void run(long data) { int i; struct timeval tv; unsigned int sync_ref_counter = 0; count2timeval(nano2count(rt_get_real_time_ns()), &tv); // while (deactive!=20) { while (1) { t_last_cycle = get_cycles(); // receive process data rt_sem_wait(&master_sem); ecrt_master_receive(master); ecrt_domain_process(domain1); rt_sem_signal(&master_sem); // check process data state (optional) //check_domain1_state(); inpu[0]=EC_READ_U16(domain1_pd + status_word); inpu[1]=EC_READ_U32(domain1_pd + pos_act); // if(servooff==1){//servo off // if(stop==1){ // if( ( inpu[0] == 0x1637 ) && ( inpu[2] == 0x1637 ) ){ // EC_WRITE_U16(domain1_pd+ctrl_word, 0x0006 ); // EC_WRITE_U16(domain1_pd+ctrl_word2, 0x0006 ); // } // else if( ( inpu[0] == 0x0650 ) && ( inpu[2] == 0x0650 ) ){ // printk(KERN_INFO PFX "want to PREOP"); // deactive++; // } // } if( (inpu[0]&0x004f) == 0x0040 ){ EC_WRITE_U16(domain1_pd+ctrl_word, 0x0006 ); } else if( (inpu[0]&0x006f) == 0x0021){ EC_WRITE_U16(domain1_pd+ctrl_word, 0x0007 ); } else if( (inpu[0]&0x006f) == 0x0023){ EC_WRITE_U16(domain1_pd+ctrl_word, 0x000f); EC_WRITE_S32(domain1_pd+tar_pos, 0); EC_WRITE_S32(domain1_pd+max_torq, 0xf00); } else if( (inpu[0]&0x006f) == 0x0027){ EC_WRITE_U16(domain1_pd+ctrl_word, 0x001f); EC_WRITE_S32(domain1_pd+tar_pos , value ); //for mode 8 no sin if(value==180000){ speedup=0; speeddown=1; //printk(KERN_INFO PFX "top"); value=value-1; } else if(speeddown==1 && value!=0){ value=value-1; //printk(KERN_INFO PFX "slow down"); } else if(speeddown==1 && value==0){ speedup=0; speeddown=0; // stop=1; //printk(KERN_INFO PFX "stop"); } else if(!stop){ speedup=1; speeddown=0; value=value+1; //printk(KERN_INFO PFX "fast up "); } // change++; // } // else // change = 0; } rt_sem_wait(&master_sem); tv.tv_usec += 1000; if (tv.tv_usec >= 1000000) { tv.tv_usec -= 1000000; tv.tv_sec++; } ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv)); if (sync_ref_counter) { sync_ref_counter--; } else { sync_ref_counter = 1; //original = 9 ecrt_master_sync_reference_clock(master); } ecrt_master_sync_slave_clocks(master); ecrt_domain_queue(domain1); ecrt_master_send(master); rt_sem_signal(&master_sem); rt_task_wait_period(); } }
void cyclic_task() { struct timespec wakeupTime, time; // get current time clock_gettime(CLOCK_TO_USE, &wakeupTime); while(1) { if(deactive==1) { break; } wakeupTime = timespec_add(wakeupTime, cycletime); clock_nanosleep(CLOCK_TO_USE, TIMER_ABSTIME, &wakeupTime, NULL); // writter_receive(master); ecrt_master_receive(master); ecrt_domain_process(domain_r); ecrt_domain_process(domain_w); temp[0]=EC_READ_U16(domain_w_pd + status_word); temp[1]=EC_READ_S32(domain_w_pd + mode_display); if (counter) { counter--; } else { // do this at 1 Hz counter = FREQUENCY; check_master_state(); blink = !blink; } // write process data if(servo_flag==1) { //servo off EC_WRITE_U16(domain_r_pd+ctrl_word, 0x0006 ); } else if( (temp[0]&0x004f) == 0x0040 ) { EC_WRITE_U16(domain_r_pd+ctrl_word, 0x0006 ); } else if( (temp[0]&0x006f) == 0x0021) { EC_WRITE_U16(domain_r_pd+ctrl_word, 0x0007 ); } else if( (temp[0]&0x006f) == 0x0023) { EC_WRITE_U16(domain_r_pd+ctrl_word, 0x000f ); EC_WRITE_S32(domain_r_pd+tar_pos,0); EC_WRITE_S32(domain_r_pd+tar_vel, 0xffff); EC_WRITE_S32(domain_r_pd+max_torq, 0xf00); } //operation enabled else if( (temp[0]&0x006f) == 0x0027) { EC_WRITE_S32(domain_r_pd+tar_pos, (move_value+=2000) ); EC_WRITE_U16(domain_r_pd+ctrl_word, 0x001f); } clock_gettime(CLOCK_TO_USE, &time); ecrt_master_application_time(master, TIMESPEC2NS(time)); if (sync_ref_counter) { sync_ref_counter--; } else { sync_ref_counter = 1; // sync every cycle ecrt_master_sync_reference_clock(master); } ecrt_master_sync_slave_clocks(master); // send process data ecrt_domain_queue(domain_r); ecrt_domain_queue(domain_w); ecrt_master_send(master); } }
void cyclic_task() { /* sync the dc clock of the slaves */ ecrt_master_sync_slave_clocks(master); // receive process data ecrt_master_receive(master); ecrt_domain_process(domain1); // check process data state (optional) check_domain1_state(); if (counter) { counter--; } else { // do this at 1 Hz counter = FREQUENCY; // calculate new process data blink = !blink; // check for master state (optional) check_master_state(); // check for islave configuration state(s) (optional) check_slave_config_states(); #if SDO_ACCESS // read process data SDO read_sdo(sdo); read_sdo(request[0]); read_sdo(request[1]); read_sdo(request[2]); write_sdo(sdo_download_requests[0], sdoexample); /* SDO download value to the node */ #endif } /* Read process data */ unsigned int sn_status = EC_READ_U16(domain1_pd + off_pdo1_in); unsigned int sn_modes = EC_READ_U8(domain1_pd + off_pdo2_in); unsigned int sn_position = EC_READ_U32(domain1_pd + off_pdo3_in); unsigned int sn_velocity = EC_READ_U32(domain1_pd + off_pdo4_in); unsigned int sn_torque = EC_READ_U16(domain1_pd + off_pdo5_in); logmsg(2, "[REC] 0x%4x 0x%4x 0x%8x 0x%8x 0x%4x\n", sn_status, sn_modes, sn_position, sn_velocity, sn_torque); #if 0 // read process data printf("AnaIn: state %u value %u\n", EC_READ_U8(domain1_pd + off_ana_in_status), EC_READ_U16(domain1_pd + off_ana_in_value)); #endif // write process data //EC_WRITE_U8(domain1_pd + off_dig_out, blink ? 0x06 : 0x09); #ifdef CIA402 #define STATUSW1 0x88AA #define STATUSW2 0xAA88 #define OPMODES1 0xf1 #define OPMODES2 0x1f #define TORVAL1 0xabab #define TORVAL2 0xbaba #define VELVAL1 0x2d2d4d4d #define VELVAL2 0xd4d4d2d2 #define POSVAL1 0xe4e4e2e2 #define POSVAL2 0x2e2e4e4e EC_WRITE_U16(domain1_pd + off_pdo1_out, (blink ? STATUSW1 : STATUSW2)&0xffff); EC_WRITE_U8(domain1_pd + off_pdo2_out, (blink ? OPMODES1 : OPMODES2)&0xff); EC_WRITE_U16(domain1_pd + off_pdo3_out, (blink ? TORVAL1 : TORVAL2)&0xffff); EC_WRITE_U32(domain1_pd + off_pdo4_out, blink ? POSVAL1 : POSVAL2); EC_WRITE_U32(domain1_pd + off_pdo5_out, blink ? VELVAL1 : VELVAL2); #else #define TESTWORD1 0xdead #define TESTWORD2 0xbeef #define TESTWORD3 0xfefe #define TESTWORD4 0xa5a5 EC_WRITE_U16(domain1_pd + off_pdo1_out, blink ? TESTWORD1 : TESTWORD2); EC_WRITE_U16(domain1_pd + off_pdo2_out, blink ? TESTWORD3 : TESTWORD4); #endif // send process data ecrt_domain_queue(domain1); ecrt_master_send(master); //printf("Wrote %x to slave\n", blink ? TESTWORD1 : TESTWORD2); }
void run(long data) { int i; struct timeval tv; unsigned int sync_ref_counter = 0; count2timeval(nano2count(rt_get_real_time_ns()), &tv); while (1) { t_last_cycle = get_cycles(); // receive process data rt_sem_wait(&master_sem); ecrt_master_receive(master); ecrt_domain_process(domain1); rt_sem_signal(&master_sem); // check process data state (optional) check_domain1_state(); if (counter) { counter--; } else { u32 c; counter = FREQUENCY; // check for master state (optional) check_master_state(); c = EC_READ_U32(domain1_pd + off_counter_in); if (counter_value != c) { counter_value = c; printk(KERN_INFO PFX "counter=%u\n", counter_value); } } if (blink_counter) { blink_counter--; } else { blink_counter = 9; // calculate new process data blink = !blink; } // write process data for (i = 0; i < NUM_DIG_OUT; i++) { EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99); } EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02); rt_sem_wait(&master_sem); tv.tv_usec += 1000; if (tv.tv_usec >= 1000000) { tv.tv_usec -= 1000000; tv.tv_sec++; } ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv)); if (sync_ref_counter) { sync_ref_counter--; } else { sync_ref_counter = 9; ecrt_master_sync_reference_clock(master); } ecrt_master_sync_slave_clocks(master); ecrt_domain_queue(domain1); ecrt_master_send(master); rt_sem_signal(&master_sem); rt_task_wait_period(); } }
void run(long data) { int i; struct timeval tv; unsigned int sync_ref_counter = 0; count2timeval(nano2count(rt_get_real_time_ns()), &tv); // while (deactive!=20) { while (1) { t_last_cycle = get_cycles(); /* if ( (inpu[0]==0x0650) &&(stop==1) ) break; */ // receive process data rt_sem_wait(&master_sem); ecrt_master_receive(master); ecrt_domain_process(domain1); ecrt_domain_process(domain2); rt_sem_signal(&master_sem); // check process data state (optional) //check_domain1_state(); inpu[0]=EC_READ_U16(domain2_pd + status_word); inpu[1]=EC_READ_U32(domain2_pd + actual_pos); /* if (counter) { counter--; } else { u32 c; counter = FREQUENCY; // check for master state (optional) check_master_state(); c = EC_READ_U32(domain1_pd + off_counter_in); if (counter_value != c) { counter_value = c; printk(KERN_INFO PFX "counter=%u\n", counter_value); } } */ /* if (blink_counter) { blink_counter--; } else { blink_counter = 9; // calculate new process data blink = !blink; } */ // write process data /* for (i = 0; i < NUM_DIG_OUT; i++) { EC_WRITE_U8(domain1_pd + off_dig_out[i], blink ? 0x66 : 0x99); } EC_WRITE_U8(domain1_pd + off_counter_out, blink ? 0x00 : 0x02); */ // if(servooff==1){//servo off if(stop==1){ if ( inpu[0] == 0x1637 ) { EC_WRITE_U16(domain1_pd+ctrl_word, 0x0006 ); } else if( inpu[0] == 0x0650 ){ //++deactive ; //EC_WRITE_U16(domain1_pd+alstat, 0x0002 ); printk(KERN_INFO PFX "want to PREOP"); deactive++; } /* else{ EC_WRITE_U16(domain1_pd+alstat, 0x0002 ); printk(KERN_INFO PFX "want to PREOP"); break; } */ } else if( (inpu[0]&0x0040) == 0x0040){ EC_WRITE_U16(domain1_pd+ctrl_word, 0x0006 ); } else if( (inpu[0]&0x006f) == 0x0021 ){ EC_WRITE_U16(domain1_pd+ctrl_word, 0x0007 ); } else if( (inpu[0]&0x027f) == 0x0233){ EC_WRITE_U16(domain1_pd+ctrl_word, 0x000f); EC_WRITE_S32(domain1_pd+interpolateddata, 0); //EC_WRITE_S32(domain1_pd+tar_velo, 0xffffff); EC_WRITE_S32(domain1_pd+max_torq, 0xf00); EC_WRITE_S32(domain1_pd+modeofoper, 8); } else if( (inpu[0]&0x027f) == 0x0237){ //if(change >= 0 && change<2 ){ if( change<1 ){ //start=1; //if(i==0){ //EC_WRITE_S32(domain1_pd+interpolateddata , 0 ); //EC_WRITE_S32(domain1_pd+interpolateddata2 , 0 ); //EC_WRITE_S32(domain1_pd+target_pos , 0 ); //EC_WRITE_S32(domain1_pd+target_pos2 , 0 ); //EC_WRITE_S32(domain1_pd+tar_velo , 0 ); //EC_WRITE_S32(domain1_pd+tar_velo2 , 0 ); //} //else { //EC_WRITE_S32(domain1_pd+interpolateddata , (sin(i)*180000) ); //for mode 7 //EC_WRITE_S32(domain1_pd+interpolateddata2 , (sin(i)*180000) ); //EC_WRITE_S32(domain1_pd+target_pos , (sin(i)*180000) ); //for mode 8 with sin //EC_WRITE_S32(domain1_pd+target_pos2 , (sin(i)*180000) ); EC_WRITE_S32(domain1_pd+target_pos , inpu[7] ); //for mode 8 no sin //EC_WRITE_S32(domain1_pd+tar_velo , 500000 ); //for mode 9 //EC_WRITE_S32(domain1_pd+tar_velo2 , 500000 ); //if(1){ if(inpu[7]==1800000){ speedup=0; speeddown=1; //printk(KERN_INFO PFX "top"); inpu[7]=inpu[7]-200; } else if(speeddown==1 && inpu[7]!=0){ inpu[7]=inpu[7]-200; //printk(KERN_INFO PFX "slow down"); } else if(speeddown==1 && inpu[7]==0){ speedup=0; speeddown=0; stop=1; //printk(KERN_INFO PFX "stop"); } else if(!stop){ speedup=1; speeddown=0; inpu[7]=inpu[7]+2000; //printk(KERN_INFO PFX "fast up "); } /* if(speedup==1) inpu[7]+=500; else if(speeddown==1) inpu[7]-=1000; else{ inpu[7]=0; servooff=1; } */ //EC_WRITE_S32(domain1_pd+tar_velo , inpu[7] ); //for mode 9 //EC_WRITE_S32(domain1_pd+tar_velo2 , inpu[7] ); //} //else{ //EC_WRITE_S32(domain1_pd+tar_velo , inpu[7] ); //for mode 9 //EC_WRITE_S32(domain1_pd+tar_velo2 , inpu[7] ); //} //} EC_WRITE_U16(domain1_pd+ctrl_word, 0x001f); change++; /* if(datacount<10001){ data[datacount][0]=(sin(i)*360000); data[datacount][1]=inpu[1]; data[datacount][2]=inpu[3]; data[datacount][3]=(inpu[1] - inpu[3]); datacount++; } */ } else change = 0; } //printk(KERN_INFO PFX "pos1=%d pos2=%d inpu7=%d\n",inpu[1],inpu[3],inpu[7]); rt_sem_wait(&master_sem); tv.tv_usec += 1000; if (tv.tv_usec >= 1000000) { tv.tv_usec -= 1000000; tv.tv_sec++; } ecrt_master_application_time(master, EC_TIMEVAL2NANO(tv)); if (sync_ref_counter) { sync_ref_counter--; } else { sync_ref_counter = 1; //original = 9 ecrt_master_sync_reference_clock(master); } ecrt_master_sync_slave_clocks(master); ecrt_domain_queue(domain1); ecrt_domain_queue(domain2); ecrt_master_send(master); rt_sem_signal(&master_sem); rt_task_wait_period(); } }
void motor_cmd_routine(void *m_arg) { int ret; RT_TIMER_INFO timer_info; long long task_period; unsigned long overruns = 0; int16_t req_current = 0; int sync_ref_counter=0; float cos_el; float sin_el; float v_req_az; float V_REQ_AZ = 0; float P_term_az, error_az; float p_az = 20.0; float i_az = 1.0; static float az_integral = 0.0; float I_term_az, INTEGRAL_CUTOFF=0.5; printf("Starting Motor Commanding task\n"); rt_timer_inquire(&timer_info); if (timer_info.period == TM_ONESHOT) { // When using an aperiodic timer, task period is specified in ns task_period = rt_timer_ns2ticks(1000000000ll / 100); } else { // When using a periodic timer, task period is specified in number of timer periods task_period = (1000000000ll / 100) / timer_info.period; } ret = rt_task_set_periodic(NULL, TM_NOW, task_period); if (ret) { printf("error while set periodic, code %d\n", ret); return; } // Make sure we are in primary mode before entering the timer loop rt_task_set_mode(0, T_PRIMARY, NULL); while (!stop) { unsigned long ov; // Wait for next time period ret = rt_task_wait_period(&ov); if (ret && ret != -ETIMEDOUT) { printf("error while rt_task_wait_period, code %d (%s)\n", ret, strerror(-ret)); break; } overruns = overruns + ov; ecrt_master_receive(master); ecrt_domain_process(domain); // write application time to master ecrt_master_application_time(master, rt_timer_tsc2ns(rt_timer_tsc())); if (sync_ref_counter) { sync_ref_counter--; } else { sync_ref_counter = 1; // sync every cycle ecrt_master_sync_reference_clock(master); } ecrt_master_sync_slave_clocks(master); /*******************************************************************\ * Card0: Drive the Azimuth Motor (Reaction Wheel) * \*******************************************************************/ /* Read sin and cos of the inner frame elevation, calculated by mcp */ // cos_el = 1.0; //( COS_EL*0.000030517578125 ) - 1.0; // sin_el = 0.0; //( SIN_EL*0.000030517578125 ) - 1.0; // // v_req_az = 0.0; //(float)(V_REQ_AZ-32768.0)*0.0016276041666666666666666666666667; // = vreq/614.4 // // //roll, yaw contributions to az both -'ve (?) // error_az = (gy_ifroll*sin_el + gy_ifyaw*cos_el) + v_req_az; // // P_term_az = p_az*error_az; // // if( (p_az == 0.0) || (i_az == 0.0) ) { // az_integral = 0.0; // } else { // az_integral = (1.0 - INTEGRAL_CUTOFF)*az_integral + INTEGRAL_CUTOFF*error_az; // } // // I_term_az = az_integral * p_az * i_az; // if (I_term_az > 100.0) { // I_term_az = 100.0; // az_integral = az_integral *0.9; // } // if (I_term_az < -100.0) { // I_term_az = -100.0; // az_integral = az_integral * 0.9; // } // if (P_term_az > 1.0 || P_term_az < -1.0) printf("error_az: %f\tI: %f\tP: %f\n", error_az, I_term_az, P_term_az); // req_current = 0.5 *(-(P_term_az + I_term_az) ) ; req_current = 100; if (req_current > 200) printf("Error! Requested current is %d\n", req_current); else { EC_WRITE_S16(rx_controller_state.current_val, req_current); } ecrt_domain_queue(domain); ecrt_master_send(master); } //switch to secondary mode ret = rt_task_set_mode(T_PRIMARY, 0, NULL); if (ret) { printf("error while rt_task_set_mode, code %d\n", ret); return; } }