on -4ssssssssssssssssssssss

ClearCoreVelocityController.atsln

@@ -9,8 +9,6 @@ Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "ClearCore", "..\libClearCor
 EndProject
 Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "LwIP", "..\LwIP\LwIP.cppproj", "{C373696C-5D45-4B91-AD62-A21552361596}"
 EndProject
-Project("{E66E83B9-2572-4076-B26E-6BE79FF3018A}") = "ManualVelocity", "..\..\..\..\..\..\Program Files (x86)\Teknic\ClearCore-Library 1.0\Microchip_Examples\ClearPathModeExamples\ClearPath-MC_Series\ManualVelocity\ManualVelocity.cppproj", "{8E27B935-12EA-4FA1-8A5F-53EB06696B1A}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|ARM = Debug|ARM
@@ -29,10 +27,6 @@ Global
 		{C373696C-5D45-4B91-AD62-A21552361596}.Debug|ARM.Build.0 = Debug|ARM
 		{C373696C-5D45-4B91-AD62-A21552361596}.Release|ARM.ActiveCfg = Release|ARM
 		{C373696C-5D45-4B91-AD62-A21552361596}.Release|ARM.Build.0 = Release|ARM
-		{8E27B935-12EA-4FA1-8A5F-53EB06696B1A}.Debug|ARM.ActiveCfg = Debug|ARM
-		{8E27B935-12EA-4FA1-8A5F-53EB06696B1A}.Debug|ARM.Build.0 = Debug|ARM
-		{8E27B935-12EA-4FA1-8A5F-53EB06696B1A}.Release|ARM.ActiveCfg = Release|ARM
-		{8E27B935-12EA-4FA1-8A5F-53EB06696B1A}.Release|ARM.Build.0 = Release|ARM
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

ClearCoreVelocityController.cppproj

@@ -262,6 +262,12 @@
     <Compile Include="Device_Startup\startup_same53.c">
       <SubType>compile</SubType>
     </Compile>
+    <Compile Include="include\interrupts.h">
+      <SubType>compile</SubType>
+    </Compile>
+    <Compile Include="include\system.h">
+      <SubType>compile</SubType>
+    </Compile>
     <Compile Include="src\ClearPathMC.cpp">
       <SubType>compile</SubType>
     </Compile>

README.md

@@ -1,4 +1,52 @@
 # ProjectTemplate
 
 This repository contains a basic ClearCore project that can be used as a template for new application development.
-Place this repository rooted in the same parent directory as libClearCore and LwIP to properly find include files and libraries.
+Place this repository rooted in the same parent directory as libClearCore and LwIP to properly find include files and libraries.
+
+## Requirements:
+
+### ETHERNET COMMUNICATION:
+1. The PC should be running software capable of sending and receiving UDP 
+packets. See `udp_client.py` for simple testing.
+
+
+### MOTOR:
+1. A ClearPath motor must be connected to Connector M-0.
+2. The connected ClearPath motor must be configured through the MSP software
+for Manual Velocity Control mode (In MSP select Mode>>Velocity>>Manual
+Velocity Control, then hit the OK button).
+3. In the MSP software:
+    Define a Max Clockwise and Counter-Clockwise (CW/CCW) Velocity (On the
+    main MSP window fill in the textboxes labeled "Max CW Velocity (RPM)"
+    and "Max CCW Velocity (RPM)"). Any velocity commanded outside of this
+    range will be rejected.
+    Set the Velocity Resolution to 2 (On the main MSP window check the
+    textbox labeled "Velocity Resolution (RPM per knob count)" 2 is
+    default). This means the commanded velocity will always be a multiple
+    of 2. For finer resolution, lower this value and change
+    velocityResolution in the sketch below to match.
+    Set Knob Direction to As-Wired, and check the Has Detents box (On the
+    main MSP window check the dropdown labeled "Knob Direction" and the
+    checkbox directly below it labeled "Has Detents").
+    On the main MSP window set the dropdown labeled "On Enable..." to be
+    "Zero Velocity".
+    Set the HLFB mode to "ASG-Velocity w/Measured Torque" with a PWM carrier
+    frequency of 482 Hz through the MSP software (select Advanced>>High
+    Level Feedback \[Mode\]... then choose "ASG-Velocity w/Measured Torque"
+    from the dropdown, make sure that 482 Hz is selected in the "PWM Carrier
+    Frequency" dropdown, and hit the OK button).
+
+### LIMIT SWITCHES:
+1. Negative and Positive Limit switches should be connected to the DI-7 and DI-8 inputs on the controller, respectively.
+
+
+### EMERGENCY STOP:
+1. Emergency stop should be connected to the DI-6 input on the controller.
+
+Links:
+ClearCore Documentation: https://teknic-inc.github.io/ClearCore-library/
+ClearCore Manual: https://www.teknic.com/files/downloads/clearcore_user_manual.pdf
+
+
+Copyright (c) 2020 Teknic Inc. This work is free to use, copy and distribute under the terms of
+the standard MIT permissive software license which can be found at https://opensource.org/licenses/MIT

Release/Makefile

@@ -0,0 +1,167 @@
+################################################################################
+# Automatically-generated file. Do not edit!
+################################################################################
+
+SHELL := cmd.exe
+RM := rm -rf
+
+USER_OBJS :=
+
+LIBS := 
+PROJ := 
+
+O_SRCS := 
+C_SRCS := 
+S_SRCS := 
+S_UPPER_SRCS := 
+OBJ_SRCS := 
+ASM_SRCS := 
+PREPROCESSING_SRCS := 
+OBJS := 
+OBJS_AS_ARGS := 
+C_DEPS := 
+C_DEPS_AS_ARGS := 
+EXECUTABLES := 
+OUTPUT_FILE_PATH :=
+OUTPUT_FILE_PATH_AS_ARGS :=
+AVR_APP_PATH :=$$$AVR_APP_PATH$$$
+QUOTE := "
+ADDITIONAL_DEPENDENCIES:=
+OUTPUT_FILE_DEP:=
+LIB_DEP:=
+LINKER_SCRIPT_DEP:=
+
+# Every subdirectory with source files must be described here
+SUBDIRS :=  \
+../Device_Startup/ \
+../include \
+../src
+
+
+# Add inputs and outputs from these tool invocations to the build variables 
+C_SRCS +=  \
+../Device_Startup/startup_same53.c \
+../src/ClearPathMC.cpp \
+../src/EthUDP.cpp \
+../main.cpp
+
+
+PREPROCESSING_SRCS += 
+
+
+ASM_SRCS += 
+
+
+OBJS +=  \
+Device_Startup/startup_same53.o \
+src/ClearPathMC.o \
+src/EthUDP.o \
+main.o
+
+OBJS_AS_ARGS +=  \
+Device_Startup/startup_same53.o \
+src/ClearPathMC.o \
+src/EthUDP.o \
+main.o
+
+C_DEPS +=  \
+Device_Startup/startup_same53.d \
+src/ClearPathMC.d \
+src/EthUDP.d \
+main.d
+
+C_DEPS_AS_ARGS +=  \
+Device_Startup/startup_same53.d \
+src/ClearPathMC.d \
+src/EthUDP.d \
+main.d
+
+OUTPUT_FILE_PATH +=ClearCoreVelocityController.elf
+
+OUTPUT_FILE_PATH_AS_ARGS +=ClearCoreVelocityController.elf
+
+ADDITIONAL_DEPENDENCIES:=
+
+OUTPUT_FILE_DEP:= ./makedep.mk
+
+LIB_DEP+=  \
+C:/Users/lukes/Documents/Atmel\ Studio/7.0/libClearCore/Release/libClearCore.a \
+C:/Users/lukes/Documents/Atmel\ Studio/7.0/LwIP/Release/libLwIP.a
+
+LINKER_SCRIPT_DEP+=  \
+../Device_Startup/flash_with_bootloader.ld \
+../Device_Startup/flash_without_bootloader.ld
+
+
+# AVR32/GNU C Compiler
+Device_Startup/startup_same53.o: ../Device_Startup/startup_same53.c
+	@echo Building file: $<
+	@echo Invoking: ARM/GNU C Compiler : 6.3.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-gcc.exe$(QUOTE)  -x c -mthumb -D__SAME53N19A__ -DNDEBUG  -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAME53_DFP\1.1.118\include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\4.5.0\CMSIS\Include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.4.0\CMSIS\Core\Include"  -O3 -ffunction-sections -fdata-sections -Wall -mcpu=cortex-m4 -c -std=gnu11 --param max-inline-insns-single=50 -MMD -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+
+
+src/ClearPathMC.o: ../src/ClearPathMC.cpp
+	@echo Building file: $<
+	@echo Invoking: ARM/GNU C Compiler : 6.3.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-g++.exe$(QUOTE) -mthumb -D__SAME53N19A__ -DNDEBUG  -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\4.5.0\CMSIS\Include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAME53_DFP\1.1.118\include" -I"../../libClearCore/inc" -I"../../LwIP/LwIP/src/include" -I"../../LwIP/LwIP/port/include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.4.0\CMSIS\Core\Include"  -O3 -ffunction-sections -fno-rtti -fno-exceptions -Wall -mcpu=cortex-m4 -c -std=gnu++11 -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -MMD -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+
+
+src/EthUDP.o: ../src/EthUDP.cpp
+	@echo Building file: $<
+	@echo Invoking: ARM/GNU C Compiler : 6.3.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-g++.exe$(QUOTE) -mthumb -D__SAME53N19A__ -DNDEBUG  -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\4.5.0\CMSIS\Include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAME53_DFP\1.1.118\include" -I"../../libClearCore/inc" -I"../../LwIP/LwIP/src/include" -I"../../LwIP/LwIP/port/include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.4.0\CMSIS\Core\Include"  -O3 -ffunction-sections -fno-rtti -fno-exceptions -Wall -mcpu=cortex-m4 -c -std=gnu++11 -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -MMD -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+
+
+./main.o: .././main.cpp
+	@echo Building file: $<
+	@echo Invoking: ARM/GNU C Compiler : 6.3.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-g++.exe$(QUOTE) -mthumb -D__SAME53N19A__ -DNDEBUG  -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\4.5.0\CMSIS\Include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAME53_DFP\1.1.118\include" -I"../../libClearCore/inc" -I"../../LwIP/LwIP/src/include" -I"../../LwIP/LwIP/port/include" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.4.0\CMSIS\Core\Include"  -O3 -ffunction-sections -fno-rtti -fno-exceptions -Wall -mcpu=cortex-m4 -c -std=gnu++11 -fno-threadsafe-statics -nostdlib --param max-inline-insns-single=500 -MMD -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)"   -o "$@" "$<" 
+	@echo Finished building: $<
+
+
+
+
+
+# AVR32/GNU Preprocessing Assembler
+
+
+
+# AVR32/GNU Assembler
+
+
+
+
+ifneq ($(MAKECMDGOALS),clean)
+ifneq ($(strip $(C_DEPS)),)
+-include $(C_DEPS)
+endif
+endif
+
+# Add inputs and outputs from these tool invocations to the build variables 
+
+# All Target
+all: $(OUTPUT_FILE_PATH) $(ADDITIONAL_DEPENDENCIES)
+
+$(OUTPUT_FILE_PATH): $(OBJS) $(USER_OBJS) $(OUTPUT_FILE_DEP) $(LIB_DEP) $(LINKER_SCRIPT_DEP)
+	@echo Building target: $@
+	@echo Invoking: ARM/GNU Linker : 6.3.1
+	$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-g++.exe$(QUOTE) -o$(OUTPUT_FILE_PATH_AS_ARGS) $(OBJS_AS_ARGS) $(USER_OBJS) $(LIBS) -mthumb -Wl,-Map="ClearCoreVelocityController.map" --specs=rdimon.specs -Wl,--start-group -lm -larm_cortexM4lf_math -lClearCore -lLwIP  -Wl,--end-group -L"..\\Device_Startup" -L"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\4.5.0\CMSIS\Lib\GCC" -L"C:\Users\lukes\Documents\Atmel Studio\7.0\libClearCore\Release" -L"C:\Users\lukes\Documents\Atmel Studio\7.0\LwIP\Release"  -Wl,--gc-sections -mcpu=cortex-m4 -Tsame53n19a_flash.ld -mfloat-abi=hard -mfpu=fpv4-sp-d16  
+	@echo Finished building target: $@
+	"C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-objcopy.exe" -O binary "ClearCoreVelocityController.elf" "ClearCoreVelocityController.bin"
+	"C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-size.exe" "ClearCoreVelocityController.elf"
+
+
+
+
+
+
+
+# Other Targets
+clean:
+	-$(RM) $(OBJS_AS_ARGS) $(EXECUTABLES)  
+	-$(RM) $(C_DEPS_AS_ARGS)   
+	rm -rf "ClearCoreVelocityController.elf" "ClearCoreVelocityController.a" "ClearCoreVelocityController.hex" "ClearCoreVelocityController.bin" "ClearCoreVelocityController.lss" "ClearCoreVelocityController.eep" "ClearCoreVelocityController.map" "ClearCoreVelocityController.srec"
+

Release/makedep.mk

@@ -0,0 +1,12 @@
+################################################################################
+# Automatically-generated file. Do not edit or delete the file
+################################################################################
+
+Device_Startup\startup_same53.c
+
+src\ClearPathMC.cpp
+
+src\EthUDP.cpp
+
+main.cpp
+

include/EthUDP.h

@@ -6,41 +6,63 @@
  */ 
 #include "ClearCore.h"
 #include "EthernetUdp.h"
+#include "system.h"
 
 #ifndef ETHUDP_H_
 #define ETHUDP_H_
 
+#ifndef __ETHUDP_DEBUG__
+#define __ETHUDP_DEBUG__ 0
+#endif
+
 class EthUDP {
 	private:
 		// Local IP address, port
-		IpAddress local_ip;
-		const int local_port;
+		IpAddress m_local_ip;
+		const int m_local_port;
 
 		// Host IP address, port
-		IpAddress remote_ip = IpAddress(169, 254, 93, 234);
-		const int remote_port = 8888;
+		IpAddress m_remote_ip;
+		const int m_remote_port;
+
+		// Read data attributes
+		char* m_token;
+		const char* m_delimiter = ",";
+		bool m_using_dhcp = false;
+		const uint8_t MAX_PACKET_LENGTH = 128; // Maximum number of characters to receive from an incoming packet
+
+		// Send data attributes
+		char m_status_buf[2];
+		char m_data_buf[10];
+		const char* m_msg_status_header = "{\"status\":";
+		const char* m_msg_data_header = "\"servo_rpm\":";
+		const char* m_msg_footer = "}";		
+
+		// Data buffers
+		unsigned char m_received_packet[128]; // Buffer for holding received packets
+		char m_msg_buf[128]; // Send message buffer	
 
 	public:
-		// Data buffer
+		// New data flag
 		bool new_data = false;
-		bool using_dhcp = false;
-		const uint8_t MAX_PACKET_LENGTH = 128; // Maximum number of characters to receive from an incoming packet
-		unsigned char received_packet[128]; // Buffer for holding received packets
-		char msg_buf[128];
+
 
 		// Ethernet UDP
 		EthernetUdp udp;
 
 		EthUDP();
-		EthUDP(IpAddress _ip);
-		EthUDP(IpAddress _ip, int _port);
-		~EthUDP();		
-
+		EthUDP(IpAddress _local_ip);
+		EthUDP(IpAddress _local_ip, int _local_port);
+		EthUDP(IpAddress _local_ip, IpAddress _remote_ip);
+		EthUDP(IpAddress _local_ip, int _local_port, IpAddress _remote_ip, int _remote_port);
+		~EthUDP();
+
 		// Public methods
 		void begin();
-		void read_packet();
-		char* construct_data_msg(float data); // // Set true if using DHCP to configure the local IP address
-		void send_packet(float data);
+		void read_packet(slidersystem::DataInterface* command_interface);
+		void construct_data_msg(slidersystem::DataInterface* state);
+		void send_packet(slidersystem::DataInterface* state);
+
 };
 
 #endif /* ETHUDP_H_ */