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

main.cpp@3:7aaf0072cc22, 2014-03-14 (annotated)

Committer:
JonFreeman
Date:
Fri Mar 14 14:14:55 2014 +0000
Revision:
3:7aaf0072cc22
Parent:
2:b3c668ec43ac 
CNC Machine driver, emulates PC LPT port, docs are wip

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 0:5d0f270bfc87 1 #include "mbed.h"
JonFreeman 1:66ee619f206b 2 #include "rtos.h"
JonFreeman 2:b3c668ec43ac 3 #include "MODSERIAL.h"
JonFreeman 0:5d0f270bfc87 4 #include "cnc.h"
JonFreeman 3:7aaf0072cc22 5 extern void i2c_handler (void const *);
JonFreeman 1:66ee619f206b 6 extern void command_line_interpreter (void const *) ;
JonFreeman 3:7aaf0072cc22 7 extern fl_typ feed_rate; // float type is 'float'
JonFreeman 3:7aaf0072cc22 8 extern signed long spindle_rpm;
JonFreeman 0:5d0f270bfc87 9
JonFreeman 1:66ee619f206b 10 const int BAUD = 38400;
JonFreeman 3:7aaf0072cc22 11 MODSERIAL pc(USBTX, USBRX); // tx, rx to pc via usb lead
JonFreeman 3:7aaf0072cc22 12 Ticker NCO_gen; // Ticker generating interrupts at "Kernel Speed", NCO updating frequency (about 40kHz)
JonFreeman 3:7aaf0072cc22 13 Ticker msec; // Ticker updating global millisecs counter
JonFreeman 3:7aaf0072cc22 14
JonFreeman 3:7aaf0072cc22 15 bool running = false,
JonFreeman 3:7aaf0072cc22 16 new_run_pending = false,
JonFreeman 3:7aaf0072cc22 17 idle = false,
JonFreeman 3:7aaf0072cc22 18 move_ended = false;
JonFreeman 0:5d0f270bfc87 19
JonFreeman 3:7aaf0072cc22 20 volatile unsigned long ticks = 0L; // 32 bit count of "interrupt_period_us" interrupts from time t=0
JonFreeman 3:7aaf0072cc22 21 unsigned long tickrun = 0L, // 32 bit effectively stores time in future when current movement to stop
JonFreeman 3:7aaf0072cc22 22 ticks_next = 0L, // 32 bit effectively stores time in future when current movement to stop
JonFreeman 3:7aaf0072cc22 23 millisecs = 0L; // 32 bit
JonFreeman 3:7aaf0072cc22 24 signed long
JonFreeman 3:7aaf0072cc22 25 #if defined Fourth_Axis
JonFreeman 3:7aaf0072cc22 26 pir_a_next = 0L, // Data for next move assembled here
JonFreeman 3:7aaf0072cc22 27 #endif
JonFreeman 3:7aaf0072cc22 28 pir_x_next = 0L, // during a move.
JonFreeman 3:7aaf0072cc22 29 pir_y_next = 0L, // This way, next move can start immediately
JonFreeman 3:7aaf0072cc22 30 pir_z_next = 0L, // on end of current move - minimised jerking
JonFreeman 3:7aaf0072cc22 31 #if defined Fourth_Axis
JonFreeman 3:7aaf0072cc22 32 inc_a_next = 1L,
JonFreeman 3:7aaf0072cc22 33 #endif
JonFreeman 3:7aaf0072cc22 34 inc_x_next = 1L,
JonFreeman 3:7aaf0072cc22 35 inc_y_next = 1L,
JonFreeman 3:7aaf0072cc22 36 inc_z_next = 1L,
JonFreeman 1:66ee619f206b 37
JonFreeman 3:7aaf0072cc22 38 dir_bits_next = 0L,
JonFreeman 3:7aaf0072cc22 39 pir_spin = 0L; // Referenced only in command_interpreter as spindle speed setting
JonFreeman 3:7aaf0072cc22 40
JonFreeman 3:7aaf0072cc22 41 struct Gparams last_position; //
JonFreeman 0:5d0f270bfc87 42
JonFreeman 1:66ee619f206b 43
JonFreeman 0:5d0f270bfc87 44 #if defined (TARGET_KL25Z)
JonFreeman 3:7aaf0072cc22 45 const char Target[] = "KL25Z"; // Note need PTE0 (sda) and PTE1 (scl)
JonFreeman 3:7aaf0072cc22 46 DigitalOut intled (PTD7); //(PTE1); //J2p19, was 20
JonFreeman 3:7aaf0072cc22 47 DigitalOut charge_pumpD25pin1 (PTD6); //(PTE0); //J2p17, was 18
JonFreeman 2:b3c668ec43ac 48 // InterruptIn D25pin10_EStop (PTE20); //j10p1 KL25 J10 is KL46 j4
JonFreeman 2:b3c668ec43ac 49 DigitalIn D25pin10_EStop (PTE20); //j10p1 KL25 J10 is KL46 j4
JonFreeman 2:b3c668ec43ac 50 DigitalIn D25pin11_XLim (PTE21); //j10p3
JonFreeman 2:b3c668ec43ac 51 DigitalIn D25pin12_YLim (PTE22); //j10p5
JonFreeman 2:b3c668ec43ac 52 DigitalIn D25pin13_ZLim (PTE23); //j10p7
JonFreeman 2:b3c668ec43ac 53 DigitalIn D25pin15_unkn (PTE30); //j10p11
JonFreeman 3:7aaf0072cc22 54 #if defined I2C_Enable
JonFreeman 3:7aaf0072cc22 55 I2CSlave slave(PTE0, PTE1); // PTE0 sda, (yellow) PTE1 scl (blue)
JonFreeman 3:7aaf0072cc22 56 #endif
JonFreeman 3:7aaf0072cc22 57 #if defined SPI_Enable
JonFreeman 3:7aaf0072cc22 58 SPISlave spidevice(PTD2, PTD3, PTD1, PTD0); // mosi, miso, sclk (uses p11, p12, p13 on mbed LPC1768)
JonFreeman 3:7aaf0072cc22 59 #endif
JonFreeman 0:5d0f270bfc87 60 // J2p08,J2p10,J2p12, J2p06
JonFreeman 0:5d0f270bfc87 61 #define STEPPER_PORT PortC
JonFreeman 2:b3c668ec43ac 62 const int PortBitXSt = 3, // Port bit num X Step J1P05 D25pin 2
JonFreeman 2:b3c668ec43ac 63 PortBitXDi = 4, // Port bit num X Dir J1P07 D25pin 3
JonFreeman 2:b3c668ec43ac 64 PortBitYSt = 5, // Port bit num Y Step J1P09 D25pin 4
JonFreeman 2:b3c668ec43ac 65 PortBitYDi = 6, // Port bit num Y Dir J1P11 D25pin 5
JonFreeman 2:b3c668ec43ac 66 PortBitZSt = 10, // Port bit num Z Step J1P13 D25pin 6
JonFreeman 2:b3c668ec43ac 67 PortBitZDi = 11, // Port bit num Z Dir J1P15 D25pin 7
JonFreeman 2:b3c668ec43ac 68 PortBitASt = 12, // Port bit num A Step J2P01 D25pin 8
JonFreeman 2:b3c668ec43ac 69 PortBitADi = 13, // Port bit num A Dir J2P03 D25pin 9
JonFreeman 2:b3c668ec43ac 70 PortBitSSt = 8, // Port bit num Spin Step J1P14 D25pin 14
JonFreeman 2:b3c668ec43ac 71 PortBitSDi = 9; // Port bit num Spin Dir J1P16 D25pin 16
JonFreeman 0:5d0f270bfc87 72 #endif
JonFreeman 2:b3c668ec43ac 73
JonFreeman 2:b3c668ec43ac 74
JonFreeman 2:b3c668ec43ac 75
JonFreeman 0:5d0f270bfc87 76 #if defined (TARGET_KL46Z)
JonFreeman 2:b3c668ec43ac 77 const char Target[] = "KL46Z";
JonFreeman 2:b3c668ec43ac 78 DigitalOut intled (PTE1); //J2p20 checked
JonFreeman 2:b3c668ec43ac 79
JonFreeman 2:b3c668ec43ac 80
JonFreeman 2:b3c668ec43ac 81 DigitalOut charge_pumpD25pin1 (PTE0); //J2p18 checked
JonFreeman 2:b3c668ec43ac 82 // InterruptIn D25pin10_EStop (PTE20); // j4p1 KL46 J4 is KL25 J10
JonFreeman 2:b3c668ec43ac 83 DigitalIn D25pin10_EStop (PTE20); // j4p1 KL46 J4 is KL25 J10 checked
JonFreeman 2:b3c668ec43ac 84 DigitalIn D25pin11_XLim (PTE21); // j4p3 checked
JonFreeman 2:b3c668ec43ac 85 DigitalIn D25pin12_YLim (PTE22); // j4p5 checked
JonFreeman 2:b3c668ec43ac 86 DigitalIn D25pin13_ZLim (PTE23); // j4p7 checked
JonFreeman 2:b3c668ec43ac 87 DigitalIn D25pin15_unkn (PTE30); // j4p11 checked
JonFreeman 3:7aaf0072cc22 88 #if defined I2C_Enable
JonFreeman 3:7aaf0072cc22 89 I2CSlave slave(p9, p10);
JonFreeman 3:7aaf0072cc22 90 #endif
JonFreeman 3:7aaf0072cc22 91 #if defined SPI_Enable
JonFreeman 0:5d0f270bfc87 92 SPISlave spidevice(PTA16, PTA17, PTA15, PTA14); // mosi, miso, sclk, ssel (uses p11, p12, p13, p? on mbed LPC)
JonFreeman 3:7aaf0072cc22 93 #endif
JonFreeman 0:5d0f270bfc87 94 // J2p13, J2p15, J2p11, J2p09
JonFreeman 2:b3c668ec43ac 95 // Easy way to allocate port bits for
JonFreeman 0:5d0f270bfc87 96 // output of stepper motor Step and DIR sigs
JonFreeman 0:5d0f270bfc87 97 #define STEPPER_PORT PortC
JonFreeman 2:b3c668ec43ac 98 const int PortBitXSt = 0, // Port bit num X Step J1P05 D25pin 2 checked
JonFreeman 2:b3c668ec43ac 99 PortBitXDi = 4, // Port bit num X Dir J1P07 D25pin 3 checked
JonFreeman 2:b3c668ec43ac 100 PortBitYSt = 6, // Port bit num Y Step J1P09 D25pin 4 checked
JonFreeman 2:b3c668ec43ac 101 PortBitYDi = 7, // Port bit num Y Dir J1P11 D25pin 5 checked
JonFreeman 2:b3c668ec43ac 102 PortBitZSt = 10, // Port bit num Z Step J1P13 D25pin 6 checked
JonFreeman 2:b3c668ec43ac 103 PortBitZDi = 11, // Port bit num Z Dir J1P15 D25pin 7 checked
JonFreeman 2:b3c668ec43ac 104 PortBitASt = 13, // Port bit num A Step J2P01 D25pin 8 checked
JonFreeman 2:b3c668ec43ac 105 PortBitADi = 16, // Port bit num A Dir J2P03 D25pin 9 checked
JonFreeman 2:b3c668ec43ac 106 PortBitSSt = 8, // Port bit num Spin Step J1P14 D25pin 14 checked
JonFreeman 2:b3c668ec43ac 107 PortBitSDi = 9; // Port bit num Spin Dir J1P16 D25pin 16 checked
JonFreeman 0:5d0f270bfc87 108 #endif
JonFreeman 0:5d0f270bfc87 109 #if defined (TARGET_MBED_LPC1768)
JonFreeman 2:b3c668ec43ac 110 const char Target[] = "MBED LPC1768";
JonFreeman 1:66ee619f206b 111 DigitalOut intled(LED2); // Correct
JonFreeman 3:7aaf0072cc22 112 DigitalOut charge_pumpD25pin1 (p25); //
JonFreeman 2:b3c668ec43ac 113 // InterruptIn D25pin10_EStop (p26); //P2.0
JonFreeman 2:b3c668ec43ac 114 DigitalIn D25pin10_EStop (p26); //P2.0
JonFreeman 2:b3c668ec43ac 115 DigitalIn D25pin11_XLim (p24); //P2.2
JonFreeman 2:b3c668ec43ac 116 DigitalIn D25pin12_YLim (p23); //P2.3
JonFreeman 2:b3c668ec43ac 117 DigitalIn D25pin13_ZLim (p19); //P1.30
JonFreeman 2:b3c668ec43ac 118 DigitalIn D25pin15_unkn (p20); //P1.31
JonFreeman 3:7aaf0072cc22 119 #if defined I2C_Enable
JonFreeman 3:7aaf0072cc22 120 I2CSlave slave(p9, p10);
JonFreeman 3:7aaf0072cc22 121 #endif
JonFreeman 3:7aaf0072cc22 122 #if defined SPI_Enable
JonFreeman 0:5d0f270bfc87 123 SPISlave spidevice(p5, p6, p7, p8);
JonFreeman 3:7aaf0072cc22 124 #endif
JonFreeman 3:7aaf0072cc22 125 // Easy way to allocate port bits
JonFreeman 0:5d0f270bfc87 126 // output of stepper motor Step and DIR sigs
JonFreeman 0:5d0f270bfc87 127 #define STEPPER_PORT Port0
JonFreeman 0:5d0f270bfc87 128 /* Port 0 bits routed to DIP pins as follows:-
JonFreeman 0:5d0f270bfc87 129 P0.00 p09 Reserve SDA
JonFreeman 0:5d0f270bfc87 130 P0.01 p10 Reserve SCL
JonFreeman 2:b3c668ec43ac 131 P0.04 p30 CAN rd - USE X Step D25pin 2
JonFreeman 2:b3c668ec43ac 132 P0.05 p29 CAN td - USE X Dir D25pin 3
JonFreeman 2:b3c668ec43ac 133 P0.10 p28 SDA - USE Y Step D25pin 4
JonFreeman 2:b3c668ec43ac 134 P0.11 p27 SCL - USE Y Dir D25pin 5
JonFreeman 2:b3c668ec43ac 135 P0.15 p13 Tx - USE Z Step D25pin 6
JonFreeman 2:b3c668ec43ac 136 P0.16 p14 Rx - USE Z Dir D25pin 7
JonFreeman 2:b3c668ec43ac 137 P0.17 p12 miso - USE A Step D25pin 8
JonFreeman 2:b3c668ec43ac 138 P0.18 p11 mosi - Use A Dir D25pin 9
JonFreeman 2:b3c668ec43ac 139 P0.23 p15 A In - Use S Step D25pin 14
JonFreeman 2:b3c668ec43ac 140 P0.24 p16 A In - Use S Dir D25pin 16
JonFreeman 2:b3c668ec43ac 141 P0.25 p17 Reserve A In
JonFreeman 0:5d0f270bfc87 142 P0.26 p18 Reserve A Out
JonFreeman 0:5d0f270bfc87 143 */
JonFreeman 2:b3c668ec43ac 144 const int PortBitXSt = 4, // Port bit num X Step
JonFreeman 2:b3c668ec43ac 145 PortBitXDi = 5, // Port bit num X Dir
JonFreeman 2:b3c668ec43ac 146 PortBitYSt = 10, // Port bit num Y Step
JonFreeman 2:b3c668ec43ac 147 PortBitYDi = 11, // Port bit num Y Dir
JonFreeman 2:b3c668ec43ac 148 PortBitZSt = 15, // Port bit num Z Step
JonFreeman 2:b3c668ec43ac 149 PortBitZDi = 16, // Port bit num Z Dir
JonFreeman 2:b3c668ec43ac 150 PortBitASt = 17, // Port bit num A Step
JonFreeman 2:b3c668ec43ac 151 PortBitADi = 18, // Port bit num A Dir
JonFreeman 2:b3c668ec43ac 152 PortBitSSt = 23, // Port bit num Spin Step
JonFreeman 2:b3c668ec43ac 153 PortBitSDi = 24; // Port bit num Spin Dir
JonFreeman 0:5d0f270bfc87 154 #endif
JonFreeman 0:5d0f270bfc87 155
JonFreeman 2:b3c668ec43ac 156 const long // Assemble mask bits from now known port bit positions
JonFreeman 3:7aaf0072cc22 157 XSt = 1 << PortBitXSt, // X axis Step signal
JonFreeman 3:7aaf0072cc22 158 XDi = 1 << PortBitXDi, // X axis Direction signal
JonFreeman 3:7aaf0072cc22 159 YSt = 1 << PortBitYSt, // Y axis Step, etc
JonFreeman 3:7aaf0072cc22 160 YDi = 1 << PortBitYDi,
JonFreeman 3:7aaf0072cc22 161 ZSt = 1 << PortBitZSt, // Z axis
JonFreeman 3:7aaf0072cc22 162 ZDi = 1 << PortBitZDi,
JonFreeman 3:7aaf0072cc22 163 ASt = 1 << PortBitASt, // A axis, not implemented in full, for e.g. rotary axis
JonFreeman 3:7aaf0072cc22 164 ADi = 1 << PortBitADi,
JonFreeman 3:7aaf0072cc22 165 SDi = 1 << PortBitSDi, // Spindle, also driven by Step and Dir signals up to 5kHz
JonFreeman 3:7aaf0072cc22 166 SSt = 1 << PortBitSSt, // for 5000 RPM
JonFreeman 2:b3c668ec43ac 167
JonFreeman 3:7aaf0072cc22 168 SM_MASK = (XSt | XDi | YSt | YDi | ZSt | ZDi | ASt | ADi | SDi | SSt),
JonFreeman 3:7aaf0072cc22 169 direction_swappers = XDi | YDi | ZDi | SDi; // include bit to swap direction
JonFreeman 0:5d0f270bfc87 170
JonFreeman 2:b3c668ec43ac 171 PortOut Steppers (STEPPER_PORT, SM_MASK);
JonFreeman 3:7aaf0072cc22 172
JonFreeman 3:7aaf0072cc22 173 void target_cmd (struct singleGparam * a) {
JonFreeman 3:7aaf0072cc22 174 pc.printf("Computer is %s\r\n", Target);
JonFreeman 3:7aaf0072cc22 175 }
JonFreeman 3:7aaf0072cc22 176
JonFreeman 3:7aaf0072cc22 177 void grain_clr (struct singleGparam & g) {
JonFreeman 3:7aaf0072cc22 178 g.flt = 0.0;
JonFreeman 3:7aaf0072cc22 179 g.ul = 0L;
JonFreeman 3:7aaf0072cc22 180 g.i = g.c = 0;
JonFreeman 3:7aaf0072cc22 181 g.changed = false;
JonFreeman 3:7aaf0072cc22 182 }
JonFreeman 3:7aaf0072cc22 183 void Gparams_clr (struct Gparams & p) {
JonFreeman 3:7aaf0072cc22 184 grain_clr (p.x); grain_clr (p.y); grain_clr (p.z); grain_clr (p.i); grain_clr (p.j);
JonFreeman 3:7aaf0072cc22 185 grain_clr (p.r); grain_clr (p.a); grain_clr (p.b); grain_clr (p.c); grain_clr (p.d);
JonFreeman 3:7aaf0072cc22 186 }
JonFreeman 3:7aaf0072cc22 187
JonFreeman 2:b3c668ec43ac 188 class digital_readout_stuff { // class does not need to be named here
JonFreeman 2:b3c668ec43ac 189 private:
JonFreeman 2:b3c668ec43ac 190 char * readout (char * txt, long p) // p has running subtotal of all pulses issued to stepper driver
JonFreeman 2:b3c668ec43ac 191 {
JonFreeman 2:b3c668ec43ac 192 txt[0] = '+'; // constructs string e.g. "+123.456"
JonFreeman 2:b3c668ec43ac 193 txt[8] = 0; // null terminated
JonFreeman 2:b3c668ec43ac 194 if (p < 0) {
JonFreeman 2:b3c668ec43ac 195 txt[0] = '-';
JonFreeman 2:b3c668ec43ac 196 p = -p;
JonFreeman 2:b3c668ec43ac 197 }
JonFreeman 2:b3c668ec43ac 198 p *= 1000;
JonFreeman 2:b3c668ec43ac 199 p /= pulses_per_mm;
JonFreeman 2:b3c668ec43ac 200 if (p > 999999) {
JonFreeman 2:b3c668ec43ac 201 sprintf(txt + 1, "OVRANGE");
JonFreeman 2:b3c668ec43ac 202 return txt;
JonFreeman 2:b3c668ec43ac 203 }
JonFreeman 2:b3c668ec43ac 204 for(int k = 7; k > 0; k--) {
JonFreeman 2:b3c668ec43ac 205 if (k == 4)
JonFreeman 2:b3c668ec43ac 206 txt[k] = '.';
JonFreeman 2:b3c668ec43ac 207 else {
JonFreeman 2:b3c668ec43ac 208 txt[k] = '0' + (p % 10);
JonFreeman 2:b3c668ec43ac 209 p /= 10;
JonFreeman 2:b3c668ec43ac 210 }
JonFreeman 2:b3c668ec43ac 211 }
JonFreeman 2:b3c668ec43ac 212 return txt; // Returns pointer unaltered for subsequent use by e.g. cout
JonFreeman 2:b3c668ec43ac 213 }
JonFreeman 2:b3c668ec43ac 214 public:
JonFreeman 2:b3c668ec43ac 215 signed long x, y, z, a; // Could easily expand up to six or more dros
JonFreeman 3:7aaf0072cc22 216 // bool dro_output; // To enabe / disable output to terminal
JonFreeman 2:b3c668ec43ac 217 void init () {
JonFreeman 2:b3c668ec43ac 218 x = y = z = a = 0; // These dro registers count pulses delivered to stepper motor driver
JonFreeman 3:7aaf0072cc22 219 // dro_output = true;
JonFreeman 2:b3c668ec43ac 220 }
JonFreeman 2:b3c668ec43ac 221 void update () {
JonFreeman 2:b3c668ec43ac 222 static long t = 300; // Prevent display immediately upon startup
JonFreeman 2:b3c668ec43ac 223 if (millisecs < t)
JonFreeman 2:b3c668ec43ac 224 return;
JonFreeman 3:7aaf0072cc22 225 // if(!idle && dro_output) {
JonFreeman 3:7aaf0072cc22 226 if(!idle) {
JonFreeman 2:b3c668ec43ac 227 char txt[12];
JonFreeman 2:b3c668ec43ac 228 pc.printf("dros X %s,", readout(txt, x)); // dro.n has running subtotal of all pulses issued to stepper driver.n
JonFreeman 2:b3c668ec43ac 229 pc.printf(" Y %s, Z ", readout(txt, y));
JonFreeman 2:b3c668ec43ac 230 pc.printf("%s, %s\r\n", readout(txt, z), running ? "R":"idle");
JonFreeman 2:b3c668ec43ac 231 if(!running) idle = true; // Purpose of idle flag is to stop dro updates JUST AFTER run completes.
JonFreeman 2:b3c668ec43ac 232 t = millisecs + 350; // Schedule next update after this non-blocking delay
JonFreeman 2:b3c668ec43ac 233 }
JonFreeman 2:b3c668ec43ac 234 }
JonFreeman 3:7aaf0072cc22 235 } dro_out ; // single instance of class digital_readout_stuff
JonFreeman 0:5d0f270bfc87 236
JonFreeman 3:7aaf0072cc22 237 /**
JonFreeman 3:7aaf0072cc22 238 class circbuff { public functions
JonFreeman 3:7aaf0072cc22 239 void init () {
JonFreeman 3:7aaf0072cc22 240 int On_Q () {
JonFreeman 3:7aaf0072cc22 241 bool readable () {return !buffempty; }
JonFreeman 3:7aaf0072cc22 242 bool writeable () {return !bufffull; }
JonFreeman 3:7aaf0072cc22 243 bool read (pirbufgrain & g) {
JonFreeman 3:7aaf0072cc22 244 bool write (pirbufgrain & g) {
JonFreeman 3:7aaf0072cc22 245 */
JonFreeman 2:b3c668ec43ac 246 const int PIRBUFFSIZE = 40; // pirbufgrain are 40 bytes each
JonFreeman 1:66ee619f206b 247 class circbuff {
JonFreeman 1:66ee619f206b 248 private:
JonFreeman 1:66ee619f206b 249 pirbufgrain grain [PIRBUFFSIZE + 1];
JonFreeman 1:66ee619f206b 250 int OnPtr, OffPtr;
JonFreeman 1:66ee619f206b 251 bool bufffull, buffempty, buffhalf;
JonFreeman 1:66ee619f206b 252 void setempty () {
JonFreeman 1:66ee619f206b 253 bufffull = false;
JonFreeman 1:66ee619f206b 254 buffhalf = false;
JonFreeman 1:66ee619f206b 255 buffempty = true;
JonFreeman 1:66ee619f206b 256 }
JonFreeman 1:66ee619f206b 257 void grain_copy (pirbufgrain & src, pirbufgrain & dest) {
JonFreeman 3:7aaf0072cc22 258 dest.x = src.x;
JonFreeman 3:7aaf0072cc22 259 dest.y = src.y;
JonFreeman 3:7aaf0072cc22 260 dest.z = src.z;
JonFreeman 3:7aaf0072cc22 261 dest.distance_code = src.distance_code;
JonFreeman 1:66ee619f206b 262 dest.f_rate = src.f_rate; // int feed rate mm per min * 1000
JonFreeman 1:66ee619f206b 263 }
JonFreeman 1:66ee619f206b 264 public:
JonFreeman 1:66ee619f206b 265 void init () {
JonFreeman 1:66ee619f206b 266 OnPtr = OffPtr = 0;
JonFreeman 1:66ee619f206b 267 setempty ();
JonFreeman 1:66ee619f206b 268 }
JonFreeman 1:66ee619f206b 269 int On_Q () {
JonFreeman 1:66ee619f206b 270 int k;
JonFreeman 1:66ee619f206b 271 if (bufffull) return PIRBUFFSIZE;
JonFreeman 1:66ee619f206b 272 k = OnPtr - OffPtr;
JonFreeman 1:66ee619f206b 273 if (k < 0) k += PIRBUFFSIZE;
JonFreeman 1:66ee619f206b 274 if (k > PIRBUFFSIZE / 2)
JonFreeman 1:66ee619f206b 275 buffhalf = true;
JonFreeman 1:66ee619f206b 276 else
JonFreeman 1:66ee619f206b 277 buffhalf = false;
JonFreeman 1:66ee619f206b 278 return k;
JonFreeman 1:66ee619f206b 279 }
JonFreeman 1:66ee619f206b 280 bool readable () {return !buffempty; }
JonFreeman 1:66ee619f206b 281 bool writeable () {return !bufffull; }
JonFreeman 1:66ee619f206b 282 bool read (pirbufgrain & g) {
JonFreeman 2:b3c668ec43ac 283 // if (buffempty) return false; // TO DO Fix problem with buffempty flag
JonFreeman 2:b3c668ec43ac 284 if (On_Q() == 0) return false;
JonFreeman 1:66ee619f206b 285 bufffull = false;
JonFreeman 1:66ee619f206b 286 grain_copy (grain[OffPtr++], g);
JonFreeman 1:66ee619f206b 287 if (OffPtr >= PIRBUFFSIZE)
JonFreeman 1:66ee619f206b 288 OffPtr = 0;
JonFreeman 1:66ee619f206b 289 if (OnPtr == OffPtr)
JonFreeman 1:66ee619f206b 290 buffempty = true;
JonFreeman 1:66ee619f206b 291 return true;
JonFreeman 1:66ee619f206b 292 }
JonFreeman 1:66ee619f206b 293 bool write (pirbufgrain & g) {
JonFreeman 1:66ee619f206b 294 if (bufffull) return false;
JonFreeman 1:66ee619f206b 295 buffempty = false;
JonFreeman 1:66ee619f206b 296 grain_copy (g, grain[OnPtr++]);
JonFreeman 1:66ee619f206b 297 if (OnPtr >= PIRBUFFSIZE)
JonFreeman 1:66ee619f206b 298 OnPtr = 0;
JonFreeman 1:66ee619f206b 299 if (OnPtr == OffPtr)
JonFreeman 1:66ee619f206b 300 bufffull = true;
JonFreeman 1:66ee619f206b 301 return true;
JonFreeman 1:66ee619f206b 302 }
JonFreeman 3:7aaf0072cc22 303 } CircBuff; // single instance of class circbuff
JonFreeman 1:66ee619f206b 304
JonFreeman 1:66ee619f206b 305
JonFreeman 3:7aaf0072cc22 306 /**
JonFreeman 2:b3c668ec43ac 307 void move_to_XYZ (struct pirbufgrain & ins) {
JonFreeman 3:7aaf0072cc22 308 Takes floating point x, y, z and feed_rate as input.
JonFreeman 3:7aaf0072cc22 309 Finds distances from 'last_position' global,
JonFreeman 3:7aaf0072cc22 310 copies structure containing floating point values for x, y, z, distance_multiplier and feed_rate
JonFreeman 3:7aaf0072cc22 311 onto a circular buffer.
JonFreeman 3:7aaf0072cc22 312 If buffer full, executes 'osThreadYield()' until space is created on buffer
JonFreeman 3:7aaf0072cc22 313 */
JonFreeman 3:7aaf0072cc22 314 void move_to_XYZ (struct pirbufgrain & ins) {
JonFreeman 3:7aaf0072cc22 315 static const fl_typ duration_multiplier = 60000000.0 / interrupt_period_us;
JonFreeman 2:b3c668ec43ac 316 struct pirbufgrain outs;
JonFreeman 3:7aaf0072cc22 317 fl_typ distx = ins.x - last_position.x.flt,
JonFreeman 3:7aaf0072cc22 318 disty = ins.y - last_position.y.flt,
JonFreeman 3:7aaf0072cc22 319 distz = ins.z - last_position.z.flt,
JonFreeman 2:b3c668ec43ac 320 distT = sqrt ((distx * distx) + (disty * disty) + (distz * distz)), // 3D Pythag !
JonFreeman 2:b3c668ec43ac 321 temp = n_for_onemmpermin / distT;
JonFreeman 2:b3c668ec43ac 322 if (distT < 0.01) {
JonFreeman 2:b3c668ec43ac 323 pc.printf("Very small move %.4f, Ignoring!\r\n", distT);
JonFreeman 3:7aaf0072cc22 324 return; // Return without updating last_position as it was not changed
JonFreeman 2:b3c668ec43ac 325 }
JonFreeman 3:7aaf0072cc22 326 last_position.x.flt = ins.x; // Update global last_position record
JonFreeman 3:7aaf0072cc22 327 last_position.y.flt = ins.y;
JonFreeman 3:7aaf0072cc22 328 last_position.z.flt = ins.z;
JonFreeman 2:b3c668ec43ac 329 outs.f_rate = ins.f_rate;
JonFreeman 3:7aaf0072cc22 330 outs.distance_code = duration_multiplier * distT; // Duration ticks subject to feed rate compo
JonFreeman 2:b3c668ec43ac 331 outs.x = temp * distx;
JonFreeman 2:b3c668ec43ac 332 outs.y = temp * disty;
JonFreeman 2:b3c668ec43ac 333 outs.z = temp * distz; // Have assembled data ready to put onto queue of move instructions
JonFreeman 3:7aaf0072cc22 334 while (!CircBuff.writeable())
JonFreeman 3:7aaf0072cc22 335 osThreadYield();
JonFreeman 3:7aaf0072cc22 336 CircBuff.write (outs); // Move details put on circular buffer
JonFreeman 3:7aaf0072cc22 337 }
JonFreeman 3:7aaf0072cc22 338
JonFreeman 3:7aaf0072cc22 339 /**
JonFreeman 3:7aaf0072cc22 340 * Interrupt Service Routines
JonFreeman 3:7aaf0072cc22 341 void millisec_update_ISR () { self explanatory
JonFreeman 3:7aaf0072cc22 342
JonFreeman 3:7aaf0072cc22 343 void Numerically_Controlled_Oscillators_ISR () {
JonFreeman 3:7aaf0072cc22 344 services Ticker 'NCO_gen' generated interrupts ***ISR***
JonFreeman 3:7aaf0072cc22 345 Does all of the stepper motor driving.
JonFreeman 3:7aaf0072cc22 346 At end of movement, fetches and starts next move to run from circular buffer
JonFreeman 3:7aaf0072cc22 347 If nothing buffered, stops x, y and z, leaves spindle unaltered
JonFreeman 3:7aaf0072cc22 348 */
JonFreeman 3:7aaf0072cc22 349 void millisec_update_ISR () {
JonFreeman 3:7aaf0072cc22 350 millisecs++;
JonFreeman 2:b3c668ec43ac 351 }
JonFreeman 2:b3c668ec43ac 352
JonFreeman 3:7aaf0072cc22 353 #define STEP_IDLE_HI // Choose IDLE_HI or LO to suit any power save function of stepper motor drive units
JonFreeman 3:7aaf0072cc22 354 //#define STEP_IDLE_LO
JonFreeman 0:5d0f270bfc87 355 void Numerically_Controlled_Oscillators_ISR () { // services Ticker 'NCO_gen' generated interrupts ***ISR***
JonFreeman 3:7aaf0072cc22 356 static const long step_mask = ASt | XSt | YSt | ZSt, // Added 6th Feb 14 Mask Does NOT include spindle bits
JonFreeman 3:7aaf0072cc22 357 dir_mask = ADi | XDi | YDi | ZDi; // Added 6th Feb 14 Mask Does NOT include spindle bits
JonFreeman 3:7aaf0072cc22 358 static signed long // 27 Feb 14 changed from unsigned
JonFreeman 3:7aaf0072cc22 359 #if defined Fourth_Axis
JonFreeman 3:7aaf0072cc22 360 acc_a = 0L, pir_a = 0L,
JonFreeman 3:7aaf0072cc22 361 #endif
JonFreeman 3:7aaf0072cc22 362 acc_x = 0L, // acc Accumuloators
JonFreeman 3:7aaf0072cc22 363 pir_x = 0L, // pir Phase Increment Registers
JonFreeman 3:7aaf0072cc22 364 acc_y = 0L, pir_y = 0L,
JonFreeman 3:7aaf0072cc22 365 acc_z = 0L, pir_z = 0L,
JonFreeman 3:7aaf0072cc22 366 acc_spin = 0L, // separate acc for spindle rotation NCO
JonFreeman 3:7aaf0072cc22 367 inc_x = 1L, // inc_x, y, z for updating DRO registers
JonFreeman 3:7aaf0072cc22 368 inc_y = 1L, inc_z = 1L,
JonFreeman 3:7aaf0072cc22 369 dir_bits = 0L, // direction flags for up to four axes
JonFreeman 3:7aaf0072cc22 370 oldSteps = 0L; //
JonFreeman 3:7aaf0072cc22 371 long tmp, newSteps = 0L;
JonFreeman 0:5d0f270bfc87 372
JonFreeman 0:5d0f270bfc87 373 intled = 1; // LED on for duration of interrupt service - point for scope probing
JonFreeman 3:7aaf0072cc22 374 ticks++; // count of interrupts serviced, vital to time end of movement
JonFreeman 3:7aaf0072cc22 375 charge_pumpD25pin1 = ticks & 0x01; // Can use 0x01 or 0x02 here to alter charge pump freq
JonFreeman 2:b3c668ec43ac 376 tmp = Steppers ^ direction_swappers;
JonFreeman 2:b3c668ec43ac 377 #if defined STEP_IDLE_LO
JonFreeman 2:b3c668ec43ac 378 tmp &= ~step_mask; // Step bits prepared for idle lo
JonFreeman 2:b3c668ec43ac 379 #endif
JonFreeman 2:b3c668ec43ac 380 #if defined STEP_IDLE_HI
JonFreeman 2:b3c668ec43ac 381 tmp |= step_mask; // Step bits prepared for idle hi
JonFreeman 2:b3c668ec43ac 382 #endif
JonFreeman 3:7aaf0072cc22 383 acc_spin += pir_spin; // Spindle NCO
JonFreeman 3:7aaf0072cc22 384 if (acc_spin < 0) tmp |= SSt;
JonFreeman 3:7aaf0072cc22 385 else tmp &= ~SSt;
JonFreeman 3:7aaf0072cc22 386 if (!running) Steppers = tmp ^ direction_swappers; // Axes not moving, spindle may be turning or not
JonFreeman 3:7aaf0072cc22 387 else { // running == true, Further manipulation of tmp follows, prior to rewriting to 'Steppers' IO Port
JonFreeman 3:7aaf0072cc22 388 // newSteps = 0L; // Added 6th Feb 14
JonFreeman 3:7aaf0072cc22 389 #if defined Fourth_Axis
JonFreeman 3:7aaf0072cc22 390 acc_a += pir_a;
JonFreeman 3:7aaf0072cc22 391 if (acc_a < 0) newSteps |= ASt;// Added 6th Feb 14
JonFreeman 3:7aaf0072cc22 392 #endif
JonFreeman 3:7aaf0072cc22 393 acc_x += pir_x; // Update phase of signals in accumulators
JonFreeman 3:7aaf0072cc22 394 if (acc_x < 0) newSteps |= XSt;// Added 6th Feb 14
JonFreeman 3:7aaf0072cc22 395 acc_y += pir_y;
JonFreeman 3:7aaf0072cc22 396 if (acc_y < 0) newSteps |= YSt;// Added 6th Feb 14
JonFreeman 3:7aaf0072cc22 397 acc_z += pir_z;
JonFreeman 3:7aaf0072cc22 398 if (acc_z < 0) newSteps |= ZSt;// Added 6th Feb 14
JonFreeman 3:7aaf0072cc22 399 // newSteps has copy of all 4 'acc' MSBs shifted into port bit positions
JonFreeman 3:7aaf0072cc22 400 oldSteps ^= newSteps; // Any bit of stbits set to initiate a Step pulse
JonFreeman 3:7aaf0072cc22 401 tmp ^= oldSteps;
JonFreeman 2:b3c668ec43ac 402 Steppers = tmp ^ direction_swappers; // Output signals to stepper motor drivers, next update dros from 'clocked' bits CLOCK IDLES HIGH
JonFreeman 3:7aaf0072cc22 403 if(oldSteps & XSt) dro_out.x += inc_x; // got clk edge for axis X
JonFreeman 3:7aaf0072cc22 404 if(oldSteps & YSt) dro_out.y += inc_y; // got clk edge for axis Y
JonFreeman 3:7aaf0072cc22 405 if(oldSteps & ZSt) dro_out.z += inc_z; // got clk edge for axis Z
JonFreeman 3:7aaf0072cc22 406 oldSteps = newSteps; // Added 6th Feb 14
JonFreeman 3:7aaf0072cc22 407 if (tickrun <= ticks & !new_run_pending) { // End of a machine movement detected, start next move here if possible
JonFreeman 2:b3c668ec43ac 408 running = false;
JonFreeman 2:b3c668ec43ac 409 move_ended = true;
JonFreeman 2:b3c668ec43ac 410 pir_x = 0L; // stop all stepper motors
JonFreeman 2:b3c668ec43ac 411 pir_y = 0L;
JonFreeman 2:b3c668ec43ac 412 pir_z = 0L;
JonFreeman 3:7aaf0072cc22 413 #if defined Fourth_Axis
JonFreeman 2:b3c668ec43ac 414 pir_a = 0L;
JonFreeman 3:7aaf0072cc22 415 #endif
JonFreeman 2:b3c668ec43ac 416 // ticks = 0L; // Simply to avoid having to think about overflow problems
JonFreeman 3:7aaf0072cc22 417 } // end of if (tickrun <= ticks) {
JonFreeman 3:7aaf0072cc22 418 } // end of else is (running) {
JonFreeman 3:7aaf0072cc22 419 if (!running & new_run_pending) { // Start axis movement
JonFreeman 3:7aaf0072cc22 420 dir_bits= dir_bits_next;
JonFreeman 3:7aaf0072cc22 421 #if defined Fourth_Axis
JonFreeman 3:7aaf0072cc22 422 pir_a = pir_a_next;
JonFreeman 3:7aaf0072cc22 423 #endif
JonFreeman 3:7aaf0072cc22 424 pir_x = pir_x_next;
JonFreeman 3:7aaf0072cc22 425 pir_y = pir_y_next;
JonFreeman 3:7aaf0072cc22 426 pir_z = pir_z_next;
JonFreeman 3:7aaf0072cc22 427 inc_x = inc_x_next;
JonFreeman 3:7aaf0072cc22 428 inc_y = inc_y_next;
JonFreeman 3:7aaf0072cc22 429 inc_z = inc_z_next;
JonFreeman 3:7aaf0072cc22 430 tmp = Steppers ^ direction_swappers; // read output lines
JonFreeman 3:7aaf0072cc22 431 tmp &= ~dir_mask;
JonFreeman 3:7aaf0072cc22 432 tmp |= dir_bits;
JonFreeman 2:b3c668ec43ac 433 Steppers = tmp ^ direction_swappers;
JonFreeman 3:7aaf0072cc22 434 tickrun = ticks + ticks_next;
JonFreeman 3:7aaf0072cc22 435 running = true; // Start the new run
JonFreeman 3:7aaf0072cc22 436 new_run_pending = false; // Clear the flag which initiated this update
JonFreeman 3:7aaf0072cc22 437 idle = false;
JonFreeman 2:b3c668ec43ac 438 } // end of else { // Not running. Grab next data here when or if available
JonFreeman 2:b3c668ec43ac 439 intled = 0; // LED off
JonFreeman 2:b3c668ec43ac 440 } // end of interrupt handler
JonFreeman 2:b3c668ec43ac 441
JonFreeman 2:b3c668ec43ac 442 /*
JonFreeman 2:b3c668ec43ac 443 * End of Interrupt Service Routine
JonFreeman 2:b3c668ec43ac 444 */
JonFreeman 2:b3c668ec43ac 445 bool spindle_running () {
JonFreeman 3:7aaf0072cc22 446 if (pir_spin == 0) return false;
JonFreeman 3:7aaf0072cc22 447 return true;
JonFreeman 2:b3c668ec43ac 448 }
JonFreeman 3:7aaf0072cc22 449 void spindle_control (signed long ss) {
JonFreeman 2:b3c668ec43ac 450 long t, p;
JonFreeman 3:7aaf0072cc22 451 pir_spin = ss * spindle_factor;
JonFreeman 2:b3c668ec43ac 452 t = ticks;
JonFreeman 2:b3c668ec43ac 453 while (t == ticks) {} // wait until just after next interrupt
JonFreeman 2:b3c668ec43ac 454 p = Steppers ^ direction_swappers;
JonFreeman 3:7aaf0072cc22 455 if (pir_spin & 0x80000000) p |= SDi;
JonFreeman 3:7aaf0072cc22 456 else p &= ~SDi;
JonFreeman 2:b3c668ec43ac 457 Steppers = p ^ direction_swappers;
JonFreeman 3:7aaf0072cc22 458 pc.printf("Done setting spindle speed %d, pir_spin %d, delay = %d\r\n", ss, pir_spin, ticks - t);
JonFreeman 2:b3c668ec43ac 459 }
JonFreeman 2:b3c668ec43ac 460
JonFreeman 3:7aaf0072cc22 461 /**
JonFreeman 3:7aaf0072cc22 462 void pir_updater_task (void const * name) {
JonFreeman 3:7aaf0072cc22 463 A task handed to the RTOS Round Robin
JonFreeman 3:7aaf0072cc22 464 ISR controls certain flags.
JonFreeman 3:7aaf0072cc22 465 This task responds after 'move_ended' flag asserted by NCO ISR
JonFreeman 3:7aaf0072cc22 466 If CircBuff not empty, set of floating point data for next point is fetched,
JonFreeman 3:7aaf0072cc22 467 remaining calcs performed and translated into signed longs, results placed in
JonFreeman 3:7aaf0072cc22 468 set of '_next' locations to be picked up by future NCO ISR
JonFreeman 2:b3c668ec43ac 469 */
JonFreeman 3:7aaf0072cc22 470 void pir_updater_task (void const * name) {
JonFreeman 2:b3c668ec43ac 471 static long x, y, z;//, count = 0;
JonFreeman 1:66ee619f206b 472 struct pirbufgrain outs;
JonFreeman 1:66ee619f206b 473 while (true) {
JonFreeman 2:b3c668ec43ac 474 // while (!move_ended || !CircBuff.readable()) { ** TO DO ** Solve problem with empty flag
JonFreeman 2:b3c668ec43ac 475 while (!move_ended || CircBuff.On_Q() == 0) {
JonFreeman 1:66ee619f206b 476 osThreadYield();
JonFreeman 2:b3c668ec43ac 477 } // Proceed beyond here only when move_ended AND CircBuff.readable() both TRUE
JonFreeman 1:66ee619f206b 478 CircBuff.read(outs);
JonFreeman 1:66ee619f206b 479 x = (long)(outs.f_rate * outs.x); // These take much CPU time !!
JonFreeman 1:66ee619f206b 480 y = (long)(outs.f_rate * outs.y);
JonFreeman 1:66ee619f206b 481 z = (long)(outs.f_rate * outs.z);
JonFreeman 3:7aaf0072cc22 482 ticks_next = (unsigned long)(outs.distance_code / outs.f_rate);
JonFreeman 1:66ee619f206b 483 pir_x_next = x;
JonFreeman 1:66ee619f206b 484 pir_y_next = y;
JonFreeman 1:66ee619f206b 485 pir_z_next = z;
JonFreeman 3:7aaf0072cc22 486 dir_bits_next = 0;
JonFreeman 3:7aaf0072cc22 487 //if (pir_a & 0x80000000) dir_bits_next |= ADi;// Added 6th Feb 14 read sign bits
JonFreeman 3:7aaf0072cc22 488 inc_x_next = inc_y_next = inc_z_next = 1L;
JonFreeman 3:7aaf0072cc22 489 if (x < 0) {
JonFreeman 3:7aaf0072cc22 490 dir_bits_next |= XDi;
JonFreeman 3:7aaf0072cc22 491 inc_x_next = -1L;
JonFreeman 3:7aaf0072cc22 492 }
JonFreeman 3:7aaf0072cc22 493 if (y < 0) {
JonFreeman 3:7aaf0072cc22 494 dir_bits_next |= YDi;
JonFreeman 3:7aaf0072cc22 495 inc_y_next = -1L;
JonFreeman 3:7aaf0072cc22 496 }
JonFreeman 3:7aaf0072cc22 497 if (z < 0) {
JonFreeman 3:7aaf0072cc22 498 dir_bits_next |= ZDi;
JonFreeman 3:7aaf0072cc22 499 inc_z_next = -1L;
JonFreeman 3:7aaf0072cc22 500 }
JonFreeman 2:b3c668ec43ac 501 move_ended = idle = false;
JonFreeman 1:66ee619f206b 502 new_run_pending = true; // cleared and 'running' flag set in interrupt handler
JonFreeman 3:7aaf0072cc22 503 } // end of while (true) {
JonFreeman 0:5d0f270bfc87 504 }
JonFreeman 0:5d0f270bfc87 505
JonFreeman 1:66ee619f206b 506
JonFreeman 2:b3c668ec43ac 507 void flags_report_cmd (struct singleGparam * a) { // Diagnostic helper function
JonFreeman 2:b3c668ec43ac 508 pc.printf("Flags Report\r\nRunning %s\r\n", running ? "T":"F");
JonFreeman 2:b3c668ec43ac 509 pc.printf("idle %s\r\n", idle ? "T":"F");
JonFreeman 2:b3c668ec43ac 510 pc.printf("new_run_pending %s\r\n", new_run_pending ? "T":"F");
JonFreeman 2:b3c668ec43ac 511 pc.printf("move_ended %s\r\n", move_ended ? "T":"F");
JonFreeman 2:b3c668ec43ac 512 pc.printf("CircBuff.readable() %s\r\n", CircBuff.readable() ? "T":"F");
JonFreeman 2:b3c668ec43ac 513 pc.printf("On CircBuff %d\r\n", CircBuff.On_Q());
JonFreeman 2:b3c668ec43ac 514 }
JonFreeman 1:66ee619f206b 515
JonFreeman 2:b3c668ec43ac 516 /*
JonFreeman 2:b3c668ec43ac 517 #define ESTOP 0x100
JonFreeman 2:b3c668ec43ac 518 #define XLIM 1
JonFreeman 2:b3c668ec43ac 519 #define YLIM 2
JonFreeman 2:b3c668ec43ac 520 #define ZLIM 4
JonFreeman 2:b3c668ec43ac 521 #define UNKN 8
JonFreeman 2:b3c668ec43ac 522 */
JonFreeman 2:b3c668ec43ac 523 class inputsreaderstuff {
JonFreeman 2:b3c668ec43ac 524 private:
JonFreeman 2:b3c668ec43ac 525 long ins_now;//, ins_old, ins_changed;
JonFreeman 2:b3c668ec43ac 526 public:
JonFreeman 2:b3c668ec43ac 527 void init () { ins_now = 0L;}//ins_old = ins_changed = 0L; }
JonFreeman 2:b3c668ec43ac 528 long read () {
JonFreeman 2:b3c668ec43ac 529 ins_now = 0;
JonFreeman 2:b3c668ec43ac 530 if (D25pin10_EStop) ins_now |= ESTOP;
JonFreeman 2:b3c668ec43ac 531 if (D25pin11_XLim) ins_now |= XLIM;
JonFreeman 2:b3c668ec43ac 532 if (D25pin12_YLim) ins_now |= YLIM;
JonFreeman 2:b3c668ec43ac 533 if (D25pin13_ZLim) ins_now |= ZLIM;
JonFreeman 2:b3c668ec43ac 534 if (D25pin15_unkn) ins_now |= UNKN;
JonFreeman 2:b3c668ec43ac 535 // ins_changed = ins_now ^ ins_old;
JonFreeman 2:b3c668ec43ac 536 // ins_old = ins_now;
JonFreeman 2:b3c668ec43ac 537 return ins_now;
JonFreeman 2:b3c668ec43ac 538 }
JonFreeman 2:b3c668ec43ac 539 // long changed () { return ins_changed; }
JonFreeman 2:b3c668ec43ac 540 } Inputs_From_Machine;
JonFreeman 2:b3c668ec43ac 541
JonFreeman 2:b3c668ec43ac 542 void report_inputs () {
JonFreeman 2:b3c668ec43ac 543 long i = Inputs_From_Machine.read();
JonFreeman 2:b3c668ec43ac 544 pc.printf("Inputs: EStop %d, XLim %d, YLim %d, ", i & ESTOP ? 1:0, i & XLIM ? 1:0, i & YLIM ? 1:0);
JonFreeman 2:b3c668ec43ac 545 pc.printf("ZLim %d, unkn %d\r\n", i & ZLIM ? 1:0, i & UNKN ? 1:0);
JonFreeman 2:b3c668ec43ac 546 }
JonFreeman 2:b3c668ec43ac 547
JonFreeman 2:b3c668ec43ac 548 //void Emergency_Stop_Interrupt () {
JonFreeman 2:b3c668ec43ac 549 // pc.printf("Emergency Stop Activated !!\r\n");
JonFreeman 3:7aaf0072cc22 550 // spindle_control (0); // Stop spindle rotation
JonFreeman 2:b3c668ec43ac 551 //}
JonFreeman 1:66ee619f206b 552
JonFreeman 3:7aaf0072cc22 553 /**
JonFreeman 0:5d0f270bfc87 554 int main() {
JonFreeman 3:7aaf0072cc22 555
JonFreeman 3:7aaf0072cc22 556 */
JonFreeman 3:7aaf0072cc22 557 int main() {
JonFreeman 3:7aaf0072cc22 558 long ins, ins_old, ins_changed = 0;
JonFreeman 0:5d0f270bfc87 559 pc.baud(BAUD); // comms to 'PuTTY' serial terminal via mbed usb
JonFreeman 2:b3c668ec43ac 560 // D25pin11_XLim.mode (PullDown); External resistors now fitted
JonFreeman 2:b3c668ec43ac 561 // D25pin12_YLim.mode (PullDown);
JonFreeman 2:b3c668ec43ac 562 // D25pin13_ZLim.mode (PullDown);
JonFreeman 2:b3c668ec43ac 563 // D25pin15_unkn.mode (PullDown);
JonFreeman 2:b3c668ec43ac 564 // D25pin10_EStop.mode (PullDown);
JonFreeman 2:b3c668ec43ac 565 // D25pin10_EStop.rise (& Emergency_Stop_Interrupt);
JonFreeman 2:b3c668ec43ac 566 // D25pin10_EStop.fall (& Emergency_Stop_Interrupt);
JonFreeman 3:7aaf0072cc22 567
JonFreeman 3:7aaf0072cc22 568 Gparams_clr (last_position);
JonFreeman 3:7aaf0072cc22 569 dro_out.init ();
JonFreeman 1:66ee619f206b 570 CircBuff.init ();
JonFreeman 2:b3c668ec43ac 571 Inputs_From_Machine.init ();
JonFreeman 3:7aaf0072cc22 572 #if defined SPI_Enable
JonFreeman 0:5d0f270bfc87 573 spidevice.format(8, 0); // 8 bits mode 0, // p11 mosi, p12 miso, p13 sclk ** ONLY 8 BIT **
JonFreeman 0:5d0f270bfc87 574 spidevice.frequency(12000000); // 12MHz bit rate
JonFreeman 3:7aaf0072cc22 575 #endif
JonFreeman 2:b3c668ec43ac 576 pc.printf("\r\n*\n*\nFound Computer %s\r\n", Target);
JonFreeman 1:66ee619f206b 577 pc.printf("Welcome to the CNC tester\r\nStep pulses required to move 1.0mm = %9.0f\r\n", pulses_per_mm);
JonFreeman 3:7aaf0072cc22 578 pc.printf("PIR 'n' for 1mm per min = %9.0f\r\ntop speed = %d mm per min\r\n\n", n_for_onemmpermin, feed_rate_max);
JonFreeman 3:7aaf0072cc22 579
JonFreeman 3:7aaf0072cc22 580
JonFreeman 3:7aaf0072cc22 581 // NVIC_SetPriority(TIMER3_IRQn, 255); // set mbed tickers to lower priority than other things ONLY COMPILES FOR LPC1768
JonFreeman 3:7aaf0072cc22 582
JonFreeman 3:7aaf0072cc22 583
JonFreeman 3:7aaf0072cc22 584 NCO_gen.attach_us(&Numerically_Controlled_Oscillators_ISR, interrupt_period_us);// Have setup timed interrupts, let other code deal
JonFreeman 3:7aaf0072cc22 585 msec.attach_us(&millisec_update_ISR, 1001);
JonFreeman 3:7aaf0072cc22 586
JonFreeman 3:7aaf0072cc22 587 Thread tsr2 (pir_updater_task, (void *)"read from CircBuff and move");
JonFreeman 1:66ee619f206b 588 Thread comlin (command_line_interpreter, (void *)"cli"); // Read any instructions arriving via serial port and act upon them
JonFreeman 3:7aaf0072cc22 589 #if defined I2C_Enable
JonFreeman 3:7aaf0072cc22 590 Thread i2cstuff (i2c_handler, (void *)"i2c thing");
JonFreeman 3:7aaf0072cc22 591 #endif
JonFreeman 2:b3c668ec43ac 592 ins = ins_old = Inputs_From_Machine.read ();
JonFreeman 1:66ee619f206b 593 move_ended = true; // Needed to kickstart system
JonFreeman 1:66ee619f206b 594
JonFreeman 1:66ee619f206b 595 while(1) { // Round Robin loop
JonFreeman 1:66ee619f206b 596 dro_out.update (); // Update DRO readings if, and as often as needed
JonFreeman 2:b3c668ec43ac 597 ins = Inputs_From_Machine.read ();
JonFreeman 2:b3c668ec43ac 598 ins_changed = ins ^ ins_old;
JonFreeman 2:b3c668ec43ac 599 ins_old = ins;
JonFreeman 2:b3c668ec43ac 600 if (ins_changed)
JonFreeman 2:b3c668ec43ac 601 pc.printf("Inputs Have Changed 0x%x, read 0x%x\r\n", ins_changed, ins);
JonFreeman 1:66ee619f206b 602 osThreadYield(); //
JonFreeman 1:66ee619f206b 603 } // end of Round Robin loop
JonFreeman 1:66ee619f206b 604 } // end of int main()
JonFreeman 1:66ee619f206b 605