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RTOS_ASMC.cpp
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//
// Created by jin on 2/19/20.
//
#include "RTOS_ASMC.h"
static void vTaskSerial(void *pvParameters);
static String user_command = "";
static String uart_command = "";
static String rs485_command = "";
static RTOS_RS485* RS485COM;
RTOS_ASMC::RTOS_ASMC(long BPS, int Mega_ID, int TE_PIN, int total_motor_number) : RTOS_RS485(BPS, Mega_ID, TE_PIN) {
RS485COM = new RTOS_RS485(BPS, Mega_ID, TE_PIN);
_TOTAL_MOTOR_NUMBER = total_motor_number;
}
void RTOS_ASMC::InitializeSystem(int motor_number[], float motor_current[], unsigned int max_speed[], unsigned int min_speed[], \
unsigned int home_speed[], int microstepping[], float lead[], \
int sample_time_BEMF[], int stall_detection_count[], int stall_detection_threshold[]) {
//Initialize Motor, RS485, and Servo
RS485COM->InitializeCommunication();
for (int i = 0; i < _TOTAL_MOTOR_NUMBER; i++) {
InitializeMotors(motor_number[i], motor_current[i], max_speed[i], min_speed[i], home_speed[i], microstepping[i], lead[i], \
sample_time_BEMF[i], stall_detection_count[i], stall_detection_threshold[i]);
}
}
void RTOS_ASMC::InitializeMotors(int motor_number, float motor_current, unsigned int max_speed, unsigned int min_speed, \
unsigned int home_speed, int microstepping, float lead, \
int sample_time_BEMF = 7, int stall_detection_count = 3, int stall_detection_threshold = 0) {
// 1) Sampling Time for BEMF - 0: 50us, 1: 100us, 2: 200us, 3: 300us, 4: 400us, 5: 600us, 6: 800us, 7: 1000us
// 2) Stall Detection Count - 0~3 -> 2^0 ~ 2^3
// 3) Stall Detection Threshold - 0~255 -> Emperically, decided
NEGATIVE = 0;
POSITIVE = 1;
int _motor_index = (motor_number % 10) - 1;
if (_motor_index > 5) {
Serial.println("%Wrong assigned motor number");
_motor_index = 5;
}
else if (_motor_index < 0 ) {
Serial.println("%Wrong assigned motor number");
_motor_index = 0;
}
switch (motor_number){
case 1:
_STEP[_motor_index] = A0;
_DIR[_motor_index] = A1;
_SS = 31;
_SLEEP = 39;
_STLFLT[_motor_index] = 22;
_HOME[_motor_index] = A8;
_RESET = 48;
break;
case 2:
_STEP[_motor_index] = A6;
_DIR[_motor_index] = A7;
_SS = 30;
_SLEEP = A2;
_STLFLT[_motor_index] = 24;
_HOME[_motor_index] = A9;
_RESET = 48;
break;
case 3:
_STEP[_motor_index] = 47;
_DIR[_motor_index] = 49;
_SS = 33;
_SLEEP = A3;
_STLFLT[_motor_index] = 26;
_HOME[_motor_index] = A10;
_RESET = 48;
break;
case 4:
_STEP[_motor_index] = 27;
_DIR[_motor_index] = 29;
_SS = 32;
_SLEEP = 25;
_STLFLT[_motor_index] = 37;
_HOME[_motor_index] = A11;
_RESET = 48;
break;
case 5:
_STEP[_motor_index] = 45;
_DIR[_motor_index] = 44;
_SS = 35;
_SLEEP = 28;
_STLFLT[_motor_index] = 36;
_HOME[_motor_index] = A12;
_RESET = 48;
break;
case 6:
_STEP[_motor_index] = 41;
_DIR[_motor_index] = 40;
_SS = 34;
_SLEEP = 43;
_STLFLT[_motor_index] = 38;
_HOME[_motor_index] = A13;
_RESET = 48;
break;
case 11:
_STEP[_motor_index] = 45;
_DIR[_motor_index] = 44;
_SS = 35;
_SLEEP = 28;
_STLFLT[_motor_index] = 36;
_HOME[_motor_index] = A12;
_RESET = 48;
break;
case 14:
_STEP[_motor_index] = 27;
_DIR[_motor_index] = 29;
_SS = 32;
_SLEEP = 25;
_STLFLT[_motor_index] = 37;
_HOME[_motor_index] = A11;
_RESET = 48;
break;
case 22:
_STEP[_motor_index] = 47;
_DIR[_motor_index] = 49;
_SS = 33;
_SLEEP = A3;
_STLFLT[_motor_index] = 26;
_HOME[_motor_index] = A10;
_RESET = 48;
break;
case 101:
_STEP[_motor_index] = A0;
_DIR[_motor_index] = A1;
_SS = 30;
_SLEEP = 38;
_STLFLT[_motor_index] = 23;
_HOME[_motor_index] = A8;
_RESET = 49;
break;
case 102:
_STEP[_motor_index] = A6;
_DIR[_motor_index] = A7;
_SS = 31;
_SLEEP = A2;
_STLFLT[_motor_index] = 25;
_HOME[_motor_index] = A9;
_RESET = 49;
break;
case 103:
_STEP[_motor_index] = 46;
_DIR[_motor_index] = 48;
_SS = 32;
_SLEEP = A3;
_STLFLT[_motor_index] = 27;
_HOME[_motor_index] = A10;
_RESET = 49;
break;
case 104:
_STEP[_motor_index] = 26;
_DIR[_motor_index] = 28;
_SS = 33;
_SLEEP = 24;
_STLFLT[_motor_index] = 36;
_HOME[_motor_index] = A11;
_RESET = 49;
break;
case 105:
_STEP[_motor_index] = 44;
_DIR[_motor_index] = 45;
_SS = 34;
_SLEEP = 29;
_STLFLT[_motor_index] = 37;
_HOME[_motor_index] = A12;
_RESET = 49;
break;
case 106:
_STEP[_motor_index] = 40;
_DIR[_motor_index] = 41;
_SS = 35;
_SLEEP = 42;
_STLFLT[_motor_index] = 39;
_HOME[_motor_index] = A13;
_RESET = 49;
break;
case 111:
_STEP[_motor_index] = 44;
_DIR[_motor_index] = 45;
_SS = 34;
_SLEEP = 29;
_STLFLT[_motor_index] = 37;
_HOME[_motor_index] = A12;
_RESET = 49;
break;
case 114:
_STEP[_motor_index] = 26;
_DIR[_motor_index] = 28;
_SS = 33;
_SLEEP = 24;
_STLFLT[_motor_index] = 36;
_HOME[_motor_index] = A11;
_RESET = 49;
break;
}
SPI_DRV8711 SPIMOTOR(_SS, _SLEEP, motor_current, microstepping);
SPIMOTOR.BootUpSPI();
pinMode(_STEP[_motor_index], OUTPUT);
pinMode(_DIR[_motor_index], OUTPUT);
pinMode(_STLFLT[_motor_index], INPUT);
pinMode(_RESET, OUTPUT);
pinMode(_HOME[_motor_index], INPUT);
digitalWrite(_STEP[_motor_index], LOW);
digitalWrite(_DIR[_motor_index], LOW);
SPIMOTOR._TORQ_SMPLTH = sample_time_BEMF; //0: 50us, 1: 100us, 2: 200us, 3: 300us, 4: 400us, 5: 600us, 6: 800us, 7: 1000us
SPIMOTOR._STALL_SDCNT = stall_detection_count; //0~4, 1, 2, 4, 8
SPIMOTOR._STALL_SDTHR = stall_detection_threshold; //0~255
SPIMOTOR.Write_TORQUE(motor_current);
SPIMOTOR.Write_CTRL_Disable(microstepping);
SPIMOTOR.Write_OFF();
SPIMOTOR.Write_BLANK();
SPIMOTOR.Write_DECAY();
SPIMOTOR.Write_STALL();
SPIMOTOR.Write_DRIVE();
SPIMOTOR.Write_STATUS();
SPIMOTOR.Write_CTRL_Enable(microstepping);
SPIMOTOR.ReadAllRegisters();
SPI.end();
Serial.print(motor_number); Serial.print(" / ");
Serial.print(_STEP[_motor_index]); Serial.print(" / ");
Serial.print(_DIR[_motor_index]); Serial.print(" / ");
Serial.print(_SS); Serial.print(" / ");
Serial.print(_SLEEP); Serial.print(" / ");
Serial.print(_STLFLT[_motor_index]); Serial.print(" / ");
Serial.print(_HOME[_motor_index]); Serial.print(" / ");
Serial.print(_RESET); Serial.println(" / ");
_motor_status[_motor_index] = 0; // status of motor, 0 = Idle, 1 = Accel, 2 = const speed, 3 = decel
_current_position[ _motor_index ] = 0;
_target_position[ _motor_index ] = 0;
_deceleration_position_1[ _motor_index ] = 0;
_deceleration_position_2[ _motor_index ] = 0;
_deceleration_position_3[ _motor_index ] = 0;
_deceleration_position_4[ _motor_index ] = 0;
_deceleration_position_5[ _motor_index ] = 0;
//lead: one revolution with microstepping (200 steps * microstepping) is converted to linear transition (mm)
_lead_one_step[_motor_index] = lead / (200 * (2 << (microstepping - 1))); //one step -> how long it is moves linearly in mm (unit: mm / step);
_acceleration_section_step_1[_motor_index] = 1 * 200 * (2 << (microstepping - 1)); // half revolution (step)
_acceleration_section_step_2[_motor_index] = 1.5 * 200 * (2 << (microstepping - 1)); //
_acceleration_section_step_3[_motor_index] = 2 * 200 * (2 << (microstepping - 1));
_acceleration_section_step_4[_motor_index] = 2.5 * 200 * (2 << (microstepping - 1));
_acceleration_section_step_5[_motor_index] = 3 * 200 * (2 << (microstepping - 1));
Begin(_motor_index, max_speed, min_speed, home_speed);
}
void RTOS_ASMC::Begin(const int motor_index, unsigned int max_speed, unsigned int min_speed, unsigned int home_speed) {
/*
* Begin: Initiate motor object by providing default maximum speed, initial speed and acceleration
* SPEED: 35 ~ 7000
*/
if (min_speed < 35) {
min_speed = 35;
}
else if (min_speed > 7000) {
min_speed = 7000;
}
if (max_speed < 35) {
max_speed = 35;
}
else if (max_speed > 7000) {
max_speed = 7000;
}
//_CLOCK_FREQUENCY_IO : 2000000
_OCR_max_speed[motor_index] = 2000000 / max_speed;
_OCR_min_speed[motor_index] = 2000000 / min_speed;
_OCR_mid_speed_1[motor_index] = 2000000 / (max_speed - (max_speed - min_speed) / 1.2);
_OCR_mid_speed_2[motor_index] = 2000000 / (max_speed - (max_speed - min_speed) / 1.5);
_OCR_mid_speed_3[motor_index] = 2000000 / (max_speed - (max_speed - min_speed) / 2);
_OCR_mid_speed_4[motor_index] = 2000000 / (max_speed - (max_speed - min_speed) / 4);
_OCR_home[motor_index] = 2000000 / home_speed;
_OCR_Update[motor_index] = _OCR_min_speed[motor_index];
Serial.print("%_OCR_max_speed : "); Serial.println(_OCR_max_speed[motor_index]);
Serial.print("%_OCR_mid_speed_4 : "); Serial.println(_OCR_mid_speed_4[motor_index]);
Serial.print("%_OCR_mid_speed_3 : "); Serial.println(_OCR_mid_speed_3[motor_index]);
Serial.print("%_OCR_mid_speed_2 : "); Serial.println(_OCR_mid_speed_2[motor_index]);
Serial.print("%_OCR_mid_speed_1 : "); Serial.println(_OCR_mid_speed_1[motor_index]);
Serial.print("%_OCR_min_speed : "); Serial.println(_OCR_min_speed[motor_index]);
}
void RTOS_ASMC::InitializeSemaphore(SemaphoreHandle_t motor1_key, SemaphoreHandle_t motor2_key, SemaphoreHandle_t motor3_key, \
SemaphoreHandle_t motor4_key, SemaphoreHandle_t motor5_key, SemaphoreHandle_t motor6_key) {
_motor1_key = motor1_key;
_motor2_key = motor2_key;
_motor3_key = motor3_key;
_motor4_key = motor4_key;
_motor5_key = motor5_key;
_motor6_key = motor6_key;
vSemaphoreCreateBinary(_motor1_key);
vSemaphoreCreateBinary(_motor2_key);
vSemaphoreCreateBinary(_motor3_key);
vSemaphoreCreateBinary(_motor4_key);
vSemaphoreCreateBinary(_motor5_key);
vSemaphoreCreateBinary(_motor6_key);
xSemaphoreTake(_motor1_key, 0);
xSemaphoreTake(_motor2_key, 0);
xSemaphoreTake(_motor3_key, 0);
xSemaphoreTake(_motor4_key, 0);
xSemaphoreTake(_motor5_key, 0);
xSemaphoreTake(_motor6_key, 0);
}
void RTOS_ASMC::CreateTasks() {
xTaskCreate(vTaskSerial, NULL, configMINIMAL_STACK_SIZE, NULL, 2, NULL);
}
void RTOS_ASMC::Run(const int motor_index, float target_position_mm) {
/*
* one half revolution takes one section of scurve: 100 steps
*/
_count_moving_step[motor_index] = 0;
_target_position[motor_index] = target_position_mm / _lead_one_step[motor_index]; //_target_position unit - step, target_position - mm
_distance = _target_position[motor_index] - _current_position[motor_index];
_abs_distance = abs(_distance);
if (_distance > 0) {
digitalWrite(_DIR[motor_index], POSITIVE);
_positive_direction[motor_index] = 1;
}
else {
digitalWrite(_DIR[motor_index], NEGATIVE);
_positive_direction[motor_index] = 0;
}
_deceleration_position_1[motor_index] = _abs_distance - _acceleration_section_step_1[motor_index]; // 3
_deceleration_position_2[motor_index] = _abs_distance - _acceleration_section_step_2[motor_index]; // 5
_deceleration_position_3[motor_index] = _abs_distance - _acceleration_section_step_3[motor_index]; // 6
_deceleration_position_4[motor_index] = _abs_distance - _acceleration_section_step_4[motor_index]; // 6
_deceleration_position_5[motor_index] = _abs_distance - _acceleration_section_step_5[motor_index]; // 6
if (_deceleration_position_1[motor_index] < 0) {
_is_acceleration[motor_index] = 0;
}
else if ((_deceleration_position_1[motor_index] > 0) && (_deceleration_position_2[motor_index] < 0)){
_is_acceleration[motor_index] = 1;
}
else if ((_deceleration_position_2[motor_index] > 0) && (_deceleration_position_3[motor_index] < 0)) {
_is_acceleration[motor_index] = 2;
}
else if ((_deceleration_position_3[motor_index] > 0) && (_deceleration_position_4[motor_index] < 0)) {
_is_acceleration[motor_index] = 3;
}
else if ((_deceleration_position_4[motor_index] > 0) && (_deceleration_position_5[motor_index] < 0)) {
_is_acceleration[motor_index] = 4;
}
else if ((_deceleration_position_5[motor_index] > 0)){
_is_acceleration[motor_index] = 5;
}
_motor_status[motor_index] = 1;
}
static void vTaskSerial(void *pvParameters) {
Serial.println("%Ready to Get UART Serial Packets");
while (true) {
if (Serial.available() > 0) {
uart_command = Serial.readStringUntil('/');
}
vTaskDelay( 100 / portTICK_PERIOD_MS);
}
}
static void vTaskMotor1(int *pvMotorNumber) {
// if (_status == 0)
// return IDLE_RESPONSE;
// switch(_positive_direction) {
// case 1:
// if (_current_position >= _target_position) {
// _status = 0;
// _current_position = _target_position;
// _count_moving_step = 0;
// if (isPumpHoming) {
// _current_position = 0;
// isPumpHoming = false;
// }
// return 10;
// }
// break;
// case 0:
// if (_current_position <= _target_position) {
// _status = 0;
// _count_moving_step = 0;
// _current_position = _target_position;
// if (isPumpHoming) {
// _current_position = 0;
// isPumpHoming = false;
// }
// return 10;
// }
// break;
// default:
// break;
// }
// if ((digitalRead(_HOME) == false) && isHoming) {
// _current_position = 0;
// _target_position = 0;
// _count_moving_step = 0;
// isHoming = false;
// return 1;
// }
//
// _count_moving_step++;
//
// switch(_is_acceleration) {
// case 0:
// _OCR_Update = _OCR_min_speed;
// break;
// case 1:
// if (_count_moving_step > _acceleration_section_step_1 && _count_moving_step < _deceleration_position_1) {
// _OCR_Update = _OCR_mid_speed_1;
// }
// else {
// _OCR_Update = _OCR_min_speed;
// }
// break;
// case 2:
// if (_count_moving_step > _acceleration_section_step_1 && _count_moving_step < _deceleration_position_1) {
// if (_count_moving_step > _acceleration_section_step_2 && _count_moving_step < _deceleration_position_2) {
// _OCR_Update = _OCR_mid_speed_2;
// }
// else {
// _OCR_Update = _OCR_mid_speed_1;
// }
// }
// else {
// _OCR_Update = _OCR_min_speed;
// }
// break;
// case 3:
// if (_count_moving_step > _acceleration_section_step_1 && _count_moving_step < _deceleration_position_1) {
// if (_count_moving_step > _acceleration_section_step_2 && _count_moving_step < _deceleration_position_2) {
// if (_count_moving_step > _acceleration_section_step_3 && _count_moving_step < _deceleration_position_3) {
// _OCR_Update = _OCR_max_speed;
// }
// else {
// _OCR_Update = _OCR_mid_speed_2;
// }
// }
// else {
// _OCR_Update = _OCR_mid_speed_1;
// }
// }
// else {
// _OCR_Update = _OCR_min_speed;
// }
// break;
// case 4:
// if (_count_moving_step > _acceleration_section_step_1 && _count_moving_step < _deceleration_position_1) {
// if (_count_moving_step > _acceleration_section_step_2 && _count_moving_step < _deceleration_position_2) {
// if (_count_moving_step > _acceleration_section_step_3 && _count_moving_step < _deceleration_position_3) {
// if (_count_moving_step > _acceleration_section_step_4 && _count_moving_step < _deceleration_position_4) {
// _OCR_Update = _OCR_max_speed;
// }
// else{
// _OCR_Update = _OCR_mid_speed_3;
// }
// }
// else {
// _OCR_Update = _OCR_mid_speed_2;
// }
// }
// else {
// _OCR_Update = _OCR_mid_speed_1;
// }
// }
// else {
// _OCR_Update = _OCR_min_speed;
// }
// break;
// case 5:
// if (_count_moving_step > _acceleration_section_step_1 && _count_moving_step < _deceleration_position_1) {
// if (_count_moving_step > _acceleration_section_step_2 && _count_moving_step < _deceleration_position_2) {
// if (_count_moving_step > _acceleration_section_step_3 && _count_moving_step < _deceleration_position_3) {
// if (_count_moving_step > _acceleration_section_step_4 && _count_moving_step < _deceleration_position_4) {
// if (_count_moving_step > _acceleration_section_step_5 && _count_moving_step < _deceleration_position_5) {
// _OCR_Update = _OCR_max_speed;
// }
// else {
// _OCR_Update = _OCR_mid_speed_4;
// }
// }
// else{
// _OCR_Update = _OCR_mid_speed_3;
// }
// }
// else {
// _OCR_Update = _OCR_mid_speed_2;
// }
// }
// else {
// _OCR_Update = _OCR_mid_speed_1;
// }
// }
// else {
// _OCR_Update = _OCR_min_speed;
// }
// break;
// case 6:
// _OCR_Update = _OCR_home;
// break;
// default:
// break;
// }
//
// OCR1A = _OCR_Update; // compare match register
// if (TCNT1 > OCR1A) TCNT1 = 0;
//
// digitalWrite(_STEP, HIGH);
// switch (_positive_direction) {
// case 1:
// _current_position++;
// break;
// case 0:
// _current_position--;
// break;
// default:
// break;
// }
//
// __asm__ __volatile__ (
// "nop" "\n\t"
// "nop" "\n\t"
// "nop" "\n\t"); // wasting one cycle ( 6.2ns on a 16MHz Arduino)
// // Wait for step pulse
// digitalWrite(_STEP, LOW);
//
// return NORMAL_RESPONSE;
}
static void vTaskMotor2(void *pvParameters) {
}
static void vTaskMotor3(void *pvParameters) {
}
static void vTaskMotor4(void *pvParameters) {
}
static void vTaskMotor5(void *pvParameters) {
}
static void vTaskMotor6(void *pvParameters) {
}