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add designator to motordriver messages
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@wolfmanjm
wolfmanjm committed Apr 29, 2016
1 parent 3332442 commit 63b7731
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Showing 5 changed files with 33 additions and 30 deletions.
25 changes: 13 additions & 12 deletions src/modules/utils/motordrivercontrol/MotorDriverControl.cpp
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Original file line number Original file line Diff line number Diff line change
Expand Up @@ -70,23 +70,24 @@ void MotorDriverControl::on_module_loaded()


bool MotorDriverControl::config_module(uint16_t cs) bool MotorDriverControl::config_module(uint16_t cs)
{ {
spi_cs_pin.from_string(THEKERNEL->config->value( motor_driver_control_checksum, cs, spi_cs_pin_checksum)->by_default("nc")->as_string())->as_output();
if(!spi_cs_pin.connected()) {
THEKERNEL->streams->printf("MotorDriverControl ERROR: chip select not defined\n");
return false; // if not defined then we can't use this instance
}
spi_cs_pin.set(1);

std::string str= THEKERNEL->config->value( motor_driver_control_checksum, cs, designator_checksum)->by_default("")->as_string(); std::string str= THEKERNEL->config->value( motor_driver_control_checksum, cs, designator_checksum)->by_default("")->as_string();
if(str.empty()) { if(str.empty()) {
THEKERNEL->streams->printf("MotorDriverControl ERROR: designator not defined\n"); THEKERNEL->streams->printf("MotorDriverControl ERROR: designator not defined\n");
return false; // designator required return false; // designator required
} }
designator= str[0]; designator= str[0];


spi_cs_pin.from_string(THEKERNEL->config->value( motor_driver_control_checksum, cs, spi_cs_pin_checksum)->by_default("nc")->as_string())->as_output();
if(!spi_cs_pin.connected()) {
THEKERNEL->streams->printf("MotorDriverControl %c ERROR: chip select not defined\n", designator);
return false; // if not defined then we can't use this instance
}
spi_cs_pin.set(1);


str= THEKERNEL->config->value( motor_driver_control_checksum, cs, chip_checksum)->by_default("")->as_string(); str= THEKERNEL->config->value( motor_driver_control_checksum, cs, chip_checksum)->by_default("")->as_string();
if(str.empty()) { if(str.empty()) {
THEKERNEL->streams->printf("MotorDriverControl ERROR: chip type not defined\n"); THEKERNEL->streams->printf("MotorDriverControl %c ERROR: chip type not defined\n", designator);
return false; // chip type required return false; // chip type required
} }


Expand All @@ -96,14 +97,14 @@ bool MotorDriverControl::config_module(uint16_t cs)


if(str == "DRV8711") { if(str == "DRV8711") {
chip= DRV8711; chip= DRV8711;
drv8711= new DRV8711DRV(std::bind( &MotorDriverControl::sendSPI, this, _1, _2, _3)); drv8711= new DRV8711DRV(std::bind( &MotorDriverControl::sendSPI, this, _1, _2, _3), designator);


}else if(str == "TMC2660") { }else if(str == "TMC2660") {
chip= TMC2660; chip= TMC2660;
tmc26x= new TMC26X(std::bind( &MotorDriverControl::sendSPI, this, _1, _2, _3)); tmc26x= new TMC26X(std::bind( &MotorDriverControl::sendSPI, this, _1, _2, _3), designator);


}else{ }else{
THEKERNEL->streams->printf("MotorDriverControl ERROR: Unknown chip type: %s\n", str.c_str()); THEKERNEL->streams->printf("MotorDriverControl %c ERROR: Unknown chip type: %s\n", designator, str.c_str());
return false; return false;
} }


Expand All @@ -118,7 +119,7 @@ bool MotorDriverControl::config_module(uint16_t cs)
} else if(spi_channel == 1) { } else if(spi_channel == 1) {
mosi = P0_9; miso = P0_8; sclk = P0_7; mosi = P0_9; miso = P0_8; sclk = P0_7;
} else { } else {
THEKERNEL->streams->printf("MotorDriverControl ERROR: Unknown SPI Channel: %d\n", spi_channel); THEKERNEL->streams->printf("MotorDriverControl %c ERROR: Unknown SPI Channel: %d\n", designator, spi_channel);
return false; return false;
} }


Expand Down
14 changes: 7 additions & 7 deletions src/modules/utils/motordrivercontrol/drivers/DRV8711/drv8711.cpp
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Original file line number Original file line Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@
#define REGWRITE 0x00 #define REGWRITE 0x00
#define REGREAD 0x80 #define REGREAD 0x80


DRV8711DRV::DRV8711DRV(std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi) : spi(spi) DRV8711DRV::DRV8711DRV(std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi, char d) : spi(spi), designator(d)
{ {
error_reported.reset(); error_reported.reset();
} }
Expand Down Expand Up @@ -216,7 +216,7 @@ void DRV8711DRV::dump_status(StreamOutput *stream)
DRIVE_Register_t R_DRIVE_REG; DRIVE_Register_t R_DRIVE_REG;
STATUS_Register_t R_STATUS_REG; STATUS_Register_t R_STATUS_REG;


stream->printf("Register Dump:\n"); stream->printf("designator: %c, Register Dump:\n", designator);


// Read CTRL Register // Read CTRL Register
R_CTRL_REG.raw= ReadRegister(G_CTRL_REG.Address); R_CTRL_REG.raw= ReadRegister(G_CTRL_REG.Address);
Expand Down Expand Up @@ -332,7 +332,7 @@ bool DRV8711DRV::check_alarm()
R_STATUS_REG.raw= ReadRegister(G_STATUS_REG.Address); R_STATUS_REG.raw= ReadRegister(G_STATUS_REG.Address);


if(R_STATUS_REG.OTS) { if(R_STATUS_REG.OTS) {
if(!error_reported.test(0)) THEKERNEL->streams->printf("ERROR: Overtemperature shutdown\n"); if(!error_reported.test(0)) THEKERNEL->streams->printf("%c, ERROR: Overtemperature shutdown\n", designator);
error= true; error= true;
error_reported.set(0); error_reported.set(0);
}else{ }else{
Expand All @@ -341,7 +341,7 @@ bool DRV8711DRV::check_alarm()




if(R_STATUS_REG.AOCP) { if(R_STATUS_REG.AOCP) {
if(!error_reported.test(1)) THEKERNEL->streams->printf("ERROR: Channel A over current shutdown\n"); if(!error_reported.test(1)) THEKERNEL->streams->printf("%c, ERROR: Channel A over current shutdown\n", designator);
error= true; error= true;
error_reported.set(1); error_reported.set(1);
}else{ }else{
Expand All @@ -350,15 +350,15 @@ bool DRV8711DRV::check_alarm()




if(R_STATUS_REG.BOCP) { if(R_STATUS_REG.BOCP) {
if(!error_reported.test(2)) THEKERNEL->streams->printf("ERROR: Channel B over current shutdown\n"); if(!error_reported.test(2)) THEKERNEL->streams->printf("%c, ERROR: Channel B over current shutdown\n", designator);
error= true; error= true;
error_reported.set(2); error_reported.set(2);
}else{ }else{
error_reported.reset(2); error_reported.reset(2);
} }


if(R_STATUS_REG.APDF) { if(R_STATUS_REG.APDF) {
if(!error_reported.test(3)) THEKERNEL->streams->printf("ERROR: Channel A predriver fault\n"); if(!error_reported.test(3)) THEKERNEL->streams->printf("%c, ERROR: Channel A predriver fault\n", designator);
error= true; error= true;
error_reported.set(3); error_reported.set(3);
}else{ }else{
Expand All @@ -367,7 +367,7 @@ bool DRV8711DRV::check_alarm()




if(R_STATUS_REG.BPDF) { if(R_STATUS_REG.BPDF) {
if(!error_reported.test(4)) THEKERNEL->streams->printf("ERROR: Channel B predriver fault\n"); if(!error_reported.test(4)) THEKERNEL->streams->printf("%c, ERROR: Channel B predriver fault\n", designator);
error= true; error= true;
error_reported.set(4); error_reported.set(4);
}else{ }else{
Expand Down
4 changes: 2 additions & 2 deletions src/modules/utils/motordrivercontrol/drivers/DRV8711/drv8711.h
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Original file line number Original file line Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ class StreamOutput;
class DRV8711DRV class DRV8711DRV
{ {
public: public:
DRV8711DRV(std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi); DRV8711DRV(std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi, char designator);


void init(uint16_t cs) ; void init(uint16_t cs) ;


Expand Down Expand Up @@ -142,7 +142,7 @@ class DRV8711DRV
float resistor{0.05}; float resistor{0.05};
std::bitset<8> error_reported; std::bitset<8> error_reported;
uint8_t gain{20}; uint8_t gain{20};

char designator;


// float _amps; // float _amps;
// uint8_t _microstepreg; // uint8_t _microstepreg;
Expand Down
16 changes: 8 additions & 8 deletions src/modules/utils/motordrivercontrol/drivers/TMC26X/TMC26X.cpp
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Original file line number Original file line Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@
/* /*
* Constructor * Constructor
*/ */
TMC26X::TMC26X(std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi) : spi(spi) TMC26X::TMC26X(std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi, char d) : spi(spi), designator(d)
{ {
//we are not started yet //we are not started yet
started = false; started = false;
Expand Down Expand Up @@ -863,7 +863,7 @@ bool TMC26X::isCurrentScalingHalfed()
void TMC26X::dumpStatus(StreamOutput *stream, bool readable) void TMC26X::dumpStatus(StreamOutput *stream, bool readable)
{ {
if (readable) { if (readable) {
stream->printf("Chip type TMC26X\n"); stream->printf("designator %c, Chip type TMC26X\n", designator);


check_error_status_bits(stream); check_error_status_bits(stream);


Expand Down Expand Up @@ -966,30 +966,30 @@ bool TMC26X::check_error_status_bits(StreamOutput *stream)
readStatus(TMC26X_READOUT_POSITION); // get the status bits readStatus(TMC26X_READOUT_POSITION); // get the status bits


if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) { if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_PREWARING) {
if(!error_reported.test(0)) stream->printf("WARNING: Overtemperature Prewarning!\n"); if(!error_reported.test(0)) stream->printf("%c - WARNING: Overtemperature Prewarning!\n", designator);
error_reported.set(0); error_reported.set(0);
}else{ }else{
error_reported.reset(0); error_reported.reset(0);
} }


if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN) { if (this->getOverTemperature()&TMC26X_OVERTEMPERATURE_SHUTDOWN) {
if(!error_reported.test(1)) stream->printf("ERROR: Overtemperature Shutdown!\n"); if(!error_reported.test(1)) stream->printf("%c - ERROR: Overtemperature Shutdown!\n", designator);
error=true; error=true;
error_reported.set(1); error_reported.set(1);
}else{ }else{
error_reported.reset(1); error_reported.reset(1);
} }


if (this->isShortToGroundA()) { if (this->isShortToGroundA()) {
if(!error_reported.test(2)) stream->printf("ERROR: SHORT to ground on channel A!\n"); if(!error_reported.test(2)) stream->printf("%c - ERROR: SHORT to ground on channel A!\n", designator);
error=true; error=true;
error_reported.set(2); error_reported.set(2);
}else{ }else{
error_reported.reset(2); error_reported.reset(2);
} }


if (this->isShortToGroundB()) { if (this->isShortToGroundB()) {
if(!error_reported.test(3)) stream->printf("ERROR: SHORT to ground on channel B!\n"); if(!error_reported.test(3)) stream->printf("%c - ERROR: SHORT to ground on channel B!\n", designator);
error=true; error=true;
error_reported.set(3); error_reported.set(3);
}else{ }else{
Expand All @@ -998,15 +998,15 @@ bool TMC26X::check_error_status_bits(StreamOutput *stream)


// these seem to be triggered when moving so ignore them for now // these seem to be triggered when moving so ignore them for now
if (this->isOpenLoadA()) { if (this->isOpenLoadA()) {
if(!error_reported.test(4)) stream->printf("ERROR: Channel A seems to be unconnected!\n"); if(!error_reported.test(4)) stream->printf("%c - ERROR: Channel A seems to be unconnected!\n", designator);
error=true; error=true;
error_reported.set(4); error_reported.set(4);
}else{ }else{
error_reported.reset(4); error_reported.reset(4);
} }


if (this->isOpenLoadB()) { if (this->isOpenLoadB()) {
if(!error_reported.test(5)) stream->printf("ERROR: Channel B seems to be unconnected!\n"); if(!error_reported.test(5)) stream->printf("%c - ERROR: Channel B seems to be unconnected!\n", designator);
error=true; error=true;
error_reported.set(5); error_reported.set(5);
}else{ }else{
Expand Down
4 changes: 3 additions & 1 deletion src/modules/utils/motordrivercontrol/drivers/TMC26X/TMC26X.h
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Original file line number Original file line Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ class TMC26X
* You can select a different stepping with setMicrosteps() to aa different value. * You can select a different stepping with setMicrosteps() to aa different value.
* \sa start(), setMicrosteps() * \sa start(), setMicrosteps()
*/ */
TMC26X(std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi); TMC26X(std::function<int(uint8_t *b, int cnt, uint8_t *r)> spi, char designator);


/*! /*!
* \brief configures the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode. * \brief configures the TMC26X stepper driver. Before you called this function the stepper driver is in nonfunctional mode.
Expand Down Expand Up @@ -445,5 +445,7 @@ class TMC26X
}; };


uint8_t cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature uint8_t cool_step_lower_threshold; // we need to remember the threshold to enable and disable the CoolStep feature
char designator;

}; };


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