diff --git a/src/hal/user_comps/gs2_vfd.c b/src/hal/user_comps/gs2_vfd.c index 097ee1f..94eff35 100644 --- a/src/hal/user_comps/gs2_vfd.c +++ b/src/hal/user_comps/gs2_vfd.c @@ -39,30 +39,30 @@ #include /* Read Registers: - 0x2100 = status word 1 - 0x2101 = status word 2 - 0x2102 = frequency command - 0x2103 = actual frequency - 0x2104 = output current - 0x2105 = DC bus voltage - 0x2106 = actual output voltage - 0x2107 = actual RPM - 0x2108 + 0x2109 = scale freq (not sure what this actually is - it's the same as 0x2103) - 0x210A = power factor. Not sure of the units (1/10 or 1/100) - 0x210B = load percentage - 0x210C = Firmware revision (never saw anything other than 0 here) - total of 13 registers */ -#define START_REGISTER_R 0x2100 -#define NUM_REGISTERS_R 13 + 0x2100 = status word 1 + 0x2101 = status word 2 + 0x2102 = frequency command + 0x2103 = actual frequency + 0x2104 = output current + 0x2105 = DC bus voltage + 0x2106 = actual output voltage + 0x2107 = actual RPM + 0x2108 + 0x2109 = scale freq (not sure what this actually is - it's the same as 0x2103) + 0x210A = power factor. Not sure of the units (1/10 or 1/100) + 0x210B = load percentage + 0x210C = Firmware revision (never saw anything other than 0 here) + total of 13 registers */ +#define START_REGISTER_R 0x2100 +#define NUM_REGISTERS_R 13 /* write registers: - 0x91A = Speed reference, in 1/10Hz increments - 0x91B = RUN command, 0=stop, 1=run - 0x91C = direction, 0=forward, 1=reverse - 0x91D = serial fault, 0=no fault, 1=fault (maybe can stop with this?) - 0x91E = serial fault reset, 0=no reset, 1 = reset fault - total of 5 registers */ -#define START_REGISTER_W 0x091A -#define NUM_REGISTERS_W 5 + 0x91A = Speed reference, in 1/10Hz increments + 0x91B = RUN command, 0=stop, 1=run + 0x91C = direction, 0=forward, 1=reverse + 0x91D = serial fault, 0=no fault, 1=fault (maybe can stop with this?) + 0x91E = serial fault reset, 0=no reset, 1 = reset fault + total of 5 registers */ +#define START_REGISTER_W 0x091A +#define NUM_REGISTERS_W 5 #define GS2_REG_STOP_METHOD 0x0100 @@ -80,47 +80,47 @@ /* modbus slave data struct */ typedef struct { - int slave; /* slave address */ - int read_reg_start; /* starting read register number */ - int read_reg_count; /* number of registers to read */ - int write_reg_start; /* starting write register number */ - int write_reg_count; /* number of registers to write */ + int slave; /* slave address */ + int read_reg_start; /* starting read register number */ + int read_reg_count; /* number of registers to read */ + int write_reg_start; /* starting write register number */ + int write_reg_count; /* number of registers to write */ } slavedata_t; /* HAL data struct */ typedef struct { - hal_s32_t *stat1; // status words from the VFD. Maybe split these out sometime - hal_s32_t *stat2; - hal_float_t *freq_cmd; // frequency command - hal_float_t *freq_out; // actual output frequency - hal_float_t *curr_out; // output current - hal_float_t *DCBusV; // - hal_float_t *outV; - hal_float_t *RPM; - hal_float_t *scale_freq; - hal_float_t *power_factor; - hal_float_t *load_pct; - hal_s32_t *FW_Rev; - hal_s32_t errorcount; - hal_float_t looptime; - hal_float_t speed_tolerance; - hal_s32_t retval; - hal_bit_t *at_speed; // when drive freq_cmd == freq_out and running - hal_bit_t *is_stopped; // when drive freq out is 0 - hal_float_t *speed_command; // speed command input - hal_float_t motor_hz; // speeds are scaled in Hz, not RPM - hal_float_t motor_RPM; // nameplate RPM at default Hz - hal_bit_t *spindle_on; // spindle 1=on, 0=off - hal_bit_t *spindle_fwd; // direction, 0=fwd, 1=rev - hal_bit_t *spindle_rev; // on when in rev and running - hal_bit_t *err_reset; // reset errors when 1 - hal_s32_t ack_delay; // number of read/writes before checking at-speed - - hal_bit_t old_run; // so we can detect changes in the run state - hal_bit_t old_dir; - hal_bit_t old_err_reset; - hal_bit_t *ena_gs2comp; // ---gs2 component enable pin - hal_bit_t *isInitialized; // ---initialized status pin + hal_s32_t *stat1; // status words from the VFD. Maybe split these out sometime + hal_s32_t *stat2; + hal_float_t *freq_cmd; // frequency command + hal_float_t *freq_out; // actual output frequency + hal_float_t *curr_out; // output current + hal_float_t *DCBusV; // + hal_float_t *outV; + hal_float_t *RPM; + hal_float_t *scale_freq; + hal_float_t *power_factor; + hal_float_t *load_pct; + hal_s32_t *FW_Rev; + hal_s32_t errorcount; + hal_float_t looptime; + hal_float_t speed_tolerance; + hal_s32_t retval; + hal_bit_t *at_speed; // when drive freq_cmd == freq_out and running + hal_bit_t *is_stopped; // when drive freq out is 0 + hal_float_t *speed_command; // speed command input + hal_float_t motor_hz; // speeds are scaled in Hz, not RPM + hal_float_t motor_RPM; // nameplate RPM at default Hz + hal_bit_t *spindle_on; // spindle 1=on, 0=off + hal_bit_t *spindle_fwd; // direction, 0=fwd, 1=rev + hal_bit_t *spindle_rev; // on when in rev and running + hal_bit_t *err_reset; // reset errors when 1 + hal_s32_t ack_delay; // number of read/writes before checking at-speed + + hal_bit_t old_run; // so we can detect changes in the run state + hal_bit_t old_dir; + hal_bit_t old_err_reset; + hal_bit_t *ena_gs2comp; // gs2 component enable pin + hal_bit_t *isInitialized; // initialized status pin } haldata_t; static int done; @@ -376,9 +376,9 @@ int write_data(modbus_t *mb_ctx, slavedata_t *slavedata, haldata_t *haldata) { haldata->old_dir = *(haldata->spindle_fwd); } if (*(haldata->spindle_fwd) || !(*(haldata->spindle_on))) // JET turn on and off rev based on the status of fwd - *(haldata->spindle_rev) = 0; + *(haldata->spindle_rev) = 0; if (!(*haldata->spindle_fwd) && *(haldata->spindle_on)) - *(haldata->spindle_rev) = 1; + *(haldata->spindle_rev) = 1; if (*(haldata->err_reset) != haldata->old_err_reset) { if (*(haldata->err_reset)) modbus_write_register(mb_ctx, slavedata->write_reg_start+4, 1); @@ -387,14 +387,14 @@ int write_data(modbus_t *mb_ctx, slavedata_t *slavedata, haldata_t *haldata) { haldata->old_err_reset = *(haldata->err_reset); } if (comm_delay < haldata->ack_delay){ // JET allow time for communications between drive and EMC - comm_delay++; + comm_delay++; } if ((*haldata->spindle_on) && comm_delay == haldata->ack_delay){ // JET test for up to speed - if ((*(haldata->freq_cmd))==(*(haldata->freq_out))) - *(haldata->at_speed) = 1; + if ((*(haldata->freq_cmd))==(*(haldata->freq_out))) + *(haldata->at_speed) = 1; } if (*(haldata->spindle_on)==0){ // JET reset at-speed - *(haldata->at_speed) = 0; + *(haldata->at_speed) = 0; } haldata->retval = retval; return retval; @@ -443,11 +443,11 @@ void usage(int argc, char **argv) { " high voltage. The regenerated voltage gets safely dumped into the\n" " braking resistor.\n" "-X, --disable\n" - " Set this flag to disable the control by default (sets default value of'enable' pin to 0)" + " Set this flag to disable the control by default (sets default value of 'enable' pin to 0)" ); } int read_data(modbus_t *mb_ctx, slavedata_t *slavedata, haldata_t *hal_data_block) { - uint16_t receive_data[MODBUS_MAX_READ_REGISTERS]; /* a little padding in there */ + uint16_t receive_data[MODBUS_MAX_READ_REGISTERS]; /* a little padding in there */ int retval; /* can't do anything with a null HAL data block */ @@ -468,11 +468,11 @@ int read_data(modbus_t *mb_ctx, slavedata_t *slavedata, haldata_t *hal_data_bloc *(hal_data_block->stat2) = receive_data[1]; *(hal_data_block->freq_cmd) = receive_data[2] * 0.1; *(hal_data_block->freq_out) = receive_data[3] * 0.1; - if (receive_data[3]==0){ // JET if freq out is 0 then the drive is stopped - *(hal_data_block->is_stopped) = 1; - } else { + if (receive_data[3]==0){ // JET if freq out is 0 then the drive is stopped + *(hal_data_block->is_stopped) = 1; + } else { *(hal_data_block->is_stopped) = 0; - } + } *(hal_data_block->curr_out) = receive_data[4] * 0.1; *(hal_data_block->DCBusV) = receive_data[5] * 0.1; *(hal_data_block->outV) = receive_data[6] * 0.1; @@ -534,7 +534,7 @@ int main(int argc, char **argv) // process command line options while ((opt=getopt_long(argc, argv, option_string, long_options, NULL)) != -1) { switch(opt) { - case 'X': // ---disable by default on startup + case 'X': // disable by default on startup enabled = 0; break; case 'b': // serial data bits, probably should be 8 (and defaults to 8) @@ -730,7 +730,7 @@ int main(int argc, char **argv) if (retval!=0) goto out_closeHAL; retval = hal_param_s32_newf(HAL_RW, &(haldata->ack_delay), hal_comp_id, "%s.ack-delay", modname); if (retval!=0) goto out_closeHAL; - /* ---define run (enable) pin and isInitialized */ + /* define run (enable) pin and isInitialized */ retval = hal_pin_bit_newf(HAL_IN, &(haldata->ena_gs2comp), hal_comp_id, "%s.enable", modname); if (retval!=0) goto out_closeHAL; retval = hal_pin_bit_newf(HAL_OUT, &(haldata->isInitialized), hal_comp_id, "%s.initialized", modname); @@ -759,10 +759,10 @@ int main(int argc, char **argv) *(haldata->spindle_on) = 0; *(haldata->spindle_fwd) = 1; *(haldata->spindle_rev) = 0; - haldata->old_run = -1; // make sure the initial value gets output + haldata->old_run = -1; // make sure the initial value gets output haldata->old_dir = -1; haldata->old_err_reset = -1; - *(haldata->ena_gs2comp) = enabled; // ---command line override, defaults to "enabled" for compatibility + *(haldata->ena_gs2comp) = enabled; // command line override, defaults to "enabled" for compatibility *(haldata->isInitialized) = 0; // Activate HAL component @@ -771,50 +771,45 @@ int main(int argc, char **argv) /* here's the meat of the program. loop until done (which may be never) */ while (done==0) { - /* don't want to scan too fast, and shouldn't delay more than a few seconds */ - if (haldata->looptime < 0.001) haldata->looptime = 0.001; - if (haldata->looptime > 2.0) haldata->looptime = 2.0; - loop_timespec.tv_sec = (time_t)(haldata->looptime); - loop_timespec.tv_nsec = (long)((haldata->looptime - loop_timespec.tv_sec) * 1000000000l); - nanosleep(&loop_timespec, &remaining); - - if(*(haldata->ena_gs2comp) == 0) - { - // ---Component not enabled, so do nothing and force uninitialized state - if (*(haldata->isInitialized)) - { - *(haldata->spindle_on) = 0; - // ---need to write to vfd in case we are here when it is being disabled - write_data(mb_ctx, &slavedata, haldata); - // ---debug printf below - // printf("GS2: Disabling\n"); + /* don't want to scan too fast, and shouldn't delay more than a few seconds */ + if (haldata->looptime < 0.001) haldata->looptime = 0.001; + if (haldata->looptime > 2.0) haldata->looptime = 2.0; + loop_timespec.tv_sec = (time_t)(haldata->looptime); + loop_timespec.tv_nsec = (long)((haldata->looptime - loop_timespec.tv_sec) * 1000000000l); + nanosleep(&loop_timespec, &remaining); + + if(*(haldata->ena_gs2comp) == 0) { + // Component not enabled, so do nothing and force uninitialized state + if (*(haldata->isInitialized)) { + *(haldata->spindle_on) = 0; + // need to write to vfd in case we are here when it is being disabled + write_data(mb_ctx, &slavedata, haldata); + // debug printf below + // printf("GS2: Disabling\n"); } *(haldata->isInitialized) = 0; - } else if (!*(haldata->isInitialized)) - { - // Initialize: configure the gs2 vfd based on command-line arguments - if (gs2_set_accel_time(mb_ctx, accel_time) != 0) { - continue; - } - if (gs2_set_decel_time(mb_ctx, decel_time) != 0) { - continue; - } - if (gs2_set_braking_resistor(mb_ctx, braking_resistor) != 0) { - continue; - } - // ---debug printf below - // printf("GS2: Initialized\n"); - *(haldata->isInitialized) = 1; - - } else - { - // Enabled and initialized, so do read/write of Modbus - read_data(mb_ctx, &slavedata, haldata); - write_data(mb_ctx, &slavedata, haldata); + } else if (!*(haldata->isInitialized)) { + // Initialize: configure the gs2 vfd based on command-line arguments + if (gs2_set_accel_time(mb_ctx, accel_time) != 0) { + continue; + } + if (gs2_set_decel_time(mb_ctx, decel_time) != 0) { + continue; + } + if (gs2_set_braking_resistor(mb_ctx, braking_resistor) != 0) { + continue; + } + // debug printf below + // printf("GS2: Initialized\n"); + *(haldata->isInitialized) = 1; + } else { + // Enabled and initialized, so do read/write of Modbus + read_data(mb_ctx, &slavedata, haldata); + write_data(mb_ctx, &slavedata, haldata); } } - retval = 0; /* if we get here, then everything is fine, so just clean up and exit */ + retval = 0; /* if we get here, then everything is fine, so just clean up and exit */ out_closeHAL: hal_exit(hal_comp_id); out_close: