This shows you the differences between two versions of the page.
Both sides previous revision Previous revision Next revision | Previous revision | ||
traincontrol [2021/10/13 21:54] dpisuperadmin [Peripherals] |
traincontrol [2021/10/15 02:47] (current) dpisuperadmin [Hardware and Wiring] |
||
---|---|---|---|
Line 33: | Line 33: | ||
Engine and track switch control use a dual H-bridge card and a quad open-drain driver card. The dual DC motor controller peripheral (DC2) and the dual H-bridge card (D7HB) can easily control the engine speed and direction. | Engine and track switch control use a dual H-bridge card and a quad open-drain driver card. The dual DC motor controller peripheral (DC2) and the dual H-bridge card (D7HB) can easily control the engine speed and direction. | ||
- | The track switches are left and right hand three-wire switches from Atlas. | + | The track switches are left and right hand three-wire switches from Atlas. |
One problem with our chosen hardware is that at power up the open-drain driver outputs are at ground. | One problem with our chosen hardware is that at power up the open-drain driver outputs are at ground. | ||
Line 43: | Line 43: | ||
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 ==== | ||
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 = socket.socket(socket.AF_INET, | ||
sock_cmd.connect((' | sock_cmd.connect((' | ||
+ | | ||
# Init H-bridge PWM frequency to 50 Hz and mode to brake. | # Init H-bridge PWM frequency to 50 Hz and mode to brake. | ||
# Set the H-bridge watchdog timer to 300 ms. | # Set the H-bridge watchdog timer to 300 ms. | ||
- | | + | |
- | sock_cmd.send(b' | + | |
- | sock_cmd.send(b' | + | |
- | | + | |
- | time.sleep(0.05) | + | |
- | results = sock_cmd.recv(1024) | + | |
# init track swith states to unknown | # init track swith states to unknown | ||
switch_left = " | switch_left = " | ||
Line 154: | Line 258: | ||
while True: | while True: | ||
# Get speed and switch settings | # Get speed and switch settings | ||
- | sock_cmd.send(b' | + | |
- | time.sleep(0.05) | + | position1 = int(positions[: |
- | positions = sock_cmd.recv(1024) | + | |
- | # | + | |
- | position1 = int(positions.decode()[:4]) | + | |
speed = int(100 * (1024 - position1) / 1024) | speed = int(100 * (1024 - position1) / 1024) | ||
- | sock_cmd.send(b' | + | |
- | time.sleep(0.05) | + | |
- | switches = sock_cmd.recv(1024) | + | |
- | # | + | |
# Set track switches if controlling slide switches changed | # Set track switches if controlling slide switches changed | ||
- | if (int(switches.decode()[0],16) & 8 == 8) and (switch_left != " | + | if (int(switches[0], |
switch_left = " | switch_left = " | ||
- | | + | |
time.sleep(0.05) | time.sleep(0.05) | ||
- | sock_cmd.send(b' | + | |
- | time.sleep(0.05) | + | elif (int(switches[0], |
- | results = sock_cmd.recv(1024) | + | |
- | elif (int(switches.decode()[0],16) & 8 == 0) and (switch_left != " | + | |
switch_left = " | switch_left = " | ||
- | | + | |
time.sleep(0.05) | time.sleep(0.05) | ||
- | sock_cmd.send(b' | + | |
- | time.sleep(0.05) | + | if (int(switches[0], |
- | results = sock_cmd.recv(1024) | + | |
- | if (int(switches.decode()[0],16) & 4 == 4) and (switch_right != " | + | |
switch_right = " | switch_right = " | ||
- | | + | |
time.sleep(0.05) | time.sleep(0.05) | ||
- | sock_cmd.send(b' | + | |
- | time.sleep(0.05) | + | elif (int(switches[0], |
- | results = sock_cmd.recv(1024) | + | |
- | elif (int(switches.decode()[0],16) & 4 == 0) and (switch_right != " | + | |
switch_right = " | switch_right = " | ||
- | sock_cmd.send(b' | + | |
- | time.sleep(0.05) | + | |
- | sock_cmd.send(b' | + | |
time.sleep(0.05) | time.sleep(0.05) | ||
- | | + | |
# | # | ||
# Set engine direction if speed is zero | # Set engine direction if speed is zero | ||
if speed == 0: | if speed == 0: | ||
- | if int(switches.decode()[0],16) & 1 == 1 : | + | if int(switches[0], |
- | | + | |
else : | else : | ||
- | | + | |
# Always set engine speed to keep watchdog alive | # Always set engine speed to keep watchdog alive | ||
- | | + | |
time.sleep(0.05) | time.sleep(0.05) | ||
- | results = sock_cmd.recv(1024) # collect backslash prompt chars | ||
# | # | ||