Diff: main.cpp

Revision:

0:5d0f270bfc87

Child:

1:66ee619f206b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jan 31 11:16:21 2014 +0000
@@ -0,0 +1,278 @@
+#include "mbed.h"
+#include "cnc.h"
+using namespace std;
+extern  void    lissajous   (void)  ;
+extern  void    command_line_interpreter    (void) ;
+extern  void    init_last_position  ()  ;
+extern  char *  readout (char * txt, int p)    ;    //  p has running subtotal of all pulses issued to stepper driver
+
+Serial  pc(USBTX, USBRX);        //  tx, rx to pc
+const   int BAUD = 9600;
+Ticker  NCO_gen;                 // Ticker generating interrupts at NCO updating frequency
+struct  axis_speeds_element     axis_speeds[axis_speeds_buffsize + 1];  //  buffer space for list of future moves
+struct  digital_readouts    dro;    //some signed int
+
+bool    running     = false;
+volatile unsigned long   ticks = 0L;
+unsigned long
+                pir_a = 0L,
+                pir_x = 0L,
+                pir_y = 0L,
+                pir_z = 0L,
+                pir_s = 0L,     //  Referenced only in command_interpreter as spindle speed setting
+                tickrun = 0L;
+                
+int spindlefwdrev = 0;  //  Takes values of 0 or 4 only
+
+#if defined (TARGET_KL25Z)
+    DigitalOut intled(PTE1);    //J2p20
+    //SPISlave spidevice(PTD3, PTD2, PTD1, PTD0); // mosi, miso, sclk THIS TURNS LED ON BLUE ! (uses p11, p12, p13 on mbed LPC)
+    SPISlave spidevice(PTD2, PTD3, PTD1, PTD0); // mosi, miso, sclk THIS TURNS LED ON BLUE ! (uses p11, p12, p13 on mbed LPC)
+    //                 J2p08,J2p10,J2p12, J2p06
+    //SPI spidevice(PTD2, PTD3, PTD1); // mosi, miso, sclk THIS TURNS LED ON BLUE ! (uses p11, p12, p13 on mbed LPC)
+    //SPI spidevice(PTD3, PTD2, PTD1); // mosi, miso, sclk THIS TURNS LED ON BLUE ! (uses p11, p12, p13 on mbed LPC)
+    //NOTE doubt possibly miso mosi in wrong order here, PTD3 and PTD2
+    #define STEPPER_PORT    PortC
+    const   int PortBitXSt   = 3,    //  Port bit num X Step    J1P05
+                PortBitXDi   = 4,    //  Port bit num X Dir     J1P07
+                PortBitYSt   = 5,    //  Port bit num Y Step    J1P09
+                PortBitYDi   = 6,    //  Port bit num Y Dir     J1P11
+                PortBitZSt   = 10,    //  Port bit num Z Step   J1P13
+                PortBitZDi   = 11,    //  Port bit num Z Dir    J1P15
+                PortBitASt   = 12,    //  Port bit num A Step   J2P01
+                PortBitADi   = 13;    //  Port bit num A Dir    J2P03
+#endif
+#if defined (TARGET_KL46Z)
+    DigitalOut intled(PTE1);    //J2p20
+    SPISlave spidevice(PTA16, PTA17, PTA15, PTA14); // mosi, miso, sclk, ssel (uses p11, p12, p13, p? on mbed LPC)
+    //                 J2p13, J2p15, J2p11, J2p09
+                // Easy way to allocate port bits for           ***  N O T  CHECKED for 46Z ***
+                // output of stepper motor Step and DIR sigs
+    #define STEPPER_PORT    PortC
+    const   int PortBitXSt   = 0,    //  Port bit num X Step    J1P05
+                PortBitXDi   = 4,    //  Port bit num X Dir     J1P07
+                PortBitYSt   = 6,    //  Port bit num Y Step    J1P09
+                PortBitYDi   = 7,    //  Port bit num Y Dir     J1P11
+                PortBitZSt   = 10,    //  Port bit num Z Step   J1P13
+                PortBitZDi   = 11,    //  Port bit num Z Dir    J1P15
+                PortBitASt   = 13,    //  Port bit num A Step   J2P01
+                PortBitADi   = 16;    //  Port bit num A Dir    J2P03
+#endif
+#if defined (TARGET_MBED_LPC1768)
+    DigitalOut intled(LED2);
+    SPISlave spidevice(p5, p6, p7, p8);
+                // Easy way to allocate port bits for           ***  N O T  CHECKED for MBED_LPC1768 ***
+                // output of stepper motor Step and DIR sigs
+    #define STEPPER_PORT    Port0
+    /* Port 0 bits routed to DIP pins as follows:-
+        P0.00   p09 Reserve SDA
+        P0.01   p10 Reserve SCL
+        P0.04   p30 CAN rd  -   USE X Step
+        P0.05   p29 CAN td  -   USE X Dir
+        P0.10   p28 SDA     -   USE Y Step
+        P0.11   p27 SCL     -   USE Y Dir
+        P0.15   p13 Tx      -   USE Z Step
+        P0.16   p14 Rx      -   USE Z Dir
+        P0.17   p12 miso    -   USE A Step
+        P0.18   p11 mosi    -   Use A Dir
+        P0.23   p15 A In
+        P0.24   p16 A In
+        P0.25   p17 A In
+        P0.26   p18 Reserve A Out
+    */
+    const   int PortBitXSt   = 4,    //  Port bit num X Step
+                PortBitXDi   = 5,    //  Port bit num X Dir
+                PortBitYSt   = 10,    //  Port bit num Y Step
+                PortBitYDi   = 11,    //  Port bit num Y Dir
+                PortBitZSt   = 15,    //  Port bit num Z Step
+                PortBitZDi   = 16,    //  Port bit num Z Dir
+                PortBitASt   = 17,    //  Port bit num A Step
+                PortBitADi   = 18;    //  Port bit num A Dir
+#endif
+
+static const   long
+            XSt1 =   1 << PortBitXSt, XSt0 = 0,
+            XDi1 =   1 << PortBitXDi, XDi0 = 0,
+            YSt1 =   1 << PortBitYSt, YSt0 = 0,
+            YDi1 =   1 << PortBitYDi, YDi0 = 0,
+            ZSt1 =   1 << PortBitZSt, ZSt0 = 0,
+            ZDi1 =   1 << PortBitZDi, ZDi0 = 0,
+            ASt1 =   1 << PortBitASt, ASt0 = 0,
+            ADi1 =   1 << PortBitADi, ADi0 = 0,
+
+            SM_MASK = (XSt1 | XDi1 | YSt1 | YDi1 | ZSt1 | ZDi1 | ASt1 | ADi1);
+
+PortOut mysteppers(STEPPER_PORT, SM_MASK);
+
+/*
+*   Interrupt Service Routine
+*/
+//void    Numerically_Controlled_Oscillators_ISR ()  {   // services Ticker 'NCO_gen' generated interrupts ***ISR***
+//    intled = 1;
+//    ticks++;
+//    intled = 0;
+//}
+void    Numerically_Controlled_Oscillators_ISR ()  {   // services Ticker 'NCO_gen' generated interrupts ***ISR***
+    const   long    bit_lutx[4] = {XSt0 | XDi0, XSt0 | XDi1, XSt1 | XDi1, XSt1 | XDi0},  //  Used to look-up 'clk' and 'dir' signals from accum MSBs
+                    bit_luty[4] = {YSt0 | YDi0, YSt0 | YDi1, YSt1 | YDi1, YSt1 | YDi0},  //  Used to look-up 'clk' and 'dir' signals from accum MSBs
+                    bit_lutz[4] = {ZSt0 | ZDi0, ZSt0 | ZDi1, ZSt1 | ZDi1, ZSt1 | ZDi0},  //  Used to look-up 'clk' and 'dir' signals from accum MSBs
+                    bit_luta[4] = {ASt0 | ADi0, ASt0 | ADi1, ASt1 | ADi1, ASt1 | ADi0},  //  Used to look-up 'clk' and 'dir' signals from accum MSBs
+                    bits2shift = (sizeof (long) << 3) - 2;
+    static  unsigned long
+//        acc_s = 0L, //  For Spindle motor, probably not needed as may be pwm
+        acc_a = 0L,
+        acc_x = 0L,
+        acc_y = 0L,
+        acc_z = 0L;
+    static  int obitz = 0;
+    int oldbitz, acts;
+
+    intled = 1;     //  LED on for duration of interrupt service - point for scope probing
+    ticks++;        //  count of interrupts serviced
+//    int response = spidevice.write(0x55); // Only if SPI Master -- TAKES 2.5 us --
+//      The rest of the whole int handler takes only about 3.0 us
+    acc_x += pir_x;     //  Update phase of signals in accumulators
+    acc_y += pir_y;
+    acc_z += pir_z;
+    acc_a += pir_a;
+//    acc_s += pir_s;   //  pir_s used for spindle speed
+    oldbitz = obitz;    //  pin output levels as determined during previous interrut
+    obitz = bit_lutx[acc_x >> bits2shift] | bit_luty[acc_y >> bits2shift] | bit_lutz[acc_z >> bits2shift] | bit_luta[acc_a >> bits2shift];
+
+    mysteppers = obitz; //  Output signals to stepper motor drivers, next look for _- pos clk events on bits 0, 2 and 4
+
+    acts = (~oldbitz & obitz);  //  get pos clk edge triggers in bits 0, 2 and 4 (1, 4, 16)
+    acts |= (obitz & (XDi1 | YDi1 | ZDi1));      //  get directions
+    if(acts & XSt1)    {           //  got pos clk edge for axis X
+        if  (acts & XDi1)
+            dro.x++;
+        else    dro.x--;
+    }
+    if(acts & YSt1)    {           //  got pos clk edge for axis Y
+        if  (acts & YDi1)
+            dro.y++;
+        else    dro.y--;
+    }
+    if(acts & ZSt1)   {           //  got pos clk edge for axis Z
+        if  (acts & ZDi1)
+            dro.z++;
+        else    dro.z--;
+    }
+    if  (running && tickrun <= ticks)   {   //  End of a machine movement detected, start next move here if possible
+        running = false;
+        pir_x = 0L; //  stop all stepper motors
+        pir_y = 0L;
+        pir_z = 0L;
+        pir_a = 0L;
+    }
+    intled = 0;         //  LED off
+}           //  end of interrupt handler
+
+/*
+*   End of Interrupt Service Routine
+*/
+
+
+void    pir_updater (struct axis_speeds_element * p)   {   //  To arrive here with wanted 'mm per min' values in x, y and z
+//void    pir_updater (struct pirs * p)   {   //  To arrive here with wanted 'mm per min' values in x, y and z
+//    pc.printf(p.x ? "true":"false");      //  Uses pointer as we may wish to rapid update from circular buffer
+    tickrun = p->duration_ticks;
+    unsigned long tc = ticks, after;
+    while   (tc == ticks)   {}  //  wait until just after an interrupt - note requires 'volatile' ticks
+    tickrun += ticks;
+    pir_x = p->x;  //  Update NCO phase inc registers
+    pir_y = p->y;
+    pir_z = p->z;
+    pir_a = p->a;
+    after = ticks - tc;
+    running = true;
+    if  (after == 1)
+        pc.printf("pir_update was good !, ticks %d\r\n", p->duration_ticks);
+    else
+        pc.printf("Oops! Looks like pir_update got run-over, code = %d\r\n", after);
+}
+
+int main() {
+    char txt[10];   //  few chars used for dro output
+    pc.baud(BAUD); //  comms to 'PuTTY' serial terminal via mbed usb
+    dro.x = dro.y = dro.z = 0;   //  These dro registers count pulses delivered to stepper motor driver
+    dro.dro_output = true;
+    init_last_position  ()  ;   //  Zeros one 'pirs' structure
+    spidevice.format(8, 0);    //  8 bits mode 0,  // p11 mosi, p12 miso, p13 sclk ** ONLY 8 BIT **
+    spidevice.frequency(12000000);  //  12MHz bit rate
+//    int response = spidevice.write(0xFFFF); // Only if SPI Master
+//    spidevice.reply(0x00);              // Prime SPI with first reply
+    /*
+// Reply to a SPI master as slave
+ 
+ #include "mbed.h"
+ 
+ SPISlave device(p5, p6, p7, p8); // mosi, miso, sclk, ssel
+ 
+ int main() {
+     device.reply(0x00);              // Prime SPI with first reply
+     while(1) {
+         if(device.receive()) {
+             int v = device.read();   // Read byte from master
+             v = (v + 1) % 0x100;     // Add one to it, modulo 256
+             device.reply(v);         // Make this the next reply
+         }
+     }
+ }    */
+
+    struct  axis_speeds_element * asepp = axis_speeds;   //  Address of axis_speeds[0]
+    for (int i = 0; i < axis_speeds_buffsize; i++)  {
+        axis_speeds[i].x =
+        axis_speeds[i].y =
+        axis_speeds[i].z =
+        axis_speeds[i].a =
+        axis_speeds[i].duration_ticks = 0L;
+        axis_speeds[i].ready = false;
+    }
+//    pc.printf("SPI Setup returned 0x%x\r\n", response);
+/*    int ch;
+    while   (true) {
+        while   (pc.readable()) {
+            ch = pc.getc();
+            pc.printf("**%c**", ch);
+        }
+        pc.printf("No more\r\n");
+        wait(0.5);
+    }
+  */      
+    lissajous   ();
+#if defined (TARGET_KL25Z)
+    pc.printf   ("Found device Freescale KL25Z\r\n");
+//    DigitalOut intled(PTA1);  ** THIS KILLS SERIAL Rx **
+#endif
+#if defined (TARGET_KL46Z)
+    pc.printf   ("Found device Freescale KL46Z\r\n");
+#endif
+#if defined (TARGET_MBED_LPC1768)
+    pc.printf   ("Found device MBED_LPC1768\r\n");
+#endif
+    pc.printf("Three NCOs have been setup, they will move when given values by the G0 x? y? z? command\r\n");
+    pc.printf("sizeof long long is %d bytes, pulsecnt at 1mm per min = %f, top speed = %d mm per min\r\n", sizeof(long long), n_for_onemmpermin, max_mm_per_min);
+    NCO_gen.attach_us(&Numerically_Controlled_Oscillators_ISR, interrupt_period_us);// Have setup timed interrupts, let other code deal
+    while(1) {
+//        if(!(ticks & 0x00000ff))    {
+//            mybigmotor = arr[step++];
+//            step &= 0x03;
+//            pc.printf("^");
+//        }
+        command_line_interpreter    ();
+//        myled = 1;        //wait(0.4);//        myled = 0;        //wait(0.4);
+//        if(running && dro_output && !(ticks & 0x00007ffc))  { // including 'running' causes display to freeze at almost there !
+        if(dro.dro_output && !(ticks & 0x00007ffc))  {
+            pc.printf("dros X %s, Y ", readout(txt, dro.x));    //  dro.n has running subtotal of all pulses issued to stepper driver.n
+            pc.printf("%s, Z ", readout(txt, dro.y));
+            pc.printf("%s", readout(txt, dro.z));
+            pc.printf(", ticks %d\r\n", ticks);
+            asepp++;
+            if  (asepp >= axis_speeds + axis_speeds_buffsize) {
+                asepp = axis_speeds;
+            }
+//            pc.printf   ("axis_speed %d, %lx\r\n", asepp - axis_speeds, (long)asep);
+        }
+    }
+}