CAL_STATE pidHysterisis(int group) {
if (RunEvery(&getPidGroupDataTable(group)->timer) > 0) {
Print_Level l = getPrintLevel();
//setPrintLevelInfoPrint();
float boundVal = 150.0;
float extr = GetPIDPosition(group);
if (bound(0, extr, boundVal, boundVal)) {// check to see if the encoder has moved
//we have not moved
// println_I("NOT moved ");p_fl_I(extr);
if (getPidGroupDataTable(group)->calibration.state == forward) {
incrementHistoresis(group);
} else if (getPidGroupDataTable(group)->calibration.state == backward) {
decrementHistoresis(group);
}
int historesisBound = 25;
if (getPidGroupDataTable(group)->config.lowerHistoresis < (-historesisBound) &&
getPidGroupDataTable(group)->calibration.state == backward) {
println_E("Backward Motor seems damaged, more then counts of historesis #");
p_int_I(group);
getPidGroupDataTable(group)->calibration.state = forward;
}
if (getPidGroupDataTable(group)->config.upperHistoresis > (historesisBound) &&
getPidGroupDataTable(group)->calibration.state == forward) {
println_E("Forward Motor seems damaged, more then counts of historesis #");
p_int_I(group);
getPidGroupDataTable(group)->calibration.state = done;
}
} else {
pidReset(group, 0);
setOutput(group, 0);
println_E("Moved ");
p_fl_E(extr);
if (getPidGroupDataTable(group)->calibration.state == forward) {
println_I("Backward Calibrated for link# ");
p_int_I(group);
getPidGroupDataTable(group)->calibration.state = backward;
} else {
println_I("Calibration done for link# ");
p_int_I(group);
getPidGroupDataTable(group)->calibration.state = done;
float offset = .9;
getPidGroupDataTable(group)->config.lowerHistoresis *= offset;
getPidGroupDataTable(group)->config.upperHistoresis *= offset;
calcCenter(group);
}
}
if (getPidGroupDataTable(group)->calibration.state == forward) {
setOutput(group, 1.0f);
} else if (getPidGroupDataTable(group)->calibration.state == backward) {
setOutput(group, -1.0f);
}
setPrintLevel(l);
}
if (getPidGroupDataTable(group)->calibration.state == done)
SetPIDCalibrateionState(group, CALIBRARTION_DONE);
return getPidGroupDataTable(group)->calibration.state;
}
void printValues(){
int i;
println_I("Values");
for(i=0;i<GetNumberOfIOChannels();i++){
println_I("\t# ");p_int_I(i);
print_I("\tCurrent ");p_int_I(getBcsIoDataTable()[i].PIN.currentValue);
//print_I("\tPrevious ");p_int_I(getBcsIoDataTable()[i].PIN.previousValue);
}
}
int resetPositionMine(int group, int current){
println_I("Resetting PID Local ");p_int_I(group);print_I(" to ");p_int_I(current);print_I(" from ");p_fl_I(getPositionMine(group));
if(group<numPidMotors){
setCurrentValue(group, current);
}else{
resetHeater(group, current);
}
return getPositionMine(group);
}
void printAsync(){
int i;
println_I("Async Data ");p_fl_I(getMs());
for(i=0;i<GetNumberOfIOChannels();i++){
println_I("\t# ");p_int_I(i);
print_I("\tCurrent ");p_int_I(getBcsIoDataTable()[i].PIN.asyncDataCurrentVal);
print_I("\tPrevious ");p_int_I(getBcsIoDataTable()[i].PIN.asyncDataPreviousVal);
print_I("\tMode ");printAsyncType(getBcsIoDataTable()[i].PIN.asyncDataType);
print_I("\tIteration ");p_fl_I(getBcsIoDataTable()[i].PIN.asyncDataTime.setPoint);
print_I("\tLast ");p_fl_I(getBcsIoDataTable()[i].PIN.asyncDataTime.MsTime);
}
}
void CheckSwitches(void){
Print_Level l = getPrintLevel();
setPrintLevelInfoPrint();
switched=0;
volt = GetRawVoltage();
BOOL up = FALSE;
BYTE reg = isRegulated_0();
if (bankState[0] != reg ){
bankState[0]=reg;
up=TRUE;
}
reg = isRegulated_1();
if (bankState[1] != reg){
bankState[1] = reg;
up=TRUE;
}
if ((lastVolt>RawVoltageMin) && (volt<RawVoltageMin)){
up=TRUE;
lastVolt = volt;
}
if ((lastVolt<RawVoltageMin) && (volt>RawVoltageMin)){
up=TRUE;
lastVolt = volt;
}
if(up){
println_I("\nVoltage on raw: \t");
p_fl_I(volt);
println_I("Voltage on bank0: \t");
p_fl_I(GetRail0Voltage());
println_I("Voltage on bank1:\t");
p_fl_I(GetRail1Voltage());
println_I("Pushing upstream Power Packet bank 0: ");p_int_I(bankState[0]);print_I(" bank 1: ");p_int_I(bankState[1]);
println_I("Power Code 0: ");p_int_I(GetRawVoltageCode(0));
println_I("Power Code 1 : ");p_int_I(GetRawVoltageCode(1));
println_I("Raw: ");p_fl_I(GetRawVoltage());
UpstreamPushPowerChange();
}
setPrintLevel(l);
}
BOOL onCartesianPost(BowlerPacket *Packet){
Print_Level l = getPrintLevel();
switch(Packet->use.head.RPC){
case _SLI:
if(FifoGetPacketSpaceAvailible(&packetFifo)>0){
if(Packet->use.data[0]==1){
processLinearInterpPacket(Packet);
}else{
println_I("Cached linear Packet ");p_int_I(FifoGetPacketSpaceAvailible(&packetFifo));
FifoAddPacket(&packetFifo,Packet);
}
Packet->use.head.Method = BOWLER_STATUS;
INT32_UNION tmp;
tmp.Val=FifoGetPacketSpaceAvailible(&packetFifo);
Packet->use.data[0]=tmp.byte.FB;
Packet->use.data[1]=tmp.byte.TB;
Packet->use.data[2]=tmp.byte.SB;
Packet->use.data[3]=tmp.byte.LB;
tmp.Val=SIZE_OF_PACKET_BUFFER;
Packet->use.data[4]=tmp.byte.FB;
Packet->use.data[5]=tmp.byte.TB;
Packet->use.data[6]=tmp.byte.SB;
Packet->use.data[7]=tmp.byte.LB;
Packet->use.head.DataLegnth=4+4+4;
if(tmp.Val == 0){
full=TRUE;
}
setPrintLevel(l);
}else{
println_I("###ERROR BUFFER FULL!!");p_int_I(FifoGetPacketSpaceAvailible(&packetFifo));
setPrintLevel(l);
ERR(Packet,33,33);
}
return TRUE;
case PRCL:
cancelPrint();
READY(Packet,35,35);
return TRUE;
}
return FALSE;
}
void printConfigurations(){
int i;
println_I("Configurations");
for(i=0;i<GetNumberOfIOChannels();i++){
println_I("\t# ");p_int_I(i);
//print_I("\tCurrent ");p_int_I(getBcsIoDataTable()[i].PIN.currentConfiguration);
//print_I("\tPrevious ");p_int_I(getBcsIoDataTable()[i].PIN.previousConfiguration);
}
}
void printModes(){
int i;
println_I("Modes");
for(i=0;i<GetNumberOfIOChannels();i++){
println_I("\t# ");p_int_I(i);
print_I("\tCurrent ");printMode(getBcsIoDataTable()[i].PIN.currentChannelMode,INFO_PRINT);
//print_I("\tPrevious ");printMode(getBcsIoDataTable()[i].PIN.previousChannelMode,INFO_PRINT);
}
}
void setOutputMine(int group, float v){
if( dyPid[group].outputChannel==DYPID_NON_USED||
((pidGroups[group].Enabled == FALSE) && (vel[group].enabled==FALSE)))
return;
Print_Level l = getPrintLevel();
setPrintLevelNoPrint();
int val = (int)(v);
//BYTE center = getBcsIoDataTable()[dyPid[group].outputChannel].PIN.currentConfiguration;
if(dyPid[group].outputMode == IS_SERVO){
val += 128;
if (val>254)
val=254;
if(val<0)
val=0;
}else if(dyPid[group].outputMode == IS_DO){
if(val>0)
val=1;
else
val=0;
}else{
val += 128;
if (val>255)
val=255;
if(val<0)
val=0;
}
int set = (int)val;
if (dyPid[group].outVal==set){
//if(!(RunEvery(&force[chan->channel])>0))
return;
}else{
print_I(" Setting PID output, was ");p_int_I(dyPid[group].outVal);print_I(" is now: ");p_int_I(set);print_I(" on DyIO chan: ");p_int_I(dyPid[group].outputChannel);print_I(", ");
}
dyPid[group].outVal=set;
println_I("PID setting output for group: ");p_int_I(group);
SetChannelValueCoProc(dyPid[group].outputChannel,dyPid[group].outVal);
setPrintLevel(l);
}
void CheckRev(void) {
LoadCorePacket(&downstreamPacketTemp);
downstreamPacketTemp.use.head.Method = BOWLER_GET;
downstreamPacketTemp.use.head.RPC = GetRPCValue("_rev");
downstreamPacketTemp.use.head.DataLegnth = 4;
SendPacketToCoProc(&downstreamPacketTemp);
if ((downstreamPacketTemp.use.data[0] == MAJOR_REV)
&& (downstreamPacketTemp.use.data[1] == MINOR_REV)
&& (downstreamPacketTemp.use.data[2] == FIRMWARE_VERSION)) {
SetColor(0, 0, 1);
} else {
//SetColor(1, 0, 0);
println_I("Rev. Check Failed! AVR:");
p_int_I(downstreamPacketTemp.use.data[0]);
print_I(".");
p_int_I(downstreamPacketTemp.use.data[1]);
print_I(".");
p_int_I(downstreamPacketTemp.use.data[2]);
print_I(" PIC:");
p_int_I(MAJOR_REV);
print_I(".");
p_int_I(MINOR_REV);
print_I(".");
p_int_I(FIRMWARE_VERSION);
}
}
void printSortedData(){
int x;
print_I("Servo Data \r\n[ ");
for(x=0;x<dataTableSize;x++){
p_int_I(positionTemp[x]);print_I(" , ");
}
print_I(" ] ");
print_I("\r\n[ ");
for(x=0;x<dataTableSize;x++){
p_int_I(sort[x]);print_I(" , ");
}
print_I(" ] ");
print_I("\r\n[ ");
for(x=0;x<dataTableSize;x++){
p_int_I(positionTemp[sort[x]]);print_I(" , ");
}
print_I(" ] ");
}
float setLinkAngle(int index, float value, float ms){
int localIndex=linkToHWIndex(index);
float v = value/getLinkScale(index);
if( index ==0||
index ==1||
index ==2
){
// if(v>1650){
// println_E("Upper Capped link ");p_int_E(index);print_E(", attempted: ");p_fl_E(value);
// v=1650;
// }
// if(v<-6500){
// v=-6500;
// println_E("Lower Capped link ");p_int_E(index);print_E(", attempted: ");p_fl_E(value);
// }
}
println_I("Setting position from cartesian controller ");p_int_I(index);print_I(" to ");p_fl_I(v);
return SetPIDTimed(localIndex,v,ms);
}
void LoadPIDvals(AbsPID * pid, DYIO_PID * dy){
LoadEEstore();
BYTE i = pid->channel;
if(pidEEPRomVal[i].outputChannel==pidEEPRomVal[i].inputChannel)
return;
if(pidEEPRomVal[i].outputChannel>=GetNumberOfIOChannels() ||pidEEPRomVal[i].inputChannel>=GetNumberOfIOChannels() )
return;
if(pidEEPRomVal[i].outputMode==pidEEPRomVal[i].inputMode)
return;
println_I("Using values for chan: ");p_int_I(i);
pid->Enabled=pidEEPRomVal[i].Enabled;
pid->Polarity=pidEEPRomVal[i].Polarity;
//pidChans->Async=pidEEPRomVal[i].Async;
dy->inputMode=pidEEPRomVal[i].inputMode;
dy->outputMode=pidEEPRomVal[i].outputMode;
dy->outputChannel=pidEEPRomVal[i].outputChannel;
dy->inputChannel=pidEEPRomVal[i].inputChannel;
pid->K.P=pidEEPRomVal[i].K.P;
pid->K.I=pidEEPRomVal[i].K.I;
pid->K.D=pidEEPRomVal[i].K.D;
}
void ProcessAsyncData(BowlerPacket * Packet){
//println_I("**Got Async Packet**");
//printPacket(Packet,INFO_PRINT);
Print_Level l = getPrintLevel();
setPrintLevelInfoPrint();
if (Packet->use.head.RPC==GCHV){
BYTE pin = Packet->use.data[0];
BYTE mode = GetChannelMode(pin);
if(mode == IS_ANALOG_IN ){
UINT16_UNION ana;
ana.byte.SB = Packet->use.data[1];
ana.byte.LB = Packet->use.data[2];
//ADC_val[pin-8]=ana.Val;
if(ana.Val>=0 && ana.Val<1024)
SetValFromAsync(pin,ana.Val);//asyncData[pin].currentVal=ana.Val;
println_I("***Setting analog value: ");p_int_I(pin);print_I(", ");p_int_I(ana.Val);
}
else if((mode == IS_DI) || (mode == IS_COUNTER_INPUT_HOME)|| (mode == IS_COUNTER_OUTPUT_HOME) || mode == IS_SERVO){
//DIG_val[pin]=Packet->use.data[1];
SetValFromAsync(pin,Packet->use.data[1]);//asyncData[pin].currentVal=Packet->use.data[1];
println_I("***Setting digital value: ");p_int_I(pin);print_I(", ");p_int_I(Packet->use.data[1]);//printStream(DIG_val,NUM_PINS);
}else {
if(IsAsync(pin)){
println_I("Sending async packet, not digital or analog");
PutBowlerPacket(Packet);
}
}
}else if (Packet->use.head.RPC==AASN){
int i;
for(i=0;i<8;i++){
BYTE pin = i+8;
BYTE mode = GetChannelMode(pin);
if(mode == IS_ANALOG_IN ){
UINT16_UNION ana;
ana.byte.SB = Packet->use.data[i*2];
ana.byte.LB = Packet->use.data[(i*2)+1];
//ADC_val[pin-8]=ana.Val
if(ana.Val>=0 && ana.Val<1024);
SetValFromAsync(pin,ana.Val);//asyncData[pin].currentVal=ana.Val;
}
}
}else if (Packet->use.head.RPC==DASN){
int i;
for(i=0;i<GetNumberOfIOChannels();i++){
BYTE mode = GetChannelMode(i);
if((mode == IS_DI) || (mode == IS_COUNTER_INPUT_HOME)|| (mode == IS_COUNTER_OUTPUT_HOME)|| (mode == IS_SERVO)){
SetValFromAsync(i,Packet->use.data[i]);//asyncData[i].currentVal=Packet->use.data[i];
}
}
//println_I("***Setting All Digital value: ");
}if (Packet->use.head.RPC==GetRPCValue("gacv")){
int i;
int val;
for(i=0;i<GetNumberOfIOChannels();i++){
val = get32bit(Packet, i*4);
if(getBcsIoDataTable()[i].PIN.asyncDataCurrentVal!=val){
println_I("Data on Pin ");p_int_I(i);print_I(" to val ");p_int_I(val);
SetValFromAsync(i,val);//
}
}
}else{
println_W("***Async packet not UNKNOWN***");
printPacket(Packet,WARN_PRINT);
}
// println_I("***Setting All value: [");
// int i;
// for(i=0;i<NUM_PINS;i++){
// p_int_I(asyncData[i].currentVal);print_I(" ");
// }
// print_I("]");
setPrintLevel(l);
}
BOOL setMode(BYTE pin,BYTE mode){
ClearPinState(pin);
println_I("Pin :");p_int_I(pin);print_I(" is mode: ");printMode(mode,INFO_PRINT);
//BYTE pwm,dir;
if (mode == NO_CHANGE){
return TRUE;
}
switch (mode){
case HIGH_IMPEDANCE:
ClearPinState(pin);
// Return here so as not to save this state to the eeprom
return TRUE;
case IS_UART_TX:
case IS_UART_RX:
if(pin == 17 || pin == 16){
configPinMode(16,IS_UART_TX,OUTPUT,ON);
configPinMode(17,IS_UART_RX,INPUT,ON);
InitUART();
return TRUE;
}
break;
case IS_SPI_MOSI:
case IS_SPI_MISO:
case IS_SPI_SCK:
if(pin == 0 || pin == 1||pin == 2 ){
configPinMode(0,IS_SPI_SCK,INPUT,ON);
configPinMode(1,IS_SPI_MISO,INPUT,ON);
configPinMode(2,IS_SPI_MOSI,INPUT,ON);
return TRUE;
}
break;
case IS_ANALOG_IN:
configPinMode(pin,mode,INPUT,OFF);
if(InitADC(pin)){
return TRUE;
}
break;
case IS_PWM:
if(InitPWM(pin)){
return TRUE;
}
return FALSE;
case IS_DC_MOTOR_VEL:
case IS_DC_MOTOR_DIR:
if(InitDCMotor(pin)){
return TRUE;
}
return FALSE;
case IS_SERVO:
InitServo(pin);
configPinMode(pin,mode,OUTPUT,OFF);
return TRUE;
case IS_DO:
configPinMode(pin,mode,OUTPUT,OFF);
return TRUE;
case IS_DI:
case IS_PPM_IN:
case IS_COUNTER_OUTPUT_INT:
case IS_COUNTER_OUTPUT_DIR:
case IS_COUNTER_OUTPUT_HOME:
case IS_COUNTER_INPUT_INT:
case IS_COUNTER_INPUT_DIR:
case IS_COUNTER_INPUT_HOME:
configPinMode(pin,mode,INPUT,ON);
return TRUE;
default:
configPinMode(pin,mode,INPUT,ON);
return TRUE;
}
return FALSE;
}
BOOL setMode(BYTE pin,BYTE mode){
println_I("Setting Mode: ");printMode(mode,INFO_PRINT);print_I(" on: ");p_int_I(pin);
BYTE currentMode = GetChannelMode(pin);
ClearCounter(pin);
StopSPI(pin);
clearPPM(pin);
print_I(" \tHardware Cleared");
switch (mode){
case IS_SERVO:
if(((pin < 12) && (isRegulated_0() == 0)) || ((pin >= 12) && (isRegulated_1()== 0)) ){
print_I("|Mode is now servo");
break;
}else{
if(getBrownOutDetect()){
print_I(" Servo Mode could not be set, voltage invalid");
return FALSE;
}else{
print_I(" Servo Mode set|");
break;
}
}
break;
case IS_SPI_MOSI:
case IS_SPI_MISO:
case IS_SPI_SCK:
if( pinHasFunction(pin, mode) != FALSE){
print_I("|Mode is now SPI");
InitSPI();
break;
}else{
return FALSE;
}
break;
case IS_COUNTER_INPUT_INT:
case IS_COUNTER_INPUT_DIR:
case IS_COUNTER_INPUT_HOME:
if(pinHasFunction(pin, mode) != FALSE){
print_I("|Mode is now Counter Input");
StartCounterInput(pin);
break;
}else{
print_I(", Counter Input not availible");
return FALSE;
}
break;
case IS_COUNTER_OUTPUT_INT:
case IS_COUNTER_OUTPUT_DIR:
case IS_COUNTER_OUTPUT_HOME:
if(pinHasFunction(pin, mode) != FALSE){
print_I("|Mode is now Counter Output");
StartCounterOutput(pin);
break;
}else{
print_I(", Counter Output not availible");
return FALSE;
}
break;
case IS_PPM_IN:
println_I("Setting up PPM...");
startPPM(pin);
break;
}
print_I(" \tMode set");
return TRUE;
}
