Jon Freeman / Mbed 2 deprecated cnc_machine_driver_3

Code to drive a CNC machine via a PC LPT port lookalike 25 pin 'D', experiment in 'PC/Mach3' replacement. Designed to compile and run on mbed LPC1768, Freescale KL25Z and Freescale KL46Z. Proved on LPC1768 and KL25Z, problem with serial port on KL46Z. Reads subset of 'G Codes' through usb/serial port and drives 3 stepper/servo drives for X, Y and Z, also similar Step/Dir outputs for spindle motor control. Emulates PC LPT, outputs 'charge pump', proved driving Seig KX3 CNC mill

Dependencies:   MODSERIAL mbed

command_interpreter.cpp@0:5d0f270bfc87, 2014-01-31 (annotated)

Committer:
JonFreeman
Date:
Fri Jan 31 11:16:21 2014 +0000
Revision:
0:5d0f270bfc87
Child:
1:66ee619f206b
First wip, tested on KL25 and KL46

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 0:5d0f270bfc87 1 #include "mbed.h"
JonFreeman 0:5d0f270bfc87 2 #include "cnc.h"
JonFreeman 0:5d0f270bfc87 3 using namespace std;
JonFreeman 0:5d0f270bfc87 4
JonFreeman 0:5d0f270bfc87 5 extern Serial pc;
JonFreeman 0:5d0f270bfc87 6 extern void pir_updater (struct axis_speeds_element * p) ; // Uses pointer as we may wish to rapid update from circular buffer
JonFreeman 0:5d0f270bfc87 7
JonFreeman 0:5d0f270bfc87 8 double feed_rate = 1.0; // global scope, mm per minute
JonFreeman 0:5d0f270bfc87 9
JonFreeman 0:5d0f270bfc87 10 bool isdigit (int a)
JonFreeman 0:5d0f270bfc87 11 {
JonFreeman 0:5d0f270bfc87 12 if(a > ('0' - 1) && a < ('9' + 1))
JonFreeman 0:5d0f270bfc87 13 return true;
JonFreeman 0:5d0f270bfc87 14 return false;
JonFreeman 0:5d0f270bfc87 15 }
JonFreeman 0:5d0f270bfc87 16
JonFreeman 0:5d0f270bfc87 17 bool isupper (int a)
JonFreeman 0:5d0f270bfc87 18 {
JonFreeman 0:5d0f270bfc87 19 if ((a >= 'A') && (a <= 'Z')) return true;
JonFreeman 0:5d0f270bfc87 20 return false;
JonFreeman 0:5d0f270bfc87 21 }
JonFreeman 0:5d0f270bfc87 22
JonFreeman 0:5d0f270bfc87 23 int tolower (int a)
JonFreeman 0:5d0f270bfc87 24 {
JonFreeman 0:5d0f270bfc87 25 if (isupper(a))
JonFreeman 0:5d0f270bfc87 26 a += 'a' - 'A';
JonFreeman 0:5d0f270bfc87 27 return a;
JonFreeman 0:5d0f270bfc87 28 }
JonFreeman 0:5d0f270bfc87 29
JonFreeman 0:5d0f270bfc87 30 extern double find_distance (struct Gparams & from, struct Gparams & to, struct Gparams & distance);
JonFreeman 0:5d0f270bfc87 31 extern long find_traverse_ticks(double dist, double feed_rate);
JonFreeman 0:5d0f270bfc87 32 extern struct Gparams last_position;
JonFreeman 0:5d0f270bfc87 33
JonFreeman 0:5d0f270bfc87 34 const int goodcodes[] = {0,'a','b','c','i','j','l','r','x','y','z'}; // possible G Code options
JonFreeman 0:5d0f270bfc87 35 const int const_numofcodes = sizeof(goodcodes) / sizeof(int);
JonFreeman 0:5d0f270bfc87 36
JonFreeman 0:5d0f270bfc87 37 int find_char_in_goodcodes (int target) // Returns position of char in goodcodes[], 0 if not found.
JonFreeman 0:5d0f270bfc87 38 {
JonFreeman 0:5d0f270bfc87 39 for (int i = 1; i < const_numofcodes; i++)
JonFreeman 0:5d0f270bfc87 40 if (goodcodes[i] == target)
JonFreeman 0:5d0f270bfc87 41 return i;
JonFreeman 0:5d0f270bfc87 42 return 0;
JonFreeman 0:5d0f270bfc87 43 }
JonFreeman 0:5d0f270bfc87 44
JonFreeman 0:5d0f270bfc87 45 /*
JonFreeman 0:5d0f270bfc87 46 void get_codepositions (struct singleGparam * a, struct Gparams & p)
JonFreeman 0:5d0f270bfc87 47 Only call from "void g0g1cmdcore (struct singleGparam * a, double f_rate)"
JonFreeman 0:5d0f270bfc87 48 Purpose:
JonFreeman 0:5d0f270bfc87 49 G code line may have any number of valid axes or parameters entered in any order or position.
JonFreeman 0:5d0f270bfc87 50 This function detects any X,Y,Z,A,I,J,R entries in 'p' if present and copies values into their
JonFreeman 0:5d0f270bfc87 51 respective positions within singleGparam 'a', setting the 'changed' flag for each to true if found,
JonFreeman 0:5d0f270bfc87 52 false if not found
JonFreeman 0:5d0f270bfc87 53 struct Gparams { // Where possibly messy G code line gets ordered and sorted into
JonFreeman 0:5d0f270bfc87 54 struct singleGparam x, y, z, i, j, r, a, b, c, d; // After sorting, know where to find any X, Y etc values !
JonFreeman 0:5d0f270bfc87 55 } ;
JonFreeman 0:5d0f270bfc87 56 */
JonFreeman 0:5d0f270bfc87 57 void get_codepositions (struct singleGparam * source_array, struct Gparams & dest)
JonFreeman 0:5d0f270bfc87 58 {
JonFreeman 0:5d0f270bfc87 59 //const int goodcodes[] = {0,'a','b','c','i','j','l','r','x','y','z'}; // possible G Code options
JonFreeman 0:5d0f270bfc87 60 //const int const_numofcodes = sizeof(goodcodes) / sizeof(int);
JonFreeman 0:5d0f270bfc87 61 int codecnt[const_numofcodes +1];
JonFreeman 0:5d0f270bfc87 62 int codepos[const_numofcodes +1];
JonFreeman 0:5d0f270bfc87 63 int j;
JonFreeman 0:5d0f270bfc87 64 for (j = 0; j < const_numofcodes; j++)
JonFreeman 0:5d0f270bfc87 65 codecnt[j] = codepos[j] = 0; // Zero all results
JonFreeman 0:5d0f270bfc87 66 for (int i = 1; i <= source_array[0].i; i++) { // for number of parameters passed to us here
JonFreeman 0:5d0f270bfc87 67 for(j = 0; j < const_numofcodes; j++) { // for a, for b, ... for x, then y, then z
JonFreeman 0:5d0f270bfc87 68 if (source_array[i].c == goodcodes[j]) {
JonFreeman 0:5d0f270bfc87 69 codecnt[j]++; // Count of number of 'a's, 'b's ... 'x's, 'y's, 'z's. All should be 0 or 1 but could be more
JonFreeman 0:5d0f270bfc87 70 codepos[j] = i; // Identifies the a[?] containing last incidence of goodcodes[j]
JonFreeman 0:5d0f270bfc87 71 }
JonFreeman 0:5d0f270bfc87 72 }
JonFreeman 0:5d0f270bfc87 73 }
JonFreeman 0:5d0f270bfc87 74 dest.x.changed = dest.y.changed = dest.z.changed = dest.a.changed = false;
JonFreeman 0:5d0f270bfc87 75 dest.i.changed = dest.j.changed = dest.r.changed = false;
JonFreeman 0:5d0f270bfc87 76 dest.x.dbl = last_position.x.dbl; // copy previous coordinates in case not re-specified
JonFreeman 0:5d0f270bfc87 77 dest.y.dbl = last_position.y.dbl; dest.z.dbl = last_position.z.dbl;
JonFreeman 0:5d0f270bfc87 78 dest.a.dbl = last_position.a.dbl; dest.i.dbl = last_position.i.dbl;
JonFreeman 0:5d0f270bfc87 79 dest.j.dbl = last_position.j.dbl; dest.r.dbl = last_position.r.dbl;
JonFreeman 0:5d0f270bfc87 80 j = codepos[find_char_in_goodcodes('a')];
JonFreeman 0:5d0f270bfc87 81 if (j) {
JonFreeman 0:5d0f270bfc87 82 dest.a.changed = true;
JonFreeman 0:5d0f270bfc87 83 dest.a.dbl = source_array[j].dbl;
JonFreeman 0:5d0f270bfc87 84 }
JonFreeman 0:5d0f270bfc87 85 j = codepos[find_char_in_goodcodes('x')];
JonFreeman 0:5d0f270bfc87 86 if (j) {
JonFreeman 0:5d0f270bfc87 87 dest.x.changed = true;
JonFreeman 0:5d0f270bfc87 88 dest.x.dbl = source_array[j].dbl;
JonFreeman 0:5d0f270bfc87 89 }
JonFreeman 0:5d0f270bfc87 90 j = codepos[find_char_in_goodcodes('y')];
JonFreeman 0:5d0f270bfc87 91 if (j) {
JonFreeman 0:5d0f270bfc87 92 dest.y.changed = true;
JonFreeman 0:5d0f270bfc87 93 dest.y.dbl = source_array[j].dbl;
JonFreeman 0:5d0f270bfc87 94 }
JonFreeman 0:5d0f270bfc87 95 j = codepos[find_char_in_goodcodes('z')];
JonFreeman 0:5d0f270bfc87 96 if (j) {
JonFreeman 0:5d0f270bfc87 97 dest.z.changed = true;
JonFreeman 0:5d0f270bfc87 98 dest.z.dbl = source_array[j].dbl;
JonFreeman 0:5d0f270bfc87 99 }
JonFreeman 0:5d0f270bfc87 100 j = codepos[find_char_in_goodcodes('i')];
JonFreeman 0:5d0f270bfc87 101 if (j) {
JonFreeman 0:5d0f270bfc87 102 dest.i.changed = true;
JonFreeman 0:5d0f270bfc87 103 dest.i.dbl = source_array[j].dbl;
JonFreeman 0:5d0f270bfc87 104 }
JonFreeman 0:5d0f270bfc87 105 j = codepos[find_char_in_goodcodes('j')];
JonFreeman 0:5d0f270bfc87 106 if (j) {
JonFreeman 0:5d0f270bfc87 107 dest.j.changed = true;
JonFreeman 0:5d0f270bfc87 108 dest.j.dbl = source_array[j].dbl;
JonFreeman 0:5d0f270bfc87 109 }
JonFreeman 0:5d0f270bfc87 110 j = codepos[find_char_in_goodcodes('r')];
JonFreeman 0:5d0f270bfc87 111 if (j) {
JonFreeman 0:5d0f270bfc87 112 dest.r.changed = true;
JonFreeman 0:5d0f270bfc87 113 dest.r.dbl = source_array[j].dbl;
JonFreeman 0:5d0f270bfc87 114 }
JonFreeman 0:5d0f270bfc87 115 }
JonFreeman 0:5d0f270bfc87 116
JonFreeman 0:5d0f270bfc87 117
JonFreeman 0:5d0f270bfc87 118 void g0g1cmdcore (struct singleGparam * source_array, double f_rate) // Updates any / all of x, y, z NCOs
JonFreeman 0:5d0f270bfc87 119 {
JonFreeman 0:5d0f270bfc87 120 struct Gparams pxyz, distance;
JonFreeman 0:5d0f270bfc87 121 struct axis_speeds_element q;
JonFreeman 0:5d0f270bfc87 122 get_codepositions (source_array, pxyz); // will overwrite with new where entered
JonFreeman 0:5d0f270bfc87 123 pc.printf("g0");
JonFreeman 0:5d0f270bfc87 124 if (pxyz.x.changed) {pc.printf(" X %f", pxyz.x.dbl);}
JonFreeman 0:5d0f270bfc87 125 if (pxyz.y.changed) {pc.printf(" Y %f", pxyz.y.dbl);}
JonFreeman 0:5d0f270bfc87 126 if (pxyz.z.changed) {pc.printf(" Z %f", pxyz.z.dbl);}
JonFreeman 0:5d0f270bfc87 127 pc.printf("\r\n");
JonFreeman 0:5d0f270bfc87 128 // for (int j = 1; j < const_numofcodes; j++) {
JonFreeman 0:5d0f270bfc87 129 // pc.printf ("Count of %c is %d, last position %d, last value %f\r\n", goodcodes[j], codecnt[j], codepos[j], a[codepos[j]].d);
JonFreeman 0:5d0f270bfc87 130 // }
JonFreeman 0:5d0f270bfc87 131 double distT = find_distance (last_position, pxyz, distance); // also fills in distance x y z
JonFreeman 0:5d0f270bfc87 132 double temp = n_for_onemmpermin * f_rate / distT;
JonFreeman 0:5d0f270bfc87 133 q.duration_ticks = find_traverse_ticks(distT, f_rate);
JonFreeman 0:5d0f270bfc87 134 last_position.x.dbl = pxyz.x.dbl; // Update global last_position record
JonFreeman 0:5d0f270bfc87 135 last_position.y.dbl = pxyz.y.dbl;
JonFreeman 0:5d0f270bfc87 136 last_position.z.dbl = pxyz.z.dbl;
JonFreeman 0:5d0f270bfc87 137 q.x = (signed long)(temp * distance.x.dbl);
JonFreeman 0:5d0f270bfc87 138 q.y = (signed long)(temp * distance.y.dbl);
JonFreeman 0:5d0f270bfc87 139 q.z = (signed long)(temp * distance.z.dbl);
JonFreeman 0:5d0f270bfc87 140 q.a = 0;
JonFreeman 0:5d0f270bfc87 141 pir_updater (&q); // pir_updater (struct Gparams & p); // To arrive here with wanted 'mm per min' values in x, y and z
JonFreeman 0:5d0f270bfc87 142 }
JonFreeman 0:5d0f270bfc87 143
JonFreeman 0:5d0f270bfc87 144 void g0cmd (struct singleGparam * a) // Updates any / all of x, y, z NCOs
JonFreeman 0:5d0f270bfc87 145 {
JonFreeman 0:5d0f270bfc87 146 g0g1cmdcore (a, feed_rate_max); // Defined parameter in code
JonFreeman 0:5d0f270bfc87 147 }
JonFreeman 0:5d0f270bfc87 148
JonFreeman 0:5d0f270bfc87 149 void g1cmd (struct singleGparam * a) // Updates any / all of x, y, z NCOs
JonFreeman 0:5d0f270bfc87 150 {
JonFreeman 0:5d0f270bfc87 151 g0g1cmdcore (a, feed_rate); // Settable feed_rate
JonFreeman 0:5d0f270bfc87 152 }
JonFreeman 0:5d0f270bfc87 153
JonFreeman 0:5d0f270bfc87 154 void fcmd (struct singleGparam * a) {
JonFreeman 0:5d0f270bfc87 155 if (a[1].dbl < feed_rate_min || a[1].dbl > feed_rate_max) {
JonFreeman 0:5d0f270bfc87 156 pc.printf ("Errror setting feed rate, can't set to %f, ignoring request\r\n", a[1].dbl);
JonFreeman 0:5d0f270bfc87 157 return;
JonFreeman 0:5d0f270bfc87 158 }
JonFreeman 0:5d0f270bfc87 159 pc.printf ("Setting feed_rate to %f\r\n", a[1].dbl);
JonFreeman 0:5d0f270bfc87 160 feed_rate = a[1].dbl;
JonFreeman 0:5d0f270bfc87 161 }
JonFreeman 0:5d0f270bfc87 162
JonFreeman 0:5d0f270bfc87 163 extern unsigned long pir_s;
JonFreeman 0:5d0f270bfc87 164 extern int spindlefwdrev;
JonFreeman 0:5d0f270bfc87 165
JonFreeman 0:5d0f270bfc87 166 void sfcmd (struct singleGparam * a) {pc.printf("Spindle Fwd\r\n"); spindlefwdrev = 0;}
JonFreeman 0:5d0f270bfc87 167 void srcmd (struct singleGparam * a) {pc.printf("Spindle Rev\r\n"); spindlefwdrev = 4;}
JonFreeman 0:5d0f270bfc87 168 void stopcmd (struct singleGparam * a) {pc.printf("Stop ! er, not working yet\r\n");}
JonFreeman 0:5d0f270bfc87 169
JonFreeman 0:5d0f270bfc87 170 void scmd (struct singleGparam * a) {
JonFreeman 0:5d0f270bfc87 171 pc.printf("pir_s=0x%x\r\n", pir_s);
JonFreeman 0:5d0f270bfc87 172 if (a[1].dbl < spindle_min || a[1].dbl > spindle_max) {
JonFreeman 0:5d0f270bfc87 173 pc.printf ("Errror setting spindle RPM, can't set to %f, ignoring request\r\n", a[1].dbl);
JonFreeman 0:5d0f270bfc87 174 // return;
JonFreeman 0:5d0f270bfc87 175 }
JonFreeman 0:5d0f270bfc87 176 pc.printf ("Setting spindle RPM to %f\r\n", a[1].dbl);
JonFreeman 0:5d0f270bfc87 177 // feed_rate = a[1].d; // ****TO DO****
JonFreeman 0:5d0f270bfc87 178 pir_s = (unsigned long) (a[1].dbl * 4096);
JonFreeman 0:5d0f270bfc87 179 pc.printf("pir_s=0x%x\r\n", pir_s);
JonFreeman 0:5d0f270bfc87 180 }
JonFreeman 0:5d0f270bfc87 181
JonFreeman 0:5d0f270bfc87 182 //void stopcmd (struct grain * a) {pc.printf("Stop !\r\n");}
JonFreeman 0:5d0f270bfc87 183 void m1cmd (struct singleGparam * a) {pc.printf("m1 Optional Programme Stop\r\n");}
JonFreeman 0:5d0f270bfc87 184 void m3cmd (struct singleGparam * a) {pc.printf("m3 Rotate Spindle Clockwise\r\n");}
JonFreeman 0:5d0f270bfc87 185 void m4cmd (struct singleGparam * a) {pc.printf("m4 Rotate Spindle Counter Clockwise\r\n");}
JonFreeman 0:5d0f270bfc87 186 void m5cmd (struct singleGparam * a) {pc.printf("m5 Stop Spindle\r\n");}
JonFreeman 0:5d0f270bfc87 187 /*void m30cmd (struct singleGparam * a) {pc.printf("m30 Programme End and Rewind\r\n");}
JonFreeman 0:5d0f270bfc87 188 void m47cmd (struct singleGparam * a) {pc.printf("m47 Repeat Prog from First Line\r\n");}
JonFreeman 0:5d0f270bfc87 189 void m48cmd (struct singleGparam * a) {pc.printf("m48 Enable Speed and Feed Override\r\n");}
JonFreeman 0:5d0f270bfc87 190 void m49cmd (struct singleGparam * a) {pc.printf("m49 Disable Speed and Feed Override\r\n");}
JonFreeman 0:5d0f270bfc87 191 void m98cmd (struct singleGparam * a) {pc.printf("m98 Call Subroutine\r\n");}
JonFreeman 0:5d0f270bfc87 192 void m99cmd (struct singleGparam * a) {pc.printf("m99 Return from Subroutine\r\n");}
JonFreeman 0:5d0f270bfc87 193 void g10cmd (struct singleGparam * a) {pc.printf("g10 Coord System Origin Set\r\n");}
JonFreeman 0:5d0f270bfc87 194 void g17cmd (struct singleGparam * a) {pc.printf("g17 XY Plane Select\r\n");}
JonFreeman 0:5d0f270bfc87 195 void g20cmd (struct singleGparam * a) {pc.printf("g20 Inch\r\n");}
JonFreeman 0:5d0f270bfc87 196 void g21cmd (struct singleGparam * a) {pc.printf("g21 mm\r\n");}
JonFreeman 0:5d0f270bfc87 197
JonFreeman 0:5d0f270bfc87 198 void g40cmd (struct singleGparam * a) {pc.printf("g40 Cutter Compensation Off\r\n");}
JonFreeman 0:5d0f270bfc87 199 void g50cmd (struct singleGparam * a) {pc.printf("g50 Reset Scale Factors\r\n");}
JonFreeman 0:5d0f270bfc87 200 void g53cmd (struct singleGparam * a) {pc.printf("g53 Move in Absolute Coordinates\r\n");}
JonFreeman 0:5d0f270bfc87 201 void g90cmd (struct singleGparam * a) {pc.printf("g90 Absolute Distance Mode\r\n");}
JonFreeman 0:5d0f270bfc87 202 */
JonFreeman 0:5d0f270bfc87 203 void g2cmd (struct singleGparam * a) {pc.printf("g2 Clockwise Arc\r\n");}
JonFreeman 0:5d0f270bfc87 204 void g3cmd (struct singleGparam * a) {pc.printf("g3 CounterClockwise Arc\r\n");}
JonFreeman 0:5d0f270bfc87 205 void g4cmd (struct singleGparam * a) {pc.printf("g4 Dwell\r\n");}
JonFreeman 0:5d0f270bfc87 206 void g91p1cmd (struct singleGparam * a) {pc.printf("g91.1 \r\n");}
JonFreeman 0:5d0f270bfc87 207
JonFreeman 0:5d0f270bfc87 208 extern struct digital_readouts dro; //
JonFreeman 0:5d0f270bfc87 209 void drooncmd (struct singleGparam * a)
JonFreeman 0:5d0f270bfc87 210 {
JonFreeman 0:5d0f270bfc87 211 dro.dro_output = true; // Enable continuous dro display update
JonFreeman 0:5d0f270bfc87 212 }
JonFreeman 0:5d0f270bfc87 213 void drooffcmd (struct singleGparam * a)
JonFreeman 0:5d0f270bfc87 214 {
JonFreeman 0:5d0f270bfc87 215 dro.dro_output = false; // Disable continuous dro display update
JonFreeman 0:5d0f270bfc87 216 }
JonFreeman 0:5d0f270bfc87 217
JonFreeman 0:5d0f270bfc87 218 //extern void craptest () ;
JonFreeman 0:5d0f270bfc87 219 //void g1cmd (struct singleGparam * a) {
JonFreeman 0:5d0f270bfc87 220 // craptest ();
JonFreeman 0:5d0f270bfc87 221 //}
JonFreeman 0:5d0f270bfc87 222
JonFreeman 0:5d0f270bfc87 223 void g90p1cmd (struct singleGparam * a)
JonFreeman 0:5d0f270bfc87 224 {
JonFreeman 0:5d0f270bfc87 225 pc.printf ("Arrived at function fredcmd with %d parameters\r\n", a[0].i);
JonFreeman 0:5d0f270bfc87 226 for (int i = 1; i <= a[0].i; i++) {
JonFreeman 0:5d0f270bfc87 227 pc.printf ("*%c* ", a[i].c);
JonFreeman 0:5d0f270bfc87 228 pc.printf ("%d, ", a[i].i);
JonFreeman 0:5d0f270bfc87 229 pc.printf ("%f\r\n", a[i].dbl);
JonFreeman 0:5d0f270bfc87 230 }
JonFreeman 0:5d0f270bfc87 231 pc.printf (" endof param list\r\n");
JonFreeman 0:5d0f270bfc87 232 }
JonFreeman 0:5d0f270bfc87 233
JonFreeman 0:5d0f270bfc87 234 void menucmd (struct singleGparam * a);
JonFreeman 0:5d0f270bfc87 235 struct kb_command {
JonFreeman 0:5d0f270bfc87 236 const char * cmd_word; // points to text e.g. "menu"
JonFreeman 0:5d0f270bfc87 237 const char * explan;
JonFreeman 0:5d0f270bfc87 238 void (*f)(struct singleGparam *); // points to function
JonFreeman 0:5d0f270bfc87 239 } kbc[] = {
JonFreeman 0:5d0f270bfc87 240 {(char const *)"menu", "Lists available commands, same as ls", menucmd},
JonFreeman 0:5d0f270bfc87 241 {(char const *)"ls", "Lists available commands, same as menu", menucmd},
JonFreeman 0:5d0f270bfc87 242 {"stop", "To Stop the Machine !", stopcmd},
JonFreeman 0:5d0f270bfc87 243 {"sf", "Spindle Clockwise", sfcmd},
JonFreeman 0:5d0f270bfc87 244 {"sr", "Spindle Anticlockwise", srcmd},
JonFreeman 0:5d0f270bfc87 245 {"f ", "To set Feed Rate mm/min, e.g. f 25", fcmd},
JonFreeman 0:5d0f270bfc87 246 {"s ", "To set Spindle RPM, e.g. S 1250", scmd},
JonFreeman 0:5d0f270bfc87 247 {"g0", "Not Implemented", g0cmd},
JonFreeman 0:5d0f270bfc87 248 /*{"m30", "Not Implemented", m30cmd},
JonFreeman 0:5d0f270bfc87 249 {"m47", "Not Implemented", m47cmd},
JonFreeman 0:5d0f270bfc87 250 {"m48", "Not Implemented", m48cmd},
JonFreeman 0:5d0f270bfc87 251 {"m49", "Not Implemented", m49cmd},
JonFreeman 0:5d0f270bfc87 252 {"m98", "Not Implemented", m98cmd},
JonFreeman 0:5d0f270bfc87 253 {"m99", "Not Implemented", m99cmd},
JonFreeman 0:5d0f270bfc87 254 {"m1", "Not Implemented", m1cmd},
JonFreeman 0:5d0f270bfc87 255 {"m3", "Not Implemented", m3cmd},
JonFreeman 0:5d0f270bfc87 256 {"m4", "Not Implemented", m4cmd},
JonFreeman 0:5d0f270bfc87 257 {"m5", "Not Implemented", m5cmd},
JonFreeman 0:5d0f270bfc87 258 {"g10", "Not Implemented", g10cmd},
JonFreeman 0:5d0f270bfc87 259 {"g17", "Not Implemented", g17cmd},
JonFreeman 0:5d0f270bfc87 260 {"g20", "Not Implemented", g20cmd},
JonFreeman 0:5d0f270bfc87 261 {"g21", "Not Implemented", g21cmd},
JonFreeman 0:5d0f270bfc87 262 {"g40", "Not Implemented", g40cmd},
JonFreeman 0:5d0f270bfc87 263 {"g50", "Not Implemented", g50cmd},
JonFreeman 0:5d0f270bfc87 264 {"g90.1", "Not Implemented", g90p1cmd},
JonFreeman 0:5d0f270bfc87 265 {"g91.1", "Not Implemented", g91p1cmd},
JonFreeman 0:5d0f270bfc87 266 {"g90", "Not Implemented", g90cmd},
JonFreeman 0:5d0f270bfc87 267 */
JonFreeman 0:5d0f270bfc87 268 {"g1", "", g1cmd},
JonFreeman 0:5d0f270bfc87 269 {"g2", "", g2cmd},
JonFreeman 0:5d0f270bfc87 270 {"g3", "", g3cmd},
JonFreeman 0:5d0f270bfc87 271 {"g4", "", g4cmd},
JonFreeman 0:5d0f270bfc87 272 {"dro on", "Turn dro readout on", drooncmd},
JonFreeman 0:5d0f270bfc87 273 {"dro off", "Turn dro readout off", drooffcmd}
JonFreeman 0:5d0f270bfc87 274 };
JonFreeman 0:5d0f270bfc87 275 const int numof_menu_items = sizeof(kbc) / sizeof(kb_command);
JonFreeman 0:5d0f270bfc87 276
JonFreeman 0:5d0f270bfc87 277 void menucmd (struct singleGparam * a)
JonFreeman 0:5d0f270bfc87 278 {
JonFreeman 0:5d0f270bfc87 279 pc.printf("At menucmd function - listing commands:-\r\n");
JonFreeman 0:5d0f270bfc87 280 for(int i = 0; i < numof_menu_items; i++)
JonFreeman 0:5d0f270bfc87 281 pc.printf("[%s]\t\t%s\r\n", kbc[i].cmd_word, kbc[i].explan);
JonFreeman 0:5d0f270bfc87 282 pc.printf("End of List of Commands\r\n");
JonFreeman 0:5d0f270bfc87 283 }
JonFreeman 0:5d0f270bfc87 284
JonFreeman 0:5d0f270bfc87 285 bool isalpha (int c)
JonFreeman 0:5d0f270bfc87 286 {
JonFreeman 0:5d0f270bfc87 287 if ((c >= 'a') && (c <= 'z')) return true;
JonFreeman 0:5d0f270bfc87 288 if ((c >= 'A') && (c <= 'Z')) return true;
JonFreeman 0:5d0f270bfc87 289 return false;
JonFreeman 0:5d0f270bfc87 290 }
JonFreeman 0:5d0f270bfc87 291
JonFreeman 0:5d0f270bfc87 292 char * readout (char * txt, int p) // p has running subtotal of all pulses issued to stepper driver
JonFreeman 0:5d0f270bfc87 293 {
JonFreeman 0:5d0f270bfc87 294 txt[0] = '+'; // constructs string e.g. "+123.456"
JonFreeman 0:5d0f270bfc87 295 txt[8] = 0; // null terminated
JonFreeman 0:5d0f270bfc87 296 if (p < 0) {
JonFreeman 0:5d0f270bfc87 297 txt[0] = '-';
JonFreeman 0:5d0f270bfc87 298 p = -p;
JonFreeman 0:5d0f270bfc87 299 }
JonFreeman 0:5d0f270bfc87 300 p *= 1000;
JonFreeman 0:5d0f270bfc87 301 p /= pulses_per_mm;
JonFreeman 0:5d0f270bfc87 302 for(int k = 7; k > 0; k--) {
JonFreeman 0:5d0f270bfc87 303 if (k == 4)
JonFreeman 0:5d0f270bfc87 304 txt[k] = '.';
JonFreeman 0:5d0f270bfc87 305 else {
JonFreeman 0:5d0f270bfc87 306 txt[k] = '0' + (p % 10);
JonFreeman 0:5d0f270bfc87 307 p /= 10;
JonFreeman 0:5d0f270bfc87 308 }
JonFreeman 0:5d0f270bfc87 309 }
JonFreeman 0:5d0f270bfc87 310 return txt; // Returns pointer unaltered for subsequent use by e.g. cout
JonFreeman 0:5d0f270bfc87 311 }
JonFreeman 0:5d0f270bfc87 312
JonFreeman 0:5d0f270bfc87 313 ////class CLI {
JonFreeman 0:5d0f270bfc87 314
JonFreeman 0:5d0f270bfc87 315 const int MAX_PARAMS = 20, MAX_CMD_LEN = 120;
JonFreeman 0:5d0f270bfc87 316 char cmd_line[MAX_CMD_LEN + 4];
JonFreeman 0:5d0f270bfc87 317 struct singleGparam params[MAX_PARAMS + 1];
JonFreeman 0:5d0f270bfc87 318 int cl_index = 0, ch, lastalpha = 0;
JonFreeman 0:5d0f270bfc87 319 double fracmul;
JonFreeman 0:5d0f270bfc87 320 /*
JonFreeman 0:5d0f270bfc87 321 void command_line_interpreter ()
JonFreeman 0:5d0f270bfc87 322 Purpose:
JonFreeman 0:5d0f270bfc87 323
JonFreeman 0:5d0f270bfc87 324 */
JonFreeman 0:5d0f270bfc87 325 void command_line_interpreter ()
JonFreeman 0:5d0f270bfc87 326 {
JonFreeman 0:5d0f270bfc87 327 while (pc.readable()) {
JonFreeman 0:5d0f270bfc87 328 if (cl_index > MAX_CMD_LEN) { // trap out stupidly long command lines
JonFreeman 0:5d0f270bfc87 329 pc.printf ("Keyboard Error!! Killing stupidly long command line");
JonFreeman 0:5d0f270bfc87 330 cl_index = 0;
JonFreeman 0:5d0f270bfc87 331 }
JonFreeman 0:5d0f270bfc87 332 ch = tolower(pc.getc());
JonFreeman 0:5d0f270bfc87 333 if(ch != '\r') // was this the 'Enter' key?
JonFreeman 0:5d0f270bfc87 334 cmd_line[cl_index++] = ch; // added char to command being assembled
JonFreeman 0:5d0f270bfc87 335 else { // key was CR, may or may not be command to lookup
JonFreeman 0:5d0f270bfc87 336 cmd_line[cl_index] = 0; // null terminate command string
JonFreeman 0:5d0f270bfc87 337 if(cl_index) { // If have got some chars to lookup
JonFreeman 0:5d0f270bfc87 338 int i, wrdlen;
JonFreeman 0:5d0f270bfc87 339 for (i = 0; i < numof_menu_items; i++) { // Look for input match in command list
JonFreeman 0:5d0f270bfc87 340 wrdlen = strlen(kbc[i].cmd_word);
JonFreeman 0:5d0f270bfc87 341 if(strncmp(kbc[i].cmd_word, cmd_line, wrdlen) == 0) { // If match found
JonFreeman 0:5d0f270bfc87 342 bool negflag = false;
JonFreeman 0:5d0f270bfc87 343 int state = 0, paramindex;
JonFreeman 0:5d0f270bfc87 344 // pc.printf("Found match for word [%s]\r\n", kbc[i].wrd);
JonFreeman 0:5d0f270bfc87 345 for(paramindex = 0; paramindex < MAX_PARAMS; paramindex++) {
JonFreeman 0:5d0f270bfc87 346 // Clear out whole set of old parameters ready for anything new on this line
JonFreeman 0:5d0f270bfc87 347 params[paramindex].i = 0; // for integer parameters
JonFreeman 0:5d0f270bfc87 348 params[paramindex].c = 0; // for last alpha char, helps tie 'X' to '-23.5' etc
JonFreeman 0:5d0f270bfc87 349 params[paramindex].dbl = 0.0; // for floating point parameters
JonFreeman 0:5d0f270bfc87 350 params[paramindex].ul = 0;
JonFreeman 0:5d0f270bfc87 351 params[paramindex].changed = false;
JonFreeman 0:5d0f270bfc87 352 }
JonFreeman 0:5d0f270bfc87 353 paramindex = 0;
JonFreeman 0:5d0f270bfc87 354 // read any parameters from command line here
JonFreeman 0:5d0f270bfc87 355 // Using parameters[0] as count of parameters to follow
JonFreeman 0:5d0f270bfc87 356 while (wrdlen <= cl_index) {
JonFreeman 0:5d0f270bfc87 357 ch = cmd_line[wrdlen++];
JonFreeman 0:5d0f270bfc87 358 if(isalpha(ch)) lastalpha = ch;
JonFreeman 0:5d0f270bfc87 359 if(ch == '-') negflag = true;
JonFreeman 0:5d0f270bfc87 360 if(ch == '+') negflag = false;
JonFreeman 0:5d0f270bfc87 361 switch (state) {
JonFreeman 0:5d0f270bfc87 362 case 0: // looking for start of a number string
JonFreeman 0:5d0f270bfc87 363 if(isdigit(ch)) { // found first digit of a number string
JonFreeman 0:5d0f270bfc87 364 paramindex++;
JonFreeman 0:5d0f270bfc87 365 if(paramindex > MAX_PARAMS) {
JonFreeman 0:5d0f270bfc87 366 wrdlen = cl_index; // exit condition
JonFreeman 0:5d0f270bfc87 367 pc.printf("WARNING - too many parameters, ignoring extra\r\n");
JonFreeman 0:5d0f270bfc87 368 } else {
JonFreeman 0:5d0f270bfc87 369 params[paramindex].i = ch - '0';
JonFreeman 0:5d0f270bfc87 370 params[paramindex].c = lastalpha;
JonFreeman 0:5d0f270bfc87 371 state = 1; // Found first digit char of number string
JonFreeman 0:5d0f270bfc87 372 }
JonFreeman 0:5d0f270bfc87 373 }
JonFreeman 0:5d0f270bfc87 374 break;
JonFreeman 0:5d0f270bfc87 375 case 1: // looking for end of a number string
JonFreeman 0:5d0f270bfc87 376 if(isdigit(ch)) { // accumulating integer from string
JonFreeman 0:5d0f270bfc87 377 params[paramindex].i *= 10;
JonFreeman 0:5d0f270bfc87 378 params[paramindex].i += ch - '0';
JonFreeman 0:5d0f270bfc87 379 } else { // found non-digit terminating number
JonFreeman 0:5d0f270bfc87 380 if (ch == '.') {
JonFreeman 0:5d0f270bfc87 381 state = 2;
JonFreeman 0:5d0f270bfc87 382 fracmul = 0.1;
JonFreeman 0:5d0f270bfc87 383 params[paramindex].dbl = (double)params[paramindex].i;
JonFreeman 0:5d0f270bfc87 384 } else {
JonFreeman 0:5d0f270bfc87 385 params[0].i++; // count of validated parameters
JonFreeman 0:5d0f270bfc87 386 state = 0; // Have read past last digit of number string
JonFreeman 0:5d0f270bfc87 387 if(negflag) {
JonFreeman 0:5d0f270bfc87 388 params[paramindex].i = -params[paramindex].i;
JonFreeman 0:5d0f270bfc87 389 negflag = false;
JonFreeman 0:5d0f270bfc87 390 }
JonFreeman 0:5d0f270bfc87 391 params[paramindex].dbl = (double)params[paramindex].i;
JonFreeman 0:5d0f270bfc87 392 }
JonFreeman 0:5d0f270bfc87 393 }
JonFreeman 0:5d0f270bfc87 394 break;
JonFreeman 0:5d0f270bfc87 395 case 2: // looking for fractional part of double
JonFreeman 0:5d0f270bfc87 396 if(isdigit(ch)) { // accumulating fractional part from string
JonFreeman 0:5d0f270bfc87 397 params[paramindex].dbl += (double)((ch - '0') * fracmul);
JonFreeman 0:5d0f270bfc87 398 fracmul /= 10.0;
JonFreeman 0:5d0f270bfc87 399 } else { // found non-digit terminating double precision number
JonFreeman 0:5d0f270bfc87 400 params[0].i++; // count of validated parameters
JonFreeman 0:5d0f270bfc87 401 state = 0; // Have read past last digit of number string
JonFreeman 0:5d0f270bfc87 402 if(negflag) {
JonFreeman 0:5d0f270bfc87 403 params[paramindex].i = -params[paramindex].i;
JonFreeman 0:5d0f270bfc87 404 params[paramindex].dbl = -params[paramindex].dbl;
JonFreeman 0:5d0f270bfc87 405 negflag = false;
JonFreeman 0:5d0f270bfc87 406 }
JonFreeman 0:5d0f270bfc87 407 }
JonFreeman 0:5d0f270bfc87 408 break;
JonFreeman 0:5d0f270bfc87 409 default:
JonFreeman 0:5d0f270bfc87 410 break;
JonFreeman 0:5d0f270bfc87 411 } // end of switch state
JonFreeman 0:5d0f270bfc87 412 } // end of while wrdlen < cl_index
JonFreeman 0:5d0f270bfc87 413 // pc.printf("Found match to [%s] with %d parameters\r\n", kbc[i].wrd, paramindex);
JonFreeman 0:5d0f270bfc87 414 kbc[i].f(params); // execute command
JonFreeman 0:5d0f270bfc87 415 i = numof_menu_items + 1; // to exit for loop
JonFreeman 0:5d0f270bfc87 416 }
JonFreeman 0:5d0f270bfc87 417 } // End of for numof_menu_items
JonFreeman 0:5d0f270bfc87 418 if(i == numof_menu_items)
JonFreeman 0:5d0f270bfc87 419 pc.printf("No Match Found for CMD [%s]\r\n", cmd_line);
JonFreeman 0:5d0f270bfc87 420 } // End of If have got some chars to lookup
JonFreeman 0:5d0f270bfc87 421 cl_index = lastalpha = 0;
JonFreeman 0:5d0f270bfc87 422 } // End of else key was CR, may or may not be command to lookup
JonFreeman 0:5d0f270bfc87 423 } // End of while (pc.readable())
JonFreeman 0:5d0f270bfc87 424 // osThreadYield(); // Not using RTOS on this project
JonFreeman 0:5d0f270bfc87 425 }
JonFreeman 0:5d0f270bfc87 426
JonFreeman 0:5d0f270bfc87 427 ////} cli;
JonFreeman 0:5d0f270bfc87 428