commands.cpp

00001 /*
00002  * These commands aren't just for serial comms, the ones without serialSend can be called by the interface module as well
00003  */
00004 #include "mantis_stepper.h"
00005 #include "mbed.h"
00006 #include "commands.h"
00007 #include "mantis_comms.h"
00008 #include <math.h>
00009 #include <string.h>
00010 #include <stdio.h>
00011 
00012 #define COMMAND if(!strcmp(
00013 #define ACTION  ,s))
00014 #define convert (1.024/32767)
00015 #define coefa ((float)0.1)//0.5
00016 #define coefb ((float)0.05)
00017 
00018 PRIVATE char buffer[64];
00019 
00020 PRIVATE char* dtos(double var) {
00021     sprintf(buffer, "%g", var);
00022     return buffer;  // returns a pointer to buffer.
00023 }
00024 
00025 void SetPosition(long index,long pos);
00026 void StepperTest(long index);
00027 void SetSpeedMode(long index,long dir);
00028 void SetPosMode(long index);
00029 
00030 
00031 
00032 PRIVATE MantisComms *TitaniumLink; // keeping a reference to the comms interfaces here, allows them to inter-communicate
00033 
00034 
00035 
00036 void TitaniumSend(const char *s)
00037 {
00038 TitaniumLink->serialSend(s,1);
00039 }
00040 
00041 
00042 /*This is the function that is "called back" from the manti_comms code. It's address is passed to the constructor:
00043   MantisComms::MantisComms(void (*CallBack)(const char *, double,const char *sPram,MantisComms *),PinName Tx,PinName Rx) */
00044 PUBLIC void runTitaniumCommand(const char *s, double p,const char *sParam,MantisComms *TitaniumComms) {
00045 /*    
00046 s points to a string that contains any chars after the "=", or else \0    
00047 p contains any numeric parameter after the "=" interpreted as a double
00048 sParam points to a string that contains any params after the "="
00049 */
00050 
00051     COMMAND "D?" ACTION  {TitaniumComms->serialSend("123456",1);return;}                   else       //Return serial number
00052     COMMAND "FW?" ACTION  {TitaniumComms->serialSend("1.0",1);return;}                     else       //Return firmware version
00053     COMMAND "HW?" ACTION  {TitaniumComms->serialSend("1.0",1);return;}                     else       //Return hardware version
00054     COMMAND "ver?"  ACTION  {TitaniumComms->serialSend("1.1", 1);return;} 
00055     COMMAND "POS="  ACTION  {SetPosition(0,p);return;} 
00056     COMMAND "SPEEDMODE="  ACTION  {SetSpeedMode(0,p);return;} 
00057     COMMAND "POSMODE?"  ACTION  {SetPosMode(0);return;} 
00058     COMMAND "TEST?"  ACTION  {StepperTest(0);return;} 
00059 
00060 
00061 
00062 }
00063 
00064 
00065 
00066 
00067 
00068