Mirrors_Framework/stmbl
1
0
Fork 0
mirror of https://github.com/rene-dev/stmbl.git synced 2026-02-06 02:02:34 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

term reset button/fault text

Browse Source
This commit is contained in:
Netzpfuscher
2015-10-28 17:21:42 +01:00
parent 073915514f
commit dfeb012a14
7 changed files with 132 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

63
src/comps/term.comp
View File

@@ -36,6 +36,8 @@ HAL_PIN(send_step) = 10.0;
HAL_PIN(buf_use) = 0.0;
HAL_PIN(fault) = 0.0;
#define TERM_BUF_SIZE 24
MEM(float w0[TERM_BUF_SIZE]);
@@ -51,6 +53,8 @@ MEM(unsigned int read_pos) = 0;
MEM(unsigned int write_pos) = 0;
MEM(unsigned int send_counter) = 0;
MEM(unsigned int last_fault_sent) = 0; //save last error message
RT(
if(send_counter++ >= PIN(send_step) - 1){
w0[write_pos] = PIN(wave0);
@@ -121,6 +125,60 @@ NRT(
}
}
void fault_sender(){
int flt = (int)PIN(fault);
if(flt != last_fault_sent){
last_fault_sent = flt;
switch(flt){
case STATE_DISABLED:
printf_("INFO: Disabled \n");
break;
case STATE_RESET:
printf_("INFO: Reset \n");
break;
case STATE_FB_ERROR:
printf_("ERROR: Feedback \n");
break;
case STATE_SAT_ERROR:
printf_("ERROR: Saturation \n");
break;
case STATE_OVR_CURR:
printf_("ERROR: Overcurrent \n");
break;
case STATE_POS_ERROR:
printf_("ERROR: Position \n");
break;
case STATE_OVR_TEMP:
printf_("ERROR: Overtemperture \n");
break;
case STATE_OVR_VOLT:
printf_("ERROR: Overvoltage \n");
break;
case STATE_ENABLED:
printf_("INFO: Enabled \n");
break;
case STATE_PHASING:
printf_("INFO: Phasing \n");
break;
default:
break;
}
}
}
int e = 0;
unsigned char buf[8 + 2];
@@ -144,6 +202,7 @@ NRT(
float g6 = PIN(gain6);
float g7 = PIN(gain7);
unsigned int wp = write_pos;
unsigned int bc = 0;
@@ -185,11 +244,15 @@ NRT(
PIN(buf_use) = bc;
if(UB_USB_CDC_GetStatus()==USB_CDC_CONNECTED && systime >= 1000){
char source[APP_TX_BUF_SIZE];
char sink[APP_TX_BUF_SIZE];
fault_sender();
int i = -1;
char rx_buf[APP_TX_BUF_SIZE];
if(UB_USB_CDC_ReceiveString(rx_buf)==RX_READY){

14
src/defines_res.h
View File

@@ -87,6 +87,20 @@
#define FAN_PORT GPIOC
#define FAN_IO_RCC RCC_AHB1Periph_GPIOC
//states
// state -10 = reset state, -6 = fb error, -5 = sat error, -4 = over current, -3 = pos_error, -2 = over temperature, -1 = over voltage, 0 = disabled, 1 = enabled, 2 = phasing
#define STATE_RESET -10
#define STATE_FB_ERROR -6
#define STATE_SAT_ERROR -5
#define STATE_OVR_CURR -4
#define STATE_POS_ERROR -3
#define STATE_OVR_TEMP -2
#define STATE_OVR_VOLT -1
#define STATE_DISABLED 0
#define STATE_ENABLED 1
#define STATE_PHASING 2
#ifdef TROLLER
#define UART_DRV USART1

12
src/link.c
View File

@@ -101,6 +101,7 @@ void link_pid(){
link_hal_pins("fault0.led_green", "led0.g");
link_hal_pins("fault0.led_red", "led0.r");
link_hal_pins("fault0.state", "term0.fault"); //sent fault to terminal
//
@@ -844,7 +845,7 @@ void set_8MSA3M(){ //B&R 8MSA3M
}
void set_gas(){
set_hal_pin("conf0.polecount", 3.0);
set_hal_pin("conf0.polecount", 2.0);
set_hal_pin("conf0.max_vel", RPM(9000));
set_hal_pin("conf0.max_acc", RPM(9000) / 0.05);
set_hal_pin("conf0.max_force", 98); //Datasheet
@@ -852,19 +853,18 @@ void set_gas(){
set_hal_pin("conf0.fb_type", SINCOS1);
set_hal_pin("conf0.fb_rev", 1.0);
set_hal_pin("conf0.fb_res", 2048.0);
set_hal_pin("conf0.fb_res", 1.0);
set_hal_pin("conf0.r", 7); //mess
set_hal_pin("conf0.l", 0.002);//Datasheet
set_hal_pin("conf0.j", 0.000020);//ToDo
set_hal_pin("conf0.psi", 0.29 / 2.0 / M_PI);//ToDo
set_hal_pin("conf0.pos_p", 100.0);//ToDo
set_hal_pin("conf0.acc_p", 0.2);//ToDo
set_hal_pin("conf0.pos_p", 30.0);//ToDo
set_hal_pin("conf0.acc_p", 0.1);//ToDo
set_hal_pin("conf0.acc_pi", 50.0);//ToDo
set_hal_pin("conf0.cur_p", 0.5);//ToDo
set_hal_pin("conf0.cur_p", 0.4);//ToDo
set_hal_pin("conf0.cur_i", 0.001);//ToDo
set_hal_pin("conf0.cur_ff", 1.0);//ToDo
set_hal_pin("enc_fb0.res", 512.0);//ToDo
set_fb_sincos();
}

22
term/dqdraw.cpp
View File

@@ -4,12 +4,12 @@ dqDraw::dqDraw(wxFrame* parent) : wxPanel(parent){
Bind(wxEVT_PAINT, &dqDraw::paintEvent, this);
Bind(wxEVT_MOTION, &dqDraw::mouseEvent, this);
Bind(wxEVT_MOUSEWHEEL , &dqDraw::scrollEvent, this);
scale = 5;
iscale = 1;
In = 10;
Un = 20;
// Rs = 15;//7.6;
// Psi = 0.37;//0.5411;
// P = 3;
@@ -35,7 +35,7 @@ void dqDraw::Update()
{
Uabs = sqrt(Ud*Ud + Uq*Uq);
Iabs = sqrt(Id*Id + Iq*Iq);
// Permanentmagnet-, Reluktanz- und Gesamtmoment
//
M_perm = 1.5f * P * Psi * Iq;
@@ -51,12 +51,12 @@ void dqDraw::SetCurrent(double d, double q)
double OmegaPsi = Omega * Psi;
double Xd = Omega * Ld;
double Xq = Omega * Lq;
Id = d;
Iq = q;
Ud = -Iq * Xq + Id * Rs;
Uq = OmegaPsi + Id * Xd + Iq * Rs;
Update();
}
@@ -65,12 +65,12 @@ void dqDraw::SetVoltage(double d, double q)
double OmegaPsi = Omega * Psi;
double Xd = Omega * Ld;
double Xq = Omega * Lq;
Ud = d;
Uq = q;
Id = (Rs * d + Xq * (q - OmegaPsi)) / (Rs * Rs + Xd * Xq);
Iq = (Rs * (q - OmegaPsi) - Xd * d) / (Rs * Rs + Xd * Xq);
Update();
}
@@ -100,13 +100,13 @@ void dqDraw::paintEvent(wxPaintEvent & evt)
void dqDraw::render(wxDC& dc)
{
dc.GetSize(&w, &h);
dc.SetPen(*wxGREY_PEN);
dc.DrawLine( 0, h/2, w, h/2 );
dc.DrawLine( w/2, 0, w/2, h );
// ursprung oben links
dc.SetBrush(*wxTRANSPARENT_BRUSH);
dc.SetPen(*wxRED_PEN);
dc.DrawLine( w/2, h/2, Ud*scale+w/2, h/2-Uq*scale);
@@ -114,4 +114,4 @@ void dqDraw::render(wxDC& dc)
dc.SetPen(*wxBLUE_PEN);
dc.DrawLine( w/2, h/2, Id*scale*iscale+w/2, h/2-Iq*scale*iscale);
dc.DrawCircle(w/2, h/2, In*scale*iscale);
}
}

12
term/main.cpp
View File

@@ -43,7 +43,7 @@ bool Servoterm::OnInit()
writeID = wxNewId();
readID = wxNewId();
dqID = wxNewId();
menuBar->Append(fileMenu, "&File");
fileMenu->Append(wxID_OPEN);
Bind(wxEVT_COMMAND_MENU_SELECTED, &Servoterm::OnOpen, this, wxID_OPEN);
@@ -53,11 +53,11 @@ bool Servoterm::OnInit()
Bind(wxEVT_COMMAND_MENU_SELECTED, &Servoterm::OnWrite, this, writeID);
fileMenu->Append(readID, "&Read");
Bind(wxEVT_COMMAND_MENU_SELECTED, &Servoterm::OnRead, this, readID);
menuBar->Append(viewMenu, "&View");
viewMenu->Append(dqID, "&DQsim");
Bind(wxEVT_COMMAND_MENU_SELECTED, &Servoterm::OnDq, this, dqID);
wxMenu *helpMenu = new wxMenu;
menuBar->Append(helpMenu, "&Help" );
helpMenu->Append(wxID_ABOUT);
@@ -67,7 +67,7 @@ bool Servoterm::OnInit()
//frame->CreateStatusBar();
//frame->SetStatusText("Statuskram und so");
servoframe->Show(TRUE);
return TRUE;
}
@@ -93,7 +93,7 @@ void Servoterm::OnWrite(wxCommandEvent& WXUNUSED(event)){
}
void Servoterm::OnSave(wxCommandEvent& WXUNUSED(event)){
}
void Servoterm::OnOpen(wxCommandEvent& WXUNUSED(event)){
@@ -117,4 +117,4 @@ void Servoterm::OnAbout(wxCommandEvent& WXUNUSED(event)){
aboutInfo.AddDeveloper("Rene-dev");
wxAboutBox(aboutInfo);
*/
}
}

32
term/mainframe.cpp
View File

@@ -32,6 +32,8 @@ ServoFrame::ServoFrame(const wxString& title) : wxFrame(NULL, wxID_ANY, title){
connectbutton = new wxButton(top, wxID_ANY, wxT("&Connect"));
clear = new wxButton(top, wxID_ANY, wxT("Clear"));
refresh = new wxButton(top, wxID_ANY, wxT("&Refresh"));
reset = new wxButton(top, wxID_ANY, wxT("Reset Fault"));
reset->Disable();
uhu = new wxRadioButton(top,wxID_ANY, "UHU");
stmbl = new wxRadioButton(top, wxID_ANY,"STMBL");
stmbl->SetValue(true);
@@ -39,11 +41,13 @@ ServoFrame::ServoFrame(const wxString& title) : wxFrame(NULL, wxID_ANY, title){
refresh->Bind(wxEVT_BUTTON, &ServoFrame::OnRefresh, this, wxID_ANY);
connectbutton->Bind(wxEVT_BUTTON, &ServoFrame::OnConnect, this, wxID_ANY);
clear->Bind(wxEVT_BUTTON, &ServoFrame::OnClear, this, wxID_ANY);
reset->Bind(wxEVT_BUTTON, &ServoFrame::OnReset, this, wxID_ANY);
listports();
leiste->Add(choose_port, 0,wxALIGN_LEFT|wxALL,3);
leiste->Add(connectbutton,0,wxALIGN_LEFT|wxALL,3);
leiste->Add(refresh,0,wxALIGN_LEFT|wxALL,3);
leiste->Add(clear,0,wxALIGN_LEFT|wxALL,3);
leiste->Add(reset,0,wxALIGN_LEFT|wxALL,3);
leiste->Add(uhu,0,wxALIGN_LEFT|wxALL,3);
leiste->Add(stmbl,0,wxALIGN_LEFT|wxALL,3);
topsizer->Add(leiste);
@@ -135,7 +139,7 @@ void ServoFrame::OnKeyDown(wxKeyEvent& event){
}
void ServoFrame::OnColorChange(wxMouseEvent& event){
}
void ServoFrame::OnChannelChange(wxCommandEvent& event){
@@ -201,7 +205,7 @@ void ServoFrame::OnTimer(wxTimerEvent& evt){
text->AppendText(wxString::FromAscii(buf[i] & 0x7f));
}
}
}else if(stmbl->GetValue()){
for (int i=0; i<ret; i++){
if(addr >= 0){
@@ -225,6 +229,28 @@ void ServoFrame::OnRefresh(wxCommandEvent& WXUNUSED(event)){
listports();
}
void ServoFrame::OnReset(wxCommandEvent& WXUNUSED(event)){
string s1 = "fault0.reset = 1";
string s2 = "fault0.reset = 0";
if(connected){
int ret1 = sp_nonblocking_write(port, s1.c_str(), s1.length());
int ret2 = sp_nonblocking_write(port, "\r", 1);
int ret3 = sp_nonblocking_write(port, s2.c_str(), s2.length());
int ret4 = sp_nonblocking_write(port, "\r", 1);
if(ret1 != s1.length() || ret2!=1 || ret3 != s2.length() || ret4!=1){
wxMessageBox( wxT("Fehler beim senden"), wxT("Error"), wxICON_EXCLAMATION);
disconnect();
return;
}
}else{
wxMessageBox( wxT("Nicht verbunden"), wxT("Error"), wxICON_EXCLAMATION);
return;
}
return;
}
void ServoFrame::listports(){
if (!ports) {
sp_free_port_list(ports);
@@ -271,6 +297,7 @@ void ServoFrame::connect(){
connected = true;
connectbutton->SetLabel(wxT("&Disonnect"));
refresh->Disable();
reset->Enable();
choose_port->Disable();
uhu->Disable();
stmbl->Disable();
@@ -287,6 +314,7 @@ void ServoFrame::disconnect(){
connected = false;
connectbutton->SetLabel(wxT("&Connect"));
refresh->Enable();
reset->Disable();
choose_port->Enable();
uhu->Enable();
stmbl->Enable();

2
term/mainframe.hpp
View File

@@ -26,6 +26,7 @@ private:
wxButton *connectbutton;
wxButton *refresh;
wxButton *clear;
wxButton *reset;
wxRadioButton *uhu;
wxRadioButton *stmbl;
wxTimer * timer;
@@ -39,6 +40,7 @@ private:
bool connected;
void OnConnect(wxCommandEvent& WXUNUSED(event));
void OnRefresh(wxCommandEvent& WXUNUSED(event));
void OnReset(wxCommandEvent& WXUNUSED(event));
void OnClear(wxCommandEvent& WXUNUSED(event));
void OnInput(wxCommandEvent& event);
void OnColorChange(wxMouseEvent& event);