bus=0); + +/** Closes the CAN channel +*/ virtual ~AIC_CAN(void); + +/** Sends a command and its arguments to AIC +* @param command Code of the command to send to AIC +* @param ... Command arguments +* @see AIC_COMMAND +*/ void send_command(int command,...); + +/** Receives a status message from AIC +* @param status Code of the status sent by AIC +* @param ... Pointers to status arguments +* @see AIC_COMMAND +*/ int get_status(int status,...); - class AIC_CAN_BAD:public AIC_BAD { }; - class AIC_CAN_BAD_OPEN:public AIC_CAN_BAD { }; - class AIC_CAN_BAD_PARMS:public AIC_CAN_BAD { }; - class AIC_CAN_BAD_BUSON:public AIC_CAN_BAD { }; - class AIC_CAN_BAD_CLOSE:public AIC_CAN_BAD { }; - class AIC_CAN_BAD_SEND:public AIC_CAN_BAD,AIC_BAD_SEND { }; - class AIC_CAN_BAD_RECEIVE:public AIC_CAN_BAD,AIC_BAD_RECEIVE { }; - class AIC_CAN_BAD_COMMAND:public AIC_CAN_BAD,AIC_BAD_COMMAND { }; +/** Thrown by AIC_CAN errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD:public AIC_COMM::BAD { }; + +/** Thrown by AIC_CAN open errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_OPEN:public BAD { }; + +/** Thrown by AIC_CAN parameters errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_PARMS:public BAD { }; + +/** Thrown by AIC_CAN bus on errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_BUSON:public BAD { }; + +/** Thrown by AIC_CAN close errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_CLOSE:public BAD { }; + +/** Thrown by AIC_CAN send errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_SEND:public BAD,AIC_COMM::BAD_SEND { }; + +/** Thrown by AIC_CAN receive errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_RECEIVE:public BAD,AIC_COMM::BAD_RECEIVE { }; + +/** Thrown by AIC_CAN command errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_COMMAND:public BAD,AIC_COMM::BAD_COMMAND { }; }; +/** +@} +*/ #endif diff --git a/include/aichost.h b/include/aichost.h index e9c6036..6675c43 100644 --- a/include/aichost.h +++ b/include/aichost.h @@ -2,7 +2,7 @@ Actuator Interface Card AIC Host Interface Simulation - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -28,32 +28,86 @@ #include +/** @file aichost.h + AIC Host Interface Simulator + @author Walter Fetter Lages +*/ + +/** @defgroup aicsim AIC Simulator Interface +@{ +*/ + +/** Encapsulates functions used to provide communication between AIC simulator and host +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_HOST { protected: - double u; - int status; + double u; ///< Motor voltage + int status; ///< Current Status public: +/** AIC simulator status +*/ enum STATUS { - MOTOR_ON = 1, - BRAKE_APPLIED = 2 + MOTOR_ON = 1, ///< Motor is on + BRAKE_APPLIED = 2 ///< Brake is applied }; +/** Initializes AIC simulator communication +*/ AIC_HOST(void); + +/** Closes AIC simulator communication +*/ virtual ~AIC_HOST(void); + +/** Gets the command code received from host +* @return command code +* @see AIC_COMMAND +*/ virtual int command(void)=0; + +/** Gets the status from AIC simulator +* @return status code +* @see STATUS +*/ int getstatus(void) const; + +/** Send AIC simulator motor displacement and sync-switch status to host +* @param disp motor displacement in radians +* @param index sync-switch index +*/ virtual void send_status(double disp,int index)=0; + +/** Gets the voltage to be applied to motor received with the last command +* @return voltage +*/ double voltage(void) const; + +/** Thrown by AIC_HOST errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD { }; - class AIC_HOST_BAD { }; - class AIC_HOST_BAD_SEND: public AIC_HOST_BAD { }; - class AIC_HOST_BAD_RECEIVE: public AIC_HOST_BAD { }; +/** Thrown by AIC_HOST send errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_SEND: public BAD { }; + +/** Thrown by AIC_HOST receive errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_RECEIVE: public BAD { }; }; +/** +@} +*/ + #endif diff --git a/include/aichostcan.h b/include/aichostcan.h index f16497d..9085a2e 100644 --- a/include/aichostcan.h +++ b/include/aichostcan.h @@ -3,7 +3,7 @@ Actuator Interface Card AIC Host Interface Simulation CAN Communication - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -31,29 +31,91 @@ #include +/** @file aichostcan.h + AIC Simulator CAN Communication + @author Walter Fetter Lages +*/ + +/** @defgroup aicsim AIC Simulator Interface +@{ +*/ + +/** Provides CAN communication between AIC simulator and host +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_HOST_CAN:public AIC_HOST { - const static int AIC_ID_MASK=0x01f; - const static int AIC_CMD_MASK=0x7e0; + const static int AIC_ID_MASK=0x01f; ///< AIC CAN identification mask - canHandle handle; - int aicnumber; + const static int AIC_CMD_MASK=0x7e0; ///< AIC CAN command mask + + canHandle handle; ///< Handle to a CAN channel + int aicnumber; ///< Number of aic to communicate public: +/** Creates a CAN channel to host +* @param aicid number of aic connecting to host +* @param bus CAN bus to use +*/ AIC_HOST_CAN(int aicid,int bus=0); + +/** Closes the CAN channel +*/ ~AIC_HOST_CAN(void); + +/** Gets the command code received from host +* @return command code +* @see AIC_COMMAND +*/ int command(void); + +/** Send AIC simulator motor displacement and sync-switch status to host +* @param disp motor displacement in radians +* @param index sync-switch index +*/ void send_status(double disp,int index); + + +/** Thrown by AIC_HOST_CAN errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD:public AIC_HOST::BAD { }; + +/** Thrown by AIC_HOST_CAN open errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_OPEN:public BAD { }; + +/** Thrown by AIC_HOST_CAN parameters errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_PARMS:public BAD { }; - class AIC_HOST_CAN_BAD:public AIC_HOST_BAD { }; - class AIC_HOST_CAN_BAD_OPEN:public AIC_HOST_CAN_BAD { }; - class AIC_HOST_CAN_BAD_PARMS:public AIC_HOST_CAN_BAD { }; - class AIC_HOST_CAN_BAD_BUSON:public AIC_HOST_CAN_BAD { }; - class AIC_HOST_CAN_BAD_CLOSE:public AIC_HOST_CAN_BAD { }; - class AIC_HOST_CAN_BAD_SEND:public AIC_HOST_CAN_BAD,AIC_HOST_BAD_SEND { }; - class AIC_HOST_CAN_BAD_RECEIVE:public AIC_HOST_CAN_BAD,AIC_HOST_BAD_RECEIVE { }; +/** Thrown by AIC_HOST_CAN bus on errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_BUSON:public BAD { }; + +/** Thrown by AIC_HOST_CAN close errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_CLOSE:public BAD { }; + +/** Thrown by AIC_HOST_CAN send errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_SEND:public BAD,AIC_HOST::BAD_SEND { }; + +/** Thrown by AIC_HOST_CAN receive errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_RECEIVE:public BAD,AIC_HOST::BAD_RECEIVE { }; }; +/** +@} +*/ #endif diff --git a/include/aichostudp.h b/include/aichostudp.h index 188605b..4b8bd86 100644 --- a/include/aichostudp.h +++ b/include/aichostudp.h @@ -3,7 +3,7 @@ Actuator Interface Card AIC Host Interface Simulation UDP Communication - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -32,26 +32,77 @@ #include #include +/** @file aichostudp.h + AIC Simulator UDP Communication + @author Walter Fetter Lages +*/ + +/** @defgroup aicsim AIC Simulator Interface +@{ +*/ + +/** Provides UDP communication between AIC simulator and host +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_HOST_UDP:public AIC_HOST { - // socket for receiving command + /// socket for receiving command struct sockaddr_in cmdaddr; + + /// file descriptor for socket command int cmdfd; - // socket for transmitting status signal + /// socket for transmitting status signal struct sockaddr_in statusaddr; + + /// file descriptor for status socket int statusfd; public: +/** Initializes AIC simulator UDP communication + @param controllername pointer to a string with the name of controller host + @param statusport UDP port to send status to + @param cmdport UDP port to bind to receive commands + @see aicnet.h +*/ AIC_HOST_UDP(const char *controllername,int statusport=STATUS_PORT,int cmdport=CMD_PORT); + +/** Closes AIC simulator UDP communication +*/ ~AIC_HOST_UDP(void); + +/** Gets the command code received from host +* @return command code +* @see AIC_COMMAND +*/ int command(void); + +/** Send AIC simulator motor displacement and sync-switch status to host +* @param disp motor displacement in radians +* @param index sync-switch index +*/ void send_status(double disp,int index); - class AIC_HOST_UDP_BAD: public AIC_HOST_BAD { }; - class AIC_HOST_UDP_BAD_SOCKET: public AIC_HOST_UDP_BAD { }; - class AIC_HOST_UDP_BAD_BIND: public AIC_HOST_UDP_BAD { }; +/** Thrown by AIC_HOST_UDP errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD: public AIC_HOST::BAD { }; + +/** Thrown by AIC_HOST_UDP socket errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_SOCKET: public BAD { }; + + +/** Thrown by AIC_HOST_UDP bind errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_BIND: public BAD { }; }; +/** +@} +*/ #endif diff --git a/include/aicmacro.inc b/include/aicmacro.inc new file mode 100644 index 0000000..a6be3d3 --- /dev/null +++ b/include/aicmacro.inc @@ -0,0 +1,73 @@ +;****************************************************************************** +; +; Actuator Interface Card +; Utility Macros +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + +; store 24 bit data +; parameters: addr?=address to store data into +; inputs: dpx:dph:dhl=data to be stored +; destroy: a +; outputs: dpx1:dph1:dpl1addr? +STORE24 macro param addr? + mov a,dpx + orl DPS,#01h + mov dptr,addr? + movx @dptr,a + inc dptr + mov a,dph + movx @dptr,a + inc dptr + mov a,dpl + movx @dptr,a + anl DPS,#0feh + endm + +; load 24 bit data +; parameters: addr?=address to load data from +; inputs: none +; destroy: a +; outputs: dpx:dph:dpl=loaded data +; dpx1:dph1:dpl1=addr? +LOAD24 macro param addr? + orl DPS,#01h + mov dptr,addr? + movx a,@dptr + inc dptr + mov dpx,a + movx a,@dptr + inc dptr + mov dph,a + movx a,@dptr + mov dpl,a + anl DPS,#0feh + endm + +; include stretch macros + +if(STRETCH > 0) +$include(aicstretch.inc) +endif +if(STRETCH <=0) +$include(aicnostretch.inc) +endif + diff --git a/include/aicnet.h b/include/aicnet.h index bad99d4..04f80e0 100644 --- a/include/aicnet.h +++ b/include/aicnet.h @@ -26,19 +26,35 @@ #ifndef _AICNET_H #define _AICNET_H +/** @file aicnet.h + Host Interface Library + @author Walter Fetter Lages +*/ + +/** @defgroup aichost AIC Host Interface +@{ +*/ + +/** Default command port +*/ #define CMD_PORT 9880 + +/** Default status port +*/ #define STATUS_PORT 9877 +/** AIC command codes +*/ enum AIC_COMMAND { - AIC_INVALID= 0x00, - AIC_RESET= 0x01, - AIC_MOTOR_OFF= 0x02, - AIC_BRAKE_APPLY= 0x03, - AIC_MOTOR_ACT= 0x10, - AIC_STATUS= 0x20, - AIC_BRAKE_RELEASE= 0x30, - AIC_MOTOR_ON= 0x31 + AIC_INVALID= 0x00, ///< Invalid command + AIC_RESET= 0x01, ///< Reset AIC + AIC_MOTOR_OFF= 0x02, ///< Turns motor off + AIC_BRAKE_APPLY= 0x03, ///< Aplies brake + AIC_MOTOR_ACT= 0x10, ///< Actuates motor with given voltage + AIC_STATUS= 0x20, ///< Status identification + AIC_BRAKE_RELEASE= 0x30, ///< Releases brake + AIC_MOTOR_ON= 0x31 ///< Turns motor on }; #endif diff --git a/include/aicnostretch.inc b/include/aicnostretch.inc new file mode 100644 index 0000000..42a78af --- /dev/null +++ b/include/aicnostretch.inc @@ -0,0 +1,36 @@ +;****************************************************************************** +; +; Actuator Interface Card +; No Stretch Macros +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + +; set stretch +; parameters: stretch?=dummy stretch value +SET_STRETCH macro param stretch? +; dummy macro + endm + +; restore original stretch value +; parameters: saved?=dummy stretch value +RESTORE_STRETCH macro param saved? +; dummy macro + endm diff --git a/include/aicpld.inc b/include/aicpld.inc new file mode 100644 index 0000000..7efac55 --- /dev/null +++ b/include/aicpld.inc @@ -0,0 +1,46 @@ +;****************************************************************************** +; +; Actuator Interface Card +; PLD Constants +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + + +; constants defining addresses for devices in an Actuator Interface Card + +PWM equ 80000h ; PWM address +ENCODER equ 90000h ; Encoder address +CONTROL equ 0A0000h ; Control register address + +; constants for using the control register in an Actuator Interface Card + +PWMDISABLE equ 00h ; PWM disable +PWMENABLE equ 01h ; PWM enable +BRAKEAPPLY equ 02h ; Apply brake +BRAKERELEASE equ 03h ; Release brake + +; stretch values for memory access +; 2 -> 4 cycles +STRETCH equ -2 +STRETCH_MASK equ 0f8h + + + diff --git a/include/aicsim.h b/include/aicsim.h index a96baeb..ca3a74e 100644 --- a/include/aicsim.h +++ b/include/aicsim.h @@ -1,8 +1,7 @@ /****************************************************************************** - Actuator Interface Card Simulator - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -28,16 +27,54 @@ #include +/** @file aicsim.h + AIC Simulator + @author Walter Fetter Lages +*/ + +/** @defgroup aicsim AIC Simulator Interface +@{ +*/ + +/** Emulates an AIC +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_SIM:public AIC_COMM, public AIC { public: +/** Initialize AIC simulator +*/ AIC_SIM(void); + +/** Simulates the execution of an AIC command by logging it to cout +* @param command Code of the command sent to AIC +* @param ... Command arguments +* @see AIC_COMMAND +*/ void send_command(int command,...); + +/** Simulates the genetration of a status message from an AIC by generating synthetic data +* @param status Code of the status generated by AIC +* @param ... Pointers to status arguments +* @see AIC_COMMAND +*/ int get_status(int status,...); - class AIC_SIM_BAD: public AIC_BAD { }; - class AIC_SIM_BAD_COMMAND: public AIC_SIM_BAD, AIC_BAD_COMMAND { }; +/** Thrown by AIC simulator errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD: public AIC_COMM::BAD { }; + +/** Thrown by AIC simulator command errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_COMMAND: public BAD, AIC_COMM::BAD_COMMAND { }; }; +/** +@} +*/ + #endif diff --git a/include/aicstretch.inc b/include/aicstretch.inc new file mode 100644 index 0000000..304d683 --- /dev/null +++ b/include/aicstretch.inc @@ -0,0 +1,42 @@ +;****************************************************************************** +; +; Actuator Interface Card +; Stretch Macros +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + +; set stretch +; parameters: stretch?=stretch value +; outputs: a=new CKCON +; r0=old CKCON (including) stretch value +SET_STRETCH macro param stretch? + mov a,CKCON + mov r0,a + anl a,#STRETCH_MASK + orl a,#stretch? + mov CKCON,a + endm + +; restore original stretch value +; parameters: saved?=stretch value +RESTORE_STRETCH macro param saved? + mov CKCON,saved? + endm diff --git a/include/aicudp.h b/include/aicudp.h index 4ec48b0..f2d677a 100644 --- a/include/aicudp.h +++ b/include/aicudp.h @@ -1,9 +1,9 @@ /****************************************************************************** - Actuator Interface Card Host Interface Library UDP Communication - Copyright (C) 2003 Walter Fetter Lages + + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -31,28 +31,86 @@ #include #include +/** @file aicudp.h + UDP Communication + @author Walter Fetter Lages +*/ + +/** @defgroup aichost AIC Host Interface +@{ +*/ + +/** Implements an UDP communication channel +* @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 +*/ class AIC_UDP:public AIC_COMM, public AIC { - // socket for transmitting commands + /// socket for transmitting commands struct sockaddr_in cmdaddr; + /// file descriptor for command socket int cmdfd; - // socket for receiving sensor signal + /// socket for receiving sensor signal struct sockaddr_in stataddr; + /// file descriptor for status socket int statfd; public: +/** Creates an UDP channel to AIC +* @param aicname pointer to a string with the name of AIC to be connected to +* @param statport UDP port used to receive status from AIC +* @param cmdport UDP port to send commands to +* @see aicnet.h +*/ AIC_UDP(const char *aicname,int statport=STATUS_PORT,int cmdport=CMD_PORT); + +/** Closes the UDP channel +*/ virtual ~AIC_UDP(void); + +/** Sends a command and its arguments to AIC +* @param command Code of the command to send to AIC +* @param ... Command arguments +* @see AIC_COMMAND +*/ void send_command(int command,...); + +/** Receives a status message from AIC +* @param status Code of the status sent by AIC +* @param ... Pointers to status arguments +* @see AIC_COMMAND +*/ int get_status(int status,...); + +/** Thrown by AIC_UDP errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD:public AIC_COMM::BAD { }; + +/** Thrown by AIC_UDP socket errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_SOCKET:public BAD { }; + +/** Thrown by AIC_UDP bind errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_BIND:public BAD { }; + +/** Thrown by AIC_UDP send errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_SEND:public BAD,AIC_COMM::BAD_SEND { }; - class AIC_UDP_BAD:public AIC_BAD { }; - class AIC_UDP_BAD_SOCKET:public AIC_UDP_BAD { }; - class AIC_UDP_BAD_BIND:public AIC_UDP_BAD { }; - class AIC_UDP_BAD_SEND:public AIC_UDP_BAD,AIC_BAD_SEND { }; - class AIC_UDP_BAD_RECEIVE:public AIC_UDP_BAD,AIC_BAD_RECEIVE { }; +/** Thrown by AIC_UDP receive errors +* @author Walter Fetter Lages (w.fetter@ieee.org) +*/ + class BAD_RECEIVE:public BAD,AIC_COMM::BAD_RECEIVE { }; }; +/** +@} +*/ #endif diff --git a/include/apiequ.inc b/include/apiequ.inc new file mode 120000 index 0000000..af5d244 --- /dev/null +++ b/include/apiequ.inc @@ -0,0 +1 @@ +/opt/tini/native/lib/apiequ.inc \ No newline at end of file diff --git a/include/i8254.inc b/include/i8254.inc new file mode 100644 index 0000000..9f33a3d --- /dev/null +++ b/include/i8254.inc @@ -0,0 +1,35 @@ +;****************************************************************************** +; +; Actuator Interface Card +; 8254 Programmable Interrupt Timer Constants +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + + +; 8254 registers +TIMER0_8254 equ 0h ; timer 0 address +TIMER1_8254 equ 1h ; timer 1 address +TIMER2_8254 equ 2h ; timer 2 address +CTRL_8254 equ 3h ; control/status register + +; timer modes +ONE_SHOT_BIN_8254 equ 32h ; programmable one-shot binary +RATE_BIN_8254 equ 34h ; rate generator binary diff --git a/indextst/Makefile b/indextst/Makefile index a2f78c9..ed05178 100644 --- a/indextst/Makefile +++ b/indextst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -mcpu=i486 +CFLAGS=-O2 -Wall -march=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcanlib diff --git a/indextst/indextst.cpp b/indextst/indextst.cpp index 36d86d5..269b13b 100644 --- a/indextst/indextst.cpp +++ b/indextst/indextst.cpp @@ -36,17 +36,22 @@ int main(int argc,char *argv[]) cout << "\nAIC Index Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if((argc < 2) || (argc > 3) || - ((argc == 3) && strcasecmp(argv[1],"-UDP"))) + if((argc < 2) || (argc > 4) || + ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) { cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; return -1; } AIC *aic; - if(argc==2) aic=new AIC_CAN(atoi(argv[1])); - else aic=new AIC_UDP(argv[2]); + switch(argc) + { + default: + case 2: aic=new AIC_CAN(atoi(argv[1])); break; + case 3: aic=new AIC_UDP(argv[2]); break; + case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; + } for(;;) { diff --git a/jointtst/Makefile b/jointtst/Makefile index a2a14d9..c363fc2 100644 --- a/jointtst/Makefile +++ b/jointtst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -mcpu=i486 +CFLAGS=-O2 -Wall -march=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcutil -lconio -lncurses -lcanlib diff --git a/jointtst/jointtst.cpp b/jointtst/jointtst.cpp index 17c52be..b2138b5 100644 --- a/jointtst/jointtst.cpp +++ b/jointtst/jointtst.cpp @@ -24,6 +24,7 @@ *******************************************************************************/ #include + #include #include @@ -56,17 +57,22 @@ int main(int argc,char *argv[]) cout << "\nAIC Robot Joint Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if((argc < 2) || (argc == 3) || (argc > 4) || - ((argc == 4) && strcasecmp(argv[1],"-UDP"))) + if((argc < 2) || (argc > 4) || + ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) { cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic status_port\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; return -1; } AIC *aic; - if(argc==2) aic=new AIC_CAN(atoi(argv[1])); - else aic=new AIC_UDP(argv[2],atoi(argv[3])); + switch(argc) + { + default: + case 2: aic=new AIC_CAN(atoi(argv[1])); break; + case 3: aic=new AIC_UDP(argv[2]); break; + case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; + } aic->motor.on(); aic->brake.release(); diff --git a/lib/AIC.java b/lib/AIC.java index bfb7ba4..11e9995 100644 --- a/lib/AIC.java +++ b/lib/AIC.java @@ -23,8 +23,13 @@ *******************************************************************************/ +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ + +/** AIC Hardware Interface +*/ package br.ufrgs.eletro.AIC; -import com.dalsemi.system.IllegalAddressException; /** Provides access to all devices in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) @@ -55,18 +60,16 @@ public class AIC public Index index; /** Turns an AIC on -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void on() throws IllegalAddressException + public void on() { motor.on(); encoder.clear(); } /** Turns an AIC off -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void off() throws IllegalAddressException + public void off() { motor.set(0); motor.off(); @@ -78,9 +81,8 @@ public class AIC * @param vm Motor Voltage * @param freq PWM frequency * @param np Pulses per encoder revolution -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public AIC(int base,double vm,double freq,int np) throws IllegalAddressException + public AIC(int base,double vm,double freq,int np) { motor=new Motor(base,vm,freq); encoder=new Encoder(base,np); @@ -89,11 +91,14 @@ public class AIC } /** Finalizes an AIC -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void finalize() throws IllegalAddressException + public void finalize() { off(); } } + +/** +@} +*/ diff --git a/lib/Brake.java b/lib/Brake.java index 58ebc11..19cefa8 100644 --- a/lib/Brake.java +++ b/lib/Brake.java @@ -2,7 +2,7 @@ Actuator Interface Card Brake Interface - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003,2004 Walter Fetter Lages 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 @@ -25,41 +25,45 @@ package br.ufrgs.eletro.AIC; -import com.dalsemi.system.DataPort; -import com.dalsemi.system.IllegalAddressException; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ /** Provides access to electromagnetic brake in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 */ -public class Brake +public final class Brake { - private DataPort latch; +/** True if native library was loaded +*/ + private static boolean libLoaded=false; -/** Initializes Brake +/** Brake native initialization +* @param base Base address for on board devices +*/ + private static native void initialize(int base); + +/** Initializes Brake. Loads the corresponding native library. * @param base Base address for on board devices */ public Brake(int base) { - latch=new DataPort(base+PLD.CONTROL); - latch.setFIFOMode(true); - latch.setStretchCycles(DataPort.STRETCH2); + if(!libLoaded) System.loadLibrary("brake.tlib"); + libLoaded=true; + + initialize(base); } -/** Applies the electromagnetic brakes -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed +/** Applies the electromagnetic brake */ - public void apply() throws IllegalAddressException - { - latch.write(CtrlRegister.BRAKEAPPLY); - } + public static native void apply(); /** Releases the electromagnetic brake -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void release() throws IllegalAddressException - { - latch.write(CtrlRegister.BRAKERELEASE); - } -} - + public static native void release(); +} +/** +@} +*/ diff --git a/lib/CtrlRegister.java b/lib/CtrlRegister.java index 7453fc6..c783df0 100644 --- a/lib/CtrlRegister.java +++ b/lib/CtrlRegister.java @@ -25,10 +25,15 @@ package br.ufrgs.eletro.AIC; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ + /** Provides constants for using the control register in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) -* @version 1.3.0 -* @since 1.3.0 +* @version AIC-1.3.0 +* @since AIC-1.2.0 +* @deprecated */ public class CtrlRegister { @@ -48,3 +53,7 @@ public class CtrlRegister */ public static final int BRAKERELEASE=0x03; } + +/** +@} +*/ diff --git a/lib/Encoder.java b/lib/Encoder.java index e03f5b5..9239946 100644 --- a/lib/Encoder.java +++ b/lib/Encoder.java @@ -2,7 +2,7 @@ Actuator Interface Card Encoder Interface - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003,2004 Walter Fetter Lages 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 @@ -25,143 +25,87 @@ package br.ufrgs.eletro.AIC; -import com.dalsemi.system.DataPort; -import com.dalsemi.system.IllegalAddressException; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ /** Provides access to incremental encoder in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 */ -public class Encoder +public final class Encoder { +/** True if native library was loaded +*/ + private static boolean libLoaded=false; /** Number of pulses per revolution of the encoder, considering the * quadrature decoder */ public final int PULSES; - - private DataPort encPort; /** Clears the counter on the quadrature decoder chip -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void clear() throws IllegalAddressException - { - encPort.write((byte)0); - } + public static native void clear(); + +/** Encoder native initialization, clears the counter on the quadrature decoder chip +* @param base Base address for on board devices +*/ + private static native void initialize(int base); /** Initializes Encoder, clears the counter on the quadrature decoder chip * @param base Base address for on board devices * @param pulses Number of pulses per revolution of the encoder, considering the * quadrature decoder -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public Encoder(int base,int pulses) throws IllegalAddressException + public Encoder(int base,int pulses) { - PULSES=pulses; + if(!libLoaded) System.loadLibrary("encoder.tlib"); + libLoaded=true; - encPort=new DataPort(base+PLD.ENCODER); - encPort.setFIFOMode(true); - encPort.setStretchCycles(DataPort.STRETCH2); + PULSES=pulses; - clear(); + initialize(base); } /** Finalizes Encoder -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void finalize() throws IllegalAddressException - { - clear(); - } + public native void finalize(); /** Gets the count on the quadrature decoder chip * @return the number of pulses (in 2-complement) since the last time * the counter was cleared -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public int getCount() throws IllegalAddressException - { - int count; - byte[] hilo=new byte[2]; - boolean FIFOMode; - - FIFOMode=encPort.getFIFOMode(); - encPort.setFIFOMode(false); - encPort.read(hilo,0,2); - encPort.setFIFOMode(FIFOMode); - - count=(hilo[0] << 8) | (hilo[1] & 0x000000ff); - - return count; - } + public static native int getCount(); /** Gets the count and clears the counter on the quadrature decoder chip * @return the number of pulses (in 2-complement) since the last time * the counter was cleared -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public int getCountAndClear() throws IllegalAddressException - { - int count; - byte[] hilo=new byte[2]; - boolean FIFOMode; - - FIFOMode=encPort.getFIFOMode(); - encPort.setFIFOMode(false); - encPort.read(hilo,0,2); - encPort.write((byte)0); - encPort.setFIFOMode(FIFOMode); - - count=(hilo[0] << 8) | (hilo[1] & 0x000000ff); - - return count; - } + public static native int getCountAndClear(); /** Reads the counter on the quadrature decoder chip and converts the motion * to radians * @return the displacement in radians since the last time * the encoder was cleared -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public double read() throws IllegalAddressException + public double read() { - int count; - byte[] hilo=new byte[2]; - boolean FIFOMode; - - FIFOMode=encPort.getFIFOMode(); - encPort.setFIFOMode(false); - encPort.read(hilo,0,2); - encPort.setFIFOMode(FIFOMode); - - count=(hilo[0] << 8) | (hilo[1] & 0x000000ff); - - return ((java.lang.Math.PI/180.0/PULSES)*count); + return ((2*java.lang.Math.PI/PULSES)*getCount()); } /** Reads the counter on the quadrature decoder chip, converts the motion * to radians and clears the counter * @return the displacement in radians since the last time * the encoder was cleared -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public double readAndClear() throws IllegalAddressException + public double readAndClear() { - int count; - byte[] hilo=new byte[2]; - boolean FIFOMode; - - FIFOMode=encPort.getFIFOMode(); - encPort.setFIFOMode(false); - encPort.read(hilo,0,2); - encPort.write((byte)0); - encPort.setFIFOMode(FIFOMode); - - count=(hilo[0] << 8) | (hilo[1] & 0x000000ff); - - return ((java.lang.Math.PI/180.0/PULSES)*count); + return ((2*java.lang.Math.PI/PULSES)*getCountAndClear()); } } - +/** +@} +*/ diff --git a/lib/Host.java b/lib/Host.java index ec10996..4271e4c 100644 --- a/lib/Host.java +++ b/lib/Host.java @@ -27,6 +27,10 @@ package br.ufrgs.eletro.AIC; import java.lang.*; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ + /** Provides access host computer through a devived class * @see HostCAN * @see HostUDP @@ -118,3 +122,6 @@ abstract public class Host return u; } } +/** +@} +*/ diff --git a/lib/HostCAN.java b/lib/HostCAN.java index 54077f9..8ac453a 100644 --- a/lib/HostCAN.java +++ b/lib/HostCAN.java @@ -1,3 +1,4 @@ + /****************************************************************************** Actuator Interface Card @@ -30,6 +31,10 @@ import com.dalsemi.comm.*; import com.dalsemi.system.*; import java.lang.*; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ + /** Provides access host computer through CAN bus * @see HostUDP * @author Walter Fetter Lages (w.fetter@ieee.org) @@ -69,17 +74,20 @@ public class HostCAN extends Host canbus.setMessageCenterTXMode(TXCENTER); - + canbus.setMessageCenterRXMode(RXCENTER); + canbus.set11BitGlobalIDMask(AIC_ID_MASK); canbus.setMessageCenterMessageIDMaskEnable(RXCENTER,true); canbus.set11BitMessageCenterArbitrationID(RXCENTER,id); + canbus.setMessageCenterWriteOverEnable(RXCENTER,true); canbus.enableMessageCenter(RXCENTER); +// canbus.setMessageCenterRXMode(15); // canbus.set11BitMessageCenter15IDMask(0); - canbus.set29BitMessageCenter15IDMask(0); - canbus.setMessageCenterRXMode(15); - canbus.setMessageCenterMessageIDMaskEnable(15,true); - canbus.set11BitMessageCenterArbitrationID(15,0); - canbus.enableMessageCenter(15); +// canbus.set29BitMessageCenter15IDMask(AIC_ID_MASK); +// canbus.setMessageCenterMessageIDMaskEnable(15,true); +// canbus.set11BitMessageCenterArbitrationID(15,id); +// canbus.setMessageCenterWriteOverEnable(15,true); + canbus.disableMessageCenter(15); canbus.enableController(); @@ -104,18 +112,20 @@ public class HostCAN extends Host canbus.setMessageCenterTXMode(TXCENTER); + canbus.setMessageCenterRXMode(RXCENTER); canbus.set11BitGlobalIDMask(AIC_ID_MASK); - canbus.setMessageCenterRXMode(RXCENTER); canbus.setMessageCenterMessageIDMaskEnable(RXCENTER,true); canbus.set11BitMessageCenterArbitrationID(RXCENTER,id); + canbus.setMessageCenterWriteOverEnable(RXCENTER,true); canbus.enableMessageCenter(RXCENTER); +// canbus.setMessageCenterRXMode(15); // canbus.set11BitMessageCenter15IDMask(0); - canbus.set29BitMessageCenter15IDMask(0); - canbus.setMessageCenterRXMode(15); - canbus.setMessageCenterMessageIDMaskEnable(15,true); - canbus.set11BitMessageCenterArbitrationID(15,0); - canbus.enableMessageCenter(15); +// canbus.set29BitMessageCenter15IDMask(AIC_ID_MASK); +// canbus.setMessageCenterMessageIDMaskEnable(15,true); +// canbus.set11BitMessageCenterArbitrationID(15,id); +// canbus.setMessageCenterWriteOverEnable(15,true); + canbus.disableMessageCenter(15); canbus.enableController(); } @@ -214,3 +224,6 @@ public class HostCAN extends Host } } +/** +@} +*/ diff --git a/lib/HostUDP.java b/lib/HostUDP.java index 0cbd3f3..7b01691 100644 --- a/lib/HostUDP.java +++ b/lib/HostUDP.java @@ -31,6 +31,10 @@ import java.net.*; import java.lang.*; import java.io.*; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ + /** Provides access host computer through UDP connetion * @see HostCAN * @author Walter Fetter Lages (w.fetter@ieee.org) @@ -198,3 +202,6 @@ public class HostUDP extends Host } } +/** +@} +*/ diff --git a/lib/Index.java b/lib/Index.java index 952c1ad..e99d3da 100644 --- a/lib/Index.java +++ b/lib/Index.java @@ -2,7 +2,7 @@ Actuator Interface Card Index Interface - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003,2004 Walter Fetter Lages 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 @@ -25,34 +25,41 @@ package br.ufrgs.eletro.AIC; -import com.dalsemi.system.DataPort; -import com.dalsemi.system.IllegalAddressException; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ /** Provides access to sync-switch in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 */ -public class Index +public final class Index { - private DataPort latch; +/** True if native library was loaded +*/ + private static boolean libLoaded=false; + +/** Index native initialization, clears the counter on the quadrature decoder chip +* @param base Base address for on board devices +*/ + private static native void initialize(int base); /** Initializes Index * @param base Base address for on board devices -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public Index(int base) throws IllegalAddressException + public Index(int base) { - latch=new DataPort(base+PLD.CONTROL); - latch.setFIFOMode(true); - latch.setStretchCycles(DataPort.STRETCH2); + if(!libLoaded) System.loadLibrary("index.tlib"); + libLoaded=true; + + initialize(base); } /** Reads the sync-switch * @return the sync-switch state -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public boolean read() throws IllegalAddressException - { - if((latch.read() & 0x01) == 1) return true; else return false; - } - + public static native boolean read(); } +/** +@} +*/ diff --git a/lib/Makefile b/lib/Makefile index 0b5deda..a86704d 100644 --- a/lib/Makefile +++ b/lib/Makefile @@ -1,9 +1,16 @@ CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:. APIDBPATH=-d /opt/tini/bin/tini.db PKGPATH=br/ufrgs/eletro/AIC -JAVAFLAGS=-O -target 1.1 +JAVAFLAGS=-O -target 1.1 -source 1.3 -CFLAGS = -O2 -Wall -mcpu=i486 +NATINC=/opt/tini/native/lib +ASMINC=../include +TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc +ASMOPT=-f 1.14 -p 390 -l +ASMMACRO=/opt/tini/native/bin/Linux/macro +ASM=/opt/tini/native/bin/Linux/a390 + +CFLAGS = -O2 -Wall -march=i486 INCLUDE = -I. -I${HOME}/include CPPFLAGS = @@ -13,9 +20,6 @@ LIB = ${HOME}/lib LIBINST=/usr/local/lib INCLUDEINST=/usr/local/include -# for versioned module symbols -# CFLAGS += -DMODVERSIONS -include /usr/include/linux/modversions.h - INCLUDE=${CINCLUDE} ${CPPINCLUDE} FLAGS= ${CFLAGS} ${CPPFLAGS} -DDEBUG LIBDIR=${CLIBDIR} ${CPPLIBDIR} @@ -25,7 +29,7 @@ CMP= g++ CMPFLAGS= ${FLAGS} ${INCLUDE} LDFLAGS= ${LIBDIR} ${LIBS} -all: AIC.jar libaic.a javadocs +all: AIC.jar libaic.a ${PKGPATH}/PLD.class: PLD.java javac ${JAVAFLAGS} ${CLASSPATH} -d . PLD.java @@ -60,6 +64,39 @@ ${PKGPATH}/HostUDP.class: HostUDP.java ${PKGPATH}/HostCAN.class: HostCAN.java javac ${JAVAFLAGS} ${CLASSPATH} -d . HostCAN.java +${ASMINC}/tini.inc: ${NATINC}/tini.inc + ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc + +${ASMINC}/tinimacro.inc: ${NATINC}/tinimacro.inc + ln -s ${NATINC}/tinimacro.inc ${ASMINC}/tinimacro.inc + +${ASMINC}/ds80c390.inc: ${NATINC}/ds80c390.inc + ln -s ${NATINC}/ds80c390.inc ${ASMINC}/ds80c390.inc + +brake.mpp: brake.a51 ${TINIINC} ${ASMINC}/aicpld.inc + ${ASMMACRO} -I${ASMINC} brake.a51 + +brake.tlib: brake.mpp + ${ASM} ${ASMOPT} brake.mpp + +index.mpp: index.a51 ${TINIINC} ${ASMINC}/aicpld.inc + ${ASMMACRO} -I${ASMINC} index.a51 + +index.tlib: index.mpp + ${ASM} ${ASMOPT} index.mpp + +encoder.mpp: encoder.a51 ${TINIINC} ${ASMINC}/aicpld.inc + ${ASMMACRO} -I${ASMINC} encoder.a51 + +encoder.tlib: encoder.mpp + ${ASM} ${ASMOPT} encoder.mpp + +pwm.mpp: pwm.a51 ${TINIINC} ${ASMINC}/aicpld.inc + ${ASMMACRO} -I${ASMINC} pwm.a51 + +pwm.tlib: pwm.mpp + ${ASM} ${ASMOPT} pwm.mpp + AIC.jar: ${PKGPATH}/PLD.class\ ${PKGPATH}/CtrlRegister.class\ ${PKGPATH}/PWM.class\ @@ -70,14 +107,9 @@ AIC.jar: ${PKGPATH}/PLD.class\ ${PKGPATH}/AIC.class \ ${PKGPATH}/Host.class \ ${PKGPATH}/HostUDP.class \ - ${PKGPATH}/HostCAN.class - - jar cf AIC.jar ${PKGPATH} - -javadocs: ../doc/javadocs/index.html - -../doc/javadocs/index.html: PLD.java CtrlRegister.java PWM.java Motor.java Encoder.java Brake.java Index.java AIC.java Host.java HostUDP.java HostCAN.java - javadoc ${CLASSPATH} -d ../doc/javadocs -author -version PLD.java CtrlRegister.java PWM.java Motor.java Encoder.java Brake.java Index.java AIC.java Host.java HostUDP.java HostCAN.java + ${PKGPATH}/HostCAN.class \ + brake.tlib index.tlib encoder.tlib pwm.tlib + jar cf AIC.jar ${PKGPATH} brake.tlib index.tlib encoder.tlib pwm.tlib aic.o: aic.cpp ../include/aic.h gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp @@ -110,10 +142,10 @@ install: install -m 0644 ../include/*.h ${INCLUDEINST}/cpp clean: - rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br + rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst distclean: clean - rm -rf AIC.jar *.a ../doc/javadocs + rm -rf AIC.jar *.a uninstall: rm ${LIBINST}/libaic.a diff --git a/lib/Motor.java b/lib/Motor.java index 48a455a..c12edd2 100644 --- a/lib/Motor.java +++ b/lib/Motor.java @@ -2,7 +2,7 @@ Actuator Interface Card Motor Interface - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -25,10 +25,13 @@ package br.ufrgs.eletro.AIC; -import com.dalsemi.system.IllegalAddressException; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ /** Provices access to the motor driver in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 */ public class Motor { @@ -40,9 +43,8 @@ public class Motor * @param baseadd Base address for on board devices * @param voltage Motor Voltage * @param freq PWM frequency -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public Motor(int baseadd,double voltage,double freq) throws IllegalAddressException + public Motor(int baseadd,double voltage,double freq) { volt2duty=0.5/voltage; @@ -53,9 +55,8 @@ public class Motor /** Initializes the motor driver using the default PWM frequency (20KHz) * @param baseadd Base address for on board devices * @param voltage Motor Voltage -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public Motor(int baseadd,double voltage) throws IllegalAddressException + public Motor(int baseadd,double voltage) { volt2duty=0.5/voltage; @@ -64,39 +65,38 @@ public class Motor } /** Finalizes the motor driver -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void finalize() throws IllegalAddressException + public void finalize() { pwm.off(); } /** Turns the motor driver on -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void on() throws IllegalAddressException + public void on() { pwm.on(); }; /** Turns the motor driver off -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void off() throws IllegalAddressException + public void off() { pwm.off(); - }; + }; /** Sets the voltage to be applied by the motor driver * @param voltage to be applied by the motor driver * @return the duty-cycle of the associated PWM -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public double set(double voltage) throws IllegalAddressException + public double set(double voltage) { - int dutycicle=((int)(voltage*volt2duty*1000000))+500000; - pwm.setDuty(dutycicle); - return dutycicle; + int dutycycle=((int)(voltage*volt2duty*1000000))+500000; + pwm.setDuty(dutycycle); + return dutycycle; }; }; +/** +@} +*/ diff --git a/lib/PLD.java b/lib/PLD.java index 8904ce9..8553eb8 100644 --- a/lib/PLD.java +++ b/lib/PLD.java @@ -25,10 +25,15 @@ package br.ufrgs.eletro.AIC; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ + /** Provides constants defining addresses for devices in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) -* @version 1.3.0 -* @since 1.3.0 +* @version AIC-1.3.0 +* @since AIC-1.2.0 +* @deprecated */ public class PLD { @@ -48,3 +53,6 @@ public class PLD public static final int CONTROL=0xA0000; } +/** +@} +*/ diff --git a/lib/PWM.java b/lib/PWM.java index 5823aae..3837e80 100644 --- a/lib/PWM.java +++ b/lib/PWM.java @@ -1,8 +1,8 @@ /****************************************************************************** Actuator Interface Card - PWM Interface - Copyright (C) 2003 Walter Fetter Lages + PWM Interface + Copyright (C) 2003,2004 Walter Fetter Lages 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 @@ -25,16 +25,19 @@ package br.ufrgs.eletro.AIC; -import com.dalsemi.system.DataPort; -import com.dalsemi.system.IllegalAddressException; +/** @defgroup aichardware AIC Hardware Interface +@{ +*/ /** Provices access to the PWM in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) +* @version AIC-1.3.0 */ -public class PWM +public final class PWM { - private static final int ONE_SHOT_BIN=0x32; /* programmable one-shot binary */ - private static final int RATE_BIN=0x34; /* rate generator binary */ +/** True if native library was loaded +*/ + private static boolean libLoaded=false; /** Reference frequency = 10MHz */ @@ -43,34 +46,28 @@ public class PWM /** Default Switching Frequency = 20KHz */ public static final double SW_FREQ=20e3; + private static final double TURNOFF_DELAY=600e-9; private static final int MIN_COUNT=(int)(2*TURNOFF_DELAY*REF_FREQ); private static final int MAX_COUNT=(int)(REF_FREQ/SW_FREQ); private int max_count=MAX_COUNT; - private DataPort timer0; - private DataPort timer1; - private DataPort control; - - private DataPort latch; +/** Sets the frequency of PWM in cycles of 10MHz +* @param count number of cycles from 10 to 65530. Default +* value is 500 +* @since AIC-1.3.0 +*/ + public static native void setCount(int count); /** Sets the frequency of PWM * @param frequency frequency in Hz from 152.60Hz to 1MHz. Default * value is 20KHz -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void setFreq(double frequency) throws IllegalAddressException + public void setFreq(double frequency) { max_count=(int)(REF_FREQ/frequency) & 0xffff; - - control.write(RATE_BIN); - timer0.write((byte) max_count); - timer0.write((byte)(max_count >> 8)); - - control.write(0x40 | ONE_SHOT_BIN); - timer1.write((byte) (max_count/2)); - timer1.write((byte)((max_count/2) >> 8)); + setCount(max_count); } /** Returns the frequency of PWM @@ -81,113 +78,74 @@ public class PWM return REF_FREQ/max_count; } - private void init(int base,double freq) throws IllegalAddressException - { - timer0=new DataPort(base+PLD.PWM+0); - timer0.setFIFOMode(true); - timer0.setStretchCycles(DataPort.STRETCH2); - - timer1=new DataPort(base+PLD.PWM+1); - timer1.setFIFOMode(true); - timer1.setStretchCycles(DataPort.STRETCH2); - - control=new DataPort(base+PLD.PWM+3); - control.setFIFOMode(true); - control.setStretchCycles(DataPort.STRETCH2); - - latch=new DataPort(base+PLD.CONTROL); - latch.setFIFOMode(true); - latch.setStretchCycles(DataPort.STRETCH2); - - - control.write(RATE_BIN); - - timer0.write((byte) MAX_COUNT); - timer0.write((byte)(MAX_COUNT >> 8)); - - control.write(0x40 | ONE_SHOT_BIN); - timer1.write((byte)(max_count/2)); - timer1.write((byte)((max_count/2) >> 8)); - - setFreq(freq); - } +/** PWM native initialization +* @param base Base address for on board devices +* @param min_count MIN_COUNT +* @param count frequency of PWM in cycles of 10MHz. Number of cycles +* from 10 to 65530. +*/ + private static native void initialize(int base,int min_count,int count); /** Initializes the PWM -* @param baseadd Base address for on board devices +* @param base Base address for on board devices * @param freq PWM frequency -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public PWM(int base,double freq) throws IllegalAddressException + public PWM(int base,double freq) { - init(base,freq); + if(!libLoaded) System.loadLibrary("pwm.tlib"); + libLoaded=true; + + int count=(int)(REF_FREQ/freq) & 0xffff; + initialize(base,MIN_COUNT,count); } /** Initializes the PWM using the default PWM frequency (20KHz) -* @param baseadd Base address for on board devices -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed +* @param base Base address for on board devices */ - public PWM(int base) throws IllegalAddressException + public PWM(int base) { - init(base,SW_FREQ); + if(!libLoaded) System.loadLibrary("pwm.tlib"); + libLoaded=true; + + int count=(int)(REF_FREQ/SW_FREQ) & 0xffff; + initialize(base,MIN_COUNT,count); } /** Finalizes the PWM -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void finalize() throws IllegalAddressException - { - timer1.write((byte)(max_count/2)); - timer1.write((byte)((max_count/2) >> 8)); - } + public native void finalize(); /** Sets the duty-cycle of PWM -* @param dutycicle to be used by PWM as a double from 0 to 1.0 +* @param dutycycle to be used by PWM as a double from 0 to 1.0 * @return the count value programmed to the PWM timer -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public int setDuty(double dutycicle) throws IllegalAddressException + public int setDuty(double dutycycle) { -// if(dutycicle < 0.0) dutycicle=0.0; -// if(dutycicle > 1.0) dutycicle=1.0; -// int count=(int)(max_count*(1.0-dutycicle)); - int count=max_count-(int)(max_count*dutycicle); - if(count < MIN_COUNT) count=MIN_COUNT; - if(count > max_count-MIN_COUNT) count=max_count-MIN_COUNT; - timer1.write((byte)count); - timer1.write((byte)(count >> 8)); - return count; +// if(dutycycle < 0.0) dutycycle=0.0; +// if(dutycycle > 1.0) dutycycle=1.0; +// int count=(int)(max_count*(1.0-dutycycle)); +// int count=max_count-(int)(max_count*dutycycle); +// if(count < MIN_COUNT) count=MIN_COUNT; +// if(count > max_count-MIN_COUNT) count=max_count-MIN_COUNT; + + return setDuty((int)(dutycycle*1000000)); +// return count; } /** Sets the duty-cycle of PWM -* @param dutycicle to be used by PWM as a int from 0 to 1000000 +* @param dutycycle to be used by PWM as a int from 0 to 1000000 * @return the count value programmed to the PWM timer -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public int setDuty(int dutycicle) throws IllegalAddressException - { -// if(dutycicle < 0) dutycicle=0; -// if(dutycicle > 1000000) dutycicle=1000000; - int count=(max_count*(1000000-dutycicle))/1000000; - if(count < MIN_COUNT) count=MIN_COUNT; - if(count > max_count-MIN_COUNT) count=max_count-MIN_COUNT; - timer1.write((byte)count); - timer1.write((byte)(count >> 8)); - return count; - } + public static native int setDuty(int dutycycle); /** Turns the PWM on -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void on() throws IllegalAddressException - { - latch.write((byte)CtrlRegister.PWMENABLE); - } + public static native void on(); /** Turns the PWM off -* @throws IllegalAddressException if the addresses of registers of on board devices can not be accessed */ - public void off() throws IllegalAddressException - { - latch.write((byte)CtrlRegister.PWMDISABLE); - } + public static native void off(); } +/** +@} +*/ diff --git a/lib/aiccan.cpp b/lib/aiccan.cpp index b570d26..b7b2e21 100644 --- a/lib/aiccan.cpp +++ b/lib/aiccan.cpp @@ -3,7 +3,7 @@ Actuator Interface Card Host Interface Library CAN Communication - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -32,26 +32,39 @@ #include #include +const static int NCC=32; ///< Number of message buffers + +/// Buffer to store received CAN messages +static struct CAN_CENTER +{ + int cmd; ///< AIC command + unsigned char msg[8]; ///< Message + unsigned int msglen; ///< Message length +} cc[NCC]; + AIC_CAN::AIC_CAN(int aic,int bus): AIC(this) { aicnumber=aic; canHandle handle; - canStatus status=(canStatus)handle=canOpenChannel(bus,canWANT_EXCLUSIVE | canWANT_EXTENDED); - if(status < 0) throw AIC_CAN_BAD_OPEN(); + handle=canOpenChannel(bus,canWANT_EXTENDED); + canStatus status=(canStatus)handle; + if(status < 0) throw BAD_OPEN(); status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0); - if(status < 0) throw AIC_CAN_BAD_PARMS(); + if(status < 0) throw BAD_PARMS(); status=canBusOn(handle); - if(status < 0) throw AIC_CAN_BAD_BUSON(); + if(status < 0) throw BAD_BUSON(); + + for(int i=0;i < NCC;i++) cc[i].cmd=0; } AIC_CAN::~AIC_CAN(void) { canStatus status=canClose(handle); - if(status < 0) throw AIC_CAN_BAD_CLOSE(); + if(status < 0) throw BAD_CLOSE(); } int AIC_CAN::get_status(int status,...) @@ -62,15 +75,37 @@ int AIC_CAN::get_status(int status,...) unsigned int flag; unsigned long time; int cmd; + long aicid; + do { - do + if(cc[aicnumber-1].cmd) { - canStatus canstatus=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1); - if(canstatus < 0) throw AIC_CAN_BAD_RECEIVE(); - }while(!(flag & canMSG_STD)); - cmd=(id & AIC_CMD_MASK) >> 5; - } while( ((id & AIC_ID_MASK) != aicnumber) || + cmd=cc[aicnumber-1].cmd; + cc[aicnumber-1].cmd=0; + id=aicnumber & (cmd << 5); + for(int i=0;i < 8; i++) msg[i]=cc[aicnumber-1].msg[i]; + msglen=cc[aicnumber-1].msglen; + break; + } + else + { + do + { + canStatus canstatus=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1); + if(canstatus < 0) throw BAD_RECEIVE(); + } while(!(flag & canMSG_STD)); + cmd=(id & AIC_CMD_MASK) >> 5; + aicid=id & AIC_ID_MASK; + if(aicid != aicnumber) + { + // Message center with WriteOver + cc[aicid-1].cmd=cmd; + for(int i=0;i < 8; i++) cc[aicid-1].msg[i]=msg[i]; + cc[aicid-1].msglen=msglen; + } + } + } while( (aicid != aicnumber) || !(id & AIC_ID_MASK) || (cmd != status) ); @@ -124,11 +159,11 @@ void AIC_CAN::send_command(int command,...) msglen=8; break; } - default: throw AIC_CAN_BAD_COMMAND(); + default: throw BAD_COMMAND(); } unsigned int flag=canMSG_STD; canStatus status=canWriteWait(handle,id,msg,msglen,flag,-1); - if(status < 0) throw AIC_CAN_BAD_SEND(); + if(status < 0) throw BAD_SEND(); } diff --git a/lib/aichostcan.cpp b/lib/aichostcan.cpp index 5349e22..f356d4a 100644 --- a/lib/aichostcan.cpp +++ b/lib/aichostcan.cpp @@ -3,7 +3,7 @@ Actuator Interface Card AIC Host Interface Simulation CAN Communication - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -26,26 +26,39 @@ #include +const static int NCC=32; ///< Number of message buffers + +/// Buffer to store received CAN messages +static struct CAN_CENTER +{ + int cmd; ///< AIC command + unsigned char msg[8]; ///< Message + unsigned int msglen; ///< Message length +} cc[NCC]; + AIC_HOST_CAN::AIC_HOST_CAN(int aic,int bus): AIC_HOST() { aicnumber=aic; canHandle handle; - canStatus status=(canStatus)handle=canOpenChannel(bus,canWANT_EXCLUSIVE | canWANT_EXTENDED); - if(status < 0) throw AIC_HOST_CAN_BAD_OPEN(); + handle=canOpenChannel(bus,canWANT_EXTENDED); + canStatus status=(canStatus)handle; + if(status < 0) throw BAD_OPEN(); status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0); - if(status < 0) throw AIC_HOST_CAN_BAD_PARMS(); + if(status < 0) throw BAD_PARMS(); status=canBusOn(handle); - if(status < 0) throw AIC_HOST_CAN_BAD_BUSON(); + if(status < 0) throw BAD_BUSON(); + + for(int i=0;i < NCC;i++) cc[i].cmd=0; } AIC_HOST_CAN::~AIC_HOST_CAN(void) { canStatus status=canClose(handle); - if(status < 0) throw AIC_HOST_CAN_BAD_CLOSE(); + if(status < 0) throw BAD_CLOSE(); } int AIC_HOST_CAN::command(void) @@ -55,16 +68,39 @@ int AIC_HOST_CAN::command(void) unsigned int msglen; unsigned int flag; unsigned long time; + int cmd; + long aicid; + do { - do + if(cc[aicnumber-1].cmd) { - canStatus status=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1); - if(status < 0) throw AIC_HOST_CAN_BAD_RECEIVE(); - }while(!(flag & canMSG_STD)); - } while((id & AIC_ID_MASK) != aicnumber); - - int cmd=id >> 5; + cmd=cc[aicnumber-1].cmd; + cc[aicnumber-1].cmd=0; + id=aicnumber & (cmd << 5); + for(int i=0;i < 8; i++) msg[i]=cc[aicnumber-1].msg[i]; + msglen=cc[aicnumber-1].msglen; + break; + } + else + { + do + { + canStatus status=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1); + if(status < 0) throw BAD_RECEIVE(); + } while(!(flag & canMSG_STD)); + cmd=id >> 5; + aicid=id & AIC_ID_MASK; + if(aicid != aicnumber) + { + // Message center with WriteOver + cc[aicid-1].cmd=cmd; + for(int i=0;i < 8; i++) cc[aicid-1].msg[i]=msg[i]; + cc[aicid-1].msglen=msglen; + } + } + } while(aicid != aicnumber); + switch(cmd) { case AIC_MOTOR_ON: @@ -113,7 +149,7 @@ void AIC_HOST_CAN::send_status(double disp,int index) unsigned int flag=canMSG_STD; unsigned int msglen=sizeof(msg); canStatus status=canWriteWait(handle,id,msg,msglen,flag,-1); - if(status < 0) throw AIC_HOST_CAN_BAD_SEND(); + if(status < 0) throw BAD_SEND(); } diff --git a/lib/aichostudp.cpp b/lib/aichostudp.cpp index 696321d..0b5f4d6 100644 --- a/lib/aichostudp.cpp +++ b/lib/aichostudp.cpp @@ -3,7 +3,7 @@ Actuator Interface Card AIC Host Interface Simulation UDP Communication - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -48,7 +48,7 @@ AIC_HOST() cerr << "AIC_HOST::AIC_HOST error: " << strerror(errno) << "\n"; #endif - throw AIC_HOST_UDP_BAD_SOCKET(); + throw BAD_SOCKET(); } bzero(&statusaddr,sizeof(statusaddr)); @@ -62,7 +62,7 @@ AIC_HOST() cerr << "AIC_HOST::AIC_HOST error: " << strerror(errno) << "\n"; #endif - throw AIC_HOST_UDP_BAD_SOCKET(); + throw BAD_SOCKET(); } bzero(&cmdaddr,sizeof(cmdaddr)); @@ -76,7 +76,7 @@ AIC_HOST() cerr << "AIC_HOST::AIC_HOST error: " << strerror(errno) << "\n"; #endif - throw AIC_HOST_UDP_BAD_SOCKET(); + throw BAD_SOCKET(); } if((bind(cmdfd,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr))) < 0) { @@ -84,7 +84,7 @@ AIC_HOST() cerr << "AIC_HOST::AIC_HOST error: " << strerror(errno) << "\n"; #endif - throw AIC_HOST_UDP_BAD_BIND(); + throw BAD_BIND(); } } @@ -108,7 +108,7 @@ int AIC_HOST_UDP::command(void) cerr << "AIC_HOST::command error: " << strerror(errno) << "\n"; #endif - throw AIC_HOST_BAD_RECEIVE(); + throw BAD_RECEIVE(); } int cmd=*buff; @@ -166,7 +166,7 @@ void AIC_HOST_UDP::send_status(double disp,int index) cerr << "AIC_HOST::send_status error: " << strerror(errno) << "\n"; #endif - throw AIC_HOST_BAD_SEND(); + throw BAD_SEND(); } } diff --git a/lib/aicsim.cpp b/lib/aicsim.cpp index 6f6baff..912ae8e 100644 --- a/lib/aicsim.cpp +++ b/lib/aicsim.cpp @@ -1,7 +1,7 @@ /****************************************************************************** Actuator Interface Card Simulator - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -106,7 +106,7 @@ void AIC_SIM::send_command(int command,...) #ifdef DEBUG cerr << "Command " << command << " unknown by AIC_SIM\n"; #endif - throw AIC_BAD_COMMAND(); + throw BAD_COMMAND(); } } } diff --git a/lib/aicudp.cpp b/lib/aicudp.cpp index d04e842..3d9b84c 100644 --- a/lib/aicudp.cpp +++ b/lib/aicudp.cpp @@ -3,7 +3,7 @@ Actuator Interface Card Host Interface Library UDP Communication - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -50,7 +50,7 @@ AIC_UDP::AIC_UDP(const char *aicname,int statport,int cmdport) cerr << "AIC_UDP::AIC_UDP error: " << strerror(errno) << "\n"; #endif - throw AIC_UDP_BAD_SOCKET(); + throw BAD_SOCKET(); } bzero(&cmdaddr,sizeof(cmdaddr)); @@ -64,7 +64,7 @@ AIC_UDP::AIC_UDP(const char *aicname,int statport,int cmdport) cerr << "AIC_UDP::AIC_UDP error: " << strerror(errno) << "\n"; #endif - throw AIC_UDP_BAD_SOCKET(); + throw BAD_SOCKET(); } bzero(&stataddr,sizeof(stataddr)); @@ -78,7 +78,7 @@ AIC_UDP::AIC_UDP(const char *aicname,int statport,int cmdport) cerr << "AIC_UDP::AIC_UDP error: " << strerror(errno) << "\n"; #endif - throw AIC_UDP_BAD_SOCKET(); + throw BAD_SOCKET(); } if((bind(statfd,(struct sockaddr *) &stataddr,sizeof(stataddr))) < 0) { @@ -86,7 +86,7 @@ AIC_UDP::AIC_UDP(const char *aicname,int statport,int cmdport) cerr << "AIC_UDP::AIC_UDP error: " << strerror(errno) << "\n"; #endif - throw AIC_UDP_BAD_BIND(); + throw BAD_BIND(); } } @@ -110,7 +110,7 @@ int AIC_UDP::get_status(int status,...) cerr << "AIC_UDP::get_status error: " << strerror(errno) << "\n"; #endif - throw AIC_UDP_BAD_RECEIVE(); + throw BAD_RECEIVE(); } int cmd=buff[0]; @@ -125,7 +125,7 @@ int AIC_UDP::get_status(int status,...) cerr << "AIC_UDP::get_status error: count = " << count << "\n"; #endif - throw AIC_UDP_BAD_RECEIVE(); + throw BAD_RECEIVE(); } va_list ap; @@ -176,7 +176,7 @@ void AIC_UDP::send_command(int command,...) len+=8; break; } - default: throw AIC_UDP_BAD_SEND(); + default: throw BAD_SEND(); } if(sendto(cmdfd,buff,len,0,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr)) < 0) @@ -185,7 +185,7 @@ void AIC_UDP::send_command(int command,...) cerr << "AIC_UDP::send_command error: " << strerror(errno) << "\n"; #endif - throw AIC_UDP_BAD_SEND(); + throw BAD_SEND(); } } diff --git a/lib/brake.a51 b/lib/brake.a51 new file mode 100644 index 0000000..1a01b96 --- /dev/null +++ b/lib/brake.a51 @@ -0,0 +1,96 @@ +;****************************************************************************** +; +; Actuator Interface Card +; Brake Native Methods +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + +$include(tini.inc) +$include(ds80c390.inc) +$include(tinimacro.inc) + +$include(aicpld.inc) +$include(aicmacro.inc) + +; Native library initialization routine +; This routine must exist +; This routine must be at offset 0 +; If -f and -p options are used, a390 relocates this routine +; to another offset +; Label is meaningless and is not used by Java Sytem.LoadLibrary() +lib_init: + clr a ; success + ret + +; data saved in big-endian mode +; Brake base address +base: db 0,0,0 + +; Initializes Brake +; private static native void initialize(int base); +native_initialize: + clr a + lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 + + mov dptr,#CONTROL ; compute brake address + lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 + + STORE24 #base ; store brake address + + clr a ; success + ret + +; Applies the electromagnetic brakes +; public static native void apply() +native_apply: + LOAD24 #base ; get brake address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + mov a,#BRAKEAPPLY ; apply brake + movx @dptr,a + EXIT_PCE_SPACE_AND_POP_STATE + + + RESTORE_STRETCH r0 + + clr a ; success + ret + +; Releases the electromagnetic brake +; public static native void release() +native_release: + LOAD24 #base ; get brake address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + mov a,#BRAKERELEASE ; release brake + movx @dptr,a + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + clr a ; success + ret + + end diff --git a/lib/e b/lib/e deleted file mode 100644 index d0e7033..0000000 --- a/lib/e +++ /dev/null @@ -1,117 +0,0 @@ -gcc -O2 -Wall -mcpu=i486 -DDEBUG -I/home/fetter/include/cpp -I/usr/local/include/cpp -I../include -I/home/fetter/include/cpp -I/usr/local/include/cpp -I../include -I/home/fetter/include/cpp -I/usr/local/include/cpp -I../include -c aicudp.cpp -In file included from /usr/i486-pc-linux-gnu/include/math.h:63, - from /usr/include/g++/cmath:51, - from /usr/include/g++/bits/locale_facets.tcc:41, - from /usr/include/g++/locale:47, - from /usr/include/g++/bits/ostream.tcc:37, - from /usr/include/g++/ostream:535, - from /usr/include/g++/iostream:45, - from aicudp.cpp:26: -/usr/include/bits/mathcalls.h:55: error: syntax error before `double' -/usr/include/bits/mathcalls.h:82: error: syntax error before `void' -/usr/include/bits/mathcalls.h:89: error: syntax error before `double' -/usr/include/bits/mathcalls.h:101: error: parse error before `double' -/usr/include/bits/mathcalls.h:121: error: syntax error before `double' -/usr/include/bits/mathcalls.h:129: error: syntax error before `double' -/usr/include/bits/mathcalls.h:142: error: parse error before `double' -/usr/include/bits/mathcalls.h:154: error: parse error before `double' -/usr/include/bits/mathcalls.h:163: error: parse error before `double' -/usr/include/bits/mathcalls.h:170: error: parse error before `double' -/usr/include/bits/mathcalls.h:179: error: parse error before `double' -/usr/include/bits/mathcalls.h:202: error: syntax error before `int' -/usr/include/bits/mathcalls.h:218: error: syntax error before `double' -/usr/include/bits/mathcalls.h:225: error: parse error before `double' -/usr/include/bits/mathcalls.h:231: error: syntax error before `int' -/usr/include/bits/mathcalls.h:250: error: syntax error before `double' -/usr/include/bits/mathcalls.h:259: error: parse error before `double' -/usr/include/bits/mathcalls.h:265: error: syntax error before `double' -/usr/include/bits/mathcalls.h:280: error: syntax error before `double' -/usr/include/bits/mathcalls.h:360: error: syntax error before `double' -In file included from /usr/i486-pc-linux-gnu/include/math.h:82, - from /usr/include/g++/cmath:51, - from /usr/include/g++/bits/locale_facets.tcc:41, - from /usr/include/g++/locale:47, - from /usr/include/g++/bits/ostream.tcc:37, - from /usr/include/g++/ostream:535, - from /usr/include/g++/iostream:45, - from aicudp.cpp:26: -/usr/include/bits/mathcalls.h:55: error: syntax error before `float' -/usr/include/bits/mathcalls.h:82: error: syntax error before `void' -/usr/include/bits/mathcalls.h:89: error: syntax error before `float' -/usr/include/bits/mathcalls.h:101: error: parse error before `float' -/usr/include/bits/mathcalls.h:121: error: syntax error before `float' -/usr/include/bits/mathcalls.h:129: error: syntax error before `float' -/usr/include/bits/mathcalls.h:142: error: parse error before `float' -/usr/include/bits/mathcalls.h:154: error: parse error before `float' -/usr/include/bits/mathcalls.h:163: error: parse error before `float' -/usr/include/bits/mathcalls.h:170: error: parse error before `float' -/usr/include/bits/mathcalls.h:179: error: parse error before `float' -/usr/include/bits/mathcalls.h:202: error: syntax error before `int' -/usr/include/bits/mathcalls.h:218: error: syntax error before `float' -/usr/include/bits/mathcalls.h:225: error: parse error before `float' -/usr/include/bits/mathcalls.h:231: error: syntax error before `int' -/usr/include/bits/mathcalls.h:250: error: syntax error before `float' -/usr/include/bits/mathcalls.h:259: error: parse error before `float' -/usr/include/bits/mathcalls.h:265: error: syntax error before `float' -/usr/include/bits/mathcalls.h:280: error: syntax error before `float' -/usr/include/bits/mathcalls.h:360: error: syntax error before `float' -In file included from /usr/i486-pc-linux-gnu/include/math.h:99, - from /usr/include/g++/cmath:51, - from /usr/include/g++/bits/locale_facets.tcc:41, - from /usr/include/g++/locale:47, - from /usr/include/g++/bits/ostream.tcc:37, - from /usr/include/g++/ostream:535, - from /usr/include/g++/iostream:45, - from aicudp.cpp:26: -/usr/include/bits/mathcalls.h:55: error: syntax error before `long' -/usr/include/bits/mathcalls.h:82: error: syntax error before `void' -/usr/include/bits/mathcalls.h:89: error: syntax error before `long' -/usr/include/bits/mathcalls.h:101: error: parse error before `long' -/usr/include/bits/mathcalls.h:121: error: syntax error before `long' -/usr/include/bits/mathcalls.h:129: error: syntax error before `long' -/usr/include/bits/mathcalls.h:142: error: parse error before `long' -/usr/include/bits/mathcalls.h:154: error: parse error before `long' -/usr/include/bits/mathcalls.h:163: error: parse error before `long' -/usr/include/bits/mathcalls.h:170: error: parse error before `long' -/usr/include/bits/mathcalls.h:179: error: parse error before `long' -/usr/include/bits/mathcalls.h:202: error: syntax error before `int' -/usr/include/bits/mathcalls.h:218: error: syntax error before `long' -/usr/include/bits/mathcalls.h:225: error: parse error before `long' -/usr/include/bits/mathcalls.h:231: error: syntax error before `int' -/usr/include/bits/mathcalls.h:250: error: syntax error before `long' -/usr/include/bits/mathcalls.h:259: error: parse error before `long' -/usr/include/bits/mathcalls.h:265: error: syntax error before `long' -/usr/include/bits/mathcalls.h:280: error: syntax error before `long' -/usr/include/bits/mathcalls.h:360: error: syntax error before `long' -In file included from /usr/include/g++/bits/locale_facets.tcc:41, - from /usr/include/g++/locale:47, - from /usr/include/g++/bits/ostream.tcc:37, - from /usr/include/g++/ostream:535, - from /usr/include/g++/iostream:45, - from aicudp.cpp:26: -/usr/include/g++/cmath:107: error: `acosf' not declared -/usr/include/g++/cmath:125: error: `expf' not declared -/usr/include/g++/cmath:149: error: `powf' not declared -/usr/include/g++/cmath: In function `float std::acos(float)': -/usr/include/g++/cmath:184: error: `acosf' undeclared in namespace ` - __gnu_cxx::__c99_binding' -/usr/include/g++/cmath: At global scope: -/usr/include/g++/cmath:190: error: `acos' not declared -/usr/include/g++/cmath: In function `long double std::acos(long double)': -/usr/include/g++/cmath:194: error: `::acosl' undeclared (first use here) -/usr/include/g++/cmath: At global scope: -/usr/include/g++/cmath:302: error: `exp' not declared -/usr/include/g++/cmath: In function `float std::exp(float)': -/usr/include/g++/cmath:306: error: `expf' undeclared in namespace ` - __gnu_cxx::__c99_binding' -/usr/include/g++/cmath: In function `long double std::exp(long double)': -/usr/include/g++/cmath:314: error: `::expl' undeclared (first use here) -/usr/include/g++/cmath: At global scope: -/usr/include/g++/cmath:482: error: `pow' not declared -/usr/include/g++/cmath: In function `float std::pow(float, float)': -/usr/include/g++/cmath:486: error: `powf' undeclared in namespace ` - __gnu_cxx::__c99_binding' -/usr/include/g++/cmath: In function `long double std::pow(long double, long - double)': -/usr/include/g++/cmath:495: error: `::powl' undeclared (first use here) -make: *** [aicudp.o] Error 1 diff --git a/lib/encoder.a51 b/lib/encoder.a51 new file mode 100644 index 0000000..c9cc67d --- /dev/null +++ b/lib/encoder.a51 @@ -0,0 +1,159 @@ +;****************************************************************************** +; +; Actuator Interface Card +; Encoder Native Methods +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + +$include(tini.inc) +$include(ds80c390.inc) +$include(tinimacro.inc) + +$include(aicpld.inc) +$include(aicmacro.inc) + +; Native library initialization routine +; This routine must exist +; This routine must be at offset 0 +; If -f and -p options are used, a390 relocates this routine +; to another offset +; Label is meaningless and is not used by Java Sytem.LoadLibrary() +lib_init: + clr a ; success + ret + +; data saved in big-endian mode +; Encoder base address +base: db 0,0,0 + +; Initializes Encoder +; private static native void initialize(int base); +native_initialize: + clr a + + lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 + + mov dptr,#ENCODER ; compute encoder address + lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 + + STORE24 #base ; store encoder address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + clr a ; clear encoder + movx @dptr,a + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + clr a ; sucess + ret + +; Finalizes Encoder +; public native void finalize() +native_finalize: + + ; fall-through to native_clear: + +; Clears the counter on the quadrature decoder chip +; public void clear() +native_clear: + LOAD24 #base ; get encoder address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + clr a + movx @dptr,a ; clear counter + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + clr a ; success + ret + +; Gets the count on the quadrature decoder chip +; return the number of pulses (in 2-complement) since the last time +; the counter was cleared +; public static native int getCount() +native_getCount: + LOAD24 #base ; get encoder address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + movx a,@dptr ; get count high byte + mov r1,a ; return value in R3:R2:R1:R0 + + rlc a ; sign extension to 32 bits + clr a ; r1 > 0 extend with 0s + jnc posextend + cpl a ; r1 < 0 extend with 1s +posextend: mov r2,a ; return value in R3:R2:R1:R0 + mov r3,a + + inc dptr + movx a,@dptr ; get count low byte + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + mov r0,a ; return value in R3:R2:R1:R0 + + clr a ; success + ret + + +; Gets the count and clearsthe counter on the quadrature decoder chip +; return the number of pulses (in 2-complement) since the last time +; the counter was cleared +; public static native int getCountAndClear() +native_getCountAndClear: + LOAD24 #base ; get encoder address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + movx a,@dptr ; get count high byte + mov r1,a ; return value in R3:R2:R1:R0 + + rlc a ; sign extension to 32 bits + clr a ; r1 > 0 extend with 0s + jnc posextend1 + cpl a ; r1 < 0 extend with 1s +posextend1: mov r2,a ; return value in R3:R2:R1:R0 + mov r3,a + + inc dptr + movx a,@dptr ; get count low byte + movx @dptr,a ; clear counter + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + mov r0,a ; return value in R3:R2:R1:R0 + + clr a ; success + ret + + end + diff --git a/lib/index.a51 b/lib/index.a51 new file mode 100644 index 0000000..e3a0ebf --- /dev/null +++ b/lib/index.a51 @@ -0,0 +1,85 @@ +;****************************************************************************** +; +; Actuator Interface Card +; Index Native Methods +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + +$include(tini.inc) +$include(ds80c390.inc) +$include(tinimacro.inc) + +$include(aicpld.inc) +$include(aicmacro.inc) + +; Native library initialization routine +; This routine must exist +; This routine must be at offset 0 +; If -f and -p options are used, a390 relocates this routine +; to another offset +; Label is meaningless and is not used by Java Sytem.LoadLibrary() +lib_init: + clr a ; success + ret + +; data saved in big-endian mode +; Index base address +base: db 0,0,0 + +; Initializes Index +; private static final native void initialize(int base); +native_initialize: + clr a + lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 + + mov dptr,#CONTROL ; compute index address + lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 + + STORE24 #base ; store index address + + clr a ; success + ret + +; Reads the sync-switch +; returns the sync-switch state +; public static native boolean read() +native_read: + LOAD24 #base ; get index address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + movx a,@dptr ; read index + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + anl a,#01h + mov r0,a ; return value in R3:R2:R1:R0 + clr a ; sucess + mov r1,a + mov r2,a + mov r3,a + + ret + + end + diff --git a/lib/pwm.a51 b/lib/pwm.a51 new file mode 100644 index 0000000..89878c0 --- /dev/null +++ b/lib/pwm.a51 @@ -0,0 +1,379 @@ +;****************************************************************************** +; +; Actuator Interface Card +; PWM Native Methods +; Copyright (C) 2004 Walter Fetter Lages +; +; 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 . +; +;******************************************************************************* + +$include(tini.inc) +$include(ds80c390.inc) +$include(tinimacro.inc) + +$include(i8254.inc) +$include(aicpld.inc) +$include(aicmacro.inc) + +; Native library initialization routine +; This routine must exist +; This routine must be at offset 0 +; If -f and -p options are used, a390 relocates this routine +; to another offset +; Label is meaningless and is not used by Java Sytem.LoadLibrary() +lib_init: + clr a ; success + ret + +; data saved in big-endian mode +; PWM base address +pwmbase: db 0,0,0 + +; PWM frequency in cycles of 10MHz +max_count: db 0,0 + +; minimal value to load in PWM +min_count: db 0,0 + +; Control Register base address +ctrlbase: db 0,0,0 + +; Sets the frequency of PWM in cycles of 10MHz +; public static native void setCount(int count) +native_setCount: + clr a + lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 + +set_count: LOAD24 #pwmbase ; get PWM address + + mov a,#CTRL_8254 ; compute control register address + ADD_DPTR_0_A + + mov b,r0 ; save parameter LSB + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + mov a,#RATE_BIN_8254 ; set timer 0 mode + movx @dptr,a + + mov a,#ONE_SHOT_BIN_8254 ; set timer 1 mode + orl a,#40h ; select timer 1 + movx @dptr,a + +; program timer 0 with count + + mov a,DPS ; point dptr to timer 0 + orl DPS,#0c0h ; avoids extern memory access + inc dptr ; actualy decrement + inc dptr ; due to DPS value + inc dptr + mov DPS,a + + mov a,b ; program timer 0 lsB + movx @dptr,a + mov r2,a ; save count lsB + + mov a,r1 ; program timer 0 msB + movx @dptr,a + + EXIT_PCE_SPACE_AND_POP_STATE + + inc DPS ; save count + mov dptr,#max_count + movx @dptr,a ; store count msB + inc dptr + mov a,r2 ; store count lsB + movx @dptr,a + inc DPS + +; program timer 1 with count/2 + +duty50: inc dptr ; point dptr to timer 1 + + mov a,r1 ; compute count/2 + clr c + rrc a + mov r1,a + mov a,b + rrc a + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + movx @dptr,a ; program timer 1 lsB + mov a,r1 ; program timer 1 msB + movx @dptr,a + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + clr a ; success + ret + +; Initializes PWM +; private static native void initialize(int base,int min_count,int count); +native_initialize: + clr a + lcall Natlib_LoadPrimitive ; get first parameter in R3:R2:R1:R0 + + push R0_B0 + push R1_B0 + push R2_B0 + + mov dptr,#CONTROL ; compute Control address + lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 + + STORE24 #ctrlbase ; store Control register address + + pop R2_B0 + pop R1_B0 + pop R0_B0 + + mov dptr,#PWM ; compute PWM address + lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 + + STORE24 #pwmbase ; store PWM address + + mov a,#1h + lcall Natlib_LoadPrimitive ; get second parameter in R3:R2:R1:R0 + mov dptr,#min_count ; stores it + mov a,r1 + movx @dptr,a + inc dptr + mov a,r0 + movx @dptr,a + + mov a,#2h + lcall Natlib_LoadPrimitive ; get third parameter in R3:R2:R1:R0 + + ljmp set_count ; fall over to native_setCount + + +; Finalizes PWM +; public native void finalize() +native_finalize: + LOAD24 #pwmbase ; get pwm address + + inc DPS ; get count msB + mov dptr,#max_count + movx a,@dptr + mov r1,a + inc dptr ; get count lsB + movx a,@dptr + mov b,a + inc DPS + + SET_STRETCH STRETCH + + ljmp duty50 ; fall over to native setCounter + + +; Sets the duty-cycle of PWM +; public static native int setDuty(int dutycycle) +native_setDuty: + clr a + lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 + + mov a,r3 ; ensures R3:R2:R1:R0 >= 0 + jnb ACC.7,parmpos + + clr a ; forces R3:R2:R1:R0=0 + mov r3,a + mov r2,a + mov r1,a + mov r0,a + ljmp parmok + +parmpos: cjne r3,#00,parmabove ; ensures R3:R2:R1:R0 <= 1000000 + clr c + mov a,r0 ; 1000000=0f4240h + subb a,#40h + mov a,r1 + subb a,#42h + mov a,r2 + subb a,#0fh + jc parmok + +parmabove: mov r3,#00h ; forces R3:R2:R1:R0=1000000 + mov r2,#0fh + mov r1,#42h + mov r0,#40h + +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 +waitshift: mov a,MCNT1 + jb ACC.7,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,#max_count ; load max_count in R1_B1:R0:B1 + movx a,@dptr + mov R1_B1,a + inc dptr + movx a,@dptr + mov R0_B1,a + mov MA,a + mov a,R1_B1 + mov MA,a +waitmult: mov a,MCNT1 + jb ACC.7,waitmult ; wait MST cleared + + mov r3,MA + mov r2,MA + mov r1,MA + mov r0,MA + + 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 +waitdiv: mov a,MCNT1 + jb ACC.7,waitdiv ; wait MST cleared + + mov a,MA ; The result should be 16 bits + mov a,MA ; upper 16 bits discarded + mov r1,MA + mov r0,MA + + TINIOS_EXIT_CRITICAL_SECTION + + clr c ; computes count + mov a,R0_B1 + subb a,r0 + mov r0,a + mov a,R1_B1 + subb a,r1 + mov r1,a + + mov dptr,#min_count ; check if count < min_count + movx a,@dptr + mov r3,a + inc dptr + movx a,@dptr + mov r2,a + + clr c + mov a,r0 + subb a,r2 + mov a,r1 + subb a,r3 + jnc countabove + mov r0,R2_B0 + mov r1,R3_B0 + ljmp countok + + +countabove: clr c ; check if count > max_count-min_count + mov a,R0_B1 ; computes max_count - min_count + subb a,r2 + mov r2,a + mov a,R1_B1 + subb a,r3 + mov r3,a + + clr c + mov a,r0 + subb a,r2 + mov a,r1 + subb a,r3 + jc countok + mov r0,R2_B0 + mov r1,R3_B0 + +countok: LOAD24 #pwmbase ; get PWM address + + mov a,#TIMER1_8254 ; compute timer 1 address + ADD_DPTR_0_A + + mov b,r0 ; save count LSB + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + mov a,b + movx @dptr,a ; program timer 1 lsB + mov a,r1 ; program timer 1 msB + movx @dptr,a + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 ; restore original stretch value + + mov r0,b ; return count in R3:R2:R1:R0 + + clr a ; success + + mov r2,a + mov r3,a + + ret + + + +; Turns the PWM on +; public static native void on() + +native_on: + LOAD24 #ctrlbase ; get control register address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + mov a,#PWMENABLE ; enable PWM + movx @dptr,a + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + clr a ; success + ret + +; Turns the PWM off +; public static native void off() +native_off: + LOAD24 #ctrlbase ; get control register address + + SET_STRETCH STRETCH + + ENTER_PCE_SPACE_AND_PUSH_STATE #0 + mov a,#PWMDISABLE ; disable PWM + movx @dptr,a + EXIT_PCE_SPACE_AND_POP_STATE + + RESTORE_STRETCH r0 + + clr a ; success + ret + + end + diff --git a/motortst/Makefile b/motortst/Makefile index e5e1709..440f65e 100644 --- a/motortst/Makefile +++ b/motortst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -mcpu=i486 -D_REENTRANT +CFLAGS=-O2 -Wall -march=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcutil -lconio -lncurses -lcanlib diff --git a/motortst/motortst.cpp b/motortst/motortst.cpp index 2c659ad..42a5071 100644 --- a/motortst/motortst.cpp +++ b/motortst/motortst.cpp @@ -53,17 +53,22 @@ int main(int argc,char *argv[]) cout << "\nAIC Motor Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if((argc < 2) || (argc > 3) || - ((argc == 3) && strcasecmp(argv[1],"-UDP"))) + if((argc < 2) || (argc > 4) || + ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) { cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; return -1; } AIC *aic; - if(argc==2) aic=new AIC_CAN(atoi(argv[1])); - else aic=new AIC_UDP(argv[2]); + switch(argc) + { + default: + case 2: aic=new AIC_CAN(atoi(argv[1])); break; + case 3: aic=new AIC_UDP(argv[2]); break; + case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; + } aic->motor.on(); aic->brake.release(); diff --git a/pid/Makefile b/pid/Makefile index 2320211..5992b86 100644 --- a/pid/Makefile +++ b/pid/Makefile @@ -2,8 +2,8 @@ PRJLIBDIR=../lib PRJINCLUDE=../include PRJFLAGS=-DVERBOSE -CFLAGS=-O2 -Wall -mcpu=i486 -CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/include/rtai +CFLAGS=-O2 -Wall -march=i486 +CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/realtime/include CLIBDIR=-L${HOME}/lib -L/usr/local/lib CLIBS=-lcutil -lpthread -lcanlib @@ -24,7 +24,7 @@ CMPSWTCH= gnu CMPMESSAGE= '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"' -all: pid +all: pid .runinfo pid: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a ${CMP} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS} @@ -38,5 +38,7 @@ clean: install: distclean: clean - rm -f pid *.dat + rm -f pid *.dat .runinfo +.runinfo: runinfo + cp runinfo .runinfo diff --git a/pid/pid.cpp b/pid/pid.cpp index faec763..9a5860e 100644 --- a/pid/pid.cpp +++ b/pid/pid.cpp @@ -2,7 +2,7 @@ Actuator Interface Card AIC PID Controller - Copyright (C) 2003 Walter Fetter Lages + Copyright (C) 2003, 2004 Walter Fetter Lages 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 @@ -35,8 +35,6 @@ using namespace std; #include #include -#define KEEP_STATIC_INLINE -#include #include static inline double ref(double t) @@ -46,25 +44,47 @@ static inline double ref(double t) int main(int argc,char *argv[]) { - if((argc < 2) || (argc > 3) || - ((argc == 3) && strcasecmp(argv[1],"-UDP"))) + if((argc < 2) || (argc > 4) || + ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) { cout << "AIC PID Controller\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n"; cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; return -1; } double gain[3]={20,5,10}; - const double ST=1; - const double TF=10; + const double ST=1; // dummy + const double TF=2; AIC *aic; - if(argc==2) aic=new AIC_CAN(atoi(argv[1])); - else aic=new AIC_UDP(argv[2]); - + try + { + switch(argc) + { + default: + case 2: aic=new AIC_CAN(atoi(argv[1])); break; + case 3: aic=new AIC_UDP(argv[2]); break; + case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; + } + } + catch(AIC_CAN::BAD_OPEN) + { + cerr << "Can't open CAN" << endl; + return -1; + } + catch(AIC_CAN::BAD_PARMS) + { + cerr << "Bad CAN parameters" << endl; + return -1; + } + catch(AIC_CAN::BAD_BUSON) + { + cerr << "Bad CAN bus" << endl; + return -1; + } aic->motor.on(); aic->brake.release(); @@ -73,7 +93,6 @@ int main(int argc,char *argv[]) double u=0.0; double y=0.0; - int run=1; unsigned long maintsk_name = nam2num("PID"); @@ -86,12 +105,12 @@ int main(int argc,char *argv[]) { cerr << "Error setting scheduler: " << strerror(errno) << "\n"; return -1; - } + } mlockall(MCL_CURRENT | MCL_FUTURE); RT_TASK *maintsk; - if(!(maintsk = rt_task_init(maintsk_name, 1, 0, 0))) + if(!(maintsk = rt_task_init(maintsk_name, 1, 0, 0))) { cerr << "Can't init master task\n"; return -1; @@ -103,37 +122,49 @@ int main(int argc,char *argv[]) rt_make_hard_real_time(); - rt_task_make_periodic(maintsk,rt_get_time()+period,period); - - for(double t=0; t <=TF && run; t+=ST) - { + rt_task_make_periodic(maintsk,rt_get_time(),period); - rt_task_wait_period(); + RTIME t0=rt_get_time_ns(); + for(double t=0; t <= TF && run; t=(rt_get_time_ns()-t0)*1e-9) + { + rt_make_soft_real_time(); #ifdef VERBOSE - cout << "t=" << t << "\t"; + cout << t << "\n"; #endif - + rt_make_hard_real_time(); y+=aic->encoder.read(); - + double e=ref(t)-y; u=pid.out(e); - - aic->motor=u; + + aic->motor=15; +// if(((int)t) % 2) aic->motor=12.0; else aic->motor=-12.0; // test + + rt_make_soft_real_time(); #ifdef VERBOSE - cout << "\n"; + cout <motor=0; aic->brake.apply(); aic->motor.off(); - - rt_make_soft_real_time(); + rt_make_soft_real_time(); stop_rt_timer(); rt_task_delete(maintsk); - delete aic; + try + { + delete aic; + } + catch(AIC_CAN::BAD_CLOSE) + { + cerr << "Can't close AIC_CAN" << endl; + return -2; + } return 0; } diff --git a/pid/runinfo b/pid/runinfo new file mode 100644 index 0000000..4d5f674 --- /dev/null +++ b/pid/runinfo @@ -0,0 +1 @@ +pid:lxrt:./pid 2;popall: diff --git a/pid5/Makefile b/pid5/Makefile new file mode 100644 index 0000000..5992b86 --- /dev/null +++ b/pid5/Makefile @@ -0,0 +1,44 @@ +PRJLIBDIR=../lib +PRJINCLUDE=../include +PRJFLAGS=-DVERBOSE + +CFLAGS=-O2 -Wall -march=i486 +CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/realtime/include +CLIBDIR=-L${HOME}/lib -L/usr/local/lib +CLIBS=-lcutil -lpthread -lcanlib + +CPPFLAGS= +CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include +CPPLIBDIR=-L${HOME}/lib/cpp -L../lib +CPPLIBS=-laic -lcpputil -lcontrol + +INCLUDE=${CINCLUDE} ${CPPINCLUDE} +FLAGS= ${CFLAGS} ${CPPFLAGS} +LIBDIR=${CLIBDIR} ${CPPLIBDIR} +LIBS=${CPPLIBS} ${CLIBS} + +CMP= g++ +CMPFLAGS= ${FLAGS} ${INCLUDE} ${PRJFLAGS} +LDFLAGS= ${LIBDIR} ${LIBS} +CMPSWTCH= gnu +CMPMESSAGE= '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"' + + +all: pid .runinfo + +pid: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a + ${CMP} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS} + +${PRJLIBDIR}/libaic.a: + $(MAKE) -C ${PRJLIBDIR} + +clean: + rm -f *~ *.bak *.o + +install: + +distclean: clean + rm -f pid *.dat .runinfo + +.runinfo: runinfo + cp runinfo .runinfo diff --git a/pid5/pid.cpp b/pid5/pid.cpp new file mode 100644 index 0000000..38e1492 --- /dev/null +++ b/pid5/pid.cpp @@ -0,0 +1,234 @@ +/****************************************************************************** + + Actuator Interface Card + AIC PID Controller + Copyright (C) 2004 Walter Fetter Lages + + 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 . + +*******************************************************************************/ + +#include +#include +using namespace std; + +#include +#include + +#include + +#include + +#include + +static inline double ref(double t,int i) +{ + return M_PI; +} + +struct PID_ARGS +{ + double st; + volatile int *run; + double gain[3]; + char name[64]; + int aicn; +}; + +void *pid_thread(void *arg) +{ + struct PID_ARGS *p=(struct PID_ARGS *) arg; + + AIC_CAN *aic; + + try + { + aic=new AIC_CAN(p->aicn); + } + catch(AIC_CAN::BAD_OPEN) + { + cerr << "Can't open CAN" << endl; + pthread_exit(NULL); + } + catch(AIC_CAN::BAD_PARMS) + { + cerr << "Bad CAN parameters" << endl; + pthread_exit(NULL); + } + catch(AIC_CAN::BAD_BUSON) + { + cerr << "Bad CAN bus" << endl; + pthread_exit(NULL); + } + aic->motor.on(); + aic->brake.release(); + + PID_CONTROLLER pid(p->gain[0],p->gain[1],p->gain[2]); + pid.saturate(1,-24.0,24.0); + + double u=0.0; + double y=0.0; + + unsigned long tsk_name = nam2num(p->name); + struct sched_param sched; + + sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; + if(sched_setscheduler(0,SCHED_FIFO, &sched ) == -1 ) + { + cerr << "Error setting scheduler: " << strerror(errno) << "\n"; + pthread_exit(NULL); + } + + mlockall(MCL_CURRENT | MCL_FUTURE); + + RT_TASK *tsk; + if(!(tsk = rt_task_init(tsk_name, p->aicn, 0, 0))) + { + cerr << "Can't init task\n"; + pthread_exit(NULL); + } + + rt_make_hard_real_time(); + + int period = (int) nano2count((RTIME)(p->st*1e9)); + rt_task_make_periodic(tsk,rt_get_time(),period); + + RTIME t0=rt_get_time_ns(); + + for(double t=0;*(p->run);t=(rt_get_time_ns()-t0)*1e-9) + { + + rt_make_soft_real_time(); + y+=aic->encoder.read(); + rt_make_hard_real_time(); + + double e=ref(t,p->aicn)-y; + u=pid.out(e); + + rt_make_soft_real_time(); + aic->motor=u; + + + cout << p->aicn << "\t" << y << endl; + rt_make_hard_real_time(); + + rt_task_wait_period(); + + } + + aic->motor=0; + aic->brake.apply(); + aic->motor.off(); + rt_make_soft_real_time(); + rt_task_delete(tsk); + munlockall(); + try + { + delete aic; + } + catch(AIC_CAN::BAD_CLOSE) + { + cerr << "Can't close AIC_CAN" << endl; + pthread_exit(NULL); + } + pthread_exit(NULL); + return NULL; +} + + +int main(void) +{ + + const double ST=0.01; + const double TF=20; + + rt_allow_nonroot_hrt(); + + rt_set_oneshot_mode(); + int period = (int) nano2count((RTIME)(ST*1e9)); + start_rt_timer(period); + + + unsigned long tsk_name = nam2num("Main"); + struct sched_param sched; + + sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; + if(sched_setscheduler(0,SCHED_FIFO, &sched ) == -1 ) + { + cerr << "Error setting scheduler: " << strerror(errno) << "\n"; + pthread_exit(NULL); + } + + volatile int run=1; + + pthread_t pid_th[5]; + struct PID_ARGS pidargs[5]; + + for(int i=0;i < 5;i++) + { + pidargs[i].st=ST; + pidargs[i].run=&run; + pidargs[i].gain[0]=20; + pidargs[i].gain[1]=5; + pidargs[i].gain[2]=10; + snprintf(pidargs[i].name,64,"PID%d",i); + pidargs[i].aicn=i+1; + + if(int err=pthread_create(&pid_th[i],NULL,&pid_thread,&pidargs[i])) + { + cerr << "Error creating thread: " << strerror(err) << endl; + } + } + + + mlockall(MCL_CURRENT | MCL_FUTURE); + + RT_TASK *tsk; + if(!(tsk = rt_task_init(tsk_name, 1, 0, 0))) + { + cerr << "Can't init task\n"; + pthread_exit(NULL); + } + +// rt_make_hard_real_time(); + + rt_task_make_periodic(tsk,rt_get_time()+period,period); + + RTIME t0=rt_get_time_ns(); + for(double t=0; t <= TF && run; t=(rt_get_time_ns()-t0)*1e-9) + { + +#ifdef VERBOSE + cout << t << "\n"; +#endif + + rt_task_wait_period(); + } + + run=0; + + for(int i=0;i < 5;i++) pthread_join(pid_th[i],NULL); + +// rt_make_soft_real_time(); + rt_task_delete(tsk); + munlockall(); + + stop_rt_timer(); + + return 0; +} diff --git a/pid5/runinfo b/pid5/runinfo new file mode 100644 index 0000000..648edf9 --- /dev/null +++ b/pid5/runinfo @@ -0,0 +1 @@ +pid:lxrt:./pid;popall: