From: Walter Fetter Lages Date: Sun, 20 May 2018 03:54:13 +0000 (-0300) Subject: Change application protocol from ASCII to binary. X-Git-Tag: v1.2.0^0 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=5535b3b29845705ab4f9278a9de047bb1655263e;p=aic.git Change application protocol from ASCII to binary. Consolidadas as constantes definindo enderecos dos dispositivos na AIC na classe PLD. Consolidadas as constantes definindo bits do registrador de controle na classe CtrlRegister. Passou a ser utilizado o header iostream ao inves de iostream.h, conforme o novo padrao de C++. Esta adaptacao foi necessaria para compilacao com o GCC 3.3.2. Alterados os codigos identificadores de comandos e status, por estarem relacionados com a prioridade das mensgens no 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. 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. --- diff --git a/CANTest/UPLOADED b/CANTest/UPLOADED new file mode 100644 index 0000000..571bd41 --- /dev/null +++ b/CANTest/UPLOADED @@ -0,0 +1 @@ +Thu Dec 11 19:23:53 BRST 2003 diff --git a/Changes b/Changes index f572839..26a48e9 100644 --- a/Changes +++ b/Changes @@ -1,3 +1,27 @@ +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 + classe CtrlRegister. + +2004.01.11 Passou a ser utilizado o header iostream ao inves de + iostream.h, conforme o novo padrao de C++. Esta adaptacao + foi necessaria para compilacao com o GCC 3.3.2. + +2003.12.31 Alterados os codigos identificadores de comandos e status, + por estarem relacionados com a prioridade das mensgens no + 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 bibliotecas. @@ -17,7 +41,7 @@ 2003.12.18 Alteradas as classes utilizadas para representar excessoes. Criada uma hierarquia mais detalhada. -2003.12.17 Alteraqcao na classe AIC_HOST, que tornou-se virtual. +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. diff --git a/EncoderTest/EncoderTest.java b/EncoderTest/EncoderTest.java index dbc1011..8d4492a 100644 --- a/EncoderTest/EncoderTest.java +++ b/EncoderTest/EncoderTest.java @@ -50,7 +50,7 @@ class EncoderTest System.out.print("Motor Voltage: " + i); long timeread=TINIOS.uptimeMillis(); - int count=aic.encoder.readAndClear(); + int count=aic.encoder.getCountAndClear(); System.out.print("\tEncoder count: " + count); System.out.println("\tMotor speed: " + (2*java.lang.Math.PI*count/aic.encoder.PULSES/(timeread-timeread0)*1000)); timeread0=timeread; diff --git a/IODaemon/IODaemon.java b/IODaemon/IODaemon.java index afc6097..dd57a27 100644 --- a/IODaemon/IODaemon.java +++ b/IODaemon/IODaemon.java @@ -94,7 +94,7 @@ class IODaemon extends Thread if(help) { System.out.println("Usage:\tjava IODaemon.tini [-debug] aic_id"); - System.out.println("or"); + System.out.println("\tor"); System.out.println("\tjava IODaemon.tini [-debug] -UDP controller_host status_port"); System.exit(1); } @@ -209,8 +209,8 @@ class SendSensors extends IODaemon int index; if(aic.index.read()) index=1; else index=0; - int disp=aic.encoder.read(); - if(debug) System.out.print("Encoder="+disp+"\tindex="+index+"\t"); + double disp=aic.encoder.read(); + if(debug) System.out.print("Encoder="+disp+"rad\tindex="+index+"\t"); host.sendStatus(disp,index); long timeEnd=TINIOS.uptimeMillis(); diff --git a/Makefile b/Makefile index 1f8f137..d9f8ca6 100644 --- a/Makefile +++ b/Makefile @@ -26,13 +26,14 @@ check: clean: for i in $(PACKAGES); do $(MAKE) -C $$i clean; done - rm -r *~ *.bak + rm -rf *~ *.bak configure: for i in $(PACKAGES); do $(MAKE) -C $$i configure; done distclean: for i in $(PACKAGES); do $(MAKE) -C $$i distclean; done + rm -rf *~ *.bak install: for i in $(PACKAGES); do $(MAKE) -C $$i install; done diff --git a/MotorTest/MotorTest.java b/MotorTest/MotorTest.java index deb66a6..f41fcd5 100644 --- a/MotorTest/MotorTest.java +++ b/MotorTest/MotorTest.java @@ -31,7 +31,7 @@ import java.lang.Math.*; class MotorTest { static final int BASE=0x800000; - static final int ST=5000; + static final int ST=50; static AIC aic; diff --git a/README b/README index 9b1dc6b..0b45ca4 100644 --- a/README +++ b/README @@ -1,3 +1,10 @@ Actuator Interface Card 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/TODO b/TODO index 7105bc9..793d5e5 100644 --- a/TODO +++ b/TODO @@ -1,4 +1,15 @@ -- braketst +- Trocar optos por 6N137. Verificar maxima taxa CAN possivel de ser obtida. + +- 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 possivel memory leakage no programa jointtst. Apos algum tempo +executando o led do HD fica acendendo, indicando possivel uso de memoria +virtual. + +- Passar a utilizar IPv6 - Comunicacao por CAN Implementada. Falta testar. @@ -7,12 +18,6 @@ - Alterar protocolo de aplicacao UDP para implementar CAN over IP. -- Comunicacao em binario - Trocar protocolo de aplicacao e interfaces das rotinas da biblioteca -para transmitir os dados em binario e nao em ASCII. Criar versao 1.2.0? A -comunicacao via CAN ja' funciona em binario, apenas as interfaces ainda -utilizam ASCII para manter compatibilidade com a versao UDP. - - Comunicacao por TCP - Comunicacao por RS232 @@ -25,34 +30,32 @@ instalar ventoinhas. Instalar 7805 nos conectores CAN, de forma a poder alimentar o barramento com 12V. -- 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. - - Implementar PID - Portar o Slush para Linux, pelo menos os utilitarios que nao possuem equivalente, como o passwd - Algum dia. - Portar o NFS para o TiniOS Verificar implementacao existente. - Montar ambiente para desenvolvimento - Algum dia. - Portar o Linux/RTAI (uClinux ?) - Se aparecer algum mestrando interessado. - -- Verificar Sync-Switches no ASEA - A ser feito pelo Leitinho. - AIC versao 2.0.0 TINIDS400? TSTICK400? - STEP? + SNAP? DIMMPC? DSP? + ARM? FPGA? + USB? + FireWire? + Foundation Fieldbus? + Profibus? + I2C? + Compact-PCI? + + diff --git a/aicd/Makefile b/aicd/Makefile index 16c1f37..523b564 100644 --- a/aicd/Makefile +++ b/aicd/Makefile @@ -2,7 +2,7 @@ PRJLIBDIR=../lib PRJINCLUDE=../include PRJFLAGS=-DREAL_TIME -DVERBOSE -DDEBUG -CFLAGS=-O2 -Wall -m486 ${PRJFLAGS} +CFLAGS=-O2 -Wall -mcpu=i486 ${PRJFLAGS} CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/include/rtai CLIBDIR=-L${HOME}/lib -L/usr/local/lib CLIBS=-lpthread -lcanlib @@ -24,10 +24,7 @@ CMPSWTCH= gnu CMPMESSAGE= '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"' -all: aicudpd aicd - -aicudpd: aicd.cpp ${PRJINCLUDE}/aicsim.h ${PRJINCLUDE}/aichost.h ${PRJLIBDIR}/libaic.a - ${CMP} ${CMPFLAGS} -DUSE_UDP -o aicudpd aicd.cpp ${LDFLAGS} +all: aicd aicd: aicd.cpp ${PRJINCLUDE}/aicsim.h ${PRJINCLUDE}/aichost.h ${PRJLIBDIR}/libaic.a ${CMP} ${CMPFLAGS} -o aicd aicd.cpp ${LDFLAGS} @@ -41,7 +38,7 @@ clean: install: distclean: clean - rm -f aicudpd aicd + rm -f aicd diff --git a/aicd/aicd.cpp b/aicd/aicd.cpp index 8d3123a..c92f83c 100644 --- a/aicd/aicd.cpp +++ b/aicd/aicd.cpp @@ -24,16 +24,14 @@ *******************************************************************************/ #include -#include +#include +using namespace std; #include #include #include -#ifdef USE_UDP #include -#else #include -#endif #include @@ -110,13 +108,12 @@ int main(int argc, char *argv[]) { cout << "AIC Host Interface Simulation\n"; cout << "Copyright (C) Walter Fetter Lages 2003.\n"; - if(argc != 2) + + if((argc < 2) || (argc > 3) || + ((argc == 3) && strcasecmp(argv[1],"-UDP"))) { -#ifdef USE_UDP - cout << "USAGE: " << argv[0] << " controller_host\n"; -#else - cout << "USAGE: " << argv[0] << " can_id\n"; -#endif + cout << "USAGE:\t" << argv[0] << " can_id\n"; + cout << "\tor\n\t" << argv[0] << " -UDP controller_host\n"; return -1; } @@ -124,12 +121,10 @@ int main(int argc, char *argv[]) const double ST=0.1; AIC_SIM aic; + AIC_HOST *controller; -#ifdef USE_UDP - AIC_HOST_UDP controller(argv[1]); -#else - AIC_HOST_CAN controller(atoi(argv[1])); -#endif + if(argc==2) controller=new AIC_HOST_CAN(atoi(argv[1])); + else controller= new AIC_HOST_UDP(argv[2]); #ifdef REAL_TIME unsigned long maintsk_name = nam2num("AICD"); @@ -168,7 +163,7 @@ int main(int argc, char *argv[]) struct SEND_STATUS_ARGS ssargs; ssargs.ST=ST; ssargs.run=&run; - ssargs.controller= &controller; + ssargs.controller= controller; ssargs.aic=&aic; pthread_create(&send_status_th,NULL,&send_status,&ssargs); @@ -180,7 +175,7 @@ int main(int argc, char *argv[]) cout << "k=" << k << "\t"; #endif - int cmd=controller.command(); + int cmd=controller->command(); switch(cmd) { case AIC_MOTOR_ON: @@ -195,7 +190,7 @@ int main(int argc, char *argv[]) } case AIC_MOTOR_ACT: { - aic.motor=controller.voltage(); + aic.motor=controller->voltage(); break; } case AIC_BRAKE_RELEASE: @@ -227,6 +222,7 @@ int main(int argc, char *argv[]) } pthread_join(send_status_th,NULL); aic.motor.off(); + delete controller; cout << "\n"; #ifdef REAL_TIME diff --git a/braketst/Makefile b/braketst/Makefile index 9fd622c..1875bd5 100644 --- a/braketst/Makefile +++ b/braketst/Makefile @@ -1,7 +1,7 @@ -CFLAGS=-O2 -Wall -m486 +CFLAGS=-O2 -Wall -mcpu=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib -CLIBS=-lcutil +CLIBS=-lcutil -lcanlib CPPFLAGS= CPPINCLUDE=-I../include -I${HOME}/include/cpp -I/usr/local/include/cpp diff --git a/braketst/braketst.cpp b/braketst/braketst.cpp index 9751062..29f8f3e 100644 --- a/braketst/braketst.cpp +++ b/braketst/braketst.cpp @@ -23,10 +23,13 @@ *******************************************************************************/ -#include +#include +using namespace std; #include + #include +#include const int ST=1000; @@ -35,32 +38,38 @@ int main(int argc,char *argv[]) cout << "\nAIC Brake Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if(argc != 2) + if((argc < 2) || (argc > 3) || + ((argc == 3) && strcasecmp(argv[1],"-UDP"))) { - cerr << "Usage: braketst host\n"; + cout << "USAGE:\t" << argv[0] << " can_id\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; return -1; } - AIC_UDP aic(argv[1]); + AIC *aic; + if(argc==2) aic=new AIC_CAN(atoi(argv[1])); + else aic=new AIC_UDP(argv[2]); int apply=0; for(int i=0;;i++) { if(apply) { - aic.brake.apply(); + aic->brake.apply(); cout << "Brake Applied\t\n"; } else { - aic.brake.release(); + aic->brake.release(); cout << "Brake Released\t\n"; } apply=~apply; delay(ST); } - aic.brake.apply(); + aic->brake.apply(); + + delete aic; return 0; diff --git a/doc/Makefile b/doc/Makefile index 99aa54c..4ca569f 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -1,13 +1,13 @@ SCHEMS=aictini.sch aicpower.sch aicconn.sch -all: doc pcb bom +all: doc pcb bom sch doc: aic.ps aic.pdf aic.ps: aic.dvi dvips aic -aic.pdf: aic.dvi +aic.pdf: aic.ps dvipdf aic aic.dvi: aic.tex aic.aux aic.bbl @@ -53,6 +53,15 @@ aic.bpp: aic.bom aic.xrf: aic.bom bom_xref.sh aic.bom > aic.xrf +sch: aicsch.ps aicsch.pdf + +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 + clean: rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old mucs.in mucs.out aictmp.ps diff --git a/doc/aic.tex b/doc/aic.tex index 0237c99..8621e8e 100644 --- a/doc/aic.tex +++ b/doc/aic.tex @@ -10,7 +10,7 @@ Universidade Federal do Rio Grande do Sul\\ Escola de Engenharia\\ Departamento de Engenharia El\'etrica\\ Actuator Interface Card\\ -Vers\~ao 1.1.0} +Vers\~ao 1.2.0} \author{Prof. Walter Fetter Lages} @@ -221,7 +221,9 @@ de curso , para ser executado na AIC. \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. +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. \item[{\tt braketst/}] Teste do freio, para ser executado no \foreign{host}. @@ -249,28 +251,23 @@ em C++. \end{description} -A maioria dos programas para serem executados \foreign{host}, ao serem compilados, geram -dois execut\'aveis, um comunicando-se atrav\'es do barramento CAN e outro -atrav\'es de UDP. A constante {\tt USE\underline{ }UDP} \'e testada em tempo de -compila\c{c}\~ao para determinar se deve ser produzida a vers\~ao utilizando -CAN ou a vers\~ao utilizando UDP. - \section{Protocolo de Aplica\c{c}\~ao Utilizado para Comunica\c{c}\~ao 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. Os -diversos campos do pacote s\~ao codificados em ASCII e separados pelo -caractere de espa\c{c}o. A tabela~\ref{tab:genpacket} detalha os campos do -datagrama. +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 +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. \begin{figure}[H] \begin{center} -\begin{tabular}{|c|c|c|} +\begin{tabular}{|c|c|} \hline -comando & & argumentos \\ +identifica\c{c}\~ao & argumentos \\ \hline \end{tabular} \end{center} @@ -282,21 +279,27 @@ comando & & argumentos \\ \begin{center} \caption{Descri\c{c}\~ao do datagrama de aplica\c{c}\~ao.} \label{tab:genpacket} -\begin{tabular}{lp{10cm}} +\begin{tabular}{lcp{8.5cm}} \hline -Campo & Descri\c{c}\~ao\\ +Campo & tamanho & Descri\c{c}\~ao\\ \hline \hline -identifica\c{c}\~ao & Identifica\c{c}\~ao do comando enviado para a AIC - ou do \foreign{status} enviado para o \foreign{host}.\\ - & 'N' = liga motor \\ - & 'P' = desliga motor \\ - & 'M' = aplica tens\~ao no motor\\ - & 'B' = aplica freio\\ - & 'F' = libera freio\\ - & 'R' = \foreign{reset}\\ - & 'S' = \foreign{status}\\ - -dados & par\^ametros para o comando, ou dados de \foreign{status}, +identifica\c{c}\~ao & byte & Identifica\c{c}\~ao 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 + por CAN apenas os 6 bits menos + significativos s\~ao utilizados como + identifica\c{c}\~ao.\\ + & & 0x00 = inv\'alido\\ + & & 0x01 = \foreign{reset}\\ + & & 0x02 = desliga motor \\ + & & 0x03 = aplica freio\\ + & & 0x10 = aplica tens\~ao 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.\\ \hline \end{tabular} @@ -304,7 +307,7 @@ dados & par\^ametros para o comando, ou dados de \foreign{status}, \end{table} O campo destinado aos argumentos \'e de tamanho vari\'avel. Tamb\'em \'e -importante ressaltar que alguns dos campos n\~ao s\~ao utilizados em +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} (para ser utilizado em programas em C ou C++) e na classe {\tt Host.class} @@ -317,192 +320,128 @@ AIC e datagramas enviados da AIC para o \foreign{host}. Os datagramas enviados pelo \foreign{host} para a AIC s\~ao utilizados para comandar os diversos dispositivos. -\subsubsection{Liga Motor} - -O datagrama transmitido pelo \foreign{host}, para ligar o motor (com tens\~ao de 0V -aplicada nele) \'e apresentado na figura~\ref{fig:turnon} e detalhado na -tabela~\ref{tab:turnon}. N\~ao \'e utilizado o campo de dados. +\subsubsection{\foreign{Reset}} -\begin{figure}[H] -\begin{center} -\begin{tabular}{|c|} -\hline -'N' \\ -\hline -\end{tabular} -\caption{Datagrama liga motor.} -\label{fig:turnon} -\end{center} -\end{figure} +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. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama liga motor.} -\label{tab:turnon} -\begin{tabular}{cl} -\hline Campo & Descri\c{c}\~ao\\ +\caption{Descri\c{c}\~ao do datagrama \foreign{reset}.} +\label{tab:reset} +\begin{tabular}{lcl} +\hline +Campo & Tamanho & Valor\\ \hline \hline -'N' & Identificador do comando liga motor\\ +Identificador & 8 bits & 0x01\\ +Argumentos & & N\~ao utilizado\\ \hline \end{tabular} \end{center} \end{table} - \subsubsection{Desliga Motor} -O datagrama transmitido pelo \foreign{host} para desligar o motor \'e apresentado na -figura~\ref{fig:turnoff} e detalhado na tabela~\ref{tab:turnoff}. N\~ao \'e utilizado o campo de dados. +O datagrama transmitido pelo \foreign{host} para desligar o motor \'e +detalhado na tabela~\ref{tab:turnoff}. N\~ao \'e utilizado o campo de +argumentos. -\begin{figure}[H] +\begin{table}[H] \begin{center} -\begin{tabular}{|c|} +\caption{Descri\c{c}\~ao do datagrama desliga motor.} +\label{tab:turnoff} +\begin{tabular}{lcl} \hline -'P'\\ +Campo & Tamanho & Valor\\ +\hline \hline +Identificador & 8 bits & 0x02\\ +Argumentos & & N\~ao utilizado\\ \hline \end{tabular} -\caption{Formato do datagrama desliga motor.} -\label{fig:turnoff} \end{center} -\end{figure} +\end{table} + +\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 +argumentos. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama desliga motor.} -\label{tab:turnoff} -\begin{tabular}{cl} +\caption{Descri\c{c}\~ao do datagrama aplica freio.} +\label{tab:brakeon} +\begin{tabular}{lcl} \hline -Campo & Descri\c{c}\~ao\\ +Campo & Tamanho & Valor\\ \hline \hline -'P' & Identificador do comando desliga motor\\ +Identificador & 8 bits & 0x03\\ +Argumentos & & N\~ao utilizado\\ \hline \end{tabular} \end{center} - \end{table} +\end{table} \subsubsection{Aplica Tens\~ao no Motor} O datagrama transmitido do \foreign{host} para aplicar uma tens\~ao no motor -\'e apresentado na figura~\ref{fig:voltage} e descrito na -tabela~\ref{tab:voltage}. - -\begin{figure}[H] -\begin{center} -\begin{tabular}{|c|c|c|} -\hline -'M' & & tens\~ao \\ -\hline -\end{tabular} -\caption{Formato do datagrama aplica tens\~ao no motor.} -\label{fig:voltage} -\end{center} -\end{figure} +\'e descrito na tabela~\ref{tab:voltage}. \begin{table}[H] \begin{center} \caption{Descri\c{c}\~ao do datagrama aplica tens~ao no motor.} \label{tab:voltage} -\begin{tabular}{cl} +\begin{tabular}{lcp{8.5cm}} \hline -Campo & Descri\c{c}\~ao\\ +Campo & Tamanho & Valor\\ \hline \hline -'M' & Identificador do comando aplica tens\~ao no motor.\\ -tens\~ao & Tens\~ao a ser aplicada no motor.\\ +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.\\ \hline \end{tabular} \end{center} \end{table} -\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 apresentado na figura~\ref{fig:brakeon} e detalhado na -tabela~\ref{tab:brakeon}. N\~ao \'e utilizado o campo de dados. - -\begin{figure}[H] -\begin{center} -\begin{tabular}{|c|} -\hline -'B' \\ -\hline -\end{tabular} -\caption{Datagrama aplica freio.} -\label{fig:brakeon} -\end{center} -\end{figure} - -\begin{table}[H] -\begin{center} -\caption{Descri\c{c}\~ao do datagrama aplica freio.} -\label{tab:brakeon} -\begin{tabular}{cl} -\hline -Campo & Descri\c{c}\~ao\\ -\hline \hline -'B' & Identificador do comando aplica freio\\ -\hline -\end{tabular} -\end{center} -\end{table} \subsubsection{Libera Freio} O datagrama transmitido pelo \foreign{host} para liberar o freio -eletromagn\'etico (ativando a sa\'{\i}da correspondente) \'e apresentado na -figura~\ref{fig:brakeoff} e detalhado na tabela~\ref{tab:brakeoff}. N\~ao \'e utilizado o campo de dados. - -\begin{figure}[H] -\begin{center} -\begin{tabular}{|c|} -\hline 'F'\\ -\hline -\end{tabular} -\caption{Formato do datagrama libera freio.} -\label{fig:brakeoff} -\end{center} -\end{figure} +eletromagn\'etico (ativando a sa\'{\i}da correspondente) \'e detalhado na +tabela~\ref{tab:brakeoff}. N\~ao \'e utilizado o campo de argumentos. \begin{table}[H] \begin{center} \caption{Descri\c{c}\~ao do datagrama libera freio.} \label{tab:brakeoff} -\begin{tabular}{cl} +\begin{tabular}{lcl} \hline -Campo & Descri\c{c}\~ao\\ +Campo & Tamanho & Valor\\ \hline \hline -'F' & Identificador do comando libera freio\\ +Identificador & 8 bits & 0x30\\ +Argumentos & & N\~ao utilizado\\ \hline \end{tabular} \end{center} \end{table} -\subsubsection{\foreign{Reset}} - -O datagrama transmitido pelo \foreign{host} para resetar a AIC \'e -apresentado na figura~\ref{fig:reset} e detalhado na tabela~\ref{tab:reset}. -N\~ao \'e utilizado o campo de dados. +\subsubsection{Liga Motor} -\begin{figure}[H] -\begin{center} -\begin{tabular}{|c|} -\hline 'R'\\ -\hline -\end{tabular} -\caption{Formato do datagrama \foreign{reset}.} -\label{fig:reset} -\end{center} -\end{figure} +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. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao do datagrama \foreign{reset}.} -\label{tab:reset} -\begin{tabular}{cl} +\caption{Descri\c{c}\~ao do datagrama liga motor.} +\label{tab:turnon} +\begin{tabular}{lcl} \hline -Campo & Descri\c{c}\~ao\\ +Campo & Tamanho & Valor\\ \hline \hline -'R' & Identificador do comando \foreign{reset}\\ +Identificador & 8 bits & 0x31\\ +Argumentos & & N\~ao utilizado\\ \hline \end{tabular} \end{center} @@ -516,36 +455,24 @@ 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 apresentado na -figura~\ref{fig:status} e detalhado na tabela~\ref{tab:status}. - -\begin{figure}[H] -\begin{center} -\begin{tabular}{|c|c|c|c|c|} -\hline -'S' & & deslocamento & & \'{\i}ndice \\ -\hline -\end{tabular} -\caption{Formato do datagrama \foreign{status}.} -\label{fig:status} -\end{center} -\end{figure} +informa\c{c}\~ao de \foreign{status} dos dispositivos \'e detalhado na +tabela~\ref{tab:status}. \begin{table}[H] \begin{center} \caption{Descri\c{c}\~ao do datagrama \foreign{status}.} \label{tab:status} -\begin{tabular}{cp{11cm}} +\begin{tabular}{lcp{8.5cm}} \hline -Campo &Descri\c{c}\~ao\\ +Campo & Tamanho & Valor\\ \hline \hline -'S' & Identificador de \foreign{status}.\\ -deslocamento & Deslocamento do motor desde o \'ultimo datagrama de - status, em radianos ou em pulsos. O mesmo datagrama - \'e utilizado para deslocamento em radianos ou em pulsos. - A unidade adequada deve ser convencionada entre os - programas utilizando o protocolo. \\ -\'{\i}ndice & Estado da \foreign{sync-switch} (0 ou 1).\\ +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 + transmitidos primeiro.\\ \hline \end{tabular} \end{center} @@ -556,21 +483,21 @@ 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 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 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 do -caractere ASCII correspondente n\~ao s\~ao transmitidos no quadro CAN. Estes -bits s\~ao suprimidos e reinseridos pelas rotinas das bibliotecas (vide +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 +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 +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 +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. @@ -584,13 +511,14 @@ Bits & Descri\c{c}\~ao\\ \hline \hline 10-5 & C\'odigo do comando enviado para a AIC ou do \foreign{status} enviado para o \foreign{host}.\\ - & 'N' = 001110 = liga motor \\ - & 'P' = 010000 = desliga motor \\ - & 'M' = 001101 = aplica tens\~ao no motor\\ - & 'B' = 000001 = aplica freio\\ - & 'F' = 000110 = libera freio\\ - & 'R' = 010010 = \foreign{reset}\\ - & 'S' = 010011 = \foreign{status}\\ + & 000000 = inv\'alido\\ + & 000001 = \foreign{reset}\\ + & 000010 = desliga motor \\ + & 000011 = aplica freio\\ + & 010000 = aplica tens\~ao no motor\\ + & 100000 = \foreign{status}\\ + & 110000 = libera freio\\ + & 110001 = liga motor \\ 4-0 & Identifica\c{c}\~ao da AIC \`a qual refere-se a mensagem (AIC de origem ou destino da mensagem)\\ & 00000 mensagem n\~ao associada qualquer AIC espec\'{\i}fica\\ @@ -621,27 +549,26 @@ e o \foreign{host} podem ser classificadas em mensagens enviadas do As mensagens enviadas pelo \foreign{host} para a AIC s\~ao utilizados para comandar os diversos dispositivos. -\subsubsection{Liga Motor} +\subsubsection{\foreign{Reset}} -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 -utilizado o campo de dados. +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. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem liga motor.} -\label{tab:turnoncan} +\caption{Descri\c{c}\~ao da mensagem \foreign{reset}.} +\label{tab:resetcan} \begin{tabular}{cl} -\hline Campo & Valor\\ +\hline +Campo & Valor\\ \hline \hline -Identificador & 001110xxxxx\\ -Dados & N\~ao utilizado\\ +Identificador & 000001xxxxx\\ +Dados & N\~ao utilizado\\ \hline \end{tabular} \end{center} \end{table} - \subsubsection{Desliga Motor} A mensagem transmitida pelo \foreign{host} para desligar o motor \'e @@ -655,32 +582,11 @@ detalhada na tabela~\ref{tab:turnoffcan}. N\~ao \'e utilizado o campo de dados. \hline Campo & Valor\\ \hline \hline -Identificador &010000xxxxx\\ +Identificador &000010xxxxx\\ Dados & N\~ao utilizado\\ \hline \end{tabular} \end{center} - \end{table} - -\subsubsection{Aplica Tens\~ao no Motor} - -A mensagem transmitida do \foreign{host} para aplicar uma tens\~ao no motor -\'e descrita na tabela~\ref{tab:voltagecan}. - -\begin{table}[H] -\begin{center} -\caption{Descri\c{c}\~ao da mensagem aplica tens\~ao no motor.} -\label{tab:voltagecan} -\begin{tabular}{cp{11cm}} -\hline -Campo & Valor\\ -\hline \hline -Identificador & 001101xxxxx\\ -Dados & Tens\~ao a ser aplicada no motor em IEEE-754 - precis\~ao dupla, com o MSB transmitido primeiro.\\ -\hline -\end{tabular} -\end{center} \end{table} \subsubsection{Aplica freio} @@ -698,13 +604,34 @@ dados. \hline Campo & Valor\\ \hline \hline -Identificador & 000001xxxxx\\ +Identificador & 000011xxxxx\\ Dados & N\~ao utilizado\\ \hline \end{tabular} \end{center} \end{table} +\subsubsection{Aplica Tens\~ao no Motor} + +A mensagem transmitida do \foreign{host} para aplicar uma tens\~ao no motor +\'e descrita na tabela~\ref{tab:voltagecan}. + +\begin{table}[H] +\begin{center} +\caption{Descri\c{c}\~ao da mensagem aplica tens\~ao 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.\\ +\hline +\end{tabular} +\end{center} +\end{table} + \subsubsection{Libera Freio} A mensagem transmitida pelo \foreign{host} para liberar o freio @@ -719,28 +646,29 @@ tabela~\ref{tab:brakeoffcan}. N\~ao \'e utilizado o campo de dados. \hline Campo & Valor\\ \hline \hline -Identificador & 000110xxxxx\\ +Identificador & 110000xxxxx\\ Dados & N\~ao utilizado\\ \hline \end{tabular} \end{center} \end{table} -\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. +\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 +utilizado o campo de dados. \begin{table}[H] \begin{center} -\caption{Descri\c{c}\~ao da mensagem \foreign{reset}.} -\label{tab:resetcan} +\caption{Descri\c{c}\~ao da mensagem liga motor.} +\label{tab:turnoncan} \begin{tabular}{cl} -\hline -Campo & Valor\\ +\hline Campo & Valor\\ \hline \hline -Identificador & 010010xxxxx\\ -Dados & N\~ao utilizado\\ +Identificador & 110001xxxxx\\ +Dados & N\~ao utilizado\\ \hline \end{tabular} \end{center} @@ -765,13 +693,9 @@ tabela~\ref{tab:statuscan}. \hline Campo & Valor\\ \hline \hline -Identificador & 010011xxxxx\\ +Identificador & 100000xxxxx\\ Dados & Deslocamento do motor desde o \'ultimo datagrama de - status, em radianos ou em pulsos. O mesmo datagrama - \'e utilizado para deslocamento em radianos ou em - pulsos. A unidade adequada deve ser convencionada - entre os programas utilizando o protocolo. O - Deslocamento \'e codificado em IEEE-754 e ocupa os + status. O deslocamento \'e 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 @@ -807,18 +731,21 @@ 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(const char *cmd,int len)=0; + virtual void send_command(int cmd,...)=0; \end{verbatim} -Utilizada para enviar para a AIC uma \foreign{string} com o comando e -argumentos, como definido na se\c{c}\~oes~\ref{sec:UDP} e~\ref{sec:CAN}. +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(char *status,int len)=0; + virtual int get_status(int status,...)=0; \end{verbatim} -Utilizada para receber da AIC uma \foreign{string} de \foreign{status} e -argumentos, como definido nas se\c{c}\~oes~\ref{sec:UDP} e~\ref{sec:CAN}. +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}} @@ -951,12 +878,14 @@ Esta classe declara os seguintes objetos: AIC_MOTOR motor; AIC_ENCODER encoder; AIC_BRAKE brake; - AIC_INDEX index; + AIC_INDEX index; \end{verbatim} \noindent e o seguinte \foreign{constructor}: -\begin{verbatim} AIC(AIC_COMM *comm); \end{verbatim} +\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 @@ -991,20 +920,23 @@ os n\'umeros das portas default. \foreign{constructor}. \begin{verbatim} - void send_command(const char *cmd,int len); + void send_command(int cmd,...); \end{verbatim} -Utilizada para enviar para a AIC uma \foreign{string} com o comando e -argumentos, como definido na se\c{c}\~ao~\ref{sec:UDP}. +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(char *status,int len); + int get_status(int status,...); \end{verbatim} -Utilizada para receber da AIC uma \foreign{string} de \foreign{status} e -argumentos, como definido na se\c{c}\~ao~\ref{sec:UDP}. +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}. @@ -1032,23 +964,22 @@ default \'e utilizado o barramento 0. \foreign{constructor}. \begin{verbatim} - void send_command(const char *cmd,int len); + void send_command(int cmd,...); \end{verbatim} -Utilizada para enviar para a AIC uma \foreign{string} com o comando e -argumentos, como definido na se\c{c}\~ao\ref{sec:CAN}, ou seja, embora a -fun\c{c}\~ao receba uma \foreign{string} em ASCII, os dados s\~ao enviados -em bin\'ario. \'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual +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(char *status,int len); + int get_status(int status,...); \end{verbatim} -Utilizada para receber da AIC uma \foreign{string} de \foreign{status} e -argumentos, como definido na se\c{c}\~ao~\ref{sec:CAN}, ou seja, embora a -fun\c{c}\~ao retorne um string em ASCII, os dados s\~ao recebidos em -bin\'ario. \'E a implementa\c{c}\~ao da fun\c{c}\~ao virtual correspondente +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}} @@ -1123,21 +1054,24 @@ Implementa as seguintes fun\c{c}\~oes: simular a conex\~ao com uma AIC real. \begin{verbatim} - void send_command(const char *cmd,int len); + void send_command(int cmd,...); \end{verbatim} -Utilizada para enviar para a AIC uma \foreign{string} com o comando e -argumentos, como definido na 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}. +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(char *status,int len); + int get_status(int status,...); \end{verbatim} -Utilizada para receber da AIC uma \foreign{string} de \foreign{status} e -argumentos, como definido na se\c{c}\~ao~\ref{sec:UDP}. No entanto, ao +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 @@ -1296,10 +1230,11 @@ fun\c{c}\~ao virtual correspondente declarada na classe {\tt AIC\underline{ }HOS \section{Exemplo Utilizando Comunica\c{c}\~ao por UDP} Neste exemplo ser\~ao utilizados os programas \verb$IODaemon$ e -\verb$jointtstudp$. Para compilar eles, 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 Makefiles. +\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 +Makefiles. Ap\'os compilar o \verb$IODaemon$, necessita-se carregar o execut\'avel produzido, chamado \verb$IODaemon.tini$, na AIC. Isto pode ser feito por FTP. @@ -1369,7 +1304,7 @@ O \emph{software} do \foreign{host} est\'a no diret\'orio \verb$jointtst$. Para executa-lo basta digitar \begin{verbatim} -jointtstudp aic1 9871 +jointtst -UDP aic1 9871 \end{verbatim} Este programa gera uma rampas de $0$ a $+24V$, de $+24V$ a $-24V$ e de @@ -1377,7 +1312,7 @@ $-24V$ 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$jointtestudp$ para cada AIC, +9872, 9873...) e executar uma c\'opia do \verb$jointtest$ para cada AIC, eventualmente cada uma na sua pr\'opria janela. \bibliography{aic} diff --git a/doc/aicsch.ps b/doc/aicsch.ps new file mode 100644 index 0000000..1658675 --- /dev/null +++ b/doc/aicsch.ps @@ -0,0 +1,8740 @@ +%!PS-Adobe-3.0 +%%Pages: (atend) +%%BoundingBox: 29 42 566 803 +%%HiResBoundingBox: 29.564868 42.218774 565.846704 803.000000 +%..................................... +%%Creator: GNU Ghostscript 550 (pswrite) +%%CreationDate: 2004/05/05 16:24:46 +%%DocumentData: Clean7Bit +%%LanguageLevel: 2 +%%EndComments +%%BeginProlog +% This copyright applies to everything between here and the %%EndProlog: +% Copyright (C) 1998 Aladdin Enterprises, Menlo Park, CA. All rights reserved. +%%BeginResource: procset GS_pswrite_ProcSet +/GS_pswrite_ProcSet 40 dict dup begin +/!{bind def}bind def/#{load def}! +/rG{3{3 -1 roll 255 div}repeat setrgbcolor}!/G{255 div setgray}!/K{0 G}! +/r6{dup 3 -1 roll rG}!/r5{dup 3 1 roll rG}!/r3{dup rG}! +/w/setlinewidth #/J/setlinecap # +/j/setlinejoin #/M/setmiterlimit #/d/setdash #/i/setflat # +/m/moveto #/l/lineto #/c/rcurveto #/h{p closepath}!/H{P closepath}! +/lx{0 rlineto}!/ly{0 exch rlineto}!/v{0 0 6 2 roll c}!/y{2 copy c}! +/re{4 -2 roll m exch dup lx exch ly neg lx h}! +/^{3 index neg 3 index neg}! +/P{count 0 gt{count -2 roll moveto p}if}! +/p{count 2 idiv{count -2 roll rlineto}repeat}! +/f{P fill}!/f*{P eofill}!/S{P stroke}!/q/gsave #/Q/grestore #/rf{re fill}! +/Y{initclip P clip newpath}!/Y*{initclip P eoclip newpath}!/rY{re Y}! +/|{exch string readstring pop exch 4 1 roll 3 packedarray cvx exch 1 index def exec}! +/+{dup type/nametype eq{2 index 7 add -3 bitshift 2 index mul}if}! +/@/currentfile #/${+ @ |}! +/Ix{[1 0 0 1 11 -2 roll exch neg exch neg]exch}! +/,{true exch Ix imagemask}!/If{false exch Ix imagemask}!/I{exch Ix image}! +/Ic{exch Ix false 3 colorimage}! +/F{<>/CCITTFaxDecode filter}! +/X{/ASCII85Decode filter}!/@X{@ X}!/+F{2 index 2 index F}!/@F{@ +F}!/@C{@X +F}! +/$X{+ @X |}!/-F{4 index 4 index F}!/$F{+ @ -F |}!/$C{+ @X -F |}! +end def +%%EndResource +%%EndProlog +%%Page: 1 1 +%%BeginPageSetup +/pagesave save def GS_pswrite_ProcSet begin +<< /PageSize [595 842] >> setpagedevice +0.1 0.1 scale +%%EndPageSetup +0.1 w +2 J +K +0 0 5950 0 0 8420 ^ Y +4324.75 1918.27 0 487.12 S +4324.75 2405.39 -3832 0 S +492.75 2405.39 0 -487.12 S +492.75 1918.27 3832 0 S +0.072 w +2246.38 1918.27 0 -97.42 S +2194 1865 36 12 /5P $C +56( +, +2227 1940 37 5 /1A $C +-D@L>!$D=~> +, +2226 1951 39 36 /5T $C +3X:6A#WPSM&@6IIe^-S;-LdV/ldKY +, +2226 1990 39 30 /1E $C +.66op3cO%>VVNqE,J2;sL@kEr^AZp'rP/C4[f9D.]!1"2'AD8s'"h5u]23[F(f155 +&-~> +, +2228 2023 36 25 /5X $C +PN=eG(f^nX +, +2051.53 1918.27 0 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-0,0 +1,80 @@ +Na Kvaser + +A placa que eu e o Bracarense temos e' a PCIcan D. Aparentemente ela saiu de +linha e foi substituida pela PCIcan HS/HS. Parece ser a mesma placa com +outro nome. Talvez valha a pena conferir com o fabricante as diferencas +entre elas. + +Na ibutton , 1 componente para cada controlador. + +TINI Board (DSTIN1-1MG) + +Na USDigital , 1 componente para dada controlador + +E6M-2048-157-H + +CTOOLS-157 (apenas 1 no total) + +Na Arrow , 1 componente de cada para cada controlador. + +GAL22V10D-10LP +HCTL-2016 +CP82C54-10 +IRLZ24N (+ alguns sobressalentes) +MXO45HS-10.0000MHZ +PT78ST112V +PCA82C250 (2 por controlador) + +Na Digi-key , tambem 1 de cada para cada controlador. + +MAX4429CPA-ND +LT1162CN-ND +H5096-ND +H8096-ND +WM1700-ND +IRF1010N-ND (4 por controlador + alguns sobressalentes) +PT78ST105V-ND + +Os demais componentes podem ser comprados no mercado local (quantidades por +controlador). + +4 6N137 +1 CAPACITOR 2.2nF +1 CAPACITOR 220nF +1 RJ45 FEMALE +1 DB9 FEMALE +2 DB9 MALE +1 1N4007 +3 1N4148 +1 HEADER8 +1 JUMPER +1 LED GREEN +1 LED RED +2 CAPACITOR 1000uF x 35V +1 CAPACITOR 100uF x 16V +1 CAPACITOR 100uF x 25V +2 CAPACITOR 10uF x 25V +2 CAPACITOR 1uF x 25V +1 CAPACITOR 4.7uF x 16V +1 RESISTOR 10K +1 RESISTOR 1K5 +4 RESISTOR 2K2 +2 RESISTOR 2K7 +2 RESISTOR 330 +4 RESISTOR 390 +1 SWITCH_PUSHBUTTON_NO +1 Gabinete +Fios +Flat cable +solda +parafusos +retentores para os DB9 +Soquetes: +2 DIP24 slim +1 DIP24 wide +7 DIP8 +1 DIP16 + +Placas de circuito impresso a serem fabricadas. Aproximadamente R$ 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 1cbf0ac..0b03a64 100644 --- a/encodertst/Makefile +++ b/encodertst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -m486 +CFLAGS=-O2 -Wall -mcpu=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcanlib @@ -17,18 +17,15 @@ CMP= g++ CMPFLAGS= ${FLAGS} ${INCLUDE} LDFLAGS= ${LIBDIR} ${LIBS} -all: encodertst encodertstudp +all: encodertst encodertst: encodertst.cpp ../lib/libaic.a ${CMP} ${CMPFLAGS} -o encodertst encodertst.cpp ${LDFLAGS} -encodertstudp: encodertst.cpp ../lib/libaic.a - ${CMP} ${CMPFLAGS} -DUSE_UDP -o encodertstudp encodertst.cpp ${LDFLAGS} - clean: rm -f *~ *.bak *.o install: distclean: clean - rm -f encodertst encodertstudp + rm -f encodertst diff --git a/encodertst/encodertst.cpp b/encodertst/encodertst.cpp index a5d7c46..d42084c 100644 --- a/encodertst/encodertst.cpp +++ b/encodertst/encodertst.cpp @@ -23,13 +23,12 @@ *******************************************************************************/ -#include +#include +using namespace std; +#include -#ifdef USE_UDP #include -#else #include -#endif int main(int argc,char *argv[]) @@ -37,21 +36,23 @@ int main(int argc,char *argv[]) cout << "\nAIC Encoder Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if(argc != 2) + if((argc < 2) || (argc > 3) || + ((argc == 3) && strcasecmp(argv[1],"-UDP"))) { - cerr << "Usage: " << argv[0] << " aic\n"; + cout << "USAGE:\t" << argv[0] << " can_id\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; return -1; } -#ifdef USE_UDP - AIC_UDP aic(argv[1]); -#else - AIC_CAN aic(atoi(argv[1])); -#endif + AIC *aic; + if(argc==2) aic=new AIC_CAN(atoi(argv[1])); + else aic=new AIC_UDP(argv[2]); for(;;) { - cout << "Encoder reading: " << aic.encoder.read() << "\n"; + cout << "Encoder reading: " << aic->encoder.read() << "rad\n"; } + delete aic; + return 0; } diff --git a/include/aic.h b/include/aic.h index 086c4d0..5a3f1be 100644 --- a/include/aic.h +++ b/include/aic.h @@ -30,8 +30,8 @@ class AIC_COMM { public: - virtual void send_command(const char *cmd,int len)=0; - virtual int get_status(char *status,int len)=0; + virtual void send_command(int command,...)=0; + virtual int get_status(int status,...)=0; class AIC_BAD { }; class AIC_BAD_COMMAND: public AIC_BAD { }; diff --git a/include/aiccan.h b/include/aiccan.h index ae6915c..501788d 100644 --- a/include/aiccan.h +++ b/include/aiccan.h @@ -43,8 +43,8 @@ class AIC_CAN:public AIC_COMM, public AIC AIC_CAN(int aic,int bus=0); virtual ~AIC_CAN(void); - void send_command(const char *cmd,int len); - int get_status(char *status,int len); + void send_command(int command,...); + int get_status(int status,...); class AIC_CAN_BAD:public AIC_BAD { }; class AIC_CAN_BAD_OPEN:public AIC_CAN_BAD { }; diff --git a/include/aicnet.h b/include/aicnet.h index 7ce0e1d..bad99d4 100644 --- a/include/aicnet.h +++ b/include/aicnet.h @@ -31,13 +31,14 @@ enum AIC_COMMAND { - AIC_MOTOR_ACT= 'M', - AIC_MOTOR_ON= 'N', - AIC_MOTOR_OFF= 'P', - AIC_BRAKE_RELEASE= 'F', - AIC_BRAKE_APPLY= 'B', - AIC_RESET= 'R', - AIC_STATUS= 'S' + 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 }; #endif diff --git a/include/aicsim.h b/include/aicsim.h index a2ce69d..a96baeb 100644 --- a/include/aicsim.h +++ b/include/aicsim.h @@ -33,8 +33,8 @@ class AIC_SIM:public AIC_COMM, public AIC public: AIC_SIM(void); - void send_command(const char *cmd,int len); - int get_status(char *status,int len); + void send_command(int 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 { }; diff --git a/include/aicudp.h b/include/aicudp.h index f9d9075..4ec48b0 100644 --- a/include/aicudp.h +++ b/include/aicudp.h @@ -45,8 +45,8 @@ class AIC_UDP:public AIC_COMM, public AIC AIC_UDP(const char *aicname,int statport=STATUS_PORT,int cmdport=CMD_PORT); virtual ~AIC_UDP(void); - void send_command(const char *cmd,int len); - int get_status(char *status,int len); + void send_command(int command,...); + int get_status(int status,...); class AIC_UDP_BAD:public AIC_BAD { }; class AIC_UDP_BAD_SOCKET:public AIC_UDP_BAD { }; diff --git a/indextst/Makefile b/indextst/Makefile index bf97dff..a2f78c9 100644 --- a/indextst/Makefile +++ b/indextst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -m486 +CFLAGS=-O2 -Wall -mcpu=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcanlib @@ -17,18 +17,15 @@ CMP= g++ CMPFLAGS= ${FLAGS} ${INCLUDE} LDFLAGS= ${LIBDIR} ${LIBS} -all: indextst indextstudp +all: indextst indextst: indextst.cpp ../lib/libaic.a ${CMP} ${CMPFLAGS} -o indextst indextst.cpp ${LDFLAGS} -indextstudp: indextst.cpp ../lib/libaic.a - ${CMP} ${CMPFLAGS} -DUSE_UDP -o indextstudp indextst.cpp ${LDFLAGS} - clean: rm -f *~ *.bak *.o install: distclean: clean - rm -f indextst indextstudp + rm -f indextst diff --git a/indextst/indextst.cpp b/indextst/indextst.cpp index 1bf36b5..36d86d5 100644 --- a/indextst/indextst.cpp +++ b/indextst/indextst.cpp @@ -23,34 +23,37 @@ *******************************************************************************/ -#include +#include +using namespace std; + +#include -#ifdef USE_UDP #include -#else #include -#endif int main(int argc,char *argv[]) { cout << "\nAIC Index Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if(argc != 2) + if((argc < 2) || (argc > 3) || + ((argc == 3) && strcasecmp(argv[1],"-UDP"))) { - cerr << "Usage: " << argv[0] << " aic\n"; + cout << "USAGE:\t" << argv[0] << " can_id\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; return -1; } -#ifdef USE_UDP - AIC_UDP aic(argv[1]); -#else - AIC_CAN aic(atoi(argv[1])); -#endif + AIC *aic; + if(argc==2) aic=new AIC_CAN(atoi(argv[1])); + else aic=new AIC_UDP(argv[2]); for(;;) { - cout << "Index reading: " << aic.index.read() << "\n"; + cout << "Index reading: " << aic->index.read() << "\n"; } + + delete aic; + return 0; } diff --git a/jointtst/Makefile b/jointtst/Makefile index 83ae99b..a2a14d9 100644 --- a/jointtst/Makefile +++ b/jointtst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -m486 +CFLAGS=-O2 -Wall -mcpu=i486 CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcutil -lconio -lncurses -lcanlib @@ -17,18 +17,15 @@ CMP= g++ CMPFLAGS= ${FLAGS} ${INCLUDE} LDFLAGS= ${LIBDIR} ${LIBS} -all: jointtst jointtstudp +all: jointtst jointtst: jointtst.cpp ../lib/libaic.a ${CMP} ${CMPFLAGS} -o jointtst jointtst.cpp ${LDFLAGS} -jointtstudp: jointtst.cpp ../lib/libaic.a - ${CMP} ${CMPFLAGS} -DUSE_UDP -o jointtstudp jointtst.cpp ${LDFLAGS} - clean: rm -f *~ *.bak *.o install: distclean: clean - rm -f jointtst jointtstudp + rm -f jointtst diff --git a/jointtst/jointtst.cpp b/jointtst/jointtst.cpp index 7d40265..17c52be 100644 --- a/jointtst/jointtst.cpp +++ b/jointtst/jointtst.cpp @@ -25,27 +25,25 @@ #include #include +#include #include #include #include -#ifdef USE_UDP #include -#else #include -#endif const int ST=1000; -void iter(AIC &aic,int i) +void iter(AIC *aic,int i) { - aic.motor=i; + aic->motor=i; gotoxy(1,5); - cout << "Motor Voltage: " << i << "\t"; - cout << "Index: " << aic.index.read() << "\t"; - cout << "Encoder: " << aic.encoder.read() << "\n"; + cout << "Motor Voltage: " << i << "V\t"; + cout << "Index: " << aic->index.read() << "\t"; + cout << "Encoder: " << aic->encoder.read() << "rad\n"; delay(ST); } @@ -58,26 +56,20 @@ int main(int argc,char *argv[]) cout << "\nAIC Robot Joint Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; -#ifdef USE_UDP - if(argc != 3) + if((argc < 2) || (argc == 3) || (argc > 4) || + ((argc == 4) && strcasecmp(argv[1],"-UDP"))) { - cerr << "Usage: " << argv[0] << " aic host_port\n"; + cout << "USAGE:\t" << argv[0] << " can_id\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic status_port\n"; return -1; } - AIC_UDP aic(argv[1],atoi(argv[2])); -#else - if(argc != 2) - { - cerr << "Usage: " << argv[0] << " aic_id\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])); - AIC_CAN aic(atoi(argv[1])); -#endif - - aic.motor.on(); - aic.brake.release(); + aic->motor.on(); + aic->brake.release(); for(i=0;(i <= 24) && run;i++) { @@ -99,9 +91,11 @@ int main(int argc,char *argv[]) } getch(); - aic.motor=0; - aic.brake.apply(); - aic.motor.off(); + aic->motor=0; + aic->brake.apply(); + aic->motor.off(); + + delete aic; clrscr(); return 0; diff --git a/lib/Brake.java b/lib/Brake.java index 55dd529..58ebc11 100644 --- a/lib/Brake.java +++ b/lib/Brake.java @@ -28,17 +28,11 @@ package br.ufrgs.eletro.AIC; import com.dalsemi.system.DataPort; import com.dalsemi.system.IllegalAddressException; -/** Provices access to electromagnetic brake in an Actuator Interface Card +/** Provides access to electromagnetic brake in an Actuator Interface Card * @author Walter Fetter Lages (w.fetter@ieee.org) */ public class Brake { - private static final int LATCH=0xA0000; - private static final int PWMDISABLE=0x00; - private static final int PWMENABLE=0x01; - private static final int BRAKEAPPLY=0x02; - private static final int BRAKERELEASE=0x03; - private DataPort latch; /** Initializes Brake @@ -46,7 +40,7 @@ public class Brake */ public Brake(int base) { - latch=new DataPort(base+LATCH); + latch=new DataPort(base+PLD.CONTROL); latch.setFIFOMode(true); latch.setStretchCycles(DataPort.STRETCH2); } @@ -56,7 +50,7 @@ public class Brake */ public void apply() throws IllegalAddressException { - latch.write(BRAKEAPPLY); + latch.write(CtrlRegister.BRAKEAPPLY); } /** Releases the electromagnetic brake @@ -64,7 +58,7 @@ public class Brake */ public void release() throws IllegalAddressException { - latch.write(BRAKERELEASE); + latch.write(CtrlRegister.BRAKERELEASE); } } diff --git a/lib/CtrlRegister.java b/lib/CtrlRegister.java new file mode 100644 index 0000000..7453fc6 --- /dev/null +++ b/lib/CtrlRegister.java @@ -0,0 +1,50 @@ +/****************************************************************************** + + Actuator Interface Card + Control Register 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 . + +*******************************************************************************/ + +package br.ufrgs.eletro.AIC; + +/** 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 +*/ +public class CtrlRegister +{ +/** PWM disable +*/ + public static final int PWMDISABLE=0x00; + +/** PWM enable +*/ + public static final int PWMENABLE=0x01; + +/** Apply Brake +*/ + public static final int BRAKEAPPLY=0x02; + +/** Release Brake +*/ + public static final int BRAKERELEASE=0x03; +} diff --git a/lib/Encoder.java b/lib/Encoder.java index 872c7a2..e03f5b5 100644 --- a/lib/Encoder.java +++ b/lib/Encoder.java @@ -38,8 +38,6 @@ public class Encoder * quadrature decoder */ public final int PULSES; - - private static final int ENCODER=0x90000; private DataPort encPort; @@ -61,7 +59,7 @@ public class Encoder { PULSES=pulses; - encPort=new DataPort(base+ENCODER); + encPort=new DataPort(base+PLD.ENCODER); encPort.setFIFOMode(true); encPort.setStretchCycles(DataPort.STRETCH2); @@ -76,12 +74,12 @@ public class Encoder clear(); } -/** Reads the counter on the quadrature decoder chip +/** 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 read() throws IllegalAddressException + public int getCount() throws IllegalAddressException { int count; byte[] hilo=new byte[2]; @@ -97,12 +95,12 @@ public class Encoder return count; } -/** Reads and clears the counter on the quadrature decoder chip +/** 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 readAndClear() throws IllegalAddressException + public int getCountAndClear() throws IllegalAddressException { int count; byte[] hilo=new byte[2]; @@ -119,5 +117,51 @@ public class Encoder return count; } +/** 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 + { + 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); + } + +/** 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 + { + 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); + } + } + diff --git a/lib/Host.java b/lib/Host.java index fad4571..ec10996 100644 --- a/lib/Host.java +++ b/lib/Host.java @@ -34,39 +34,43 @@ import java.lang.*; */ abstract public class Host { -/** Motor actuate command +/** Invalid command */ - public static final int MOTOR_ACT='M'; + public static final int INVALID=0x00; -/** Motor on command +/** AIC reset command */ - public static final int MOTOR_ON='N'; + public static final int RESET=0x01; /** Motor off command */ - public static final int MOTOR_OFF='P'; - -/** Brake release command -*/ - public static final int BRAKE_RELEASE='F'; + public static final int MOTOR_OFF=0x02; /** Brake apply command */ - public static final int BRAKE_APPLY='B'; + public static final int BRAKE_APPLY=0x03; -/** AIC reset command +/** Motor actuate command */ - public static final int RESET='R'; + public static final int MOTOR_ACT=0x10; /** Status message identifier */ - public static final int STATUS='S'; + public static final int STATUS=0x20; + +/** Brake release command +*/ + public static final int BRAKE_RELEASE=0x30; + +/** Motor on command +*/ + public static final int MOTOR_ON=0x31; -/** Motor is on +/** Motor on status */ public static final int MOTOR_IS_ON=1; -/** Brake is applied +/** Brake applied status */ public static final int BRAKE_APPLIED=2; diff --git a/lib/HostCAN.java b/lib/HostCAN.java index 175e36f..54077f9 100644 --- a/lib/HostCAN.java +++ b/lib/HostCAN.java @@ -140,7 +140,7 @@ public class HostCAN extends Host canbus.receive(frame); - int cmd=((frame.ID & AIC_CMD_MASK) >> 5) + 0x40; // Insert msb to adjust ASCII + int cmd=((frame.ID & AIC_CMD_MASK) >> 5); switch(cmd) { @@ -157,7 +157,7 @@ public class HostCAN extends Host case MOTOR_ACT: { long U=0; - for(int i=0;i < 8;i++) U=U | ( (frame.data[7-i] <<(i*8)) & (0xff << (i*8)) ); + for(int i=0;i < 8;i++) U=U | ( (((long)frame.data[7-i]) << (i*8)) & (0xffL << (i*8)) ); u=Double.longBitsToDouble(U); break; } @@ -187,7 +187,7 @@ public class HostCAN extends Host */ public void sendStatus(double disp,int index) throws CanBusException { - int cmd=id | ((STATUS << 5) & AIC_CMD_MASK); + int cmd=id | (STATUS << 5); byte[] data=new byte[8]; float f=(float) disp; @@ -205,7 +205,7 @@ public class HostCAN extends Host */ public void sendStatus(int disp,int index) throws CanBusException { - int cmd=id | ((STATUS << 5) & AIC_CMD_MASK); + int cmd=id | (STATUS << 5); byte[] data=new byte[8]; for(int i=0;i < 4;i++) data[i]=(byte)((disp >> (8*i)) & 0xff); diff --git a/lib/HostUDP.java b/lib/HostUDP.java index 201346d..0cbd3f3 100644 --- a/lib/HostUDP.java +++ b/lib/HostUDP.java @@ -137,10 +137,10 @@ public class HostUDP extends Host break; } case MOTOR_ACT: - { - - Double U=Double.valueOf(new String(buff,1,p.getLength())); - u=U.doubleValue(); + { + long U=0; + for(int i=0;i < 8;i++) U=U | ( (((long) buff[7-i+1]) << (i*8)) & (0xffL << (i*8)) ); + u=Double.longBitsToDouble(U); break; } case BRAKE_APPLY: @@ -169,11 +169,15 @@ public class HostUDP extends Host */ public void sendStatus(double disp,int index) throws IOException { - String cmd=String.valueOf(STATUS)+" "+String.valueOf(disp)+" "+String.valueOf(index); - - byte[] buff=cmd.getBytes(); + byte[] buff=new byte[13]; + buff[0]=STATUS; + + long dl=Double.doubleToLongBits(disp); + + for(int i=0;i < 8;i++) buff[7-i+1]=(byte)((dl >> (8*i)) & 0xff); + for(int i=0;i < 4;i++) buff[12-i]=(byte)((index >> (8*i)) & 0xff); - DatagramPacket p=new DatagramPacket(buff,cmd.length(),controlleraddr,statusport); + DatagramPacket p=new DatagramPacket(buff,13,controlleraddr,statusport); statusfd.send(p); } @@ -184,11 +188,12 @@ public class HostUDP extends Host */ public void sendStatus(int disp,int index) throws IOException { - String cmd=String.valueOf(STATUS)+" "+String.valueOf(disp)+" "+String.valueOf(index); - - byte[] buff=cmd.getBytes(); - - DatagramPacket p=new DatagramPacket(buff,cmd.length(),controlleraddr,statusport); + byte[] buff=new byte[9]; + buff[0]=STATUS; + + for(int i=0;i < 4;i++) buff[4-i]=(byte)((disp >> (8*i)) & 0xff); + for(int i=0;i < 4;i++) buff[8-i]=(byte)((index >> (8*i)) & 0xff); + DatagramPacket p=new DatagramPacket(buff,9,controlleraddr,statusport); statusfd.send(p); } diff --git a/lib/Index.java b/lib/Index.java index c231178..952c1ad 100644 --- a/lib/Index.java +++ b/lib/Index.java @@ -33,8 +33,6 @@ import com.dalsemi.system.IllegalAddressException; */ public class Index { - private static final int LATCH=0xA0000; - private DataPort latch; /** Initializes Index @@ -43,7 +41,7 @@ public class Index */ public Index(int base) throws IllegalAddressException { - latch=new DataPort(base+LATCH); + latch=new DataPort(base+PLD.CONTROL); latch.setFIFOMode(true); latch.setStretchCycles(DataPort.STRETCH2); } diff --git a/lib/Makefile b/lib/Makefile index ac08aee..0b5deda 100644 --- a/lib/Makefile +++ b/lib/Makefile @@ -3,7 +3,7 @@ APIDBPATH=-d /opt/tini/bin/tini.db PKGPATH=br/ufrgs/eletro/AIC JAVAFLAGS=-O -target 1.1 -CFLAGS = -O2 -Wall -m486 +CFLAGS = -O2 -Wall -mcpu=i486 INCLUDE = -I. -I${HOME}/include CPPFLAGS = @@ -27,6 +27,12 @@ LDFLAGS= ${LIBDIR} ${LIBS} all: AIC.jar libaic.a javadocs +${PKGPATH}/PLD.class: PLD.java + javac ${JAVAFLAGS} ${CLASSPATH} -d . PLD.java + +${PKGPATH}/CtrlRegister.class: CtrlRegister.java + javac ${JAVAFLAGS} ${CLASSPATH} -d . CtrlRegister.java + ${PKGPATH}/PWM.class: PWM.java javac ${JAVAFLAGS} ${CLASSPATH} -d . PWM.java @@ -54,7 +60,9 @@ ${PKGPATH}/HostUDP.class: HostUDP.java ${PKGPATH}/HostCAN.class: HostCAN.java javac ${JAVAFLAGS} ${CLASSPATH} -d . HostCAN.java -AIC.jar: ${PKGPATH}/PWM.class\ +AIC.jar: ${PKGPATH}/PLD.class\ + ${PKGPATH}/CtrlRegister.class\ + ${PKGPATH}/PWM.class\ ${PKGPATH}/Motor.class\ ${PKGPATH}/Encoder.class\ ${PKGPATH}/Brake.class\ @@ -68,8 +76,8 @@ AIC.jar: ${PKGPATH}/PWM.class\ javadocs: ../doc/javadocs/index.html -../doc/javadocs/index.html: PWM.java Motor.java Encoder.java Brake.java Index.java AIC.java Host.java HostUDP.java HostCAN.java - javadoc ${CLASSPATH} -d ../doc/javadocs -author PWM.java Motor.java Encoder.java Brake.java Index.java AIC.java Host.java HostUDP.java HostCAN.java +../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 aic.o: aic.cpp ../include/aic.h gcc ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp @@ -99,7 +107,7 @@ install: install -m 0644 libaic.a ${LIBINST} install -m 0644 AIC.jar ${LIBINST} install -m 0755 -d ${INCLUDEINST}/cpp - install -m 0644 *.h ${INCLUDEINST}/cpp + install -m 0644 ../include/*.h ${INCLUDEINST}/cpp clean: rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br diff --git a/lib/PLD.java b/lib/PLD.java new file mode 100644 index 0000000..8904ce9 --- /dev/null +++ b/lib/PLD.java @@ -0,0 +1,50 @@ +/****************************************************************************** + + 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 . + +*******************************************************************************/ + +package br.ufrgs.eletro.AIC; + +/** 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 +*/ +public class PLD +{ +/** PWM address +* @see PWM +*/ + public static final int PWM=0x80000; + +/** Encoder address +* @see Encoder +*/ + public static final int ENCODER=0x90000; + +/** Control register address +* @see CtrlRegister +*/ + public static final int CONTROL=0xA0000; +} + diff --git a/lib/PWM.java b/lib/PWM.java index 85ab293..5823aae 100644 --- a/lib/PWM.java +++ b/lib/PWM.java @@ -33,15 +33,6 @@ import com.dalsemi.system.IllegalAddressException; */ public class PWM { - private static final int PWM=0x80000; - - private static final int LATCH=0xA0000; - private static final int PWMDISABLE=0x00; - private static final int PWMENABLE=0x01; - private static final int BRAKERELEASE=0x02; - private static final int BRAKEAPPLY=0x03; - - private static final int ONE_SHOT_BIN=0x32; /* programmable one-shot binary */ private static final int RATE_BIN=0x34; /* rate generator binary */ @@ -92,19 +83,19 @@ public class PWM private void init(int base,double freq) throws IllegalAddressException { - timer0=new DataPort(base+PWM+0); + timer0=new DataPort(base+PLD.PWM+0); timer0.setFIFOMode(true); timer0.setStretchCycles(DataPort.STRETCH2); - timer1=new DataPort(base+PWM+1); + timer1=new DataPort(base+PLD.PWM+1); timer1.setFIFOMode(true); timer1.setStretchCycles(DataPort.STRETCH2); - control=new DataPort(base+PWM+3); + control=new DataPort(base+PLD.PWM+3); control.setFIFOMode(true); control.setStretchCycles(DataPort.STRETCH2); - latch=new DataPort(base+LATCH); + latch=new DataPort(base+PLD.CONTROL); latch.setFIFOMode(true); latch.setStretchCycles(DataPort.STRETCH2); @@ -189,7 +180,7 @@ public class PWM */ public void on() throws IllegalAddressException { - latch.write((byte)PWMENABLE); + latch.write((byte)CtrlRegister.PWMENABLE); } /** Turns the PWM off @@ -197,6 +188,6 @@ public class PWM */ public void off() throws IllegalAddressException { - latch.write((byte)PWMDISABLE); + latch.write((byte)CtrlRegister.PWMDISABLE); } } diff --git a/lib/aic.cpp b/lib/aic.cpp index d6a81b6..38cffac 100644 --- a/lib/aic.cpp +++ b/lib/aic.cpp @@ -38,27 +38,17 @@ AIC_MOTOR::AIC_MOTOR(AIC_COMM *comm) void AIC_MOTOR::on(void) { - char buff[32]; - - int len=snprintf(buff,32,"%c",AIC_MOTOR_ON); - port->send_command(buff,len); + port->send_command(AIC_MOTOR_ON); } void AIC_MOTOR::off(void) { - char buff[32]; - - int len=snprintf(buff,32,"%c",AIC_MOTOR_OFF); - port->send_command(buff,len); + port->send_command(AIC_MOTOR_OFF); } double AIC_MOTOR::operator=(double voltage) { - char buff[32]; - - int len=snprintf(buff,32,"%c %g",AIC_MOTOR_ACT,voltage); - - port->send_command(buff,len); + port->send_command(AIC_MOTOR_ACT,voltage); return voltage; } @@ -71,18 +61,12 @@ AIC_BRAKE::AIC_BRAKE(AIC_COMM *comm) void AIC_BRAKE::apply(void) { - char buff[32]; - - int len=snprintf(buff,32,"%c",AIC_BRAKE_APPLY); - port->send_command(buff,len); + port->send_command(AIC_BRAKE_APPLY); } void AIC_BRAKE::release(void) { - char buff[32]; - - int len=snprintf(buff,32,"%c",AIC_BRAKE_RELEASE); - port->send_command(buff,len); + port->send_command(AIC_BRAKE_RELEASE); } AIC_ENCODER::AIC_ENCODER(AIC_COMM *comm) @@ -92,14 +76,9 @@ AIC_ENCODER::AIC_ENCODER(AIC_COMM *comm) double AIC_ENCODER::read(int *index) { - char buff[256]; - - int count=port->get_status(buff,255); + double disp; - buff[count]= '\0'; - char *next=buff+1; - double disp=strtod(next,&next); - *index=strtol(next,NULL,0); + port->get_status(AIC_STATUS,&disp,index); return disp; } @@ -118,14 +97,9 @@ AIC_INDEX::AIC_INDEX(AIC_COMM *comm) int AIC_INDEX::read(double *disp) { - char buff[256]; + int index; - int count=port->get_status(buff,255); - - buff[count]= '\0'; - char *next=buff+1; - *disp=strtod(buff,&next); - int index=strtol(next,NULL,0); + port->get_status(AIC_STATUS,disp,&index); return index; } diff --git a/lib/aiccan.cpp b/lib/aiccan.cpp index 976cf02..b570d26 100644 --- a/lib/aiccan.cpp +++ b/lib/aiccan.cpp @@ -24,6 +24,7 @@ *******************************************************************************/ +#include #include #include @@ -31,7 +32,7 @@ #include #include -AIC_CAN::AIC_CAN(int aic,int bus=0): +AIC_CAN::AIC_CAN(int aic,int bus): AIC(this) { aicnumber=aic; @@ -53,49 +54,56 @@ AIC_CAN::~AIC_CAN(void) if(status < 0) throw AIC_CAN_BAD_CLOSE(); } -int AIC_CAN::get_status(char *buff,int len) +int AIC_CAN::get_status(int status,...) { long id; unsigned char msg[8]; unsigned int msglen; unsigned int flag; unsigned long time; + int cmd; do { - canStatus status=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1); - if(status < 0) throw AIC_CAN_BAD_RECEIVE(); - if(!(flag & canMSG_STD)) continue; - } while( ((id & AIC_ID_MASK) != aicnumber) || !(id & AIC_ID_MASK) ); - - char cmd=(id & AIC_CMD_MASK) >> 5; - - int count=snprintf(buff,len,"%c",cmd); + do + { + 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) || + !(id & AIC_ID_MASK) || + (cmd != status) ); switch(cmd) { case AIC_STATUS: { - float disp; for(int i=0;i < 4;i++) *(((unsigned char *)&disp)+i)=msg[3-i]; - int index; - for(int i=0;i < 4;i++) *(((unsigned char *)&index)+i)=msg[7-i]; + va_list ap; + va_start(ap,status); + double *dp=va_arg(ap,double *); + *dp=disp; + + int *index=va_arg(ap,int *); + for(int i=0;i < 4;i++) *(((unsigned char *)index)+i)=msg[7-i]; + + va_end(ap); - count=snprintf(buff+count,len-count,"%f %d",disp,index); break; } } - return count; + return cmd; } -void AIC_CAN::send_command(const char *cmd,int len) +void AIC_CAN::send_command(int command,...) { unsigned char msg[8]; unsigned int msglen=8; - long id=aicnumber | ( (((long)cmd[0]) << 5) & AIC_CMD_MASK); - switch(cmd[0]) + long id=aicnumber | (command << 5); + switch(command) { case AIC_MOTOR_ON: case AIC_MOTOR_OFF: @@ -108,9 +116,11 @@ void AIC_CAN::send_command(const char *cmd,int len) } case AIC_MOTOR_ACT: { - char *next=(char *)cmd+1; - double volt=strtod(next,&next); - for(int i=0;i < 8;i++) msg[7-i]= ( ( *((int *) &volt) ) >> (i*8) ) & 0xff; + va_list ap; + va_start(ap,command); + double volt=va_arg(ap,double); + va_end(ap); + for(int i=0;i < 8;i++) msg[7-i]= ( ( *((unsigned long long *) &volt) ) >> (i*8) ) & 0xff; msglen=8; break; } diff --git a/lib/aichostcan.cpp b/lib/aichostcan.cpp index 93098bc..5349e22 100644 --- a/lib/aichostcan.cpp +++ b/lib/aichostcan.cpp @@ -26,7 +26,7 @@ #include -AIC_HOST_CAN::AIC_HOST_CAN(int aic,int bus=0): +AIC_HOST_CAN::AIC_HOST_CAN(int aic,int bus): AIC_HOST() { aicnumber=aic; @@ -57,14 +57,13 @@ int AIC_HOST_CAN::command(void) unsigned long time; do { - canStatus - status=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1); - if(status < 0) throw AIC_HOST_CAN_BAD_RECEIVE(); if(!(flag & - canMSG_STD)) continue; + do + { + 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; switch(cmd) { @@ -106,7 +105,8 @@ int AIC_HOST_CAN::command(void) void AIC_HOST_CAN::send_status(double disp,int index) { unsigned char msg[8]; - for(int i=0;i < 4;i++) msg[3-i]= *(((unsigned char *) &disp)+i); + float dispf=disp; + for(int i=0;i < 4;i++) msg[3-i]= *(((unsigned char *) &dispf)+i); for(int i=0;i < 4;i++) msg[4+3-i]= *(((unsigned char *) &index)+i); long id=aicnumber | (AIC_STATUS << 5); diff --git a/lib/aichostudp.cpp b/lib/aichostudp.cpp index 57550e3..696321d 100644 --- a/lib/aichostudp.cpp +++ b/lib/aichostudp.cpp @@ -26,7 +26,8 @@ #include #include -#include +#include +using namespace std; #include #include #include @@ -35,7 +36,7 @@ #include -AIC_HOST_UDP::AIC_HOST_UDP(const char *controllername,int statusport=STATUS_PORT,int cmdport=CMD_PORT): +AIC_HOST_UDP::AIC_HOST_UDP(const char *controllername,int statusport,int cmdport): AIC_HOST() { struct hostent *controllerend=gethostbyname(controllername); @@ -96,12 +97,12 @@ AIC_HOST_UDP::~AIC_HOST_UDP(void) int AIC_HOST_UDP::command(void) { - char buff[256]; + char buff[32]; int count; socklen_t cmdlen=sizeof(cmdaddr); - if((count=recvfrom(cmdfd,buff,255,0,(struct sockaddr *) &cmdaddr,&cmdlen)) <= 0) + if((count=recvfrom(cmdfd,buff,32,0,(struct sockaddr *) &cmdaddr,&cmdlen)) <= 0) { #ifdef DEBUG cerr << "AIC_HOST::command error: " @@ -110,8 +111,6 @@ int AIC_HOST_UDP::command(void) throw AIC_HOST_BAD_RECEIVE(); } - buff[count]= '\0'; - int cmd=*buff; switch(cmd) @@ -128,9 +127,8 @@ int AIC_HOST_UDP::command(void) } case AIC_MOTOR_ACT: { - char *next=buff+1; - - u= strtod(next, NULL); + unsigned char *c=(unsigned char *) &u; + for(int i=0;i < 8;i++) c[i]=buff[7-i+1]; break; } case AIC_BRAKE_APPLY: @@ -156,9 +154,13 @@ void AIC_HOST_UDP::send_status(double disp,int index) { char buff[32]; - int len=snprintf(buff,32,"%g %d",disp,index); + buff[0]=AIC_STATUS; + + for(int i=0;i < 8;i++) buff[7-i+1]= *(((unsigned char *) &disp)+i); + for(int i=0;i < 4;i++) buff[8+3-i+1]= *(((unsigned char *) &index)+i); - if(sendto(statusfd,buff,len,0,(struct sockaddr *) &statusaddr,sizeof(statusaddr)) < 0) + int count=0; + if((count=sendto(statusfd,buff,13,0,(struct sockaddr *) &statusaddr,sizeof(statusaddr))) < 0) { #ifdef DEBUG cerr << "AIC_HOST::send_status error: " diff --git a/lib/aicsim.cpp b/lib/aicsim.cpp index 3dde754..6f6baff 100644 --- a/lib/aicsim.cpp +++ b/lib/aicsim.cpp @@ -23,7 +23,9 @@ *******************************************************************************/ #include -#include +#include +using namespace std; +#include #include #include #include @@ -36,20 +38,34 @@ AIC_SIM::AIC_SIM(void) { } -int AIC_SIM::get_status(char *status,int len) +int AIC_SIM::get_status(int status,...) { static int i=0; - int count=snprintf(status,len,"%c %g %d",AIC_STATUS,i*0.5, i % 2); + switch(status) + { + case AIC_STATUS: + { + va_list ap; + va_start(ap,status); + double *disp=va_arg(ap,double *); + *disp=i*0.5; - i++; + int *index=va_arg(ap,int *); + *index=(i/3) % 2; + + va_end(ap); - return count; + break; + } + } + i++; + return status; } -void AIC_SIM::send_command(const char *cmd,int len) +void AIC_SIM::send_command(int command,...) { - switch(*cmd) + switch(command) { case AIC_MOTOR_ON: { @@ -73,7 +89,11 @@ void AIC_SIM::send_command(const char *cmd,int len) } case AIC_MOTOR_ACT: { - cout << "AIC Motor Voltage=" << strtod(cmd+1,NULL) << "V\t"; + va_list ap; + va_start(ap,command); + double volt=va_arg(ap,double); + va_end(ap); + cout << "AIC Motor Voltage=" << volt << "V\t"; break; } case AIC_RESET: @@ -84,7 +104,7 @@ void AIC_SIM::send_command(const char *cmd,int len) default: { #ifdef DEBUG - cerr << "Command \"" << (char) *cmd << "\" unknown by AIC_SIM\n"; + cerr << "Command " << command << " unknown by AIC_SIM\n"; #endif throw AIC_BAD_COMMAND(); } diff --git a/lib/aicudp.cpp b/lib/aicudp.cpp index f9d0a0a..d04e842 100644 --- a/lib/aicudp.cpp +++ b/lib/aicudp.cpp @@ -23,11 +23,13 @@ at . *******************************************************************************/ +#include +using namespace std; -#include #include #include #include +#include #include #include #include @@ -35,7 +37,8 @@ #include -AIC_UDP::AIC_UDP(const char *aicname,int statport=STATUS_PORT,int cmdport=CMD_PORT) + +AIC_UDP::AIC_UDP(const char *aicname,int statport,int cmdport) :AIC(this) { struct hostent *aicend=gethostbyname(aicname); @@ -94,13 +97,14 @@ AIC_UDP::~AIC_UDP(void) shutdown(statfd,SHUT_RDWR); } -int AIC_UDP::get_status(char *buff,int len) +int AIC_UDP::get_status(int status,...) { + char buff[32]; int count; socklen_t statlen=sizeof(stataddr); - if((count=recvfrom(statfd,buff,len,0,(struct sockaddr *) &stataddr,&statlen)) <= 0) + if((count=recvfrom(statfd,buff,32,0,(struct sockaddr *) &stataddr,&statlen)) <= 0) { #ifdef DEBUG cerr << "AIC_UDP::get_status error: " @@ -109,12 +113,73 @@ int AIC_UDP::get_status(char *buff,int len) throw AIC_UDP_BAD_RECEIVE(); } - return count; + int cmd=buff[0]; + + switch(cmd) + { + case AIC_STATUS: + { + if((count != 13) && (count != 9)) + { +#ifdef DEBUG + cerr << "AIC_UDP::get_status error: count = " + << count << "\n"; +#endif + throw AIC_UDP_BAD_RECEIVE(); + } + + va_list ap; + va_start(ap,status); + double *disp=va_arg(ap,double *); + if(count == 9) + { + int d=0; + for(int i=0;i < 4;i++) *(((unsigned char *)d)+i)=buff[3-i+1]; + *disp=d; + } + else for(int i=0;i < 8;i++) *(((unsigned char *)disp)+i)=buff[7-i+1]; + + int *index=va_arg(ap,int *); + for(int i=0;i < 4;i++) *(((unsigned char *)index)+i)=buff[3-i+9]; + va_end(ap); + break; + } + } + + return cmd; } -void AIC_UDP::send_command(const char *cmd,int len) +void AIC_UDP::send_command(int command,...) { - if(sendto(cmdfd,cmd,len,0,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr)) < 0) + char buff[32]; + int len=0; + + buff[len++]=command; + + switch(command) + { + case AIC_MOTOR_ON: + case AIC_MOTOR_OFF: + case AIC_BRAKE_APPLY: + case AIC_BRAKE_RELEASE: + case AIC_RESET: + { + break; + } + case AIC_MOTOR_ACT: + { + va_list ap; + va_start(ap,command); + double volt=va_arg(ap,double); + va_end(ap); + for(int i=0;i < 8;i++) buff[7-i+len]= ( ( *((unsigned long long *) &volt) ) >> (i*8) ) & 0xff; + len+=8; + break; + } + default: throw AIC_UDP_BAD_SEND(); + } + + if(sendto(cmdfd,buff,len,0,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr)) < 0) { #ifdef DEBUG cerr << "AIC_UDP::send_command error: " diff --git a/lib/e b/lib/e new file mode 100644 index 0000000..d0e7033 --- /dev/null +++ b/lib/e @@ -0,0 +1,117 @@ +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/motortst/Makefile b/motortst/Makefile index 796df8a..e5e1709 100644 --- a/motortst/Makefile +++ b/motortst/Makefile @@ -1,4 +1,4 @@ -CFLAGS=-O2 -Wall -m486 +CFLAGS=-O2 -Wall -mcpu=i486 -D_REENTRANT CINCLUDE=-I${HOME}/include CLIBDIR=-L${HOME}/lib CLIBS=-lcutil -lconio -lncurses -lcanlib @@ -17,18 +17,15 @@ CMP= g++ CMPFLAGS= ${FLAGS} ${INCLUDE} LDFLAGS= ${LIBDIR} ${LIBS} -all: motortst motortstudp +all: motortst motortst: motortst.cpp ../lib/libaic.a ${CMP} ${CMPFLAGS} -o motortst motortst.cpp ${LDFLAGS} -motortstudp: motortst.cpp ../lib/libaic.a - ${CMP} ${CMPFLAGS} -DUSE_UDP -o motortstudp motortst.cpp ${LDFLAGS} - clean: rm -f *~ *.bak *.o install: distclean: clean - rm -f motortst motortstudp + rm -f motortst diff --git a/motortst/motortst.cpp b/motortst/motortst.cpp index d36e5db..2c659ad 100644 --- a/motortst/motortst.cpp +++ b/motortst/motortst.cpp @@ -27,20 +27,18 @@ #include #include +#include #include -#ifdef USE_UDP #include -#else #include -#endif const int ST=1000; -void iter(AIC &aic,int i) +void iter(AIC *aic,int i) { - aic.motor=i; + aic->motor=i; gotoxy(1,5); cout << "Motor Voltage: " << i << "\t\n"; delay(ST); @@ -55,20 +53,20 @@ int main(int argc,char *argv[]) cout << "\nAIC Motor Test Program\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - if(argc != 2) + if((argc < 2) || (argc > 3) || + ((argc == 3) && strcasecmp(argv[1],"-UDP"))) { - cerr << "Usage: " << argv[0] << " aic\n"; + cout << "USAGE:\t" << argv[0] << " can_id\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; return -1; } -#ifdef USE_UDP - AIC_UDP aic(argv[1]); -#else - AIC_CAN aic(atoi(argv[1])); -#endif + AIC *aic; + if(argc==2) aic=new AIC_CAN(atoi(argv[1])); + else aic=new AIC_UDP(argv[2]); - aic.motor.on(); - aic.brake.release(); + aic->motor.on(); + aic->brake.release(); for(i=0;(i <= 24) && run;i++) { @@ -90,9 +88,9 @@ int main(int argc,char *argv[]) } getch(); - aic.motor=0; - aic.brake.apply(); - aic.motor.off(); + aic->motor=0; + aic->brake.apply(); + aic->motor.off(); clrscr(); return 0; diff --git a/pid/Makefile b/pid/Makefile index 5049981..2320211 100644 --- a/pid/Makefile +++ b/pid/Makefile @@ -2,7 +2,7 @@ PRJLIBDIR=../lib PRJINCLUDE=../include PRJFLAGS=-DVERBOSE -CFLAGS=-O2 -Wall -m486 +CFLAGS=-O2 -Wall -mcpu=i486 CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/include/rtai CLIBDIR=-L${HOME}/lib -L/usr/local/lib CLIBS=-lcutil -lpthread -lcanlib @@ -24,15 +24,11 @@ CMPSWTCH= gnu CMPMESSAGE= '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"' -all: pid pidudp +all: pid pid: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a ${CMP} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS} -pidudp: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a - ${CMP} ${CMPFLAGS} -DUSE_UDP -o pidudp pid.cpp ${LDFLAGS} - - ${PRJLIBDIR}/libaic.a: $(MAKE) -C ${PRJLIBDIR} @@ -42,5 +38,5 @@ clean: install: distclean: clean - rm -f pid pidudp *.dat + rm -f pid *.dat diff --git a/pid/pid.cpp b/pid/pid.cpp index df02b5b..faec763 100644 --- a/pid/pid.cpp +++ b/pid/pid.cpp @@ -24,17 +24,16 @@ *******************************************************************************/ #include -#include +#include +using namespace std; + #include #include #include -#ifdef USE_UDP #include -#else #include -#endif #define KEEP_STATIC_INLINE #include @@ -47,11 +46,13 @@ static inline double ref(double t) int main(int argc,char *argv[]) { - if(argc !=1) + if((argc < 2) || (argc > 3) || + ((argc == 3) && strcasecmp(argv[1],"-UDP"))) { cout << "AIC PID Controller\n"; cout << "Copyright (C) 2003 Walter Fetter Lages .\n"; - cout << "USAGE: pid aic\n"; + cout << "USAGE:\t" << argv[0] << " can_id\n"; + cout << "\tor\n\t" << argv[0] << " -UDP aic\n"; return -1; } @@ -60,14 +61,12 @@ int main(int argc,char *argv[]) const double ST=1; const double TF=10; -#ifdef USE_UDP - AIC_UDP aic(argv[1]); -#else - AIC_CAN aic(atoi(argv[1])); -#endif + AIC *aic; + if(argc==2) aic=new AIC_CAN(atoi(argv[1])); + else aic=new AIC_UDP(argv[2]); - aic.motor.on(); - aic.brake.release(); + aic->motor.on(); + aic->brake.release(); PID_CONTROLLER pid(gain[0],gain[1],gain[2]); pid.saturate(1,-24.0,24.0); @@ -115,24 +114,26 @@ int main(int argc,char *argv[]) cout << "t=" << t << "\t"; #endif - y+=aic.encoder.read()*2.0*M_PI/2048; + y+=aic->encoder.read(); double e=ref(t)-y; u=pid.out(e); - aic.motor=u; + aic->motor=u; #ifdef VERBOSE cout << "\n"; #endif } - aic.motor=0; - aic.brake.apply(); - aic.motor.off(); + aic->motor=0; + aic->brake.apply(); + aic->motor.off(); rt_make_soft_real_time(); stop_rt_timer(); rt_task_delete(maintsk); + delete aic; + return 0; }