From 5811e1b9ee703959ffb3feaaa9e2940a4a42b806 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Fri, 5 Jun 2020 16:02:50 +0200 Subject: [PATCH 01/11] Add examples for upcoming NanoMotorCarrier --- examples/Nano/DCMotorTest/DCMotorTest.ino | 97 ++ examples/Nano/EncoderTest/EncoderTest.ino | 63 ++ examples/Nano/Flasher/Flasher.ino | 123 +++ examples/Nano/Flasher/fw.h | 967 ++++++++++++++++++ examples/Nano/IMU_Test/IMU_Test.ino | 89 ++ .../PID_Position_test/PID_Position_test.ino | 127 +++ examples/Nano/ServoTest/ServoTest.ino | 77 ++ 7 files changed, 1543 insertions(+) create mode 100644 examples/Nano/DCMotorTest/DCMotorTest.ino create mode 100644 examples/Nano/EncoderTest/EncoderTest.ino create mode 100644 examples/Nano/Flasher/Flasher.ino create mode 100644 examples/Nano/Flasher/fw.h create mode 100644 examples/Nano/IMU_Test/IMU_Test.ino create mode 100644 examples/Nano/PID_Position_test/PID_Position_test.ino create mode 100644 examples/Nano/ServoTest/ServoTest.ino diff --git a/examples/Nano/DCMotorTest/DCMotorTest.ino b/examples/Nano/DCMotorTest/DCMotorTest.ino new file mode 100644 index 0000000..fffd38c --- /dev/null +++ b/examples/Nano/DCMotorTest/DCMotorTest.ino @@ -0,0 +1,97 @@ +#include +#define INTERRUPT_PIN 6 + +//Variable to store the battery voltage +static int batteryVoltage; + +//Variable to change the motor speed and direction +static int duty = 0; + +void setup() +{ + //Serial port initialization + Serial.begin(115200); + //while (!Serial); + + //Establishing the communication with the motor shield + if (controller.begin()) + { + Serial.print("MKR Motor Shield connected, firmware version "); + Serial.println(controller.getFWVersion()); + } + else + { + Serial.println("Couldn't connect! Is the red led blinking? You may need to update the firmware with FWUpdater sketch"); + while (1); + } + + // Reboot the motor controller; brings every value back to default + Serial.println("reboot"); + controller.reboot(); + delay(500); + + int dutyInit = 0; // at 50 it works as espected, at 60 shift sides and is too small duty to move, at 70 is very big duty. + M1.setDuty(dutyInit); + M2.setDuty(dutyInit); + M3.setDuty(dutyInit); + M4.setDuty(dutyInit); + Serial.print("Duty init: "); + Serial.println(dutyInit); + // int duty2 = dutyInit * 16777215 / 100; + // Serial.print("Conversion formula: "); + // Serial.println(duty2); + //while (1); //WHILE 1!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! REMOVE!!!! +} + + +void loop() { + + //Take the battery status + //float batteryVoltage = (float)battery.getConverted(); + + //Reset to the default values if the battery level is lower than 11V + // if (batteryVoltage < 11) + // { + // Serial.println(" "); + // Serial.println("WARNING: LOW BATTERY"); + // Serial.println("ALL SYSTEMS DOWN"); + // M1.setDuty(0); + // M2.setDuty(0); + // M3.setDuty(0); + // M4.setDuty(0); + // while (batteryVoltage < 11) + // { + // batteryVoltage = (float)battery.getConverted(); + // } + // } + // else + // { + + //Motor test + for (duty = -100; duty < 100; duty += 1) + { + Serial.print("Motor Duty: "); + Serial.println(duty); + M1.setDuty(duty); + M2.setDuty(duty); + M3.setDuty(duty); + M4.setDuty(duty); + delay(10); + } + for (duty = 100; duty > -100; duty -= 1) + { + Serial.print("Motor Duty: "); + Serial.println(duty); + M1.setDuty(duty); + M2.setDuty(duty); + M3.setDuty(duty); + M4.setDuty(duty); + delay(10); + } + + //Keep active the communication MKR1000 & MKRMotorCarrier + //Ping the samd11 + controller.ping(); + //wait + delay(50); +} diff --git a/examples/Nano/EncoderTest/EncoderTest.ino b/examples/Nano/EncoderTest/EncoderTest.ino new file mode 100644 index 0000000..f8a2bb7 --- /dev/null +++ b/examples/Nano/EncoderTest/EncoderTest.ino @@ -0,0 +1,63 @@ +#include +#define INTERRUPT_PIN 6 + +//Variable to store the battery voltage +static int batteryVoltage; + +//Variable to change the motor speed and direction +static int duty = 0; + +void setup() +{ + //Establishing the communication with the motor shield + if (controller.begin()) + { + Serial.print("MKR Motor Shield connected, firmware version "); + Serial.println(controller.getFWVersion()); + } + else + { + Serial.println("Couldn't connect! Is the red led blinking? You may need to update the firmware with FWUpdater sketch"); + while (1); + } + + //Serial port initialization + Serial.begin(115200); + while (!Serial); + + // Reboot the motor controller; brings every value back to default + Serial.println("reboot"); + controller.reboot(); + delay(500); + + // Reset the encoder internal counter to zero (can be set to any initial value) + Serial.println("reset counters"); + encoder1.resetCounter(0); + encoder2.resetCounter(0); + + M1.setDuty(30); + M2.setDuty(30); + M3.setDuty(30); + M4.setDuty(30); +} + + +void loop() { + + //Chose the encoder to use:encoder1(default) or encoder2 + Serial.print("Encoder1 Pos [counts]: "); + Serial.print(encoder1.getRawCount()); + Serial.print(" Encoder1 vel [counts/sec]: "); + Serial.println(encoder1.getCountPerSecond()); + Serial.print("Encoder2 Pos [counts]: "); + Serial.print(encoder2.getRawCount()); + Serial.print(" Encoder2 vel [counts/sec]: "); + Serial.println(encoder2.getCountPerSecond()); + Serial.println(""); + + //Keep active the communication MKR1000 & MKRMotorCarrier + //Ping the samd11 + controller.ping(); + //wait + delay(50); +} diff --git a/examples/Nano/Flasher/Flasher.ino b/examples/Nano/Flasher/Flasher.ino new file mode 100644 index 0000000..d81acd1 --- /dev/null +++ b/examples/Nano/Flasher/Flasher.ino @@ -0,0 +1,123 @@ +/* + STANDALONE FIRMWARE UPDATE FOR MKR Motor Shiuld + + To generate a new firmware, compile D11-Firmware with target MKRMotorShield, 4KB bootloader, LTO enabled, pinmap complete + and execute + + echo -n "const " > fw.h && xxd -i D11-Firmware.ino.bin >> fw.h +*/ + +#include "Wire.h" +#include "fw.h" +#include "MKRMotorCarrier.h" + +#define I2C_ADDRESS 0x09 + +void setDataRunning(int cmd, uint8_t target, int data) { + Wire.beginTransmission(0x66); + Wire.write((uint8_t)cmd); + Wire.write((uint8_t)target); + Wire.write(data); + Wire.endTransmission(); +} + + +void setup() { + // put your setup code here, to run once: + Wire.begin(); + Wire.setClock(1000000); + + Serial.begin(115200); + while (!Serial); + pinMode(6, OUTPUT); + digitalWrite(6, HIGH); + + int prev_address = -1; + + Wire.beginTransmission(0x66); + Wire.write((uint8_t)GET_VERSION); + Wire.write((uint8_t)0); + Wire.endTransmission(); + + Wire.requestFrom(0x66, 5); + Wire.read(); + + String version = ""; + + while (Wire.available()) { + version += (char)Wire.read(); + } + + if (version.c_str()[0] == '0') { + Serial.println("Reset D11"); + setDataRunning(RESET, 0, 0); + delay(10); + } + + // reset running D11 + Serial.println("Erase flash"); + + Wire.beginTransmission(I2C_ADDRESS); + Wire.write('r'); + Wire.endTransmission(); + + delay(500); + + Serial.println("Starting flash"); + + int address = 0; + while (address < (D11_Firmware_ino_bin_len + 0x1000)) { + int retry = 0; + do { + Wire.requestFrom(I2C_ADDRESS, 4); + uint8_t buf[4]; + int k = 0; + while (Wire.available()) { + buf[k++] = Wire.read(); + } + address = *(uint32_t*)buf; + delay(10); + } while (prev_address == address && retry++ < 5); + prev_address = address; + Serial.println(address); + + uint8_t crc = 0; + for (int j = 0; j < 64; j++) { + crc ^= D11_Firmware_ino_bin[address - 0x1000 + j]; + } + + Serial.println(crc, HEX); + + Wire.beginTransmission(I2C_ADDRESS); + Wire.write('w'); + Wire.write(crc); + Wire.write(&D11_Firmware_ino_bin[address - 0x1000], 64); + Wire.endTransmission(); + } + + Serial.println("Booting FW"); + Wire.beginTransmission(I2C_ADDRESS); + Wire.write('x'); + Wire.endTransmission(); + + delay(1000); + + Wire.beginTransmission(0x66); + Wire.write((uint8_t)GET_VERSION); + Wire.write((uint32_t)0); + Wire.endTransmission(); + + Wire.requestFrom(0x66, 5); + Wire.read(); + + Serial.print("New version: "); + while (Wire.available()) { + Serial.print((char)Wire.read()); + } + Serial.println(); +} + +void loop() { + // put your main code here, to run repeatedly: + +} diff --git a/examples/Nano/Flasher/fw.h b/examples/Nano/Flasher/fw.h new file mode 100644 index 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0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0xb5, 0x10, 0x00, 0x00, 0xf1, 0x27, 0x00, 0x00, 0x8d, 0x10, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 +}; +unsigned int D11_Firmware_ino_bin_len = 11564; diff --git a/examples/Nano/IMU_Test/IMU_Test.ino b/examples/Nano/IMU_Test/IMU_Test.ino new file mode 100644 index 0000000..91d407d --- /dev/null +++ b/examples/Nano/IMU_Test/IMU_Test.ino @@ -0,0 +1,89 @@ +/* + *************************************************************************** + + Euler_Streaming.pde - part of sample SW for using BNO055 with Arduino + + (C) All rights reserved by ROBERT BOSCH GMBH + + Copyright (C) 2014 Bosch Sensortec GmbH + + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + + **************************************************************************/ +/* Date: 2014/01/07 + Revision: 1.2 + +*/ + +#include "BNO055_support.h" //Contains the bridge code between the API and Arduino +#include + +//The device address is set to BNO055_I2C_ADDR2 in this example. You can change this in the BNO055.h file in the code segment shown below. +// /* bno055 I2C Address */ +// #define BNO055_I2C_ADDR1 0x28 +// #define BNO055_I2C_ADDR2 0x29 +// #define BNO055_I2C_ADDR BNO055_I2C_ADDR2 + +//Pin assignments as tested on the Arduino Due. +//Vdd,Vddio : 3.3V +//GND : GND +//SDA/SCL : SDA/SCL +//PSO/PS1 : GND/GND (I2C mode) + +//This structure contains the details of the BNO055 device that is connected. (Updated after initialization) +struct bno055_t myBNO; +struct bno055_euler myEulerData; //Structure to hold the Euler data + +unsigned long lastTime = 0; + +void setup() //This code is executed once +{ + //Initialize I2C communication + Wire.begin(); + + //Initialization of the BNO055 + BNO_Init(&myBNO); //Assigning the structure to hold information about the device + + //Configuration to NDoF mode + bno055_set_operation_mode(OPERATION_MODE_NDOF); + + delay(1); + + //Initialize the Serial Port to view information on the Serial Monitor + Serial.begin(115200); +} + +void loop() //This code is looped forever +{ + if ((millis() - lastTime) >= 100) //To stream at 10Hz without using additional timers + { + lastTime = millis(); + + bno055_read_euler_hrp(&myEulerData); //Update Euler data into the structure + + Serial.print("Time Stamp: "); //To read out the Time Stamp + Serial.println(lastTime); + + Serial.print("Heading(Yaw): "); //To read out the Heading (Yaw) + Serial.println(float(myEulerData.h) / 16.00); //Convert to degrees + + Serial.print("Roll: "); //To read out the Roll + Serial.println(float(myEulerData.r) / 16.00); //Convert to degrees + + Serial.print("Pitch: "); //To read out the Pitch + Serial.println(float(myEulerData.p) / 16.00); //Convert to degrees + + Serial.println(); //Extra line to differentiate between packets + } +} diff --git a/examples/Nano/PID_Position_test/PID_Position_test.ino b/examples/Nano/PID_Position_test/PID_Position_test.ino new file mode 100644 index 0000000..5d094a3 --- /dev/null +++ b/examples/Nano/PID_Position_test/PID_Position_test.ino @@ -0,0 +1,127 @@ +#include +//#include +#define INTERRUPT_PIN 6 + +//Variable to store the battery voltage +static int batteryVoltage; + +//Variable to change the motor speed and direction +static int duty = 0; + +int target; + +void setup() +{ + //Serial port initialization + Serial.begin(115200); + while (!Serial); + + //Establishing the communication with the motor shield + if (controller.begin()) + { + Serial.print("MKR Motor Shield connected, firmware version "); + Serial.println(controller.getFWVersion()); + } + else + { + Serial.println("Couldn't connect! Is the red led blinking? You may need to update the firmware with FWUpdater sketch"); + while (1); + } + + // Reboot the motor controller; brings every value back to default + Serial.println("reboot"); + controller.reboot(); + delay(500); + + //Take the battery status + float batteryVoltage = (float)battery.getConverted(); + Serial.print("Battery voltage: "); + Serial.print(batteryVoltage); + Serial.print("V, Raw "); + Serial.println(battery.getRaw()); + + int dutyInit = 0; // at 50 it works as espected, at 60 shift sides and is too small duty to move, at 70 is very big duty. + M1.setDuty(dutyInit); + M2.setDuty(dutyInit); + M3.setDuty(dutyInit); + M4.setDuty(dutyInit); + Serial.print("Duty: "); + Serial.println(dutyInit); + + /************* PID 1 ***********************/ + +// pid1.setControlMode(CL_POSITION); +// +// //pid1.resetGains(); +// //pid1.setLimits(-100,100); +// pid1.setGains(0.01f, 0.017f, 0.0f); //Proportional(change) Integral(change) Derivative +// Serial.print("P Gain: "); +// Serial.println((float)pid1.getPgain()); +// Serial.print("I Gain: "); +// Serial.println((float)pid1.getIgain()); +// Serial.print("D Gain: "); +// Serial.println((float)pid1.getDgain(), 7); +// Serial.println(""); +// +// encoder1.resetCounter(0); +// Serial.print("encoder1: "); +// Serial.println(encoder1.getRawCount()); +// target = 1000; +// pid1.setSetpoint(TARGET_POSITION, target); + + /************* PID 2 ***********************/ + + pid2.setControlMode(CL_POSITION); + + //pid1.resetGains(); + //pid1.setLimits(-100,100); + pid2.setGains(0.1f, 0.0f, 0.0f); //Proportional(change) Integral(change) Derivative + Serial.print("P Gain: "); + Serial.println((float)pid2.getPgain()); + Serial.print("I Gain: "); + Serial.println((float)pid2.getIgain()); + Serial.print("D Gain: "); + Serial.println((float)pid2.getDgain(), 7); + Serial.println(""); + + encoder2.resetCounter(0); + Serial.print("encoder2: "); + Serial.println(encoder2.getRawCount()); + target = 1000; + pid2.setSetpoint(TARGET_POSITION, target); + +} + +void loop() { + + /************* PID 1 ***********************/ + +// Serial.print("encoder1: "); +// Serial.print(encoder1.getRawCount()); +// Serial.print(" target: "); +// Serial.println(target); +// if (encoder1.getRawCount() == target) { +// target += 1000; +// Serial.print("Target reached: Setting new target.."); +// pid1.setSetpoint(TARGET_POSITION, target); +// //delay(5000); +// } + + /************* PID 2 ***********************/ + + Serial.print("encoder2: "); + Serial.print(encoder2.getRawCount()); + Serial.print(" target: "); + Serial.println(target); + if (encoder2.getRawCount() == target) { + target += 1000; + Serial.print("Target reached: Setting new target.."); + pid2.setSetpoint(TARGET_POSITION, target); + //delay(5000); + } + + //--------------------------------------- + controller.ping(); + //wait + delay(50); +} diff --git a/examples/Nano/ServoTest/ServoTest.ino b/examples/Nano/ServoTest/ServoTest.ino new file mode 100644 index 0000000..9ec6b60 --- /dev/null +++ b/examples/Nano/ServoTest/ServoTest.ino @@ -0,0 +1,77 @@ +#include +#include +//#include +//#include +#define INTERRUPT_PIN 6 + + +void setup() +{ + //Serial port initialization + Serial.begin(115200); + //while (!Serial); + + //Establishing the communication with the motor shield + if (controller.begin()) + { + Serial.print("MKR Motor Shield connected, firmware version "); + Serial.println(controller.getFWVersion()); + } + else + { + Serial.println("Couldn't connect! Is the red led blinking? You may need to update the firmware with FWUpdater sketch"); + while (1); + } + + // Reboot the motor controller; brings every value back to default + Serial.println("reboot"); + controller.reboot(); + delay(500); + + M1.setDuty(0); + M2.setDuty(0); + M3.setDuty(0); + M4.setDuty(0); + + if (!PMIC.enableBoostMode()) { + Serial.println("Error enabling Boost Mode"); + } +} + +void loop() { + + //Servo sweep from 0 position to 180 + for (int i = 0; i < 180; i += 1) + { + //Choose what of all the servo connectors do you want to use: servo1(default), servo2, servo3 or servo4 + servo1.setAngle(i); + servo2.setAngle(i); + servo3.setAngle(i); + servo4.setAngle(i); + Serial.print("Servos position"); + Serial.println(i); + delay(20); + } + + delay(200); + + //Servo sweep from 180 position to 0 + for (int i = 180; i > 0; i -= 1) + { + //Choose what of all the servo connectors do you want to use: servo1(default), servo2, servo3 or servo4 + servo1.setAngle(i); + servo2.setAngle(i); + servo3.setAngle(i); + servo4.setAngle(i); + Serial.print("Servos position: "); + Serial.println(i); + delay(20); + } + + + //Keep active the communication MKR1000 & MKRMotorCarrier + //Ping the samd11 + controller.ping(); + //wait + delay(50); +} From 3200840a4bfbe0b85fb8f227526c86910d57b765 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Fri, 5 Jun 2020 16:12:27 +0200 Subject: [PATCH 02/11] Firmware: Fix motors startup --- extras/D11-Firmware/PID.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/extras/D11-Firmware/PID.cpp b/extras/D11-Firmware/PID.cpp index 7c6073d..3da90cd 100644 --- a/extras/D11-Firmware/PID.cpp +++ b/extras/D11-Firmware/PID.cpp @@ -50,7 +50,7 @@ PIDWrapper::PIDWrapper(Fix16& inputpos, Fix16& inputvelo, DCMotor* motor, int in pid_pos->SetOutputLimits(Fix16(-30.0), Fix16(30.0)); //position pid can only command +/- max_velo pid_velo->SetOutputLimits(Fix16(-90.0), Fix16(90.0)); //velocity pid can only command +/- 100 PWM duty cycle - run(); + stop(); this->motor = motor; this->motor->pid = this; From d8cf819285540ac412c222d1b2489eef547f98ef Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Fri, 5 Jun 2020 16:15:35 +0200 Subject: [PATCH 03/11] PID: use floats to control gains --- extras/D11-Firmware/Common.h | 1 + extras/D11-Firmware/D11-Firmware.ino | 42 +- extras/D11-Firmware/PID.cpp | 21 +- extras/D11-Firmware/PID.h | 14 + extras/D11-Firmware/src/PID/PID_v1.cpp | 28 +- extras/D11-Firmware/src/PID/PID_v1.h | 2 + src/ArduinoMotorCarrier.cpp | 26 +- src/ArduinoMotorCarrier.h | 1 + src/Common.h | 6 +- src/PID.cpp | 37 +- src/PID.h | 9 +- src/src/FpF.hpp | 590 +++++++++++++++++++++++++ src/src/FpS.hpp | 422 ++++++++++++++++++ 13 files changed, 1150 insertions(+), 49 deletions(-) create mode 100644 src/src/FpF.hpp create mode 100644 src/src/FpS.hpp diff --git a/extras/D11-Firmware/Common.h b/extras/D11-Firmware/Common.h index 6d7a703..c3e29aa 100644 --- a/extras/D11-Firmware/Common.h +++ b/extras/D11-Firmware/Common.h @@ -26,6 +26,7 @@ enum Commands { GET_INTERNAL_TEMP, CLEAR_IRQ, GET_FREE_RAM, + GET_PID_VAL }; enum IRQCause { diff --git a/extras/D11-Firmware/D11-Firmware.ino b/extras/D11-Firmware/D11-Firmware.ino index 4ad76ec..8ac986a 100644 --- a/extras/D11-Firmware/D11-Firmware.ino +++ b/extras/D11-Firmware/D11-Firmware.ino @@ -26,6 +26,17 @@ void led_on() { digitalWrite(LED_BUILTIN, HIGH); } +typedef struct { + Fix16 P; + Fix16 I; + Fix16 D; +} PIDGains; + +union PIDData { + Fix16 txFloat; + uint8_t txArray[4]; +} PIDGain; + void setup() { WDT->CTRL.reg &= ~WDT_CTRL_ENABLE; @@ -46,7 +57,7 @@ void setup() { encoders[1] = new EncoderWrapper(ENCODER_1_PIN_A, ENCODER_1_PIN_B, 0); pid_control[0] = new PIDWrapper(encoders[0]->position, encoders[0]->velocity, dcmotors[0], 0, 10, 100); //10ms period velo, 100ms period pos - pid_control[1] = new PIDWrapper(encoders[1]->position, encoders[1]->velocity, dcmotors[1], 1, 10, 100), + pid_control[1] = new PIDWrapper(encoders[1]->position, encoders[1]->velocity, dcmotors[1], 1, 10, 100); Wire.begin(I2C_ADDRESS); Wire.onRequest(requestEvent); @@ -101,7 +112,7 @@ void receiveEvent(int howMany) { return; } - uint8_t buf[8]; + uint8_t buf[12]; int i = 0; while (Wire.available() && i < sizeof(buf)) { buf[i++] = (uint8_t)Wire.read(); @@ -135,13 +146,10 @@ void receiveEvent(int howMany) { break; case SET_PID_GAIN_CL_MOTOR: { - int16_t P16 = *((int16_t*)&buf[0]); - int16_t I16 = *((int16_t*)&buf[2]); - int16_t D16 = *((int16_t*)&buf[4]); - Fix16 P = ((Fix16)P16) / short(1000); - Fix16 I = ((Fix16)I16) / short(1000); - Fix16 D = ((Fix16)D16) / short(1000); - pid_control[target]->setGains(P, I , D); + Fix16 P = *((Fix16*)&buf[0]); + Fix16 I = *((Fix16*)&buf[4]); + Fix16 D = *((Fix16*)&buf[8]); + pid_control[target]->setGains(P, I, D); break; } case RESET_PID_GAIN_CL_MOTOR: @@ -151,10 +159,10 @@ void receiveEvent(int howMany) { pid_control[target]->setControlMode((cl_control)value); break; case SET_POSITION_SETPOINT_CL_MOTOR: - pid_control[target]->setSetpoint(TARGET_POSITION, Fix16(value * 1.0)); + pid_control[target]->setSetpoint(TARGET_POSITION, Fix16(value * 1.0)); //Change to integer. "value" is a 32 bit data type in this case (int). break; case SET_VELOCITY_SETPOINT_CL_MOTOR: - pid_control[target]->setSetpoint(TARGET_VELOCITY, Fix16(value * 1.0)); + pid_control[target]->setSetpoint(TARGET_VELOCITY, Fix16(value * 1.0)); //Change to integer break; case SET_MAX_ACCELERATION_CL_MOTOR: { pid_control[target]->setMaxAcceleration(Fix16(value * 1.0)); @@ -211,6 +219,18 @@ void requestEvent() { break; case GET_FREE_RAM: Wire.write((int)FreeRam()); + break; + case GET_PID_VAL: + Fix16 gains[3]; + pid_control[target]->getGains((Fix16*)gains); + + PIDGains pidGains; + pidGains.P = gains[0]; + pidGains.I = gains[1]; + pidGains.D = gains[2]; + + Wire.write((uint8_t*)&pidGains, sizeof(pidGains)); + break; } interrupts(); diff --git a/extras/D11-Firmware/PID.cpp b/extras/D11-Firmware/PID.cpp index 3da90cd..bc5d37a 100644 --- a/extras/D11-Firmware/PID.cpp +++ b/extras/D11-Firmware/PID.cpp @@ -12,25 +12,20 @@ void calculatePID_wrapper(void* arg) { if (obj[i]->mode == CL_POSITION) { if (obj[i]->pid_pos->Compute()) { - //slew limit velocity command with max accel Fix16 curvelocmd = obj[i]->velocmd; - if ((prevvelocmd[i] - curvelocmd) > obj[i]->maxAcceleration) curvelocmd = prevvelocmd[i] - obj[i]->maxAcceleration;//limit decel - if ((curvelocmd - prevvelocmd[i]) > obj[i]->maxAcceleration) curvelocmd = prevvelocmd[i] + obj[i]->maxAcceleration;//limit accel //copy position PID output to velocity PID setpoint obj[i]->targetvelo = curvelocmd; //save curvelocmd for next iteration prevvelocmd[i] = curvelocmd; + int dutyout = (int16_t)curvelocmd ; + obj[i]->motor->setDuty(dutyout); //dutyout should be a value between -100 and 100. + } + } else { + //CL_VELOCITY + if (obj[i]->pid_velo->Compute()) { + int dutyout = int32_t(obj[i]->actualDuty); + obj[i]->motor->setDuty(dutyout); } - } - - if (obj[i]->pid_velo->Compute()) { - int dutyout = int32_t(obj[i]->actualDuty); - //obj[i]->motor->setDuty(dutyout); not working so using line below instead - - //deadzone compensation - if (dutyout > 0) dutyout += 10; - if (dutyout < 0) dutyout -= 10; - obj[i]->motor->setDuty(dutyout); } } } diff --git a/extras/D11-Firmware/PID.h b/extras/D11-Firmware/PID.h index 48c2d26..cb8b5fc 100644 --- a/extras/D11-Firmware/PID.h +++ b/extras/D11-Firmware/PID.h @@ -35,6 +35,20 @@ class PIDWrapper { void resetGains(); + + void getGains(Fix16* gains) { + if (this->mode == CL_VELOCITY) { + gains[0] = pid_velo->GetKp(); + gains[1] = pid_velo->GetKi(); + gains[2] = pid_velo->GetKd(); + } + if (this->mode == CL_POSITION) { + gains[0] = pid_pos->GetKp(); + gains[1] = pid_pos->GetKi(); + gains[2] = pid_pos->GetKd(); + } + }; + void setControlMode(cl_control mode) { this->mode = mode; run(); diff --git a/extras/D11-Firmware/src/PID/PID_v1.cpp b/extras/D11-Firmware/src/PID/PID_v1.cpp index 0654b7d..c5444e9 100644 --- a/extras/D11-Firmware/src/PID/PID_v1.cpp +++ b/extras/D11-Firmware/src/PID/PID_v1.cpp @@ -65,31 +65,25 @@ bool PID::Compute() /*Compute all the working error variables*/ Fix16 input = *myInput; Fix16 error = *mySetpoint - input; - Fix16 dInput = (input - lastInput); - outputSum+= (ki * error); + Fix16 dError = (error - lastError); + iError += error; //add error to the integral term - /*Add Proportional on Measurement, if P_ON_M is specified*/ - if(!pOnE) outputSum-= kp * dInput; + Fix16 Pout = kp * error; + Fix16 Iout = ki * iError; + Fix16 Dout = kd * dError; - if(outputSum > outMax) outputSum= outMax; - else if(outputSum < outMin) outputSum= outMin; + Fix16 output; + output = Pout + Iout + Dout; - /*Add Proportional on Error, if P_ON_E is specified*/ - Fix16 output; - if(pOnE) output = kp * error; - else output = Fix16(0.0); - - /*Compute Rest of PID Output*/ - output += outputSum - kd * dInput; - - if(output > outMax) output = outMax; + if(output > outMax) output = outMax; else if(output < outMin) output = outMin; - *myOutput = output; + *myOutput = output; /*Remember some variables for next time*/ lastInput = input; lastTime = now; - return true; + lastError = error; + return true; } else return false; } diff --git a/extras/D11-Firmware/src/PID/PID_v1.h b/extras/D11-Firmware/src/PID/PID_v1.h index 4396194..3935fd2 100644 --- a/extras/D11-Firmware/src/PID/PID_v1.h +++ b/extras/D11-Firmware/src/PID/PID_v1.h @@ -85,6 +85,8 @@ class PID unsigned long lastTime; Fix16 outputSum, lastInput; + Fix16 lastError; + Fix16 iError; //integral error unsigned long SampleTime; Fix16 outMin, outMax; diff --git a/src/ArduinoMotorCarrier.cpp b/src/ArduinoMotorCarrier.cpp index 252a3c1..33d13d1 100644 --- a/src/ArduinoMotorCarrier.cpp +++ b/src/ArduinoMotorCarrier.cpp @@ -17,13 +17,14 @@ #include "ArduinoMotorCarrier.h" namespace mc { -void setDataPIDGains(Commands cmd, uint8_t target, int16_t P, int16_t I, int16_t D) { +//Set Data (gains) with Fix16 format +void setDataPIDGains(Commands cmd, uint8_t target, Fix16 P, Fix16 I, Fix16 D) { Wire.beginTransmission(I2C_ADDRESS); Wire.write((uint8_t)cmd); Wire.write((uint8_t)target); - Wire.write((uint8_t*)&P, 2); - Wire.write((uint8_t*)&I, 2); - Wire.write((uint8_t*)&D, 2); + Wire.write((uint8_t*)&P, 4); + Wire.write((uint8_t*)&I, 4); + Wire.write((uint8_t*)&D, 4); Wire.endTransmission(); } @@ -35,6 +36,23 @@ void setData(Commands cmd, uint8_t target, int data) { Wire.endTransmission(); } +int getDataPIDGains(Commands cmd, uint8_t target, uint8_t* buf, int dataSize) { + Wire.beginTransmission(I2C_ADDRESS); + Wire.write((uint8_t)cmd); + Wire.write((uint8_t)target); + Wire.endTransmission(); + + int i = 0; + Wire.requestFrom(I2C_ADDRESS, dataSize + 1); //one extra for the irq_status + uint8_t status = Wire.read(); + if (status != 0) controller.irq_status = status; + + while (Wire.available()) { + buf[i++] = (uint8_t)Wire.read(); + } + return i; +} + int getData(Commands cmd, uint8_t target, uint8_t* buf) { Wire.beginTransmission(I2C_ADDRESS); Wire.write((uint8_t)cmd); diff --git a/src/ArduinoMotorCarrier.h b/src/ArduinoMotorCarrier.h index a0ade08..8d05a24 100644 --- a/src/ArduinoMotorCarrier.h +++ b/src/ArduinoMotorCarrier.h @@ -25,6 +25,7 @@ #include "MotorController.h" #include "Common.h" #include "PID.h" +#include "src/FpF.hpp" extern mc::MotorController controller; diff --git a/src/Common.h b/src/Common.h index a2807c6..adabcf6 100644 --- a/src/Common.h +++ b/src/Common.h @@ -42,6 +42,7 @@ enum Commands { GET_INTERNAL_TEMP, CLEAR_IRQ, GET_FREE_RAM, + GET_PID_VAL }; enum IRQCause { @@ -70,10 +71,13 @@ enum IRQCause { #define IN4 A2 #endif +#include "src/FpF.hpp" +#define Fix16 mn::MFixedPoint::FpF32<8> namespace mc { int getData(Commands cmd, uint8_t target, uint8_t* buf); void setData(Commands cmd, uint8_t target, int data); -void setDataPIDGains(Commands cmd, uint8_t target, int16_t P, int16_t I, int16_t D); +void setDataPIDGains(Commands cmd, uint8_t target, Fix16 P, Fix16 I, Fix16 D); +int getDataPIDGains(Commands cmd, uint8_t target, uint8_t* buf, int dataSize); int getData(Commands cmd, uint8_t* buf); } diff --git a/src/PID.cpp b/src/PID.cpp index 0b2e2a9..776be40 100644 --- a/src/PID.cpp +++ b/src/PID.cpp @@ -20,12 +20,23 @@ namespace mc { static int next_instance = 0; +typedef struct { + Fix16 P; + Fix16 I; + Fix16 D; +} PIDGains; + +union { + Fix16 rxFloat = Fix16(0.0); + uint8_t rxArray[4]; +} PIDGain; + PID::PID() { instance = next_instance; next_instance++; } -void PID::setGains(int16_t kp, int16_t ki, int16_t kd) { +void PID::setGains(Fix16 kp, Fix16 ki, Fix16 kd) { setDataPIDGains(SET_PID_GAIN_CL_MOTOR, instance, kp, ki, kd); } @@ -42,7 +53,11 @@ void PID::setSetpoint(cl_target control_target, int target) { setData(SET_POSITION_SETPOINT_CL_MOTOR, instance, target); } if (control_target == TARGET_VELOCITY) { - setData(SET_VELOCITY_SETPOINT_CL_MOTOR, instance, target); + if (!target) { + setData(SET_PWM_DUTY_CYCLE_DC_MOTOR, instance, target); //Fix target = 0 issue in PID_VELOCITY mode. + } else { + setData(SET_VELOCITY_SETPOINT_CL_MOTOR, instance, target); + } } } @@ -57,6 +72,24 @@ void PID::setMaxVelocity(int maxVelocity) { void PID::setLimits(int16_t minDuty, int16_t maxDuty) { setData(SET_MIN_MAX_DUTY_CYCLE_CL_MOTOR, instance, (minDuty << 16 | maxDuty)); } + +Fix16 mc::PID::getPgain() { + PIDGains pidGains; + int stat = getDataPIDGains(GET_PID_VAL, instance, (uint8_t*)&pidGains ,sizeof(pidGains)); + return pidGains.P; +} + +Fix16 mc::PID::getIgain() { + PIDGains pidGains; + int stat = getDataPIDGains(GET_PID_VAL, instance, (uint8_t*)&pidGains ,sizeof(pidGains)); + return pidGains.I; +} +Fix16 mc::PID::getDgain() { + PIDGains pidGains; + int stat = getDataPIDGains(GET_PID_VAL, instance, (uint8_t*)&pidGains ,sizeof(pidGains)); + return pidGains.D; +} + } namespace d21 { diff --git a/src/PID.h b/src/PID.h index 1f242ac..4f0a646 100644 --- a/src/PID.h +++ b/src/PID.h @@ -3,6 +3,10 @@ #include "Arduino.h" #include "DCMotor.h" +//-------------------------------- ---------------------- +#include "src/FpF.hpp" +#define Fix16 mn::MFixedPoint::FpF32<8> +//------------------------------------------------------ typedef enum { CL_OPEN_LOOP = 0, @@ -22,13 +26,16 @@ class PID { public: PID(); - void setGains(int16_t kp, int16_t ki, int16_t kd); + void setGains(Fix16 kp, Fix16 ki, Fix16 kd); void resetGains(); void setControlMode(cl_control mode); void setSetpoint(cl_target control_target, int target); void setMaxAcceleration(int maxAccel); void setMaxVelocity(int maxVelocity); void setLimits(int16_t minDuty, int16_t maxDuty); + Fix16 getPgain(); + Fix16 getIgain(); + Fix16 getDgain(); private: int instance; diff --git a/src/src/FpF.hpp b/src/src/FpF.hpp new file mode 100644 index 0000000..fc17b29 --- /dev/null +++ b/src/src/FpF.hpp @@ -0,0 +1,590 @@ +/// +/// \file FpF.hpp +/// \author Geoffrey Hunter (www.mbedded.ninja), Markus Trenkwalder +/// \edited n/a +/// \created 2012-10-23 +/// \last-modified 2018-01-08 +/// \brief Fast 32-bit fixed point library. +/// \details +/// See README.rst in root dir for more info. + +//===============================================================================================// +//====================================== HEADER GUARD ===========================================// +//===============================================================================================// + +#ifndef __cplusplus +#error Please build with C++ compiler +#endif + +#ifndef MN_MFIXEDPOINT_FpF_H +#define MN_MFIXEDPOINT_FpF_H + +// System includes +#include + +namespace mn { + namespace MFixedPoint { + +// The template argument q in all of the following functions refers to the +// fixed point precision (e.g. q = 8 gives 24.8 fixed point functions). + +/// \brief Perform a fixed point multiplication without a 64-bit intermediate result. +/// \note This is fast but beware of intermediary overflow! +//template +//inline int32_t FixMulF(int32_t a, int32_t b) +//{ +// return (a * b) >> q; +//} + +/// \brief Perform a fixed point multiplication using a #OverflowType intermediate result to +/// prevent intermediary overflow problems. +/// \note Slower than FpF::FixMulF() + template + inline BaseType FpFMultiply(int32_t a, int32_t b) { + return (BaseType) (((OverflowType) a * b) >> numFracBits); + } + +// Fixed point division +//template +//inline int32_t FpFDivide(int32_t a, int32_t b) +//{ +// +//// return (BaseType)((((OverflowType)a << numFracBits_) / (OverflowType)r.rawVal_)); +// +// #if 0 +// return (int32_t)((((int64_t)a) << q) / b); +// #else +// // The following produces the same results as the above but gcc 4.0.3 +// // generates fewer instructions (at least on the ARM processor). +// union { +// int64_t a; +// struct { +// int32_t l; +// int32_t h; +// }; +// } x; +// +// x.l = a << q; +// x.h = a >> (sizeof(int32_t) * 8 - q); +// return (int32_t)(x.a / b); +// #endif +//} + +//namespace detail { +// inline uint32_t CountLeadingZeros(uint32_t x) +// { +// uint32_t exp = 31; +// +// if (x & 0xffff0000) { +// exp -= 16; +// x >>= 16; +// } +// +// if (x & 0xff00) { +// exp -= 8; +// x >>= 8; +// } +// +// if (x & 0xf0) { +// exp -= 4; +// x >>= 4; +// } +// +// if (x & 0xc) { +// exp -= 2; +// x >>= 2; +// } +// +// if (x & 0x2) { +// exp -= 1; +// } +// +// return exp; +// } +//} + +// q is the precision of the input +// output has 32-q bits of fraction +//template +//inline int32_t fixinv(int32_t a) +//{ +// int32_t x; +// +// bool sign = false; +// +// if (a < 0) { +// sign = true; +// a = -a; +// } +// +// static const uint16_t rcp_tab[] = { +// 0x8000, 0x71c7, 0x6666, 0x5d17, 0x5555, 0x4ec4, 0x4924, 0x4444 +// }; +// +// int32_t exp = detail::CountLeadingZeros(a); +// x = ((int32_t)rcp_tab[(a>>(28-exp))&0x7]) << 2; +// exp -= 16; +// +// if (exp <= 0) +// x >>= -exp; +// else +// x <<= exp; +// +// // Two iterations of newton-raphson x = x(2-ax) +// x = FpFMultiply<(32-q)>(x,((2<<(32-q)) - FpFMultiply(a,x))); +// x = FpFMultiply<(32-q)>(x,((2<<(32-q)) - FpFMultiply(a,x))); +// +// if (sign) +// return -x; +// else +// return x; +//} + +/// \brief Converts from float to a raw 32-bit fixed-point number. +/// \details Do not write "myFpNum = FloatToRawFix32()"! This function outputs a raw +/// number, so you would have to use the syntax "myFpNum.rawVal_ = FloatToRawFix32()". +/// \warning Slow! + template + int32_t FloatToRawFix32(float f) { + return (int32_t) (f * (1 << q)); + } + +/// \brief Converts from double to a raw 32-bit fixed-point number. +/// \details Do not write "myFpNum = DoubleToRawFix32()"! This function outputs a raw +/// number, so you would have to use the syntax "myFpNum.rawVal_ = DoubleToRawFix32()". +/// \warning Slow! + template + int32_t DoubleToRawFix32(double f) { + return (int32_t) (f * (double) (1 << q)); + } + + + +//int32_t fixcos16(int32_t a); +//int32_t fixsin16(int32_t a); +//int32_t fixrsqrt16(int32_t a); +//int32_t fixsqrt16(int32_t a); + +/// \brief Following compile time checks make sure the two fixed-point +/// numbers have the same template parameters. +/// \details Designed to be added to various class functions. No runtime overhead. +#define SAME_TEMPLATE_PARAM_CHECK() \ + static_assert(numFracBits == numFracBitsR, "FpF arithmetic must be done with fixed-point numbers whose template parameters are the same."); + +/// \brief Represents a 32-bit fixed point number, with the template argument providing +/// the number of fractional bits (and consequentially also defining the number of +/// integer bits). +/// \details The template argument p in all of the following functions refers to the +/// number of fractional bits (e.g. q = 8 gives Q24.8 fixed point functions). +/// Contains mathematical operator overloading. Doesn't have modulus (%) overloading + template + class FpF { + + public: + + //===============================================================================================// + //================================== CONSTRUCTORS/DESTRUCTORS ===================================// + //===============================================================================================// + + FpF() = default; + + ~FpF() = default; + + //===============================================================================================// + //========================================= GETTERS/SETTERS =====================================// + //===============================================================================================// + + /// \brief Get the raw value (memory representation) of this fixed-point number, + BaseType GetRawVal() const { + return rawVal_; + } + + FpF(int8_t i) : + rawVal_((int32_t) i << numFracBits) {} + + FpF(int16_t i) : + rawVal_((int32_t) i << numFracBits) {} + + FpF(int32_t i) : + rawVal_(i << numFracBits) {} + + /// \brief Constructor that accepts a float. + FpF(float f) : + rawVal_((BaseType) (f * (float) ((BaseType) 1 << numFracBits))) {} + + /// \brief Create a fixed-point number from a double. + FpF(double f) : + rawVal_((BaseType) (f * (double) ((BaseType) 1 << numFracBits))) {} + + //===============================================================================================// + //================================= COMPOUND ARITHMETIC OVERLOADS ===============================// + //===============================================================================================// + + FpF& operator += (FpF r) { + rawVal_ += r.rawVal_; + return *this; + } + + FpF& operator -= (FpF r) { + rawVal_ -= r.rawVal_; + return *this; + } + + /// \brief Overlaod for '*=' operator. + /// \details Uses intermediatary casting to int64_t to prevent overflows. + template + FpF& operator *= (FpF r) { + SAME_TEMPLATE_PARAM_CHECK(); + rawVal_ = FpFMultiply(rawVal_, r.rawVal_); + return *this; + } + + /// \brief Overlaod for '/=' operator. + /// \details Uses intermediatary casting to int64_t to prevent overflows. + template + FpF& operator /= (FpF r) { + SAME_TEMPLATE_PARAM_CHECK(); + rawVal_ = (BaseType) ((((OverflowType) rawVal_ << numFracBits) / (OverflowType) r.rawVal_)); + return *this; + } + + /// \brief Overlaod for '%=' operator. + FpF&operator %= (FpF r) { + rawVal_ %= r.rawVal_; + return *this; + } + + + // Simple Arithmetic Overloads + + /// \brief Overload for '-itself' operator. + FpF operator - () const { + FpF x; + x.rawVal_ = -rawVal_; + return x; + } + + /// \brief Overload for '+' operator. + /// \details Uses '+=' operator. + FpF operator + (const FpF& r) const { + FpF x = *this; + x += r; + return x; + } + + /// \brief Overload for '-' operator. + /// \details Uses '-=' operator. + FpF operator - (const FpF& r) const { + FpF x = *this; + x -= r; + return x; + } + + /// \brief Overload for '*' operator. + /// \details Uses '*=' operator. + template + FpF operator*(FpF r) const { + SAME_TEMPLATE_PARAM_CHECK(); + FpF x = *this; + x *= r; + return x; + } + + /// \brief Overload for '/' operator. + /// \details Uses '/=' operator. + template + FpF operator/(FpF r) const { + SAME_TEMPLATE_PARAM_CHECK(); + FpF x = *this; + x /= r; + return x; + } + + /// \brief Overload for '%' operator. + /// \details Uses '%=' operator. + FpF operator % (const FpF& r) const { + FpF x = *this; + x %= r; + return x; + } + + // FpF-FpF Binary Operator Overloads + + bool operator == (const FpF& r) const { + return rawVal_ == r.rawVal_; + } + + bool operator != (const FpF &r) { + return !(*this == r); + } + + bool operator < (const FpF &r) { + return rawVal_ < r.rawVal_; + } + + bool operator > (const FpF &r) { + return rawVal_ > r.rawVal_; + } + + bool operator <= (const FpF& r) const { + return rawVal_ <= r.rawVal_; + } + + bool operator >= (const FpF& r) const { + return rawVal_ >= r.rawVal_; + } + + /// \defgroup From FpF Conversion Overloads (casts) + /// \{ + + + /// \brief Converts the fixed-point number into an integer. + /// \details Always rounds to negative infinity (66.3 becomes 66, -66.3 becomes -67). + /// \tparam IntType The return integer type. + template + IntType ToInt() const { + // Right-shift to get rid of all the decimal bits + // This rounds towards negative infinity + return (IntType) (rawVal_ >> numFracBits); + } + + /// \brief Converts the fixed-point number to a float. + float ToFloat() const { + return (float) rawVal_ / (float) ((BaseType) 1 << numFracBits); + } + + /// \brief Converts the fixed-point number to a double. + double ToDouble() const { + return (double) rawVal_ / (double) ((BaseType) 1 << numFracBits); + } + + /// \brief Conversion operator from fixed-point to int16_t. + /// \details Truncates answer. + explicit operator int16_t() { + // Right-shift to get rid of all the decimal bits (truncate) + return (int16_t) (rawVal_ >> numFracBits); + } + + /// \brief Conversion operator from fixed-point to int32_t. + /// \details Truncates answer. + explicit operator int32_t() { + // Right-shift to get rid of all the decimal bits (truncate) + return (int32_t)(rawVal_ >> numFracBits); + } + + /// \brief Conversion operator from fixed-point to int64_t. + /// \details Truncates answer. + explicit operator int64_t() { + // Right-shift to get rid of all the decimal bits (truncate) + return (int64_t) (rawVal_ >> numFracBits); + } + + /// \brief Conversion operator from fixed-point to float. + explicit operator float() { + return (float) rawVal_ / (float) (1 << numFracBits); + } + + /// \brief Conversion operator from fixed-point to double. + /// \note Similar to float conversion. + explicit operator double() { + return (double) rawVal_ / (double) (1 << numFracBits); + } + + /// \} + + //===============================================================================================// + //================================== OVERLOADS BETWEEN FpF AND int ==============================// + //===============================================================================================// + + FpF& operator *= (int r) { + rawVal_ *= r; + return *this; + } + + FpF& operator /= (int r) { + rawVal_ /= r; + return *this; + } + + FpF operator + (int r) const { + FpF x = *this; + x += FpF(r); + return x; + } + + FpF operator - (int r) const { + FpF x = *this; + x -= r; + return x; + } + + FpF operator * (int r) const { + FpF x = *this; + x *= r; + return x; + } + + FpF operator / (int r) const { + FpF x = *this; + x /= r; + return x; + } + + bool operator >(int r) const { + return rawVal_ > ((BaseType)r << numFracBits); + } + + bool operator >=(int r) const { + return rawVal_ >= ((BaseType)r << numFracBits); + } + + bool operator < (int r) const { + return rawVal_ < ((BaseType)r << numFracBits); + } + + bool operator <= (int r) const { + return rawVal_ <= ((BaseType)r << numFracBits); + } + + bool operator ==(int r) const { + return rawVal_ == ((BaseType)r << numFracBits); + } + + bool operator !=(int r) const { + return rawVal_ != ((BaseType)r << numFracBits); + } + + private: + + /// \brief The fixed-point number is stored in this basic data type. + BaseType rawVal_; + + }; + + template + using FpF8 = FpF; + + template + using FpF16 = FpF; + + template + using FpF32 = FpF; + + template + using FpF64 = FpF; + + +// math functions +// no default implementation + +// template +// inline FpF sin(FpF a); + +// template +// inline FpF cos(FpF a); + +// template +// inline FpF sqrt(FpF a); + +// template +// inline FpF rsqrt(FpF a); + +// template +// inline FpF inv(FpF a); + +// template +// inline FpF abs(FpF a) +// { +// FpF r; +// r.rawVal_ = a.rawVal_ > 0 ? a.rawVal_ : -a.rawVal_; +// return r; +// } + +// // Specializations for 16.16 format + +// template <> +// inline FpF<16> sin(FpF<16> a) +// { +// FpF<16> r; +// r.rawVal_ = fixsin16(a.rawVal_); +// return r; +// } + +// template <> +// inline FpF<16> cos(FpF<16> a) +// { +// FpF<16> r; +// r.rawVal_ = fixcos16(a.rawVal_); +// return r; +// } + + +// template <> +// inline FpF<16> sqrt(FpF<16> a) +// { +// FpF<16> r; +// r.rawVal_ = fixsqrt16(a.rawVal_); +// return r; +// } + +// template <> +// inline FpF<16> rsqrt(FpF<16> a) +// { +// FpF<16> r; +// r.rawVal_ = fixrsqrt16(a.rawVal_); +// return r; +// } + +// template <> +// inline FpF<16> inv(FpF<16> a) +// { +// FpF<16> r; +// r.rawVal_ = fixinv<16>(a.rawVal_); +// return r; +// } + +// // The multiply accumulate case can be optimized. +// template +// inline FpF multiply_accumulate( +// int32_t count, +// const FpF *a, +// const FpF *b) +// { +// long long result = 0; +// for (int32_t i = 0; i < count; ++i) +// result += static_cast(a[i].rawVal_) * b[i].rawVal_; +// FpF r; +// r.rawVal_ = static_cast(result >> numFracBits); +// return r; +// } + +//===============================================================================================// +//======================================== GRAVEYARD ============================================// +//===============================================================================================// + +/* +/// \brief Conversion from fixed-point to float. +/// \details Good for debugging fixed-point arithmetic. +/// \warning Slow! +template +float Fix32ToFloat(int32_t f) +{ + return (float)f / (1 << q); +} + +/// \brief Conversion from fixed-point to float. +/// \details Good for debugging fixed-point arithmetic. +/// \warning Slow! +template +double Fix32ToDouble(int32_t f) +{ + return (double)f / (double)(1 << q); +} +*/ + + } // namespace MFixedPoint +} //namespace mn + +#endif // #ifndef MN_MFIXEDPOINT_FpF_H + +// EOF diff --git a/src/src/FpS.hpp b/src/src/FpS.hpp new file mode 100644 index 0000000..93a988b --- /dev/null +++ b/src/src/FpS.hpp @@ -0,0 +1,422 @@ +/// +/// @file FpS.hpp +/// @author Geoffrey Hunter (www.mbedded.ninja) +/// @edited n/a +/// @created 2013-07-22 +/// @last-modified 2018-01-09 +/// \brief A slower, more powerful fixed point library. +/// \details +/// See README.rst in root dir for more info. + +//===============================================================================================// +//====================================== HEADER GUARD ===========================================// +//===============================================================================================// + +#ifndef __cplusplus + #error Please build with C++ compiler +#endif + +#ifndef MN_MFIXEDPOINT_FPS_H +#define MN_MFIXEDPOINT_FPS_H + +// System includes +#include +#include + +namespace mn { +namespace MFixedPoint { + +/// \brief A class which represents a "slow" fixed-point number, where each instance supports an arbitrary number of fractional bits, +/// and arithmetic is supported between these instances. +/// \tparam BaseType The underlying data type which will be store the raw fixed point data. It is recommended that +/// this should be a signed integer type (e.g. int32_t). +/// \tparam OverflowType The type that the basetype will be cast to before doing fixed point operations +/// that have a possibility of intermediate overflowing (e.g. multiplication, division). +/// It is recommended that this should be twice the bit size of the BaseType +/// (e.g. if BaseType = int32_t, OverflowType = int64_t). +template +class FpS { + + public: + + //===============================================================================================// + //================================== CONSTRUCTORS/DESTRUCTORS ===================================// + //===============================================================================================// + + /// \brief Create a fixed-point value from a integer and a num. of fractional bits. + FpS(int32_t integer, uint8_t numFracBits) { + static_assert(std::is_integral::value, "Integral BaseType required for FpS class."); + rawVal_ = integer << numFracBits; + numFracBits_ = numFracBits; + } + + /// \brief Create a fixed-point value from a double and a num. of fractional bits. + FpS(double dbl, uint8_t numFracBits) { + static_assert(std::is_integral::value, "Integral BaseType required for FpS class."); + rawVal_ = (BaseType)(dbl * ((BaseType)1 << numFracBits)); + numFracBits_ = numFracBits; + } + + //===============================================================================================// + //========================================= GETTERS/SETTERS =====================================// + //===============================================================================================// + + /// \brief Get the raw value (memory representation) of this fixed-point number, + BaseType GetRawVal() const { + return rawVal_; + } + + /// \brief Returns the number of fractional bits used in this fixed-point number. + uint8_t GetNumFracBits() const { + return numFracBits_; + } + + //===============================================================================================// + //================================== COMPOUND ARITHMETIC OPERATORS ==============================// + //===============================================================================================// + + /// \brief Overload for '+=' operator. + /// \details Result has the same num. frac bits as the lowest num. frac bits of the two inputs. + FpS& operator += (FpS r) { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + rawVal_ = rawVal_ + r.rawVal_; + // No need to change num. frac. bits, both are the same + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller num. of frac. bits, so result is in that precision + rawVal_ = (rawVal_ >> (numFracBits_ - r.numFracBits_)) + r.rawVal_; + numFracBits_ = r.numFracBits_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller num. of frac. bits, so result is in that precision + rawVal_ = rawVal_ + (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + // No need to change num. frac. bits + } + return *this; + } + + /// \brief Overload for '-=' operator. + /// \details Result has the same num. frac bits as the lowest num. frac bits of the two inputs. + FpS& operator -= (FpS r) { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers + rawVal_ = rawVal_ - r.rawVal_; + // No need to change Q, both are the same + } + else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + rawVal_ = (rawVal_ >> (numFracBits_ - r.numFracBits_)) - r.rawVal_; + // Change Q + numFracBits_ = r.numFracBits_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + rawVal_ = rawVal_ - (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + // No need to change Q + } + return *this; + } + + /// \brief Overlaod for '*=' operator. + /// \details Uses intermediatary casting to OverflowType to prevent overflows. + FpS& operator *= (FpS r) { + + // Optimised for when numFracBits_ is the same for both + + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers, shift right by Q + rawVal_ = (BaseType)(((OverflowType)rawVal_ * (OverflowType)r.rawVal_) >> numFracBits_); + + // No need to change Q, both are the same + + } + else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + rawVal_ = (BaseType)((((OverflowType)rawVal_ >> (numFracBits_ - r.numFracBits_)) * (OverflowType)r.rawVal_) >> r.numFracBits_); + + // Change Q + numFracBits_ = r.numFracBits_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + rawVal_ = (BaseType)(((OverflowType)rawVal_ * ((OverflowType)r.rawVal_ >> (r.numFracBits_ - numFracBits_))) >> numFracBits_); + // No need to change Q + } + return *this; + } + + /// \brief Overlaod for '/=' operator. + /// \details Uses intermediatary casting to OverflowType to prevent overflows. + FpS& operator /= (FpS r) { + + // Optimised for when numFracBits_ is the same for both + + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers, shift right by Q + + rawVal_ = (BaseType)((((OverflowType)rawVal_ << numFracBits_) / (OverflowType)r.rawVal_)); + + // No need to change Q, both are the same + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + rawVal_ = (BaseType)(((((OverflowType)rawVal_ >> (numFracBits_ - r.numFracBits_)) << r.numFracBits_) / (OverflowType)r.rawVal_)); + + // Change Q + + numFracBits_ = r.numFracBits_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + rawVal_ = (BaseType)(((OverflowType)rawVal_ << numFracBits_) / ((OverflowType)r.rawVal_ >> (r.numFracBits_ - numFracBits_))); + // No need to change Q + } + return *this; + } + + /// \brief Overload for '%=' operator. + FpS& operator %= (FpS r) { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers + rawVal_ = rawVal_ % r.rawVal_; + // No need to change Q, both are the same + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + rawVal_ = (rawVal_ >> (numFracBits_ - r.numFracBits_)) % r.rawVal_; + // Change Q + numFracBits_ = r.numFracBits_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + rawVal_ = rawVal_ % (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + // No need to change Q + } + return *this; + } + + //===============================================================================================// + //==================================== SIMPLE ARITHMETIC OPERATORS ==============================// + //===============================================================================================// + + /// \brief Overload for '+' operator. + /// \details Uses '+=' operator. + FpS operator + (FpS r) const { + FpS x = *this; + x += r; + return x; + } + + /// \brief Overload for '-' operator. + /// \details Uses '-=' operator. + FpS operator - (FpS r) const { + FpS x = *this; + x -= r; + return x; + } + + /// \brief Overload for '*' operator. + /// \details Uses '*=' operator. + FpS operator * (FpS r) const { + FpS x = *this; + x *= r; + return x; + } + + /// \brief Overload for '/' operator. + /// \details Uses '/=' operator. + FpS operator / (FpS r) const { + FpS x = *this; + x /= r; + return x; + } + + /// \brief Overload for '%' operator. + /// \details Uses '%=' operator. + FpS operator % (FpS r) const { + FpS x = *this; + x %= r; + return x; + } + + //===============================================================================================// + //====================================== COMPARISON OVERLOADS ===================================// + //===============================================================================================// + + /// \brief Overload for the '==' operator. + bool operator == (FpS r) const { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers + return rawVal_ == r.rawVal_; + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + return (rawVal_ >> (numFracBits_ - r.numFracBits_)) == r.rawVal_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + return rawVal_ == (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + } + } + + /// \brief Overload for the '!=' operator. + bool operator != (FpS r) const { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers + return rawVal_ != r.rawVal_; + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + return (rawVal_ >> (numFracBits_ - r.numFracBits_)) != r.rawVal_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + return rawVal_ != (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + } + } + + /// \brief Overload for the '<' operator. + bool operator < (FpS r) const { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers + return rawVal_ < r.rawVal_; + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + return (rawVal_ >> (numFracBits_ - r.numFracBits_)) < r.rawVal_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + return rawVal_ < (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + } + } + + /// \brief Overload for the '>' operator. + bool operator > (FpS r) const { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers + return rawVal_ > r.rawVal_; + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + return (rawVal_ >> (numFracBits_ - r.numFracBits_)) > r.rawVal_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + return rawVal_ > (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + } + } + + /// \brief Overload for the '<=' operator. + bool operator <= (FpS r) const { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers + return rawVal_ <= r.rawVal_; + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + return (rawVal_ >> (numFracBits_ - r.numFracBits_)) <= r.rawVal_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + return rawVal_ <= (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + } + } + + /// \brief Overload for the '>=' operator. + bool operator >= (FpS r) const { + // Optimised for when numFracBits_ is the same for both + // operators (first if statement). + if(numFracBits_ == r.numFracBits_) { + // Q the same for both numbers + return rawVal_ >= r.rawVal_; + } else if(numFracBits_ > r.numFracBits_) { + // Second number has smaller Q, so result is in that precision + return (rawVal_ >> (numFracBits_ - r.numFracBits_)) >= r.rawVal_; + } else { // numFracBits_ < r.numFracBits_ + // First number has smaller Q, so result is in that precision + return rawVal_ >= (r.rawVal_ >> (r.numFracBits_ - numFracBits_)); + } + } + + //===============================================================================================// + //======================================= CONVERSION METHODS ====================================// + //===============================================================================================// + + /// \brief Converts the fixed-point number into an integer. + /// \details Always rounds to negative infinity (66.3 becomes 66, -66.3 becomes -67). + /// \tparam IntType The return integer type. + template + IntType ToInt() const { + // Right-shift to get rid of all the decimal bits + // This rounds towards negative infinity + return (IntType)(rawVal_ >> numFracBits_); + } + + /// \brief Converts the fixed-point number to a float. + float ToFloat() const { + return (float)rawVal_ / (float)((BaseType)1 << numFracBits_); + } + + /// \brief Converts the fixed-point number to a double. + double ToDouble() const { + return (double)rawVal_ / (double)((BaseType)1 << numFracBits_); + } + + // Explicit Conversion Operator Overloads (casts) + + /// \brief Conversion operator from fixed-point to int32_t. + operator int32_t() const { + return ToInt(); + } + + /// \brief Conversion operator from fixed-point to int64_t. + operator int64_t() const { + return ToInt(); + } + + /// \brief Conversion operator from fixed-point to float. + /// \note Similar to double conversion. + operator float() const { + return ToFloat(); + } + + /// \brief Conversion operator from fixed-point to double. + /// \note Similar to float conversion. + operator double() const { + return ToDouble(); + } + + //===============================================================================================// + //====================================== STRING/STREAM RELATED ==================================// + //===============================================================================================// + + /// \brief Converts the fixed-point number into a string representation, using a fixed-point->double->string + /// conversion process. + + private: + + /// \brief The fixed-point number is stored in this basic data type. + BaseType rawVal_; + + /// \brief This stores the number of fractional bits (specified in the + /// constructor). + uint8_t numFracBits_; + +}; // class FpS + +//===============================================================================================// +//========================================= SPECIALIZATIONS =====================================// +//===============================================================================================// + +using FpS8 = FpS; +using FpS16 = FpS; +using FpS32 = FpS; +using FpS64 = FpS; // Not protected from overflow! + +} // namespace MFixedPoint +} // namespace mn + +#endif // #ifndef MN_MFIXEDPOINT_FPS_H + +// EOF From fd09513d739ca5293ec34a6dcbfc4a7a047b7647 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Fri, 5 Jun 2020 16:19:27 +0200 Subject: [PATCH 04/11] NanoMotorCarrier: add battery charge API --- src/MotorController.cpp | 38 ++++++++++++++++++++++++++++++++++++++ src/MotorController.h | 3 +++ 2 files changed, 41 insertions(+) diff --git a/src/MotorController.cpp b/src/MotorController.cpp index 871812a..2d30a96 100644 --- a/src/MotorController.cpp +++ b/src/MotorController.cpp @@ -18,6 +18,13 @@ #include "Common.h" #include "Wire.h" +#define PMIC_ADDRESS 0x6B +#define PMIC_REG00 0x00 +#define PMIC_REG01 0x01 +#define PMIC_REG02 0x02 +#define PMIC_REG04 0x04 +#define PMIC_REG05 0x05 + String mc::MotorController::getFWVersion() { char ret[5]; getData(GET_VERSION, (uint8_t*)ret); @@ -42,6 +49,14 @@ float mc::MotorController::getTemperature() { int mc::MotorController::begin() { Wire.begin(); + + // PMIC initialization raw APIs: are sused to initialize the + // PMIC when used with nano 33 iot +#ifdef ARDUINO_SAMD_NANO_33_IOT + Serial.println("Board: Nano 33 IoT"); + enable_battery_charging(); + Serial.println("Charging enabled...."); +#endif String version = getFWVersion(); if (version.c_str()[0] == '0') { return 1; @@ -59,4 +74,27 @@ int mc::MotorController::getFreeRam() { int ret; getData(GET_FREE_RAM, (uint8_t*)&ret); return ret; +} + +void mc::MotorController::enable_battery_charging() { + Wire.beginTransmission(PMIC_ADDRESS); + Wire.write(PMIC_REG00); + Wire.write(0x06); // min sys voltage 3.88V + max input current 2.0 A + Wire.endTransmission(); + Wire.beginTransmission(PMIC_ADDRESS); + Wire.write(PMIC_REG01); + Wire.write(0x1B); // Charge Battery + Minimum System Voltage 3.5V + Wire.endTransmission(); + Wire.beginTransmission(PMIC_ADDRESS); + Wire.write(PMIC_REG02); + Wire.write(0x00); // Charge current 512 mA + Wire.endTransmission(); + Wire.beginTransmission(PMIC_ADDRESS); + Wire.write(PMIC_REG04); + Wire.write(0x9E); // Charge Voltage Limit 4.128V + Wire.endTransmission(); + Wire.beginTransmission(PMIC_ADDRESS); + Wire.write(PMIC_REG05); + Wire.write(0x8A); // Enable Battery Charge termination + disable watchdog + Wire.endTransmission(); } \ No newline at end of file diff --git a/src/MotorController.h b/src/MotorController.h index e9b0a2d..f03a024 100644 --- a/src/MotorController.h +++ b/src/MotorController.h @@ -32,6 +32,9 @@ class MotorController { uint8_t getIrqStatus(); int getFreeRam(); volatile uint8_t irq_status; + private: + void enable_battery_charging(); + }; } From 592490fe84821f61299d3a827ba61a1cb4072b05 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Fri, 5 Jun 2020 16:22:04 +0200 Subject: [PATCH 05/11] Add support for Nano pinmuxing --- extras/D11-Firmware/Battery.cpp | 5 +++++ extras/D11-Firmware/Common.h | 25 ++++++++++++++++++------- extras/D11-Firmware/config.h | 3 +++ src/Common.h | 7 +++++++ 4 files changed, 33 insertions(+), 7 deletions(-) create mode 100644 extras/D11-Firmware/config.h diff --git a/extras/D11-Firmware/Battery.cpp b/extras/D11-Firmware/Battery.cpp index 40a3ea3..9f2007d 100644 --- a/extras/D11-Firmware/Battery.cpp +++ b/extras/D11-Firmware/Battery.cpp @@ -1,8 +1,13 @@ #include "Battery.h" #include "Events.h" #include "Wire.h" +#include "config.h" +#ifdef NANO_MOTOR_CARRIER +#define SCALE_FACTOR (236) +#else #define SCALE_FACTOR (77) +#endif void Battery::readBattery() { index++; diff --git a/extras/D11-Firmware/Common.h b/extras/D11-Firmware/Common.h index c3e29aa..1e03715 100644 --- a/extras/D11-Firmware/Common.h +++ b/extras/D11-Firmware/Common.h @@ -41,12 +41,28 @@ enum IRQCause { #define LED_BUILTIN 3 #define MOTOR_2_COUNTER TC1 +#define MOTOR_1_COUNTER TC2 + +#include "config.h" +#ifdef NANO_MOTOR_CARRIER +#define MOTOR_2_PIN_A 5 +#define MOTOR_2_PIN_B 4 +#define MOTOR_1_PIN_A 6 +#define MOTOR_1_PIN_B 7 +#define ENCODER_1_PIN_A 8 +#define ENCODER_1_PIN_B 9 +#define ENCODER_2_PIN_A 11 +#define ENCODER_2_PIN_B 10 +#else #define MOTOR_2_PIN_A 4 #define MOTOR_2_PIN_B 5 - -#define MOTOR_1_COUNTER TC2 #define MOTOR_1_PIN_A 7 #define MOTOR_1_PIN_B 6 +#define ENCODER_1_PIN_A 9 +#define ENCODER_1_PIN_B 8 +#define ENCODER_2_PIN_A 10 +#define ENCODER_2_PIN_B 11 +#endif #define PWM_PIN_SERVO_COUNTER TCC0 @@ -55,9 +71,4 @@ enum IRQCause { #define PWM_PIN_SERVO_3 16 #define PWM_PIN_SERVO_4 22 -#define ENCODER_1_PIN_A 9 -#define ENCODER_1_PIN_B 8 -#define ENCODER_2_PIN_A 10 -#define ENCODER_2_PIN_B 11 - void requestAttention(int cause); diff --git a/extras/D11-Firmware/config.h b/extras/D11-Firmware/config.h new file mode 100644 index 0000000..3896279 --- /dev/null +++ b/extras/D11-Firmware/config.h @@ -0,0 +1,3 @@ +// uncomment to compile for nano motor carrier + +// #define NANO_MOTOR_CARRIER \ No newline at end of file diff --git a/src/Common.h b/src/Common.h index adabcf6..784e203 100644 --- a/src/Common.h +++ b/src/Common.h @@ -53,10 +53,17 @@ enum IRQCause { #define I2C_ADDRESS 0x66 #define IRQ_PIN 6 +#ifdef ARDUINO_SAMD_NANO_33_IOT +#define MOTOR_3_PIN_A 2 +#define MOTOR_3_PIN_B 3 +#define MOTOR_4_PIN_A 5 +#define MOTOR_4_PIN_B 4 +#else #define MOTOR_3_PIN_A 3 #define MOTOR_3_PIN_B 2 #define MOTOR_4_PIN_A 4 #define MOTOR_4_PIN_B 5 +#endif #ifdef ARDUINO_SAMD_NANO_33_IOT From 0b1580d9eaf99df85f5db537488c47e39304fe4a Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Fri, 5 Jun 2020 16:23:31 +0200 Subject: [PATCH 06/11] Update fw version to 0.20 --- extras/D11-Firmware/D11-Firmware.ino | 2 +- keywords.txt | 6 +++--- library.properties | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/extras/D11-Firmware/D11-Firmware.ino b/extras/D11-Firmware/D11-Firmware.ino index 8ac986a..ab3035b 100644 --- a/extras/D11-Firmware/D11-Firmware.ino +++ b/extras/D11-Firmware/D11-Firmware.ino @@ -14,7 +14,7 @@ // compile me with target arduino:samd:mkrmotorshield:bootloader=0kb,pinmap=complete,lto=disabled during development // compile me with target arduino:samd:mkrmotorshield:bootloader=4kb,pinmap=complete,lto=enabled for release -const char* FW_VERSION = "0.11"; +const char* FW_VERSION = "0.20"; DCMotor* dcmotors[2]; ServoMotor* servos[4]; diff --git a/keywords.txt b/keywords.txt index a038273..7f7d576 100644 --- a/keywords.txt +++ b/keywords.txt @@ -1,6 +1,6 @@ -####################################### -# Syntax Coloring Map For MKR Motor Shield -####################################### +################################################# +# Syntax Coloring Map For Arduino Motor Carrier +################################################# ####################################### # Datatypes (KEYWORD1) diff --git a/library.properties b/library.properties index 5784350..e33d348 100644 --- a/library.properties +++ b/library.properties @@ -1,9 +1,9 @@ name=ArduinoMotorCarrier -version=1.0.5 +version=2.0.0 author=Arduino maintainer=Arduino -sentence=Allows to use the Arduino Motor shields -paragraph=Allows to use the Arduino Motor shields +sentence=Allows to use the Arduino Motor Carrier +paragraph=Allows to use the Arduino Motor Carrier category=Signal Input/Output url=http://www.arduino.cc/en/Reference/ architectures=samd From 96cbbf908a55652c01d2ca4f7a1d95bde2b024fe Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Wed, 10 Jun 2020 15:42:20 +0200 Subject: [PATCH 07/11] TEST: don't change pinmux on NanoCarrier --- extras/D11-Firmware/Common.h | 1 - 1 file changed, 1 deletion(-) diff --git a/extras/D11-Firmware/Common.h b/extras/D11-Firmware/Common.h index 1e03715..e175f5a 100644 --- a/extras/D11-Firmware/Common.h +++ b/extras/D11-Firmware/Common.h @@ -43,7 +43,6 @@ enum IRQCause { #define MOTOR_2_COUNTER TC1 #define MOTOR_1_COUNTER TC2 -#include "config.h" #ifdef NANO_MOTOR_CARRIER #define MOTOR_2_PIN_A 5 #define MOTOR_2_PIN_B 4 From bc8cab4aba3c0dd4b30109bb682c0c6b8d2adcf4 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Wed, 10 Jun 2020 16:00:15 +0200 Subject: [PATCH 08/11] Provide a single version of the flasher --- examples/Flasher/Flasher.ino | 12 +- examples/Flasher/fw.h | 967 ------------------------------ examples/Flasher/fw_mkr.h | 958 +++++++++++++++++++++++++++++ examples/Flasher/fw_nano.h | 958 +++++++++++++++++++++++++++++ examples/Nano/Flasher/Flasher.ino | 123 ---- examples/Nano/Flasher/fw.h | 967 ------------------------------ 6 files changed, 1926 insertions(+), 2059 deletions(-) delete mode 100644 examples/Flasher/fw.h create mode 100644 examples/Flasher/fw_mkr.h create mode 100644 examples/Flasher/fw_nano.h delete mode 100644 examples/Nano/Flasher/Flasher.ino delete mode 100644 examples/Nano/Flasher/fw.h diff --git a/examples/Flasher/Flasher.ino b/examples/Flasher/Flasher.ino index e33eb43..3413ebc 100644 --- a/examples/Flasher/Flasher.ino +++ b/examples/Flasher/Flasher.ino @@ -1,5 +1,5 @@ /* - STANDALONE FIRMWARE UPDATE FOR MKR Motor Shiuld + STANDALONE FIRMWARE UPDATE FOR Arduino Motor Carrier To generate a new firmware, compile D11-Firmware with target MKRMotorShield, 4KB bootloader, LTO enabled, pinmap complete and execute @@ -8,9 +8,14 @@ */ #include "Wire.h" -#include "fw.h" #include "ArduinoMotorCarrier.h" +#ifdef ARDUINO_SAMD_NANO_33_IOT +#include "fw_nano.h" +#else +#include "fw_mkr.h" +#endif + #define I2C_ADDRESS 0x09 void setDataRunning(int cmd, uint8_t target, int data) { @@ -52,6 +57,9 @@ void setup() { Serial.println("Reset D11"); setDataRunning(RESET, 0, 0); delay(10); + } else { + // TODO: on NanoMotorCarrier we have the change to forcefully reset the D11; do it now if it is unresponsive + } // reset running D11 diff --git a/examples/Flasher/fw.h b/examples/Flasher/fw.h deleted file mode 100644 index b772741..0000000 --- a/examples/Flasher/fw.h +++ /dev/null @@ -1,967 +0,0 @@ -const unsigned char D11_Firmware_ino_bin[] = { - 0x00, 0x10, 0x00, 0x20, 0xad, 0x26, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, - 0xe1, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 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0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xb5, 0x10, 0x00, 0x00, 0x89, 0x27, 0x00, 0x00, + 0x8d, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 +}; +unsigned int D11_Firmware_ino_bin_len = 11460; diff --git a/examples/Flasher/fw_nano.h b/examples/Flasher/fw_nano.h new file mode 100644 index 0000000..ff7f505 --- /dev/null +++ b/examples/Flasher/fw_nano.h @@ -0,0 +1,958 @@ +const unsigned char D11_Firmware_ino_bin[] = { + 0x00, 0x10, 0x00, 0x20, 0x45, 0x26, 0x00, 0x00, 0x39, 0x16, 0x00, 0x00, + 0x25, 0x16, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x39, 0x16, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x39, 0x16, 0x00, 0x00, + 0x29, 0x16, 0x00, 0x00, 0x39, 0x16, 0x00, 0x00, 0x39, 0x16, 0x00, 0x00, + 0x39, 0x16, 0x00, 0x00, 0x39, 0x16, 0x00, 0x00, 0x3b, 0x16, 0x00, 0x00, + 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0x3f, 0x20, 0x00, 0x00, 0xff, 0x06, 0x10, 0xff, 0x00, 0x0f, 0x11, 0x04, + 0x3f, 0x38, 0x00, 0x00, 0x19, 0x07, 0x01, 0xff, 0x00, 0x10, 0x11, 0x06, + 0x1f, 0x18, 0x00, 0x00, 0x02, 0xff, 0x00, 0xff, 0x00, 0x11, 0x11, 0x06, + 0x1f, 0x18, 0x00, 0x00, 0x03, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x16, 0x11, 0x06, + 0x1f, 0x18, 0x00, 0x00, 0x00, 0xff, 0x06, 0xff, 0x00, 0x17, 0x11, 0x06, + 0x0f, 0x18, 0x00, 0x00, 0x01, 0xff, 0xff, 0xff, 0x00, 0x18, 0x11, 0x04, + 0x0f, 0x40, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x19, 0x11, 0x04, + 0x0f, 0x40, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x1b, 0x11, 0x04, + 0x0f, 0x00, 0x00, 0x00, 0xff, 0xff, 0x07, 0xff, 0x00, 0x1c, 0x11, 0x04, + 0x0f, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0x00, 0x1e, 0x11, 0x05, + 0x0f, 0x38, 0x00, 0x00, 0x28, 0xff, 0xff, 0xff, 0x00, 0x1f, 0x11, 0x05, + 0x1f, 0x38, 0x00, 0x00, 0x29, 0xff, 0x03, 0xff, 0x30, 0x2e, 0x32, 0x30, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xe4, 0xfc, 0xff, 0x7f, + 0x01, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x40, 0x42, 0x0f, 0x00, + 0x0c, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, + 0x00, 0x00, 0x00, 0x00, 0xb5, 0x10, 0x00, 0x00, 0x89, 0x27, 0x00, 0x00, + 0x8d, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 +}; +unsigned int D11_Firmware_ino_bin_len = 11460; diff --git a/examples/Nano/Flasher/Flasher.ino b/examples/Nano/Flasher/Flasher.ino deleted file mode 100644 index d81acd1..0000000 --- a/examples/Nano/Flasher/Flasher.ino +++ /dev/null @@ -1,123 +0,0 @@ -/* - STANDALONE FIRMWARE UPDATE FOR MKR Motor Shiuld - - To generate a new firmware, compile D11-Firmware with target MKRMotorShield, 4KB bootloader, LTO enabled, pinmap complete - and execute - - echo -n "const " > fw.h && xxd -i D11-Firmware.ino.bin >> fw.h -*/ - -#include "Wire.h" -#include "fw.h" -#include "MKRMotorCarrier.h" - -#define I2C_ADDRESS 0x09 - -void setDataRunning(int cmd, uint8_t target, int data) { - Wire.beginTransmission(0x66); - Wire.write((uint8_t)cmd); - Wire.write((uint8_t)target); - Wire.write(data); - Wire.endTransmission(); -} - - -void setup() { - // put your setup code here, to run once: - Wire.begin(); - Wire.setClock(1000000); - - Serial.begin(115200); - while (!Serial); - pinMode(6, OUTPUT); - digitalWrite(6, HIGH); - - int prev_address = -1; - - Wire.beginTransmission(0x66); - Wire.write((uint8_t)GET_VERSION); - Wire.write((uint8_t)0); - Wire.endTransmission(); - - Wire.requestFrom(0x66, 5); - Wire.read(); - - String version = ""; - - while (Wire.available()) { - version += (char)Wire.read(); - } - - if (version.c_str()[0] == '0') { - Serial.println("Reset D11"); - setDataRunning(RESET, 0, 0); - delay(10); - } - - // reset running D11 - Serial.println("Erase flash"); - - Wire.beginTransmission(I2C_ADDRESS); - Wire.write('r'); - Wire.endTransmission(); - - delay(500); - - Serial.println("Starting flash"); - - int address = 0; - while (address < (D11_Firmware_ino_bin_len + 0x1000)) { - int retry = 0; - do { - Wire.requestFrom(I2C_ADDRESS, 4); - uint8_t buf[4]; - int k = 0; - while (Wire.available()) { - buf[k++] = Wire.read(); - } - address = *(uint32_t*)buf; - delay(10); - } while (prev_address == address && retry++ < 5); - prev_address = address; - Serial.println(address); - - uint8_t crc = 0; - for (int j = 0; j < 64; j++) { - crc ^= D11_Firmware_ino_bin[address - 0x1000 + j]; - } - - Serial.println(crc, HEX); - - Wire.beginTransmission(I2C_ADDRESS); - Wire.write('w'); - Wire.write(crc); - Wire.write(&D11_Firmware_ino_bin[address - 0x1000], 64); - Wire.endTransmission(); - } - - Serial.println("Booting FW"); - Wire.beginTransmission(I2C_ADDRESS); - Wire.write('x'); - Wire.endTransmission(); - - delay(1000); - - Wire.beginTransmission(0x66); - Wire.write((uint8_t)GET_VERSION); - Wire.write((uint32_t)0); - Wire.endTransmission(); - - Wire.requestFrom(0x66, 5); - Wire.read(); - - Serial.print("New version: "); - while (Wire.available()) { - Serial.print((char)Wire.read()); - } - Serial.println(); -} - -void loop() { - // put your main code here, to run repeatedly: - -} diff --git a/examples/Nano/Flasher/fw.h b/examples/Nano/Flasher/fw.h deleted file mode 100644 index b772741..0000000 --- a/examples/Nano/Flasher/fw.h +++ /dev/null @@ -1,967 +0,0 @@ -const unsigned char D11_Firmware_ino_bin[] = { - 0x00, 0x10, 0x00, 0x20, 0xad, 0x26, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, - 0xe1, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, - 0xe5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, - 0xf5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, 0xf7, 0x15, 0x00, 0x00, - 0xf5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xf5, 0x15, 0x00, 0x00, 0x7d, 0x16, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, - 0xf5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, - 0xf5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, - 0xf5, 0x15, 0x00, 0x00, 0xf5, 0x15, 0x00, 0x00, 0x10, 0xb5, 0x06, 0x4c, - 0x23, 0x78, 0x00, 0x2b, 0x07, 0xd1, 0x05, 0x4b, 0x00, 0x2b, 0x02, 0xd0, - 0x04, 0x48, 0x00, 0xe0, 0x00, 0xbf, 0x01, 0x23, 0x23, 0x70, 0x10, 0xbd, - 0x80, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00, 0xa0, 0x3c, 0x00, 0x00, - 0x04, 0x4b, 0x10, 0xb5, 0x00, 0x2b, 0x03, 0xd0, 0x03, 0x49, 0x04, 0x48, - 0x00, 0xe0, 0x00, 0xbf, 0x10, 0xbd, 0xc0, 0x46, 0x00, 0x00, 0x00, 0x00, - 0x84, 0x00, 0x00, 0x20, 0xa0, 0x3c, 0x00, 0x00, 0xc0, 0x23, 0x02, 0x68, - 0x9b, 0x02, 0x11, 0x68, 0xc9, 0x06, 0x49, 0x0f, 0x05, 0x29, 0x07, 0xd1, - 0x51, 0x68, 0x0b, 0x43, 0x53, 0x60, 0x02, 0x68, 0xd3, 0x69, 0x5b, 0x07, - 0xfc, 0xd4, 0x70, 0x47, 0x51, 0x68, 0x0b, 0x43, 0x53, 0x60, 0xfa, 0xe7, - 0xf0, 0xb5, 0x03, 0x00, 0x1f, 0x28, 0x00, 0xd9, 0xbf, 0xe0, 0x0c, 0x22, - 0x42, 0x43, 0x60, 0x4c, 0xa2, 0x18, 0x56, 0x68, 0xd5, 0x78, 0x92, 0x78, - 0xff, 0x2a, 0x00, 0xd1, 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0xf8, 0xbc, 0x08, 0xbc, 0x9e, 0x46, 0x70, 0x47, - 0x00, 0x14, 0x00, 0x42, 0x00, 0x18, 0x00, 0x42, 0x00, 0x1c, 0x00, 0x42, - 0x11, 0x12, 0x12, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xf9, 0x17, 0x00, 0x00, 0xc1, 0x17, 0x00, 0x00, 0x2d, 0x18, 0x00, 0x00, - 0xa1, 0x17, 0x00, 0x00, 0x73, 0x16, 0x00, 0x00, 0xb7, 0x17, 0x00, 0x00, - 0xa3, 0x17, 0x00, 0x00, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x02, 0x11, 0x04, 0x7f, 0x00, 0x00, 0x00, - 0xff, 0x00, 0x02, 0xff, 0x00, 0x03, 0x11, 0x04, 0xaf, 0x00, 0x00, 0x00, - 0xff, 0x01, 0xff, 0xff, 0x00, 0x04, 0x11, 0x04, 0x3f, 0x18, 0x00, 0x00, - 0x18, 0x02, 0x04, 0xff, 0x00, 0x05, 0x11, 0x04, 0x3f, 0x18, 0x00, 0x00, - 0x19, 0x03, 0x05, 0xff, 0x00, 0x06, 0x11, 0x05, 0x2f, 0x38, 0x00, 0x00, - 0x28, 0x04, 0xff, 0xff, 0x00, 0x07, 0x11, 0x05, 0x3f, 0x38, 0x00, 0x00, - 0x29, 0x05, 0x07, 0xff, 0x00, 0x08, 0x11, 0x04, 0x1f, 0x00, 0x00, 0x00, - 0xff, 0xff, 0x06, 0xff, 0x00, 0x09, 0x11, 0x04, 0x1f, 0x00, 0x00, 0x00, - 0xff, 0xff, 0x07, 0xff, 0x00, 0x0a, 0x11, 0x04, 0x1f, 0x00, 0x00, 0x00, - 0xff, 0xff, 0x02, 0xff, 0x00, 0x0b, 0x11, 0x04, 0x1f, 0x00, 0x00, 0x00, - 0xff, 0xff, 0x03, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x0e, 0x11, 0x04, 0x3f, 0x20, 0x00, 0x00, - 0xff, 0x06, 0x10, 0xff, 0x00, 0x0f, 0x11, 0x04, 0x3f, 0x38, 0x00, 0x00, - 0x19, 0x07, 0x01, 0xff, 0x00, 0x10, 0x11, 0x06, 0x1f, 0x18, 0x00, 0x00, - 0x02, 0xff, 0x00, 0xff, 0x00, 0x11, 0x11, 0x06, 0x1f, 0x18, 0x00, 0x00, - 0x03, 0xff, 0x00, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x16, 0x11, 0x06, 0x1f, 0x18, 0x00, 0x00, - 0x00, 0xff, 0x06, 0xff, 0x00, 0x17, 0x11, 0x06, 0x0f, 0x18, 0x00, 0x00, - 0x01, 0xff, 0xff, 0xff, 0x00, 0x18, 0x11, 0x04, 0x0f, 0x40, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x19, 0x11, 0x04, 0x0f, 0x40, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x1b, 0x11, 0x04, 0x0f, 0x00, 0x00, 0x00, - 0xff, 0xff, 0x07, 0xff, 0x00, 0x1c, 0x11, 0x04, 0x0f, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xff, 0xff, 0xff, 0xff, 0x00, 0x1e, 0x11, 0x05, 0x0f, 0x38, 0x00, 0x00, - 0x28, 0xff, 0xff, 0xff, 0x00, 0x1f, 0x11, 0x05, 0x1f, 0x38, 0x00, 0x00, - 0x29, 0xff, 0x03, 0xff, 0x30, 0x2e, 0x31, 0x31, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0xf8, 0xfc, 0xff, 0x7f, 0x01, 0x00, 0x00, 0x00, - 0x08, 0x00, 0x00, 0x00, 0x40, 0x42, 0x0f, 0x00, 0x0c, 0x00, 0x00, 0x20, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, - 0xb5, 0x10, 0x00, 0x00, 0xf1, 0x27, 0x00, 0x00, 0x8d, 0x10, 0x00, 0x00, - 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 -}; -unsigned int D11_Firmware_ino_bin_len = 11564; From b4309450bc34158d1660a83d23921cecbca164c6 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Wed, 17 Jun 2020 14:28:57 +0200 Subject: [PATCH 09/11] Revert "TEST: don't change pinmux on NanoCarrier" This reverts commit 96cbbf908a55652c01d2ca4f7a1d95bde2b024fe. --- extras/D11-Firmware/Common.h | 1 + 1 file changed, 1 insertion(+) diff --git a/extras/D11-Firmware/Common.h b/extras/D11-Firmware/Common.h index e175f5a..1e03715 100644 --- a/extras/D11-Firmware/Common.h +++ b/extras/D11-Firmware/Common.h @@ -43,6 +43,7 @@ enum IRQCause { #define MOTOR_2_COUNTER TC1 #define MOTOR_1_COUNTER TC2 +#include "config.h" #ifdef NANO_MOTOR_CARRIER #define MOTOR_2_PIN_A 5 #define MOTOR_2_PIN_B 4 From 484c4e25491d4a28618dd2a667a201cf76722d57 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Wed, 17 Jun 2020 14:29:56 +0200 Subject: [PATCH 10/11] NanoMotorCarrier: only reverse Encoders --- extras/D11-Firmware/Common.h | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/extras/D11-Firmware/Common.h b/extras/D11-Firmware/Common.h index 1e03715..f4db3f1 100644 --- a/extras/D11-Firmware/Common.h +++ b/extras/D11-Firmware/Common.h @@ -43,21 +43,18 @@ enum IRQCause { #define MOTOR_2_COUNTER TC1 #define MOTOR_1_COUNTER TC2 +#define MOTOR_2_PIN_A 4 +#define MOTOR_2_PIN_B 5 +#define MOTOR_1_PIN_A 7 +#define MOTOR_1_PIN_B 6 + #include "config.h" #ifdef NANO_MOTOR_CARRIER -#define MOTOR_2_PIN_A 5 -#define MOTOR_2_PIN_B 4 -#define MOTOR_1_PIN_A 6 -#define MOTOR_1_PIN_B 7 #define ENCODER_1_PIN_A 8 #define ENCODER_1_PIN_B 9 #define ENCODER_2_PIN_A 11 #define ENCODER_2_PIN_B 10 #else -#define MOTOR_2_PIN_A 4 -#define MOTOR_2_PIN_B 5 -#define MOTOR_1_PIN_A 7 -#define MOTOR_1_PIN_B 6 #define ENCODER_1_PIN_A 9 #define ENCODER_1_PIN_B 8 #define ENCODER_2_PIN_A 10 From c32747ce0de37f19a6d83e97c5c3d54d94c4fec2 Mon Sep 17 00:00:00 2001 From: Martino Facchin Date: Thu, 18 Jun 2020 10:24:10 +0200 Subject: [PATCH 11/11] Update NanoMotorCarrier firmware --- examples/Flasher/fw_nano.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/Flasher/fw_nano.h b/examples/Flasher/fw_nano.h index ff7f505..5d9ac71 100644 --- a/examples/Flasher/fw_nano.h +++ b/examples/Flasher/fw_nano.h @@ -564,9 +564,9 @@ const unsigned char D11_Firmware_ino_bin[] = { 0x10, 0x20, 0xfe, 0xf7, 0x70, 0xfb, 0x0c, 0x20, 0xa6, 0x62, 0x00, 0xf0, 0xf5, 0xff, 0x00, 0x23, 0x06, 0x00, 0x32, 0x22, 0x16, 0x20, 0x73, 0x60, 0xb2, 0x60, 0x01, 0x21, 0x30, 0x60, 0xfe, 0xf7, 0x62, 0xfb, 0x20, 0x20, - 0xe6, 0x62, 0x00, 0xf0, 0xe7, 0xff, 0x06, 0x00, 0x01, 0x23, 0x0b, 0x22, - 0x0a, 0x21, 0xff, 0xf7, 0xc7, 0xfc, 0x20, 0x20, 0xa6, 0x63, 0x00, 0xf0, - 0xdd, 0xff, 0x00, 0x23, 0x09, 0x21, 0x08, 0x22, 0x04, 0x90, 0xff, 0xf7, + 0xe6, 0x62, 0x00, 0xf0, 0xe7, 0xff, 0x06, 0x00, 0x01, 0x23, 0x0a, 0x22, + 0x0b, 0x21, 0xff, 0xf7, 0xc7, 0xfc, 0x20, 0x20, 0xa6, 0x63, 0x00, 0xf0, + 0xdd, 0xff, 0x00, 0x23, 0x08, 0x21, 0x09, 0x22, 0x04, 0x90, 0xff, 0xf7, 0xbd, 0xfc, 0x04, 0x9a, 0x34, 0x20, 0xe2, 0x63, 0x00, 0xf0, 0xd2, 0xff, 0x00, 0x23, 0x31, 0x00, 0x32, 0x1d, 0x08, 0x31, 0x00, 0x93, 0x2b, 0x00, 0x05, 0x90, 0xff, 0xf7, 0xdf, 0xfb, 0x05, 0x9b, 0x34, 0x20, 0x23, 0x64,