//***************************************************************************** // // Displays the "Position Control Mode" panel. The returned valud is the ID of // the panel to be displayed instead of the "Position Control Mode" panel. // //***************************************************************************** unsigned long DisplayPosition(void) { unsigned long ulPos, ulIdx, ulDelay, ulDemo, ulTime, ulStep; // // Read the current position mode configuration. // PositionConfigRead(); // // Enable position control mode. // CANPositionModeEnable(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100)); // // Initially, updates to the position occur immediately. // ulDelay = 0; // // Initially, demo mode is disabled. // ulDemo = 0; ulTime = 0; ulStep = 0; // // Disable the widget fill for all the widgets except the one for the // device ID selection. // for(ulIdx = 0; ulIdx < 7; ulIdx++) { CanvasFillOff(g_psPositionWidgets + ulIdx); } CanvasFillOn(g_psPositionWidgets + 1); // // Add the "Position Control Mode" panel widgets to the widget list. // for(ulIdx = 0; ulIdx < NUM_WIDGETS; ulIdx++) { WidgetAdd(WIDGET_ROOT, (tWidget *)(g_psPositionWidgets + ulIdx)); } // // Enable the status display. // StatusEnable(0); // // Set the default cursor position to the device ID selection. // ulPos = 1; // // Loop forever. This loop will be explicitly exited when the proper // condition is detected. // while(1) { // // Print out the current device ID. // usnprintf(g_pcIDBuffer, sizeof(g_pcIDBuffer), "%d", g_ulCurrentID); // // Print out the current position. // if(g_sPositionConfig.lPosition < 0) { usnprintf(g_pcPositionBuffer, sizeof(g_pcPositionBuffer), "-%d.%02d", (0 - g_sPositionConfig.lPosition) / 100, (0 - g_sPositionConfig.lPosition) % 100); } else { usnprintf(g_pcPositionBuffer, sizeof(g_pcPositionBuffer), "%d.%02d", g_sPositionConfig.lPosition / 100, g_sPositionConfig.lPosition % 100); } // // Print out the current P coefficient. // if(g_sPositionConfig.lP < 0) { usnprintf(g_pcPositionPBuffer, sizeof(g_pcPositionPBuffer), "-%d.%03d", (0 - g_sPositionConfig.lP) / 1000, (0 - g_sPositionConfig.lP) % 1000); } else { usnprintf(g_pcPositionPBuffer, sizeof(g_pcPositionPBuffer), "%d.%03d", g_sPositionConfig.lP / 1000, g_sPositionConfig.lP % 1000); } // // Irint out the current I coefficient. // if(g_sPositionConfig.lI < 0) { usnprintf(g_pcPositionIBuffer, sizeof(g_pcPositionIBuffer), "-%d.%03d", (0 - g_sPositionConfig.lI) / 1000, (0 - g_sPositionConfig.lI) % 1000); } else { usnprintf(g_pcPositionIBuffer, sizeof(g_pcPositionIBuffer), "%d.%03d", g_sPositionConfig.lI / 1000, g_sPositionConfig.lI % 1000); } // // Print out the current D coefficient. // if(g_sPositionConfig.lD < 0) { usnprintf(g_pcPositionDBuffer, sizeof(g_pcPositionDBuffer), "-%d.%03d", (0 - g_sPositionConfig.lD) / 1000, (0 - g_sPositionConfig.lD) % 1000); } else { usnprintf(g_pcPositionDBuffer, sizeof(g_pcPositionDBuffer), "%d.%03d", g_sPositionConfig.lD / 1000, g_sPositionConfig.lD % 1000); } // // Print out the current position reference source. // usnprintf(g_pcReferenceBuffer, sizeof(g_pcReferenceBuffer), "%s", g_ppcPosReference[g_sPositionConfig.ulPosRef]); // // Update the status display. // StatusUpdate(); // // Update the display. // DisplayFlush(); // // See if a serial download has begun. // if(HWREGBITW(&g_ulFlags, FLAG_SERIAL_BOOTLOADER) == 1) { // // Disable the status display. // StatusDisable(); // // Remove the "Position Control Mode" panel widgets. // for(ulIdx = 0; ulIdx < NUM_WIDGETS; ulIdx++) { WidgetRemove((tWidget *)(g_psPositionWidgets + ulIdx)); } CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite); // // Disable position control mode. // CANPositionModeDisable(); // // Return the ID of the update panel. // return(PANEL_UPDATE); } // // See if demo mode is enabled. // if(ulDemo != 0) { // // See if the current time delay has expired. // if(ulTime < g_ulTickCount) { // // Increment to the next step, wrapping back to the beginning // of the sequence when the end has been reached. // ulStep++; if(ulStep == (sizeof(g_plPositionDemo) / sizeof(g_plPositionDemo[0]))) { ulStep = 0; } // // Set the position as directed by the next step. // g_sPositionConfig.lPosition = g_plPositionDemo[ulStep][0]; CANPositionSet(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100), 0); // // Set the time delay for this step. // ulTime = g_ulTickCount + g_plPositionDemo[ulStep][1]; } } // // See if the up button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) == 1) { // // Only move the cursor if it is not already at the top of the // screen and a delayed position update is not in progress. // if((ulPos != 0) && (ulDelay == 0)) { // // Disable the widget fill for the currently selected widget. // CanvasFillOff(g_psPositionWidgets + ulPos); // // Decrement the cursor row, skipping the position row when // demo mode is enabled. // ulPos--; if((ulPos == 2) && (ulDemo != 0)) { ulPos--; } // // Enable the widget fill for the newly selected widget. // CanvasFillOn(g_psPositionWidgets + ulPos); } // // Clear the press flag for the up button. // HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) = 0; } // // See if the down button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) == 1) { // // Only move the cursor if it is not already at the bottom of the // screen and a delayed position update is not in progress. // if((ulPos != 6) && (ulDelay == 0)) { // // Disable the widget fill for the currently selected widget. // CanvasFillOff(g_psPositionWidgets + ulPos); // // Increment the cursor row, skipping the position row when // demo mode is enabled. // ulPos++; if((ulPos == 2) && (ulDemo != 0)) { ulPos++; } // // Enable the widget fill for the newly selected widget. // CanvasFillOn(g_psPositionWidgets + ulPos); } // // Clear the press flag for the down button. // HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) = 0; } // // See if the left button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) == 1) { // // See if the device ID is being changed. // if(ulPos == 1) { // // Only change the device ID if it is greater than one. // if(g_ulCurrentID > 1) { // // Exit demo mode. // ulDemo = 0; CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite); // // Disable position control mode for the current device ID. // CANPositionModeDisable(); // // Decrement the device ID. // if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) || (HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)) { if(g_ulCurrentID > 3) { CANSetID(g_ulCurrentID - 3); } else { CANSetID(1); } } else { CANSetID(g_ulCurrentID - 1); } // // Read the configuration of the new device. // PositionConfigRead(); // // Enable position control mode. // CANPositionModeEnable(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100)); } } // // See if the position is being changed. // else if(ulPos == 2) { // // Only change the position if it is not already fully // negative. // if(g_sPositionConfig.lPosition > -20000) { // // Decrement the position. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) { g_sPositionConfig.lPosition -= 11; } else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) { g_sPositionConfig.lPosition -= 111; } else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1) { g_sPositionConfig.lPosition -= 1111; } else { g_sPositionConfig.lPosition--; } if(g_sPositionConfig.lPosition < -20000) { g_sPositionConfig.lPosition = -20000; } // // Send the updated position to the motor controller if a // delayed update is not in progress. // if(ulDelay == 0) { CANPositionSet(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100), 0); } } } // // See if the position P gain is being changed. // else if(ulPos == 3) { // // Only change the P gain if it is not already fully negative. // if(g_sPositionConfig.lP > (-32767 * 1000)) { // // Decrement the P gain. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) { g_sPositionConfig.lP -= 11; } else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) { g_sPositionConfig.lP -= 111; } else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1) { g_sPositionConfig.lP -= 1111; } else { g_sPositionConfig.lP--; } if(g_sPositionConfig.lP < (-32767 * 1000)) { g_sPositionConfig.lP = -32767 * 1000; } // // Send the new P gain to the motor controller. // CANPositionPGainSet(((g_sPositionConfig.lP / 1000) * 65536) + (((g_sPositionConfig.lP % 1000) * 65536) / 1000)); } } // // See if the position I gain is being changed. // else if(ulPos == 4) { // // Only change the I gain if it is not already fully negative. // if(g_sPositionConfig.lI > (-32767 * 1000)) { // // Decrement the I gain. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) { g_sPositionConfig.lI -= 11; } else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) { g_sPositionConfig.lI -= 111; } else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1) { g_sPositionConfig.lI -= 1111; } else { g_sPositionConfig.lI--; } if(g_sPositionConfig.lI < (-32767 * 1000)) { g_sPositionConfig.lI = -32767 * 1000; } // // Send the new I gain to the motor controller. // CANPositionIGainSet(((g_sPositionConfig.lI / 1000) * 65536) + (((g_sPositionConfig.lI % 1000) * 65536) / 1000)); } } // // See if the position D gain is being changed. // else if(ulPos == 5) { // // Only change the D gain if it is not already fully negative. // if(g_sPositionConfig.lD > (-32767 * 1000)) { // // Decrement the D gain. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) { g_sPositionConfig.lD -= 11; } else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) { g_sPositionConfig.lD -= 111; } else if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1) { g_sPositionConfig.lD -= 1111; } else { g_sPositionConfig.lD--; } if(g_sPositionConfig.lD < (-32767 * 1000)) { g_sPositionConfig.lD = -32767 * 1000; } // // Send the new D gain to the motor controller. // CANPositionDGainSet(((g_sPositionConfig.lD / 1000) * 65536) + (((g_sPositionConfig.lD % 1000) * 65536) / 1000)); } } // // See if the position reference source is being changed. // else if(ulPos == 6) { // // Toggle to the other position reference source. // g_sPositionConfig.ulPosRef ^= 1; // // Send the position reference source to the motor controller. // CANPositionRefSet(g_sPositionConfig.ulPosRef); } // // Clear the press flag for the left button. // HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) = 0; HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) = 0; HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) = 0; } // // See if the right button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) == 1) { // // See if the device ID is being changed. // if(ulPos == 1) { // // Only change the device ID if it is less than 63. // if(g_ulCurrentID < 63) { // // Exit demo mode. // ulDemo = 0; CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite); // // Disable position control mode for the current device ID. // CANPositionModeDisable(); // // Increment the device ID. // if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) || (HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)) { if(g_ulCurrentID < 60) { CANSetID(g_ulCurrentID + 3); } else { CANSetID(63); } } else { CANSetID(g_ulCurrentID + 1); } // // Read the configuration of the new device. // PositionConfigRead(); // // Enable position control mode. // CANPositionModeEnable(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100)); } } // // See if the position is being changed. // else if(ulPos == 2) { // // Only change the position if it is not already fully // positive. // if(g_sPositionConfig.lPosition < 20000) { // // Increment the position. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) { g_sPositionConfig.lPosition += 11; } else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) { g_sPositionConfig.lPosition += 111; } else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1) { g_sPositionConfig.lPosition += 1111; } else { g_sPositionConfig.lPosition++; } if(g_sPositionConfig.lPosition > 20000) { g_sPositionConfig.lPosition = 20000; } // // Send the updated position to the motor controller if a // delayed update is not in progress. // if(ulDelay == 0) { CANPositionSet(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100), 0); } } } // // See if the position P gain is being changed. // else if(ulPos == 3) { // // Only change the P gain if it is not already fully positive. // if(g_sPositionConfig.lP < (32767 * 1000)) { // // Increment the P gain. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) { g_sPositionConfig.lP += 11; } else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) { g_sPositionConfig.lP += 111; } else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1) { g_sPositionConfig.lP += 1111; } else { g_sPositionConfig.lP++; } if(g_sPositionConfig.lP > (32767 * 1000)) { g_sPositionConfig.lP = 32767 * 1000; } // // Send the new P gain to the motor controller. // CANPositionPGainSet(((g_sPositionConfig.lP / 1000) * 65536) + (((g_sPositionConfig.lP % 1000) * 65536) / 1000)); } } // // See if the position I gain is being changed. // else if(ulPos == 4) { // // Only change the I gain if it is not already fully positive. // if(g_sPositionConfig.lI < (32767 * 1000)) { // // Increment the I gain. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) { g_sPositionConfig.lI += 11; } else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) { g_sPositionConfig.lI += 111; } else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1) { g_sPositionConfig.lI += 1111; } else { g_sPositionConfig.lI++; } if(g_sPositionConfig.lI > (32767 * 1000)) { g_sPositionConfig.lI = 32767 * 1000; } // // Send the new I gain to the motor controller. // CANPositionIGainSet(((g_sPositionConfig.lI / 1000) * 65536) + (((g_sPositionConfig.lI % 1000) * 65536) / 1000)); } } // // See if the position D gain is being changed. // else if(ulPos == 5) { // // Only change the D gain if it is not already fully positive. // if(g_sPositionConfig.lD < (32767 * 1000)) { // // Increment the D gain. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) { g_sPositionConfig.lD += 11; } else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) { g_sPositionConfig.lD += 111; } else if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1) { g_sPositionConfig.lD += 1111; } else { g_sPositionConfig.lD++; } if(g_sPositionConfig.lD > (32767 * 1000)) { g_sPositionConfig.lD = 32767 * 1000; } // // Send the new D gain to the motor controller. // CANPositionDGainSet(((g_sPositionConfig.lD / 1000) * 65536) + (((g_sPositionConfig.lD % 1000) * 65536) / 1000)); } } // // See if the position reference source is being changed. // else if(ulPos == 6) { // // Toggle to the other position reference source. // g_sPositionConfig.ulPosRef ^= 1; // // Send the position reference source to the motor controller. // CANPositionRefSet(g_sPositionConfig.ulPosRef); } // // Clear the press flag for the right button. // HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) = 0; HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) = 0; HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) = 0; } // // See if the select button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) == 1) { // // Clear the press flag for the select button. // HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) = 0; // // See if the cursor is on the top row of the screen. // if(ulPos == 0) { // // Display the menu. // ulIdx = DisplayMenu(PANEL_POSITION); // // See if another panel was selected. // if(ulIdx != PANEL_POSITION) { // // Disable the status display. // StatusDisable(); // // Remove the "Position Control Mode" panel widgets. // for(ulPos = 0; ulPos < NUM_WIDGETS; ulPos++) { WidgetRemove((tWidget *)(g_psPositionWidgets + ulPos)); } CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite); // // Disable position control mode. // CANPositionModeDisable(); // // Return the ID of the newly selected panel. // return(ulIdx); } // // Since the "Position Control Mode" panel was selected from // the menu, move the cursor down one row. // CanvasFillOff(g_psPositionWidgets); ulPos++; CanvasFillOn(g_psPositionWidgets + 1); } // // See if the cursor is on the ID selection. // else if(ulPos == 1) { // // Toggle demo mode. // ulDemo ^= 1; // // See if the demo has just been disabled. // if(ulDemo == 0) { // // Set the output position to the current position. // if(g_lStatusPosition < 0) { g_sPositionConfig.lPosition = (((g_lStatusPosition / 65536) * 100) + ((((g_lStatusPosition % 65536) * 100) - 32768) / 65536)); } else { g_sPositionConfig.lPosition = (((g_lStatusPosition / 65536) * 100) + ((((g_lStatusPosition % 65536) * 100) + 32768) / 65536)); } CANPositionSet(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100), 0); // // Indicate that demo mode has exited by setting the text // color to white. // CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite); } // // Otherwise start demo mode. // else { // // Indicate that demo mode is active by setting the text // color to gray. // CanvasTextColorSet(g_psPositionWidgets + 2, ClrSelected); // // Start with the first step. // ulStep = 0; // // Set the position as directed by the first step. // g_sPositionConfig.lPosition = g_plPositionDemo[0][0]; CANPositionSet(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100), 0); // // Set the time delay for the first step. // ulTime = g_ulTickCount + g_plPositionDemo[0][1]; } } // // See if the cursor is on the position selection. // else if(ulPos == 2) { // // Toggle the state of the delayed update. // ulDelay ^= 1; // // See if a delayed update should be performed. // if(ulDelay == 0) { // // Send the delayed position update. // CANPositionSet(((g_sPositionConfig.lPosition / 100) * 65536) + (((g_sPositionConfig.lPosition % 100) * 65536) / 100), 0); // // Change the text color of the position selection to white // to indicate that updates will occur immediately. // CanvasTextColorSet(g_psPositionWidgets + 2, ClrWhite); } else { // // Change the text color of the position selection to black // to indicate that updates will be delayed. // CanvasTextColorSet(g_psPositionWidgets + 2, ClrBlack); } } } } }
//***************************************************************************** // // The main loop for the user interface. // //***************************************************************************** int main(void) { unsigned long ulPanel; // // If running on Rev A2 silicon, turn the LDO voltage up to 2.75V. This is // a workaround to allow the PLL to operate reliably. // if(REVISION_IS_A2) { SysCtlLDOSet(SYSCTL_LDO_2_75V); } // // Set the clocking to run at 50MHz from the PLL. // SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_8MHZ); // // Set the priority of the interrupts. // IntPrioritySet(INT_CAN0, 0x00); IntPrioritySet(FAULT_SYSTICK, 0x20); // // Configure SysTick to generate an interrupt every millisecond. // SysTickPeriodSet(SysCtlClockGet() / 1000); SysTickIntEnable(); SysTickEnable(); // // Initialize the push button driver. // ButtonsInit(); // // Initialize the CAN communication channel. // CANCommInit(); // // Initialize the UART used to perform a "firmware update". // UpdateUARTInit(); // // Initialize the display. // RIT128x96x4Init(3500000); // // Add the screen-clearing widget to the widget tree. As the first widget // in the tree, this will always be drawn first, resulting in a blank // screen before anything else is drawn. // WidgetAdd(WIDGET_ROOT, (tWidget *)&g_sBackground); // // Display the splash screen. // DisplaySplash(); // // Set the CAN device ID to one. // CANSetID(1); // // The "Voltage Control Mode" panel should be displayed first. // ulPanel = PANEL_VOLTAGE; // // Loop forever. // while(1) { // // Determine which panel to display. // switch(ulPanel) { // // The "Voltage Control Mode" panel should be displayed. // case PANEL_VOLTAGE: { ulPanel = DisplayVoltage(); break; } // // The "VComp Control Mode" panel should be displayed. // case PANEL_VCOMP: { ulPanel = DisplayVComp(); break; } // // The "Current Control Mode" panel should be displayed. // case PANEL_CURRENT: { ulPanel = DisplayCurrent(); break; } // // The "Speed Control Mode" panel should be displayed. // case PANEL_SPEED: { ulPanel = DisplaySpeed(); break; } // // The "Position Control Mode" panel should be displayed. // case PANEL_POSITION: { ulPanel = DisplayPosition(); break; } // // The "Configuration" panel should be displayed. // case PANEL_CONFIGURATION: { ulPanel = DisplayConfig(); break; } // // The "Device List" panel should be displayed. // case PANEL_DEV_LIST: { ulPanel = DisplayDevList(); break; } // // The "Firmware Update" panel should be displayed. // case PANEL_UPDATE: { ulPanel = DisplayUpdate(); break; } // // The "Help" panel should be displayed. // case PANEL_HELP: { ulPanel = DisplayHelp(); break; } // // The "About" panel should be displayed. // case PANEL_ABOUT: { ulPanel = DisplayAbout(); break; } } } }
//***************************************************************************** // // Displays the "Firmware Update" panel. The returned valud is the ID of the // panel to be displayed instead of the "Firmware Update" panel. // //***************************************************************************** unsigned long DisplayUpdate(void) { unsigned long ulPos, ulIdx; // // Disable the widget fill for all the widgets except the one for device // ID 1. // for(ulIdx = 0; ulIdx < 3; ulIdx++) { CanvasFillOff(g_psUpdateWidgets + ulIdx); } CanvasFillOn(g_psUpdateWidgets + 1); // // Add the "Firmware Update" panel widgets to the widget list. // for(ulIdx = 0; ulIdx < NUM_UPDATE_WIDGETS; ulIdx++) { WidgetAdd(WIDGET_ROOT, (tWidget *)(g_psUpdateWidgets + ulIdx)); } // // Set the default cursor position to the device ID selection. // ulPos = 1; // // Clear the message buffer. // g_pcMessageBuffer[0] = '\0'; // // Loop forever. This loop will be explicitly exited when the proper // condition is detected. // while(1) { // // Print out the current device ID. // usnprintf(g_pcIDBuffer, sizeof(g_pcIDBuffer), "%d", g_ulCurrentID); // // Print out the firmware version. // if(g_ulStatusFirmwareVersion == 0xffffffff) { usnprintf(g_pcVersionBuffer, sizeof(g_pcVersionBuffer), "---"); } else { usnprintf(g_pcVersionBuffer, sizeof(g_pcVersionBuffer), "%d", g_ulStatusFirmwareVersion); } // // Update the display. // DisplayFlush(); // // Wait until a button is pressed, the firmware version is received, or // a serial download begins. // while((HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) == 0) && (HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) == 0) && (HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) == 0) && (HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) == 0) && (HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) == 0) && (HWREGBITW(&g_ulFlags, FLAG_SERIAL_BOOTLOADER) == 0)) { } // // See if the up button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) == 1) { // // Only move the cursor if it is not already at the top of the // screen. // if(ulPos != 0) { // // Disable the widget fill for the currently selected widget. // CanvasFillOff(g_psUpdateWidgets + ulPos); // // Decrement the cursor row. // ulPos--; // // Enable the widget fill for the newly selected widget. // CanvasFillOn(g_psUpdateWidgets + ulPos); } // // Clear the press flag for the up button. // HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) = 0; } // // See if the down button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) == 1) { // // Only move the cursor if it is not already at the bottom of the // screen. // if(ulPos != 2) { // // Disable the widget fill for the currently selected widget. // CanvasFillOff(g_psUpdateWidgets + ulPos); // // Increment the cursor row. // ulPos++; // // Enable the widget fill for the newly selected widget. // CanvasFillOn(g_psUpdateWidgets + ulPos); } // // Clear the press flag for the down button. // HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) = 0; } // // See if the left button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) == 1) { // // Only change the device ID if it is greater than one. // if((ulPos == 1) && (g_ulCurrentID > 1)) { // // Decrement the device ID. // CANSetID(g_ulCurrentID - 1); } // // Clear the press flag for the left button. // HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) = 0; } // // See if the right button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) == 1) { // // Only change the device ID if it is less than 63. // if((ulPos == 1) && (g_ulCurrentID < 63)) { // // Increment the device ID. // CANSetID(g_ulCurrentID + 1); } // // Clear the press flag for the right button. // HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) = 0; } // // See if the select button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) == 1) { // // Clear the press flag for the select button. // HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) = 0; // // See if the cursor is on the top row of the screen. // if(ulPos == 0) { // // Display the menu. // ulIdx = DisplayMenu(PANEL_UPDATE); // // See if another panel was selected. // if(ulIdx != PANEL_UPDATE) { // // Remove the "Firmware Update" panel widgets. // for(ulPos = 0; ulPos < NUM_UPDATE_WIDGETS; ulPos++) { WidgetRemove((tWidget *)(g_psUpdateWidgets + ulPos)); } // // Return the ID of the newly selected panel. // return(ulIdx); } // // Since the "Firmware Update" panel was selected from the // menu, move the cursor down one row. // CanvasFillOff(g_psUpdateWidgets); ulPos++; CanvasFillOn(g_psUpdateWidgets + 1); } // // See if the cursor is on the start button. // else if(ulPos == 2) { // // Turn off the fill on the start button. // CanvasFillOff(g_psUpdateWidgets + 2); // // Perform the CAN update. // CANUpdate(); // // Turn on the fill on the start button. // CanvasFillOn(g_psUpdateWidgets + 2); // // Clear the button press flags so that any button presses that // occur during the firmware update are ignored. // HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) = 0; } } // // See if a serial download has begun. // if(HWREGBITW(&g_ulFlags, FLAG_SERIAL_BOOTLOADER) == 1) { // // Turn off the fill on the current cursor location. // CanvasFillOff(g_psUpdateWidgets + ulPos); // // Monitor the UART firmware download. // if(UARTUpdate() == 0) { // // The firmware was successfully downloaded via the UART, so // update the current motor controller with the new firmware. // CANUpdate(); } // // Turn on the fill on the current cursor location. // CanvasFillOn(g_psUpdateWidgets + ulPos); // // Clear the button press flags so that any button presses that // occur during the firmware update are ignored. // HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) = 0; } } }
//***************************************************************************** // // Displays the "VComp Control Mode" panel. The returned valud is the ID of // the panel to be displayed instead of the "VComp Control Mode" panel. // //***************************************************************************** unsigned long DisplayVComp(void) { unsigned long ulRamp, ulComp, ulPos, ulIdx, ulDelay, ulDemo, ulTime; unsigned long ulStep; long lVoltage; // // Enable voltage compensation control mode. // CANVCompModeEnable(); // // Set the default voltage. // lVoltage = 0; CANVCompSet(0, 0); // // Read the ramp rate. // if(CANReadParameter(LM_API_VCOMP_IN_RAMP, 0, &ulRamp, 0) == 0) { ulRamp = 0; } else { ulRamp = (((ulRamp & 0xffff) * 100) + 128) / 256; } // // Read the compensation rate. // if(CANReadParameter(LM_API_VCOMP_COMP_RAMP, 0, &ulComp, 0) == 0) { ulComp = 0; } else { ulComp = (((ulComp & 0xffff) * 100) + 128) / 256; } // // Initially, updates to the voltage occur immediately. // ulDelay = 0; // // Initially, demo mode is disabled. // ulDemo = 0; ulTime = 0; ulStep = 0; // // Disable the widget fill for all the widgets except the one for the // device ID selection. // for(ulIdx = 0; ulIdx < 4; ulIdx++) { CanvasFillOff(g_psVCompWidgets + ulIdx); } CanvasFillOn(g_psVCompWidgets + 1); // // Add the "VComp Control Mode" panel widgets to the widget list. // for(ulIdx = 0; ulIdx < NUM_WIDGETS; ulIdx++) { WidgetAdd(WIDGET_ROOT, (tWidget *)(g_psVCompWidgets + ulIdx)); } // // Enable the status display. // StatusEnable(0); // // Set the default cursor position to the device ID selection. // ulPos = 1; // // Loop forever. This loop will be explicitly exited when the proper // condition is detected. // while(1) { // // Print out the current device ID. // usnprintf(g_pcIDBuffer, sizeof(g_pcIDBuffer), "%d", g_ulCurrentID); // // Print out the current voltage. // if(lVoltage < 0) { usnprintf(g_pcVoltageBuffer, sizeof(g_pcVoltageBuffer), "-%d.%01d V", (0 - lVoltage) / 10, (0 - lVoltage) % 10); } else { usnprintf(g_pcVoltageBuffer, sizeof(g_pcVoltageBuffer), "%d.%01d V", lVoltage / 10, lVoltage % 10); } // // Print out the current ramp rate. // if(ulRamp == 0) { usnprintf(g_pcRampBuffer, sizeof(g_pcRampBuffer), "none"); } else { usnprintf(g_pcRampBuffer, sizeof(g_pcRampBuffer), "%d.%02d V/ms", ulRamp / 100, ulRamp % 100); } // // Print out the current compensation rate. // if(ulComp == 0) { usnprintf(g_pcCompBuffer, sizeof(g_pcCompBuffer), "none"); } else { usnprintf(g_pcCompBuffer, sizeof(g_pcCompBuffer), "%d.%02d V/ms", ulComp / 100, ulComp % 100); } // // Update the status display. // StatusUpdate(); // // Update the display. // DisplayFlush(); // // See if a serial download has begun. // if(HWREGBITW(&g_ulFlags, FLAG_SERIAL_BOOTLOADER) == 1) { // // Disable the status display. // StatusDisable(); // // Remove the "VComp Control Mode" panel widgets. // for(ulIdx = 0; ulIdx < NUM_WIDGETS; ulIdx++) { WidgetRemove((tWidget *)(g_psVCompWidgets + ulIdx)); } CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite); // // Set the output voltage to zero. // CANVCompSet(0, 0); // // Return the ID of the update panel. // return(PANEL_UPDATE); } // // See if demo mode is enabled. // if(ulDemo != 0) { // // See if the current time delay has expired. // if(ulTime < g_ulTickCount) { // // Increment to the next step, wrapping back to the beginning // of the sequence when the end has been reached. // ulStep++; if(ulStep == (sizeof(g_plVCompDemo) / sizeof(g_plVCompDemo[0]))) { ulStep = 0; } // // Set the voltage as directed by the next step. // lVoltage = g_plVCompDemo[ulStep][0]; CANVCompSet((lVoltage * 256) / 10, 0); // // Set the time delay for this step. // ulTime = g_ulTickCount + g_plVCompDemo[ulStep][1]; } } // // See if the up button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) == 1) { // // Only move the cursor if it is not already at the top of the // screen and a delayed voltage update is not in progress. // if((ulPos != 0) && (ulDelay == 0)) { // // Disable the widget fill for the currently selected widget. // CanvasFillOff(g_psVCompWidgets + ulPos); // // Decrement the cursor row, skipping the voltage row when demo // mode is enabled. // ulPos--; if((ulPos == 2) && (ulDemo != 0)) { ulPos--; } // // Enable the widget fill for the newly selected widget. // CanvasFillOn(g_psVCompWidgets + ulPos); } // // Clear the press flag for the up button. // HWREGBITW(&g_ulFlags, FLAG_UP_PRESSED) = 0; } // // See if the down button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) == 1) { // // Only move the cursor if it is not already at the bottom of the // screen and a delayed voltage update is not in progress. // if((ulPos != 4) && (ulDelay == 0)) { // // Disable the widget fill for the currently selected widget. // CanvasFillOff(g_psVCompWidgets + ulPos); // // Increment the cursor row, skipping the voltage row when demo // mode is enabled. // ulPos++; if((ulPos == 2) && (ulDemo != 0)) { ulPos++; } // // Enable the widget fill for the newly selected widget. // CanvasFillOn(g_psVCompWidgets + ulPos); } // // Clear the press flag for the down button. // HWREGBITW(&g_ulFlags, FLAG_DOWN_PRESSED) = 0; } // // See if the left button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) == 1) { // // See if the device ID is being changed. // if(ulPos == 1) { // // Only change the device ID if it is greater than one. // if(g_ulCurrentID > 1) { // // Exit demo mode. // ulDemo = 0; CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite); // // Set the voltage to 0 for the current device ID. // CANVCompSet(0, 0); // // Decrement the device ID. // if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) || (HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)) { if(g_ulCurrentID > 3) { CANSetID(g_ulCurrentID - 3); } else { CANSetID(1); } } else { CANSetID(g_ulCurrentID - 1); } // // Enable voltage compensation mode. // CANVCompModeEnable(); // // Set the voltage for the new device. // lVoltage = 0; CANVCompSet(0, 0); // // Read the ramp rate. // if(CANReadParameter(LM_API_VCOMP_IN_RAMP, 0, &ulRamp, 0) == 0) { ulRamp = 0; } else { ulRamp = (((ulRamp & 0xffff) * 100) + 128) / 256; } // // Read the compensation rate. // if(CANReadParameter(LM_API_VCOMP_COMP_RAMP, 0, &ulComp, 0) == 0) { ulComp = 0; } else { ulComp = (((ulComp & 0xffff) * 100) + 128) / 256; } } } // // See if the voltage is being changed. // else if(ulPos == 2) { // // Only change the voltage if it is not already full reverse. // if(lVoltage > -120) { // // Decrement the voltage. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) { lVoltage -= 11; } else if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)) { lVoltage -= 111; } else { lVoltage--; } if(lVoltage < -120) { lVoltage = -120; } // // Send the updated voltage to the motor controller if a // delayed update is not in progress. // if(ulDelay == 0) { CANVCompSet((lVoltage * 256) / 10, 0); } } } // // See if the voltage ramp rate is being changed. // else if(ulPos == 3) { // // Only change the ramp rate if it is not already zero. // if(ulRamp > 0) { // // Decrement the voltage ramp rate. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) { ulRamp -= 11; } else if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)) { ulRamp -= 111; } else { ulRamp--; } if(ulRamp & 0x80000000) { ulRamp = 0; } // // Send the updated voltage ramp rate. // CANVCompInRampSet((ulRamp * 256) / 100); } } // // See if the compensation rate is being changed. // else if(ulPos == 4) { // // Only change the compensation rate if it is not already zero. // if(ulComp > 0) { // // Decrement the compensation rate. // if(HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) == 1) { ulComp -= 11; } else if((HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) == 1)) { ulComp -= 111; } else { ulComp--; } if(ulComp & 0x80000000) { ulComp = 0; } // // Send the updated compensation rate. // CANVCompCompRampSet((ulComp * 256) / 100); } } // // Clear the press flag for the left button. // HWREGBITW(&g_ulFlags, FLAG_LEFT_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL1) = 0; HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL2) = 0; HWREGBITW(&g_ulFlags, FLAG_LEFT_ACCEL3) = 0; } // // See if the right button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) == 1) { // // See if the device ID is being changed. // if(ulPos == 1) { // // Only change the device ID if it is less than 63. // if(g_ulCurrentID < 63) { // // Exit demo mode. // ulDemo = 0; CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite); // // Set the voltage to 0 for the current device ID. // CANVCompSet(0, 0); // // Increment the device ID. // if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) || (HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)) { if(g_ulCurrentID < 60) { CANSetID(g_ulCurrentID + 3); } else { CANSetID(63); } } else { CANSetID(g_ulCurrentID + 1); } // // Enable voltage compensation control mode. // CANVCompModeEnable(); // // Set the voltage for the new device. // lVoltage = 0; CANVCompSet(0, 0); // // Read the ramp rate. // if(CANReadParameter(LM_API_VCOMP_IN_RAMP, 0, &ulRamp, 0) == 0) { ulRamp = 0; } else { ulRamp = (((ulRamp & 0xffff) * 100) + 128) / 256; } // // Read the compensation rate. // if(CANReadParameter(LM_API_VCOMP_COMP_RAMP, 0, &ulComp, 0) == 0) { ulComp = 0; } else { ulComp = (((ulComp & 0xffff) * 100) + 128) / 256; } } } // // See if the voltage is being changed. // else if(ulPos == 2) { // // Only change the voltage if it is not already full forward. // if(lVoltage < 120) { // // Increment the voltage. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) { lVoltage += 11; } else if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)) { lVoltage += 111; } else { lVoltage++; } if(lVoltage > 120) { lVoltage = 120; } // // Send the updated voltage to the motor controller if a // delayed update is not in progress. // if(ulDelay == 0) { CANVCompSet((lVoltage * 256) / 10, 0); } } } // // See if the voltage ramp rate is being changed. // else if(ulPos == 3) { // // Only change the ramp rate if it is not already the maximum. // if(ulRamp < 1200) { // // Increment the voltage ramp rate. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) { ulRamp += 11; } else if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)) { ulRamp += 111; } else { ulRamp++; } if(ulRamp > 1200) { ulRamp = 1200; } // // Send the updated voltage ramp rate. // CANVCompInRampSet((ulRamp * 256) / 100); } } // // See if the compensation rate is being changed. // else if(ulPos == 4) { // // Only change the compensation rate if it is not already the // maximum. // if(ulComp < 1200) { // // Increment the compensation rate. // if(HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) == 1) { ulComp += 11; } else if((HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) == 1) || (HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) == 1)) { ulComp += 111; } else { ulComp++; } if(ulComp > 1200) { ulComp = 1200; } // // Send the updated compensation rate. // CANVCompCompRampSet((ulComp * 256) / 100); } } // // Clear the press flag for the right button. // HWREGBITW(&g_ulFlags, FLAG_RIGHT_PRESSED) = 0; HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL1) = 0; HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL2) = 0; HWREGBITW(&g_ulFlags, FLAG_RIGHT_ACCEL3) = 0; } // // See if the select button was pressed. // if(HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) == 1) { // // Clear the press flag for the select button. // HWREGBITW(&g_ulFlags, FLAG_SELECT_PRESSED) = 0; // // See if the cursor is on the top row of the screen. // if(ulPos == 0) { // // Display the menu. // ulIdx = DisplayMenu(PANEL_VCOMP); // // See if another panel was selected. // if(ulIdx != PANEL_VCOMP) { // // Disable the status display. // StatusDisable(); // // Remove the "VComp Control Mode" panel widgets. // for(ulPos = 0; ulPos < NUM_WIDGETS; ulPos++) { WidgetRemove((tWidget *)(g_psVCompWidgets + ulPos)); } CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite); // // Set the output voltage to zero. // CANVCompSet(0, 0); // // Return the ID of the newly selected panel. // return(ulIdx); } // // Since the "VComp Control Mode" panel was selected from the // menu, move the cursor down one row. // CanvasFillOff(g_psVCompWidgets); ulPos++; CanvasFillOn(g_psVCompWidgets + 1); } // // See if the cursor is on the ID selection. // else if(ulPos == 1) { // // Toggle demo mode. // ulDemo ^= 1; // // See if the demo has just been disabled. // if(ulDemo == 0) { // // Set the output voltage to zero. // lVoltage = 0; CANVCompSet(0, 0); // // Indicate that demo mode has exited by setting the text // color to white. // CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite); } // // Otherwise start demo mode. // else { // // Indicate that demo mode is active by setting the text // color to gray. // CanvasTextColorSet(g_psVCompWidgets + 2, ClrSelected); // // Start with the first step. // ulStep = 0; // // Set the voltage as directed by the first step. // lVoltage = g_plVCompDemo[0][0]; CANVCompSet((lVoltage * 256) / 10, 0); // // Set the time delay for the first step. // ulTime = g_ulTickCount + g_plVCompDemo[0][1]; } } // // See if the cursor is on the voltage selection. // else if(ulPos == 2) { // // Toggle the state of the delayed update. // ulDelay ^= 1; // // See if a delayed update should be performed. // if(ulDelay == 0) { // // Send the delayed voltage update. // CANVCompSet((lVoltage * 256) / 10, 0); // // Change the text color of the voltage selection to white // to indicate that updates will occur immediately. // CanvasTextColorSet(g_psVCompWidgets + 2, ClrWhite); } else { // // Change the text color of the voltage selection to black // to indicate that updates will be delayed. // CanvasTextColorSet(g_psVCompWidgets + 2, ClrBlack); } } } } }
//***************************************************************************** // // This function performs a CAN-based firmware update of a motor controller, // displaying progress on the screen. // //***************************************************************************** static void CANUpdate(void) { unsigned long ulIdx, ulLoop, *pulData, ulSize; // // Get a pointer to the local firmware image. // pulData = (unsigned long *)IMAGE_BASE; // // Get the size of the firmware image. // ulSize = *pulData++; // // Verify that the firmware image size is valid, the initial stack pointer // is valid, and the reset vector pointer is valid. // if((ulSize > 0x1f000) || ((pulData[0] & 0xffff0003) != 0x20000000) || ((pulData[1] & 0xfff00001) != 0x00000001)) { // // Indicate that the firmware image is not valid and return without // performing a firmware update. // usnprintf(g_pcMessageBuffer, sizeof(g_pcMessageBuffer), "Invalid update image!"); return; } // // Set the progress title to indicate that the motor controller is being // updated. // CanvasTextSet(g_psProgressWidgets + PROGRESS_TITLE, "Updating MDL-BDC"); // // Add the progress bar widgets to the widget list. // for(ulIdx = 0; ulIdx < NUM_PROGRESS_WIDGETS; ulIdx++) { WidgetAdd(WIDGET_ROOT, (tWidget *)(g_psProgressWidgets + ulIdx)); } // // Gray the non-title widgets in the main panel. // UpdateWidgetsColor(ClrNotPresent); // // Set the progress bar to the beginning. // PROGRESS(0); // // Update the display. // DisplayFlush(); // // Set the default message to a failure message. This will be replaced // with a success message if the update is successful. // usnprintf(g_pcMessageBuffer, sizeof(g_pcMessageBuffer), "Update of %d failed!", g_ulCurrentID); // // A simple do/while(0) loop that is executed once (because of the while(0) // at the end) but can be easily exited with a break. This allows a common // cleanup at the end (after the loop) while not having increasingly deep // nesting of the intervening code. // do { // // Tell the motor controller to enter firmware update mode. // CANUpdateStart(); // // Delay for 50 milliseconds to allow it time to shut down and enter // the boot loader. // Delay(50); // // Try to ping the boot loader. // for(ulLoop = 10; (ulLoop != 0) && (g_ulCANUpdateAck == 0); ulLoop--) { // // Send a ping command. // g_ulCANUpdateAck = 0; CANUpdatePing(); // // Delay up to 10 milliseconds waiting for the ACK. // DelayAck(10); } // // Abort the firmware update if the ACK was not received. // if(ulLoop == 0) { break; } // // Delay for 50 milliseconds. If there were some CAN network delays, // it is possible that two pings were sent with the ACK from the first // ping being received right after the second ping was sent. In this // case, this delay will allow time for the second ACK to be received // and processed; failure to do so would cause the remaining actions to // become out of sync. // Delay(50); // // Send the download command, causing the appropriate portion of flash // to be erased. // g_ulCANUpdateAck = 0; CANUpdateDownload(0x800, ulSize); // // Delay for up to 4 seconds waiting for the ACK. Since flash is being // erased, it could take up to ~2.5 seconds (depending on the size of // the firmware image). // if(DelayAck(4000) == 0) { break; } // // Loop over the data in the firmware image. // for(ulLoop = 0; ulLoop < ulSize; ulLoop += 8) { // // Send the next two words of the firmware image. // g_ulCANUpdateAck = 0; CANUpdateSendData(((ulSize - ulLoop) > 8) ? 8 : ulSize - ulLoop, pulData[0], pulData[1]); pulData += 2; // // Delay for up to 10 milliseconds waiting for the ACK. Since // flash is being programming, it could take up to ~44 // microseconds. // if(DelayAck(10) == 0) { break; } // // Update the progress bar and update the screen if the progress // bar has moved. // ulIdx = g_psProgressWidgets[PROGRESS_BAR].sBase.sPosition.sXMax; PROGRESS((ulLoop * 100) / ulSize); if(g_psProgressWidgets[PROGRESS_BAR].sBase.sPosition.sXMax != ulIdx) { DisplayFlush(); } } // // Abort the firmware update if the entire image was not programmed. // if(ulLoop < ulSize) { break; } // // Reset the motor controller. // CANUpdateReset(); // // Delay for 500 milliseconds while the motor controller is being // reset. // Delay(500); // // Indicate that the firmware update was successful. // usnprintf(g_pcMessageBuffer, sizeof(g_pcMessageBuffer), "Device %d updated.", g_ulCurrentID); // // Set the device ID so that any default configuration can be // performed. // CANSetID(g_ulCurrentID); } while(0); // // Remove the progress bar widgets. // for(ulIdx = 0; ulIdx < NUM_PROGRESS_WIDGETS; ulIdx++) { WidgetRemove((tWidget *)(g_psProgressWidgets + ulIdx)); } // // Un-gray the non-title widgets in the main panel. // UpdateWidgetsColor(ClrWhite); }