diff options
Diffstat (limited to 'kernel/code/libradiator.c')
| -rw-r--r-- | kernel/code/libradiator.c | 463 |
1 files changed, 463 insertions, 0 deletions
diff --git a/kernel/code/libradiator.c b/kernel/code/libradiator.c new file mode 100644 index 0000000..7baed2e --- /dev/null +++ b/kernel/code/libradiator.c @@ -0,0 +1,463 @@ +#include <stdio.h> +#include <fcntl.h> +#include <stdlib.h> +#include <stdint.h> +#include <errno.h> +#include <string.h> +#include <malloc.h> +#include <time.h> +#include <sys/time.h> +#include <sys/ioctl.h> +#include <linux/cp210x.h> +#include <sys/termios.h> + +#include "radiator.h" + + + + + +/* + * bit 0: 1 left leg NPN base + * bit 1: 2 left leg PNP base + * bit 2: 4 right leg PNP base + * bit 3: 8 right leg NPN base + */ + +#define LEFT_NPN_OFF 0 +#define LEFT_NPN_ON 1 +#define LEFT_PNP_OFF 2 +#define LEFT_PNP_ON 0 + +#define LEFT_LOW (LEFT_NPN_ON | LEFT_PNP_OFF) +#define LEFT_HI (LEFT_NPN_OFF | LEFT_PNP_ON) +#define LEFT_OFF (LEFT_NPN_OFF | LEFT_PNP_OFF) + +#define RIGHT_NPN_OFF 0 +#define RIGHT_NPN_ON 8 +#define RIGHT_PNP_OFF 4 +#define RIGHT_PNP_ON 0 + + +#define RIGHT_LOW (RIGHT_NPN_ON | RIGHT_PNP_OFF) +#define RIGHT_HI (RIGHT_NPN_OFF | RIGHT_PNP_ON) +#define RIGHT_OFF (RIGHT_NPN_OFF | RIGHT_PNP_OFF) + +#define BRAKE (RIGHT_LOW | LEFT_LOW) +#define FORWARDS (RIGHT_LOW | LEFT_HI) +#define BACKWARDS (RIGHT_HI | LEFT_LOW) +#define OFF (RIGHT_OFF| LEFT_OFF) + +#define TIMEOUT 750000 /*75ms */ +#define RUN_IN 50 +#define RELEASE_TENSION 10 + +static int brake_motor(int fd) +{ + int i=BRAKE; + printf (" Motor braking\n"); + return ioctl (fd, CPIOC_GPIOSET, &i); +} + +static int +drive_motor (int fd, int dir) +{ + int i; + + if (dir > 0) + { + printf (" Motor forwards\n"); + i = FORWARDS; + } + else if (dir < 0) + { + printf (" Motor backwards\n"); + i = BACKWARDS; + } + else + { + printf (" Motor off\n"); + i = OFF; + } + + + return ioctl (fd, CPIOC_GPIOSET, &i); +} + +static int +sensor_led_power (int fd, int on) +{ + int i = TIOCM_DTR; + + printf (" Rotation sensor power %s\n", on ? "on" : "off"); + + return ioctl (fd, on ? TIOCMBIS : TIOCMBIC, &i); +} + + +#if 0 +static int +count_steps (int fd, int count) +{ + struct timeval tv, tv_changed, tv_diff; + int cts, old_cts = -1; + int counted = 0; + + printf (" Counting %d steps", count); + + gettimeofday (&tv_changed, NULL); + + while (count) + { + ioctl (fd, TIOCMGET, &cts); + cts &= TIOCM_CTS; + + if (cts != old_cts) + { + if (cts) + { + counted++; + count--; + printf ("."); + fflush (stdout); + } + gettimeofday (&tv_changed, NULL); + old_cts = cts; + } + gettimeofday (&tv, NULL); + timersub (&tv, &tv_changed, &tv_diff); + + if (tv_diff.tv_sec || (tv_diff.tv_usec > TIMEOUT)) + break; + + } + + printf ("%d steps\n", counted); + return counted; +} +#else +count_steps (int fd, int count) +{ + int counted = 0; + struct timeval tv; + char buf[128]; + int i; + fd_set rfds; + + printf (" Counting %d steps", count); + +FD_ZERO(&rfds); + +tcflush(fd,TCIFLUSH); + + + while (count) + { + tv.tv_sec=0; + tv.tv_usec=TIMEOUT; + FD_SET(fd,&rfds); + + if (!select(fd+1,&rfds,NULL,NULL,&tv)) break; + + i=read(fd,buf,sizeof(buf)); + if (i<0) continue; + + counted+=i; + if (count>0) { + count-=i; + if (count<0) count=0; + } + + printf ("."); + fflush (stdout); + } + + printf ("%d steps\n", counted); + return counted; +} +#endif + + + + +static int +drive_motor_count (Radiator * r, int dir, int steps) +{ + int s1, s2, ret; + + sensor_led_power (r->fd, 1); + drive_motor (r->fd, dir); + s1 = count_steps (r->fd, steps); + if (s1 != steps) { + printf (" Hit end stop\n"); + drive_motor (r->fd, 0); + } else { + brake_motor(r->fd); + } + s2 = count_steps (r->fd, -1); + sensor_led_power (r->fd, 0); + drive_motor (r->fd, 0); + + /*did we hit an end stop? */ + if (s1 != steps) + ret = s1 - s2; + else + ret = s1 + s2; + + printf (" %d steps under power (of %d), %d steps coasting -> %d steps\n", + s1, steps, s2, ret); + + r->pos += ret * dir; + + /*Recalibrate our notion of ends */ + + if (s1 != steps) + { + if (dir == -1) + { + r->pos = 0; + } + else + { + r->max = r->pos; + } + } + + return ret; +} + + + + +int +radiator_set_pos (Radiator * r, int wanted) +{ + int guard, delta; + + delta = wanted - r->pos; + printf ("Now at %d want %d, delta %d\n", r->pos, wanted, delta); + + if (wanted == 0) + { + drive_motor_count (r, -1, -1); + return 0; + } + else if (r->max && (wanted >= r->max)) + { + drive_motor_count (r, 1, -1); + return 0; + } + + + guard = r->overshoot * 3; + + if ((delta > -guard) && (delta < guard)) + { + printf ("Too close\n"); + + drive_motor_count (r, (r->pos > r->half) ? -1 : 1, RUN_IN); + + delta = wanted - r->pos; + printf ("Now at %d want %d, delta %d\n", r->pos, wanted, delta); + } + + + if (delta < 0) + { + drive_motor_count (r, -1, (-delta) - r->overshoot); + } + else if (delta > 0) + { + drive_motor_count (r, 1, delta - r->overshoot); + } + + printf ("Wanted %d, got %d\n", wanted, r->pos); + + return 0; +} + +int +radiator_calibrate (Radiator * r) +{ + radiator_set_pos (r, 0); + + drive_motor_count (r, 1, RUN_IN); + + r->overshoot = r->pos - RUN_IN; +} + + +static int utf16(uint8_t *dst,uint8_t *src) +{ +int len=0; + + +while (*src) { + *(dst++)=*(src++); + len+=2; + *(dst++)=0; +} + +return len; +} + + +static void make_usb_descriptor(uint8_t *dst,uint8_t *src) +{ +int len; +len=utf16(dst+2,src); +dst[0]=len+2; +dst[1]=0x3; +} + + + + +int +radiator_program (Radiator * r) +{ + struct cp210x_port_config config; + uint8_t buf[256]; + + +#if 0 + memset (&config, 0, sizeof (config)); + ioctl (r->fd, CPIOC_PORTCONFGET, &config); + + + printf + ("config was reset=(%x,%x,%x), suspend=(%x,%x,%x), enhanced_fxn=%x\n", + config.reset.mode, config.reset.low_power, config.reset.latch, + config.suspend.mode, config.suspend.low_power, config.suspend.latch, + config.enhanced_fxn); + + + memset (&config, 0, sizeof (config)); + + config.reset.mode = ~CP_INPUT_PINS; + config.reset.low_power = 0; + config.reset.latch = CP_INPUT_PINS | CP_PIN_GPIO_1 | CP_PIN_GPIO_2; + config.suspend.mode = ~CP_INPUT_PINS; + config.suspend.low_power = 0; + config.suspend.latch = CP_INPUT_PINS | CP_PIN_GPIO_1 | CP_PIN_GPIO_2; + config.enhanced_fxn = CP_EFXN_ENABLE_WPU; + + ioctl (r->fd, CPIOC_PORTCONFSET, &config); + + memset (&config, 0, sizeof (config)); + ioctl (r->fd, CPIOC_PORTCONFGET, &config); + + + printf + ("config is reset=(%x,%x,%x), suspend=(%x,%x,%x), enhanced_fxn=%x\n", + config.reset.mode, config.reset.low_power, config.reset.latch, + config.suspend.mode, config.suspend.low_power, config.suspend.latch, + config.enhanced_fxn); + +#endif + memset(buf,0,sizeof(buf)); + +{ +int i=0x413c; + ioctl (r->fd, CPIOC_SETVID, &i); +} + +{ +int i=0x9500; + ioctl (r->fd, CPIOC_SETPID, &i); +} + + make_usb_descriptor(buf,"USB Radiator Valve"); + ioctl (r->fd, CPIOC_SETPRODUCT, buf); + + make_usb_descriptor(buf,"000001"); + ioctl (r->fd, CPIOC_SETSERIAL, buf); + +#if 0 + make_usb_descriptor(buf,"Global Panaceas"); + ioctl (r->fd, CPIOC_SETMFG, buf); +#endif + + + ioctl (r->fd, CPIOC_DEVICERESET, 0); + + + + + return 0; +} + + +static void tty_setup(int fd) +{ +struct termios tios; + +tcgetattr(fd, &tios); + +cfmakeraw( &tios); + + tios.c_iflag = PARMRK | INPCK; + tios.c_oflag = NL0 | CR0 | TAB0 | BS0 | VT0 | FF0; + tios.c_lflag = 0; + tios.c_cflag = CS8 | CREAD | CLOCAL; + tios.c_cc[VMIN]=1; + tios.c_cc[VTIME]=0; + + cfsetispeed (&tios, B115200); + cfsetospeed (&tios, B115200); + + tcsetattr (fd, TCSANOW, &tios); +} + + + +static void +set_nonblocking (int fd) +{ + long arg = 0; + arg = fcntl (fd, F_GETFL, arg); + arg |= O_NONBLOCK; + fcntl (fd, F_SETFL, arg); +} + +static void +set_blocking (int fd) +{ + long arg = 0; + arg = fcntl (fd, F_GETFL, arg); + arg &= ~O_NONBLOCK; + fcntl (fd, F_SETFL, arg); +} + + +Radiator * +radiator_open (char *s, int quiet) +{ + Radiator *r = malloc (sizeof (Radiator)); + + r->fd = open (s, O_RDWR |O_NOCTTY); + + if (r->fd < 0) + { + free (r); + return NULL; + } + + tty_setup(r->fd); + set_nonblocking(r->fd); + + r->half = 5 * RUN_IN; + r->overshoot = 0; + r->max = 0; + r->pos = 0; + + if (!quiet) + radiator_calibrate (r); +} + +void +radiator_close (Radiator * r) +{ + close (r->fd); + free (r); +} |