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traincontrol [2021/10/13 20:26] dpisuperadmin [Software] |
traincontrol [2021/10/15 02:45] dpisuperadmin [Software] |
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A wireviz generated wiring diagram for the system is shown below. | A wireviz generated wiring diagram for the system is shown below. | ||
{{ wiki: | {{ wiki: | ||
+ | /* Wiringviz source file for the above | ||
+ | connectors: | ||
+ | Switch-Left: | ||
+ | type: Soldered wires | ||
+ | pinlabels: [Coil-Left, Common, Coil-Straight] | ||
+ | show_name: false | ||
+ | notes: Track Switch Left | ||
+ | Switch-Right: | ||
+ | type: Soldered wires | ||
+ | pinlabels: [Coil-Right, | ||
+ | show_name: false | ||
+ | notes: Track Switch Right | ||
+ | DC-IN: | ||
+ | type: Barrel | ||
+ | subtype: female | ||
+ | pinlabels: [V+, GND] | ||
+ | show_name: false | ||
+ | notes: Power Adapter | ||
+ | SMR-5: | ||
+ | type: screw terminal | ||
+ | pinlabels: [V+, GND, V5.0, GND] | ||
+ | show_name: false | ||
+ | notes: SMR-5 regulator | ||
+ | DRV4: | ||
+ | type: screw terminal | ||
+ | pinlabels: [V+, GND, O1, O2, O3, O4] | ||
+ | show_name: false | ||
+ | notes: DRV4 Open-Drain Driver | ||
+ | D7HB: | ||
+ | type: screw terminal | ||
+ | pinlabels: [V+, GND, A1, A2, B1, B2] | ||
+ | show_name: false | ||
+ | notes: D7HB H-bridge | ||
+ | SBC: | ||
+ | type: Soldered wires | ||
+ | pinlabels: [V5.0, GND] | ||
+ | show_name: false | ||
+ | notes: Single Board Computer | ||
+ | Track: | ||
+ | type: screw terminal | ||
+ | pinlabels: [Rail-1, Rail-2] | ||
+ | show_name: false | ||
+ | notes: Track | ||
+ | |||
+ | cables: | ||
+ | W1: | ||
+ | colors: [RD,BK] | ||
+ | W2: | ||
+ | colors: [RD,BK] | ||
+ | W3: | ||
+ | colors: [RD,WH] | ||
+ | W4: | ||
+ | colors: [RD,WH] | ||
+ | W5: | ||
+ | colors: [GN,YE,RD] | ||
+ | W6: | ||
+ | colors: [GN,YE,RD] | ||
+ | W7: | ||
+ | colors: [RD,WH] | ||
+ | |||
+ | connections: | ||
+ | - | ||
+ | - DRV4: [4,1,3] | ||
+ | - W5: [1,2,3] | ||
+ | - Switch-Left: | ||
+ | - | ||
+ | - DRV4: [5,1,6] | ||
+ | - W6: [1,2,3] | ||
+ | - Switch-Right: | ||
+ | - | ||
+ | - DRV4: [1,2] | ||
+ | - W7: [1,2] | ||
+ | - D7HB: [5,2] | ||
+ | - | ||
+ | - DC-IN: [1-2] | ||
+ | - W1: [1-2] | ||
+ | - SMR-5: [1-2] | ||
+ | - | ||
+ | - D7HB: [1-2] | ||
+ | - W2: [1-2] | ||
+ | - SMR-5: [1-2] | ||
+ | - | ||
+ | - SMR-5: [3,4] | ||
+ | - W3: [1-2] | ||
+ | - SBC: [1-2] | ||
+ | - | ||
+ | - D7HB: [3,4] | ||
+ | - W4: [1,2] | ||
+ | - Track: [1,2] | ||
+ | */ | ||
==== Peripherals ==== | ==== Peripherals ==== | ||
- | The four daughter | + | The four //cards// in the system are the D7HB dual H-bridge, the DRV4 quad open-drain driver, the SW4 quad slide switch, and the SLIDE4 quad slide pot. The Linux (and FPGA) // |
We used the Demand Peripherals support page "Build your FPGA Image" | We used the Demand Peripherals support page "Build your FPGA Image" | ||
Line 74: | Line 164: | ||
< | < | ||
Test one switch with the commands: \\ | Test one switch with the commands: \\ | ||
- | < | + | < |
Once the program starts we can read the state of the switches and the position of the slide pots using dpget commands. | Once the program starts we can read the state of the switches and the position of the slide pots using dpget commands. | ||
Line 134: | Line 224: | ||
# be set unless the speed is set to zero. | # be set unless the speed is set to zero. | ||
+ | def send_cmd(socket , str ) : | ||
+ | "Send Command to FPGA deamon" | ||
+ | socket.send(str) | ||
+ | response = '' | ||
+ | while True : | ||
+ | c = sock_cmd.recv(1).decode() | ||
+ | if c ==' | ||
+ | break | ||
+ | response += c | ||
+ | if ((len(response) > 0) and (response[0] == ' | ||
+ | # Error if first character of response is an E | ||
+ | print(" | ||
+ | print(" | ||
+ | # | ||
+ | # | ||
+ | return response | ||
try: | try: | ||
+ | sock_cmd = socket.socket(socket.AF_INET, | ||
+ | sock_cmd.connect((' | ||
+ | | ||
+ | # Init H-bridge PWM frequency to 50 Hz and mode to brake. | ||
+ | # Set the H-bridge watchdog timer to 300 ms. | ||
+ | response = send_cmd(sock_cmd, | ||
+ | response = send_cmd(sock_cmd, | ||
+ | response = send_cmd(sock_cmd, | ||
+ | response = send_cmd(sock_cmd, | ||
+ | # init track swith states to unknown | ||
+ | switch_left = " | ||
+ | switch_right = " | ||
+ | |||
+ | # loop forever getting speed and direction | ||
+ | while True: | ||
+ | # Get speed and switch settings | ||
+ | positions = send_cmd(sock_cmd, | ||
+ | position1 = int(positions[: | ||
+ | speed = int(100 * (1024 - position1) / 1024) | ||
+ | switches = send_cmd(sock_cmd, | ||
+ | |||
+ | # Set track switches if controlling slide switches changed | ||
+ | if (int(switches[0], | ||
+ | switch_left = " | ||
+ | response = send_cmd(sock_cmd, | ||
+ | time.sleep(0.05) | ||
+ | response = send_cmd(sock_cmd, | ||
+ | elif (int(switches[0], | ||
+ | switch_left = " | ||
+ | response = send_cmd(sock_cmd, | ||
+ | time.sleep(0.05) | ||
+ | response = send_cmd(sock_cmd, | ||
+ | if (int(switches[0], | ||
+ | switch_right = " | ||
+ | response = send_cmd(sock_cmd, | ||
+ | time.sleep(0.05) | ||
+ | response = send_cmd(sock_cmd, | ||
+ | elif (int(switches[0], | ||
+ | switch_right = " | ||
+ | response = send_cmd(sock_cmd, | ||
+ | time.sleep(0.05) | ||
+ | response = send_cmd(sock_cmd, | ||
+ | # | ||
+ | |||
+ | # Set engine direction if speed is zero | ||
+ | if speed == 0: | ||
+ | if int(switches[0], | ||
+ | response = send_cmd(sock_cmd, | ||
+ | else : | ||
+ | response = send_cmd(sock_cmd, | ||
+ | # Always set engine speed to keep watchdog alive | ||
+ | response = send_cmd(sock_cmd, | ||
+ | time.sleep(0.05) | ||
+ | # | ||
except KeyboardInterrupt: | except KeyboardInterrupt: |