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