//****************************************************************
// Run commands to PING FPGA/uP or read FPGA subsystem configuration
private void Execute_PING_cmds(object sender, EventArgs e)
{
FPGA_uP_IO.ErrorCode status;
if (radioButton17.Checked == true)
{
status = FPGA_uP_IO.ping_uP();
InfoWindow.AppendText("Port = " + FPGA_uP_IO.int_parameters[0] + Environment.NewLine);
InfoWindow.AppendText("Ping uP : Return code = " + status + Environment.NewLine);
}
if (radioButton1.Checked == true)
{
status = FPGA_uP_IO.soft_bus_check();
InfoWindow.AppendText("Port = " + FPGA_uP_IO.int_parameters[0] + Environment.NewLine);
InfoWindow.AppendText("Soft bus check : Return code = " + status + Environment.NewLine);
}
if (radioButton2.Checked == true)
{
status = FPGA_uP_IO.hard_bus_check();
InfoWindow.AppendText("Port = " + FPGA_uP_IO.int_parameters[0] + Environment.NewLine);
InfoWindow.AppendText("Hard bus check : Return code = " + status + Environment.NewLine);
}
if (radioButton18.Checked == true)
{
status = FPGA_uP_IO.restart_FPGA();
InfoWindow.AppendText("Port = " + FPGA_uP_IO.int_parameters[0] + Environment.NewLine);
InfoWindow.AppendText("Restart FPGA : Return code = " + status + Environment.NewLine);
}
}
private void Read_System_Data(object sender, EventArgs e)
{
FPGA_uP_IO.ErrorCode status;
status = FPGA_uP_IO.get_sys_data();
if (status == SUCCESS)
{
UInt32 data = (UInt32)FPGA_uP_IO.int_parameters[2];
nos_PWM_units = ((data >> 8) & 0x0F);
nos_QE_units = ((data >> 12) & 0x0F);
nos_RC_units = ((data >> 16) & 0x0F);
InfoWindow.AppendText("Port = " + FPGA_uP_IO.int_parameters[0] + Environment.NewLine);
InfoWindow.AppendText("get_sys_data : Return data = " + data + Environment.NewLine);
InfoWindow.AppendText("Version = " + (data & 0x0F) + "." + ((data >> 4) & 0x0F) + Environment.NewLine);
InfoWindow.AppendText("PWM units = " + nos_PWM_units + Environment.NewLine);
InfoWindow.AppendText("QE units = " + nos_QE_units + Environment.NewLine);
InfoWindow.AppendText("RC units = " + nos_RC_units + Environment.NewLine);
Write_Register.Enabled = true;
Read_Register.Enabled = true;
button9.Enabled = true;
button11.Enabled = true;
}
else
{
InfoWindow.AppendText("get_sys_data : Error code = " + status + Environment.NewLine);
}
}
//***********************************************************************
// Window interface functions
//***********************************************************************
private void Form1_Load(object sender, EventArgs e)
{
// 1. Populate Serial port combobox
// 2. Initialise baud rate combobox
// 3. Initialse global variables
// 4. Sleep for a couple of seconds
comboBox1.Items.Clear();
string[] ports = SerialPort.GetPortNames();
if (ports.Length > 0)
{
foreach (string s in ports)
{
comboBox1.Items.Add(s);
}
}
else
{
InfoWindow.AppendText("No serial ports" + Environment.NewLine);
return;
}
comboBox1.SelectedIndex = 0;
//
comboBox2.DataSource = baud_rates;
comboBox2.SelectedIndex = 0;
//
comboBox3.SelectedIndex = 2;
serialPort1.BaudRate = COMBAUD;
global_error = SUCCESS;
Thread.Sleep(2000);
}
//****************************************************************
// Run command to write to a specified register
private void Write_Register_Click(object sender, EventArgs e)
{
int out_data;
int data = int.Parse(textBox1.Text, System.Globalization.NumberStyles.HexNumber);
FPGA_uP_IO.ErrorCode status = FPGA_uP_IO.execute_command('w', DEFAULT_PORT, (int)numericUpDown1.Value, data, out out_data);
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}
//****************************************************************
// Set the QE (Quadrature Encoder) configuration register
private void Set_QE_config_Click(object sender, EventArgs e)
{
int data, QE_config;
FPGA_uP_IO.ErrorCode status;
int config_value = 0;
int QE_channel = (int)numericUpDown7.Value;
int channel_base_address = (int)(FPGA_uP_IO.QE_base + (QE_channel * FPGA_uP_IO.REGISTERS_PER_QE_CHANNEL));
// get current value of QE configuration
string command_str = build_command('r', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.QE_REG.CONFIG), 0);
// InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out QE_config));
//
// build updated configuration value
if (checkBox5.Checked == true) // enable QE channel
{
QE_config = QE_config | (int)FPGA_Sys.QE_ENABLE_MASK;
}
else
{
QE_config = (QE_config & ~(int)(FPGA_Sys.QE_ENABLE_MASK));
}
if (checkBox6.Checked == true) // enable speed measurement
{
QE_config = QE_config | (int)FPGA_Sys.QE_SPEED_CALC_ENABLE_MASK;
}
else
{
QE_config = (QE_config & ~(int)(FPGA_Sys.QE_SPEED_CALC_ENABLE_MASK));
}
if (checkBox7.Checked == true) // enable speed averaging filter
{
QE_config = QE_config | (int)FPGA_Sys.QE_ENABLE_SPEED_FILTER_MASK;
int filter_sample_code = ((int)(comboBox4.SelectedIndex) << 20); // convert to bit value
QE_config = QE_config & ~(int)FPGA_Sys.QE_SPEED_FILTER_SAMPLE_SIZE_MASK;
QE_config = QE_config | filter_sample_code;
}
else
{
QE_config = (QE_config & ~((int)(FPGA_Sys.QE_ENABLE_SPEED_FILTER_MASK) | (int)FPGA_Sys.QE_SPEED_FILTER_SAMPLE_SIZE_MASK));
}
command_str = build_command('w', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.QE_REG.CONFIG), QE_config);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out data));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}
private void Close__COM_port_Click(object sender, EventArgs e)
{
FPGA_uP_IO.ErrorCode status = FPGA_uP_IO.Close_comms();
if (status != FPGA_uP_IO.ErrorCode.NO_ERROR)
{
InfoWindow.AppendText("Cannot close COM port" + Environment.NewLine);
return;
}
InfoWindow.AppendText("COM port now closed" + Environment.NewLine);
}
//****************************************************************
// Run command to read a specified register
private void Read_Register_Click(object sender, EventArgs e)
{
int data;
int count = (int)numericUpDown8.Value;
for (int i = 0; i < count; i++)
{
FPGA_uP_IO.ErrorCode status = FPGA_uP_IO.execute_command('r', DEFAULT_PORT, (int)numericUpDown2.Value, 0, out data);
InfoWindow.AppendText("Register Value = " + data + "/0x" + Convert.ToString(data, 16) + Environment.NewLine);
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}
}
private void button8_Click(object sender, EventArgs e)
{
FPGA_uP_IO.ErrorCode status;
int data;
int QE_channel = (int)numericUpDown7.Value;
int channel_base_address = (int)(FPGA_uP_IO.QE_base + (QE_channel * FPGA_uP_IO.REGISTERS_PER_QE_CHANNEL));
string command_str = build_command('w', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.QE_REG.CONFIG), (int)FPGA_Sys.QE_CONFIG_DEFAULT);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out data));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}
//***********************************************************
// Open_COM_port : Open selected seial COM port
// =============
private void Open_COM_port(object sender, EventArgs e)
{
if (comboBox1.SelectedItem == null)
{
InfoWindow.AppendText("No COM port selected " + Environment.NewLine);
return;
}
string com_port = comboBox1.SelectedItem.ToString();
int baud_rate = Convert.ToInt32(comboBox2.SelectedItem);
FPGA_uP_IO.ErrorCode status = FPGA_uP_IO.Init_comms(com_port, baud_rate);
if (status != FPGA_uP_IO.ErrorCode.NO_ERROR)
{
InfoWindow.AppendText("Cannot open " + com_port + Environment.NewLine);
return;
}
connected = true;
button4.Enabled = true;
InfoWindow.AppendText(com_port + " now open" + Environment.NewLine);
}
//****************************************************************
// Update H-bridge command only
private void Update_H_bridge_cmd_click(object sender, EventArgs e)
{
FPGA_uP_IO.ErrorCode status;
int data, PWM_config;
int config_value = 0;
int PWM_channel = (int)numericUpDown5.Value;
int channel_base_address = (int)(FPGA_uP_IO.PWM_base + (PWM_channel * FPGA_uP_IO.REGISTERS_PER_PWM_CHANNEL));
int motor_cmd = (int)comboBox3.SelectedIndex;
// get current value of PWM configuration
string command_str = build_command('r', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.CONFIG), 0);
// InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out PWM_config));
int command = 0;
Boolean change_cmd = false;
switch (motor_cmd)
{
case 0: // no change
break;
case 1: // COAST
change_cmd = true;
command = (int)FPGA_Sys.MOTOR_CMDS.COAST;
break;
case 2: // FORWARD
change_cmd = true;
command = (int)FPGA_Sys.MOTOR_CMDS.FORWARD;
break;
case 3: // BACKWARD
change_cmd = true;
command = (int)FPGA_Sys.MOTOR_CMDS.BACKWARD;
break;
case 4: // BRAKE
change_cmd = true;
command = (int)FPGA_Sys.MOTOR_CMDS.BRAKE;
break;
default:
break;
}
if (change_cmd == true)
{
config_value = ((int)(config_value & (~FPGA_Sys.MOTOR_CMDS_MASK)) | command);
}
config_value = (int)(config_value & 0xFFFF0000) | (PWM_config & 0x0000FFFF);
// Output PWM configuaration value to PWM
command_str = build_command('w', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.CONFIG), config_value);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out data));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}
//****************************************************************
// Set the H-bridge configuration register
private void Set_H_bridge_config_Click(object sender, EventArgs e)
{
int config_value, PWM_config, data, command;
FPGA_uP_IO.ErrorCode status;
config_value = 0;
int PWM_channel = (int)numericUpDown5.Value;
int channel_base_address = (int)(FPGA_uP_IO.PWM_base + (PWM_channel * FPGA_uP_IO.REGISTERS_PER_PWM_CHANNEL));
int motor_cmd = (int)comboBox3.SelectedIndex;
// get current value of PWM configuration
string command_str = build_command('r', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.CONFIG), 0);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out PWM_config));
// create new configuration value
if (checkBox3.Checked == true)
{
config_value = ((int)(config_value & (~FPGA_Sys.INT_H_BRIDGE_MASK)) | (int)FPGA_Sys.INT_H_BRIDGE.ENABLE);
}
else
{
config_value = (int)(config_value & (~FPGA_Sys.INT_H_BRIDGE_MASK));
}
if (checkBox4.Checked == true)
{
config_value = ((int)(config_value & (~FPGA_Sys.EXT_H_BRIDGE_MASK)) | (int)FPGA_Sys.EXT_H_BRIDGE.ENABLE);
}
else
{
config_value = (int)(config_value & (~FPGA_Sys.EXT_H_BRIDGE_MASK));
}
if (radioButton14.Checked == true) // PWM/PWM H-bridge mode
{
config_value = ((int)(config_value & (~FPGA_Sys.H_BRIDGE_MODE_MASK)) | (int)FPGA_Sys.H_BRIDGE_MODE.PWM_CONTROL);
}
else
{
config_value = (int)(config_value & (~FPGA_Sys.H_BRIDGE_MODE_MASK));
}
if (radioButton3.Checked == true) // PWM/DIR H-bridge mode
{
config_value = ((int)(config_value & (~FPGA_Sys.H_BRIDGE_MODE_MASK)) | (int)FPGA_Sys.H_BRIDGE_MODE.DIR_CONTROL);
}
else
{
config_value = (int)(config_value & (~FPGA_Sys.H_BRIDGE_MODE_MASK));
}
if (radioButton16.Checked == true) // COAST during PWM dwell time
{
config_value = ((int)(config_value & (~FPGA_Sys.PWM_DWELL_MODE_MASK)) | (int)FPGA_Sys.PWM_DWELL_MODE.COAST);
}
else // BRAKE during PWM dwell time
{
config_value = (int)(config_value & (~FPGA_Sys.PWM_DWELL_MODE_MASK));
}
command = 0;
Boolean change_cmd = false;
switch (motor_cmd)
{
case 0: // no change
break;
case 1: // COAST
change_cmd = true;
command = (int)FPGA_Sys.MOTOR_CMDS.COAST;
break;
case 2: // FORWARD
change_cmd = true;
command = (int)FPGA_Sys.MOTOR_CMDS.FORWARD;
break;
case 3: // BACKWARD
change_cmd = true;
command = (int)FPGA_Sys.MOTOR_CMDS.BACKWARD;
break;
case 4: // BRAKE
change_cmd = true;
command = (int)FPGA_Sys.MOTOR_CMDS.BRAKE;
break;
default:
break;
}
if (change_cmd == true)
{
config_value = ((int)(config_value & (~FPGA_Sys.MOTOR_CMDS_MASK)) | command);
}
config_value = (int)(config_value & 0xFFFF0000) | (PWM_config & 0x0000FFFF);
// Output PWM configuaration value to PWM
command_str = build_command('w', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.CONFIG), config_value);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out data));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}
//****************************************************************
// Run commands to control a PWM channel
//
// Notes
// * Will only affect "bit 0" of PWM config register. Other 31 bits should be undisturbed.
private void Execute_PWM_cmd(object sender, EventArgs e)
{
string command_str;
int channel_base_address, on_time_nS, on_time_FPGA_count, data, period_time_FPGA_count;
int PWM_status;
double period_time_nS;
FPGA_uP_IO.ErrorCode status;
status = FPGA_uP_IO.ErrorCode.NO_ERROR;
int config_value = 0;
// get values from PWM form and make checks
int PWM_channel = (int)numericUpDown5.Value;
double PWM_frequency = double.Parse(textBox3.Text);
if ((PWM_frequency < MIN_PWM_FREQUENCY) || (PWM_frequency > MAX_PWM_FREQUENCY))
{
MessageBox.Show("Input PWM frequenct in range 0.01 to 100 (kHz)");
return;
}
int PWM_width_percent = Convert.ToInt32(numericUpDown6.Value);
// Calculate FPGA/uP command parameters
channel_base_address = (Int32)(FPGA_uP_IO.PWM_base + (PWM_channel * FPGA_uP_IO.REGISTERS_PER_PWM_CHANNEL));
period_time_nS = Convert.ToInt32(1000000.0 / PWM_frequency);
period_time_FPGA_count = (int)(period_time_nS / 20);
on_time_nS = Convert.ToInt32((PWM_width_percent * period_time_nS) / 100);
on_time_FPGA_count = on_time_nS / 20;
// check mode to execute
if (radioButton5.Checked == true) // full configuration
{
command_str = build_command('w', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.PERIOD), period_time_FPGA_count);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out data));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
command_str = build_command('w', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.ON_TIME), on_time_FPGA_count);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out data));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}
if (radioButton6.Checked == true) // set PWM ON time
{
command_str = build_command('w', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.ON_TIME), on_time_FPGA_count);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out data));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}
if ((radioButton7.Checked == true) | (checkBox2.Checked == true)) // enable PWM channel
{
config_value = 1;
}
if (radioButton8.Checked == true) // disable PWM channel
{
config_value = 0;
}
// Process configuration data. Ensure that only bit-1 is changed.
command_str = build_command('r', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.CONFIG), config_value);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out PWM_status));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
config_value = ((int)(PWM_status & 0xFFFF0000) | (int)(config_value));
if (radioButton4.Checked == true) // override to clear config register
{
config_value = 0;
}
command_str = build_command('w', DEFAULT_PORT,
(channel_base_address + (int)FPGA_Sys.PWM_REG.CONFIG), config_value);
InfoWindow.AppendText("command = " + command_str + Environment.NewLine);
status = (do_command(command_str, out data));
InfoWindow.AppendText("Return code = " + status + Environment.NewLine);
}