Merge branch 'develop'

6 files changed, 132 insertions, 10 deletions

diff --git a/busdevice.c b/busdevice.c
index 9bf82c8..c82e27b 100644
--- a/busdevice.c
+++ b/busdevice.c
@@ -10,6 +10,8 @@
 //how much bytes available in transmit buffer
 #define TANSMIT_BUFFER_LENGTH 128
 
+unsigned long SMBusBaudrate=SM_BAUDRATE; //the next opened port (with smOpenBus) will be opened with the PBS defined here (default 460800 BPS)
+
 typedef struct _SMBusDevice
 {
 	//common
@@ -65,7 +67,7 @@ smbusdevicehandle smBDOpen( const char *devicename )
 
         if(strncmp(devicename,"COM",3) == 0 || strncmp(devicename,"/dev/tty",8) == 0) //use rs232 lib
 	{
-            BusDevice[handle].comPort=OpenComport( devicename, SM_BAUDRATE );
+            BusDevice[handle].comPort=OpenComport( devicename, SMBusBaudrate );
                 if( BusDevice[handle].comPort == -1 )
 		{
 			return -1; //failed to open
diff --git a/rs232.c b/rs232.c
index 1773767..4055e2a 100644
--- a/rs232.c
+++ b/rs232.c
@@ -93,6 +93,20 @@ int OpenComport(const char * comport_name, int baudrate)
 		break;

 		case 1000000 : baudr = B1000000;

 		break;

+		case 1115200 : baudr = B1152000;

+		break;

+		case 1500000 : baudr = B1500000;

+		break;

+		case 2000000 : baudr = B2000000;

+		break;

+		case 2500000 : baudr = B2500000;

+		break;

+		case 3000000 : baudr = B3000000;

+		break;

+		case 3500000 : baudr = B3500000;

+		break;

+		case 4000000 : baudr = B4000000;

+		break;

 		default      : printf("invalid baudrate\n");

 		return(1);

 		break;

@@ -254,6 +268,28 @@ int OpenComport(const char * comport_name, int baudrate)
         break;

     case  460800 : strcpy(baudr, "baud=460800 data=8 parity=N stop=1");

         break;

+    case  500000 : strcpy(baudr, "baud=500000 data=8 parity=N stop=1");

+        break;

+    case  576000 : strcpy(baudr, "baud=576000 data=8 parity=N stop=1");

+        break;

+    case  921600 : strcpy(baudr, "baud=921600 data=8 parity=N stop=1");

+        break;

+    case  1000000 : strcpy(baudr, "baud=1000000 data=8 parity=N stop=1");

+        break;

+    case  1115200 : strcpy(baudr, "baud=1115200 data=8 parity=N stop=1");

+        break;

+    case  1500000 : strcpy(baudr, "baud=1500000 data=8 parity=N stop=1");

+        break;

+    case  2000000 : strcpy(baudr, "baud=2000000 data=8 parity=N stop=1");

+        break;

+    case  2500000 : strcpy(baudr, "baud=2500000 data=8 parity=N stop=1");

+        break;

+    case  3000000 : strcpy(baudr, "baud=3000000 data=8 parity=N stop=1");

+        break;

+    case  3500000 : strcpy(baudr, "baud=3500000 data=8 parity=N stop=1");

+        break;

+    case  4000000 : strcpy(baudr, "baud=4000000 data=8 parity=N stop=1");

+        break;

     default      : printf("invalid baudrate\n");

         return(-1);

         break;

diff --git a/simplemotion.c b/simplemotion.c
index cea0238..ea773ac 100644
--- a/simplemotion.c
+++ b/simplemotion.c
@@ -222,6 +222,27 @@ smbus smOpenBus( const char * devicename )
     return handle;

 }

 

+/** Change baudrate of SM communication port. This does not affect already opened ports but the next smOpenBus will be opened at the new speed. 

+	Calling this is optional. By default SM bus and all slave devices operates at 460800 BPS speed.

+	Parameters:

+	-bps: bus speed in bits per second. for possible choices, see rs232.c (but note that all speeds are not necessarily supported by SM devices)

+	Typical usage is:

+	- first call smSetParameter(handle,0,SMP_BUS_SPEED,N) to change speed of all connected slaves to N PBS

+	- then close port with smCloseBus

+	- then call smSetBaudrate(N)

+	- then open bus again with smOpenBus

+	

+	Note that in upcoming SM device firmware versions, bitrate will be reset to default (460800) if device side SM bus watchdog timer has been enabled, and it timeouts.

+	This allows re-establishing connection at defautl speed if connection breaks up and SM bus watchdog timeout gets exceeded. To identify is device supports this, 

+	read parameter SMP_SM_VERSION. Values above 25 support this feature. Value 25 and below will not reset baudrate.

+	

+	Note also that SMP_BUS_SPEED will not be saved in device flash memory - it will reset to default at every reset & power on.

+	*/

+LIB void smSetBaudrate( unsigned long pbs )

+{

+	SMBusBaudrate=pbs;

+}

+

 /** Close connection to given bus handle number. This frees communication link therefore makes it available for other apps for opening.

 -return value: a SM_STATUS value, i.e. SM_OK if command succeed

 */

diff --git a/simplemotion.h b/simplemotion.h
index 056c745..913a595 100644
--- a/simplemotion.h
+++ b/simplemotion.h
@@ -81,6 +81,24 @@ typedef enum _smVerbosityLevel {Off,Low,Mid,High,Trace} smVerbosityLevel;
 	*/

 LIB smbus smOpenBus( const char * devicename );

 

+/** Change baudrate of SM communication port. This does not affect already opened ports but the next smOpenBus will be opened at the new speed. 

+	Calling this is optional. By default SM bus and all slave devices operates at 460800 BPS speed.

+	Parameters:

+	-bps: bus speed in bits per second. for possible choices, see rs232.c (but note that all speeds are not necessarily supported by SM devices)

+	Typical usage is:

+	- first call smSetParameter(handle,0,SMP_BUS_SPEED,N) to change speed of all connected slaves to N PBS

+	- then close port with smCloseBus

+	- then call smSetBaudrate(N)

+	- then open bus again with smOpenBus

+	

+	Note that in upcoming SM device firmware versions, bitrate will be reset to default (460800) if device side SM bus watchdog timer has been enabled, and it timeouts.

+	This allows re-establishing connection at defautl speed if connection breaks up and SM bus watchdog timeout gets exceeded. To identify is device supports this, 

+	read parameter SMP_SM_VERSION. Values above 25 support this feature. Value 25 and below will not reset baudrate.

+	

+	Note also that SMP_BUS_SPEED will not be saved in device flash memory - it will reset to default at every reset & power on.

+	*/

+LIB void smSetBaudrate( unsigned long pbs );

+

 /** Set timeout of how long to wait reply packet from bus. Must be set before smOpenBus and cannot be changed afterwards

  * max value 5000ms. In unix this is rounded to 100ms (rounding downwards), so 99 or less gives 0ms timeout.

  *

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index d5f6630..f171350 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -432,8 +432,16 @@
 #define SMP_ELECTRICAL_MODE 573

     #define EL_MODE_STANDARD 0

     #define EL_MODE_IONICUBE 1

-    #define EL_MODE_IONIZER 2

-

+	#define EL_MODE_SIMUCUBE 2

+    #define EL_MODE_IONIZER 3

+

+/*for BiSS encoder

+ * bits defined as:

+ * lowest 8 bits: single turn bits, value range 4-24

+ * next 8 bits: multi turn bits, value range 0-16

+ * rest: reserved for future use (always 0)

+ */

+#define SMP_SERIAL_ENC_BITS 574

 

 //primary feedback loop 200-299

 #define SMP_VEL_I 200

@@ -446,6 +454,24 @@
 //anti dither limits

 #define SMP_ANTIDITHER_MODE 230

 

+//torque modifiers & effects

+/*SMP_TORQUE_NOTCH_FILTER contains 3 values in different bit positions:

+ * 0-7 (lowest byte), attenuation in 0.1dB steps and value V=1-255 means attenuation of (-V-255)/10 dB gain.  if V set 0, use notch filter instead of peaking with "infinite" attenuation. value 255 disables notch filter.

+ * 8-15, Q factor in 0.1 steps. Minimum is 0.1, below that filter is disabled.

+ * 16-29, center frequency in 0.1Hz steps, and 1.1Hz is minimum, so range is 1.1-409.5 Hz. value below or equal 1Hz disables the filter.

+ *

+ *Example, peaking filter with gain -11.5dB, center freq 20Hz and Q=3.5 value is: 0x00648c23 = dec 6589475

+ *

+ *Notch filter works in all control modes and is applied to torque controller setpoint

+ */

+#define SMP_TORQUE_NOTCH_FILTER 240

+//define damping effect gain in torque control mode, torque added to setpoint equals -speed*gain with

+#define SMP_TORQUE_EFFECT_DAMPING 241

+//define friction effect gain in torque control mode

+#define SMP_TORQUE_EFFECT_FRICTION 242

+//define inertia effect gain in torque control mode, torque added to setpoint equals -acceleration*gain

+#define SMP_TORQUE_EFFECT_INERTIA 243

+

 //secondary feedback loop 300-399

 //NOT IMPLEMENTED YET

 

diff --git a/simplemotion_private.h b/simplemotion_private.h
index d1e37a3..e46dc1c 100644
--- a/simplemotion_private.h
+++ b/simplemotion_private.h
@@ -30,6 +30,7 @@
 #define BUSDEV_FTDI 2 /*not implemented yet: direct FTDI lib support*/

 

 #define SM_BUSDEVICENAME_LEN 64

+extern unsigned long SMBusBaudrate; //the next opened port (with smOpenBus) will be opened with the PBS defined here (default 460800 BPS)

 

 //default timeout in ms

 //Argon drive's worst case response time should be ~20ms with max length packets

@@ -46,6 +47,13 @@ void smDebug( smbus handle, smVerbosityLevel verbositylevel, char *format, ...);
 

 SM_STATUS smRawCmd( const char *axisname, smuint8 cmd, smuint16 val, smuint32 *retdata );

 

+/*Workaround to have packed structs that compile on GCC and MSVC*/

+#ifdef __GNUC__

+#define PACKED __attribute__ ((__packed__))

+#else/*Assuming MSVC*/

+#define PACKED

+#pragma pack(push,1)

+#endif

 

 typedef struct {

         /* ID=0 param size 30 bits (cmd total 4 bytes)

@@ -55,7 +63,7 @@ typedef struct {
          */

         long param :30; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommand32;

+} PACKED SMPayloadCommand32;

 

 typedef struct {

         /* ID=0 param size 30 bits (cmd total 4 bytes)

@@ -65,7 +73,7 @@ typedef struct {
          */

         long param :14; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommand16;

+} PACKED SMPayloadCommand16;

 

 typedef struct {

         /* ID=0 param size 30 bits (cmd total 4 bytes)

@@ -75,7 +83,7 @@ typedef struct {
          */

         long param :22; //MSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommand24;

+} PACKED SMPayloadCommand24;

 

 //SM payload command return data structure

 typedef struct {

@@ -86,7 +94,8 @@ typedef struct {
          */

         long retData: 30; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommandRet32;

+} PACKED SMPayloadCommandRet32;

+

 //SM payload command return data structure

 typedef struct {

         /* ID=0 ret data 30 bits (tot 4 bytes)

@@ -96,7 +105,8 @@ typedef struct {
          */

         long retData: 22; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommandRet24;

+} PACKED SMPayloadCommandRet24;

+

 //SM payload command return data structure

 typedef struct {

         /* ID=0 ret data 30 bits (tot 4 bytes)

@@ -106,7 +116,8 @@ typedef struct {
          */

         long retData: 14; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommandRet16;

+} PACKED SMPayloadCommandRet16;

+

 //SM payload command return data structure

 typedef struct {

         /* ID=0 ret data 30 bits (tot 4 bytes)

@@ -116,6 +127,14 @@ typedef struct {
          */

         long retData: 6; //LSB 30 bits

         long ID:2; //MSB 2 bits. when serailzied to bytestream byte4 must be transmitted first to contain ID

-} __attribute__ ((packed)) SMPayloadCommandRet8;

+} PACKED SMPayloadCommandRet8;

+

+/*Workaround to have packed structs that compile on GCC and MSVC*/

+#ifdef __GNUC__

+#else/*Assuming MSVC*/

+#pragma pack(pop)

+#undef PACKED

+#endif

+

 

 #endif // SIMPLEMOTION_PRIVATE_H