source: flair-src/trunk/lib/FlairSensorActuator/src/BlCtrlV2_impl.cpp@ 268

Last change on this file since 268 was 268, checked in by Sanahuja Guillaume, 3 years ago

add defines for architectures to speed up compile time

File size: 5.6 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5// created: 2011/09/13
6// filename: BlCtrlV2_impl.cpp
7//
8// author: Guillaume Sanahuja
9// Copyright Heudiasyc UMR UTC/CNRS 7253
10//
11// version: $Id: $
12//
13// purpose: objet integrant les moteurs i2c
14//
15//
16/*********************************************************************/
17#ifdef ARMV7A
18
19#include "BlCtrlV2_impl.h"
20#include "BlCtrlV2.h"
21#include "Bldc_impl.h"
22#include "BatteryMonitor.h"
23#include "I2cPort.h"
24#include <Layout.h>
25#include <SpinBox.h>
26#include <Label.h>
27#include <Matrix.h>
28#include <string.h>
29
30#define BASE_ADDRESS 0x29
31#define MAX_VALUE 2047
32
33using std::string;
34using namespace flair::core;
35using namespace flair::gui;
36using namespace flair::sensor;
37using namespace flair::actuator;
38
39BlCtrlV2_impl::BlCtrlV2_impl(BlCtrlV2 *self, Layout *layout, I2cPort *i2cport) {
40 this->self = self;
41 this->i2cport = i2cport;
42 last_voltage_time = 0;
43
44 DetectMotors();
45 // if(nb_mot!=self->MotorsCount()) self->Err("motors count different from
46 // multiplex count\n");
47
48 // BatteryMonitor
49 battery = new BatteryMonitor(layout->NewRow(), "battery");
50
51 // user interface
52 GroupBox *setupgroupbox = new GroupBox(layout->NewRow(), "Motors");
53 poles = new SpinBox(setupgroupbox->NewRow(), "nb poles:", 0, 255, 1, 14);
54}
55
56BlCtrlV2_impl::~BlCtrlV2_impl() {}
57
58void BlCtrlV2_impl::SetMotors(float *value) {
59 uint16_t tosend_value[nb_mot];
60 // stocke dans une variable pour garder le moins longtemps l'i2c (pour ne pas
61 // bloquer sur le mutex de l'output)
62 float speeds[nb_mot];
63 float currents[nb_mot];
64
65 for (int i = 0; i < nb_mot; i++)
66 tosend_value[i] = (uint16_t)(MAX_VALUE * value[i]);
67
68 i2cport->GetMutex();
69
70 for (int i = 0; i < nb_mot; i++) {
71 i2cport->SetSlave(BASE_ADDRESS + i);
72 WriteValue(tosend_value[i]);
73 }
74
75 for (int i = 0; i < nb_mot; i++) {
76 i2cport->SetSlave(BASE_ADDRESS + i);
77
78 if (i == 0 && GetTime() > (last_voltage_time + 5 * (Time)1000000000)) {
79 // toute les 5 secondes sur moteur 0
80 float voltage;
81 GetCurrentSpeedAndVoltage(currents[i], speeds[i], voltage);
82 battery->SetBatteryValue(voltage);
83 last_voltage_time = GetTime();
84 } else {
85 GetCurrentAndSpeed(currents[i], speeds[i]);
86 }
87 }
88 // printf("%f %f %f %f\n",speeds[0],speeds[1],speeds[2],speeds[3]);
89 /*
90 if(GetTime()>(last_voltage_time+5*(Time)1000000000))//toute les 5 secondes
91 {
92 i2cport->SetSlave(BASE_ADDRESS);
93 battery->SetBatteryValue(ReadVoltage());
94 last_voltage_time=GetTime();
95 }
96 */
97 i2cport->ReleaseMutex();
98
99 // on prend une fois pour toute le mutex et on fait des accès directs
100 Matrix *output = self->output;
101 output->GetMutex();
102 for (int i = 0; i < nb_mot; i++)
103 output->SetValueNoMutex(i, 0, speeds[i]);
104 for (int i = 0; i < nb_mot; i++)
105 output->SetValueNoMutex(i, 1, currents[i]);
106 output->ReleaseMutex();
107}
108
109// I2cPort mutex must be taken before calling this function
110void BlCtrlV2_impl::WriteValue(uint16_t value) {
111 uint8_t tx[2];
112 ssize_t written;
113
114 tx[0] = (uint8_t)(value >> 3); // msb
115 tx[1] = (value & 0x07);
116 ; //+16+8; //pour recuperer la vitesse en premier
117 written = i2cport->Write(tx, 2);
118 if (written < 0) {
119 self->Err("rt_dev_write error (%s)\n", strerror(-written));
120 } else if (written != sizeof(tx)) {
121 self->Err("rt_dev_write error %i/%i\n", written, sizeof(tx));
122 }
123}
124
125// I2cPort mutex must be taken before calling this function
126void BlCtrlV2_impl::GetCurrentAndSpeed(float &current, float &speed) {
127 ssize_t read;
128 uint8_t value[4];
129 read = i2cport->Read(value, sizeof(value));
130
131 if (read < 0) {
132 self->Err("rt_dev_read error (%s)\n", strerror(-read));
133 speed = -1;
134 current = -1;
135 } else if (read != sizeof(value)) {
136 self->Err("rt_dev_read error %i/%i\n", read, sizeof(value));
137 speed = -1;
138 current = -1;
139 } else {
140 current = value[0] / 10.;
141 speed = value[3] * 780. / poles->Value();
142 }
143}
144
145// I2cPort mutex must be taken before calling this function
146void BlCtrlV2_impl::GetCurrentSpeedAndVoltage(float &current, float &speed,
147 float &voltage) {
148 ssize_t read;
149 uint8_t value[6];
150 read = i2cport->Read(value, sizeof(value));
151
152 if (read < 0) {
153 self->Err("rt_dev_read error (%s)\n", strerror(-read));
154 speed = -1;
155 voltage = -1;
156 current = -1;
157 } else if (read != sizeof(value)) {
158 self->Err("rt_dev_read error %i/%i\n", read, sizeof(value));
159 speed = -1;
160 voltage = -1;
161 current = -1;
162 } else {
163 current = value[0] / 10.;
164 voltage = value[5] / 10.;
165 speed = value[3] * 780. / poles->Value();
166 }
167}
168
169void BlCtrlV2_impl::DetectMotors(void) {
170 int nb = 0;
171 ssize_t read, nb_write;
172 uint8_t value[3];
173 uint8_t tx[2];
174
175 i2cport->GetMutex();
176
177 for (int i = 0; i < MAX_MOTORS; i++) {
178 // printf("test %i\n",i);
179 i2cport->SetSlave(BASE_ADDRESS + i);
180 tx[0] = 0;
181 tx[1] = 16 + 8; // 16+8 pour recuperer la vitesse
182
183 nb_write = i2cport->Write(tx, 2);
184
185 if (nb_write != sizeof(tx)) {
186 continue;
187 }
188 nb++;
189 }
190
191 for (int i = 0; i < MAX_MOTORS; i++) {
192 i2cport->SetSlave(BASE_ADDRESS + i);
193 read = i2cport->Read(value, 3);
194
195 if (read != sizeof(value)) {
196 continue;
197 }
198 }
199
200 i2cport->ReleaseMutex();
201
202 Printf("BlCtrlV2: Dectected motors: %i\n", nb);
203 if (nb == 4) {
204 Printf("BlCtrlV2: Configuration X4\n");
205 } else if (nb == 8) {
206 Printf("BlCtrlV2: Configuration X8\n");
207 } else {
208 // self->Err("Error, configuration not supported (%i/%i)\n",nb,MAX_MOTORS);
209 }
210
211 nb_mot = nb;
212}
213
214#endif
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