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
Diff: main.cpp
- Revision:
- 3:7aaf0072cc22
- Parent:
- 2:b3c668ec43ac
--- a/main.cpp Thu Feb 20 09:27:18 2014 +0000 +++ b/main.cpp Fri Mar 14 14:14:55 2014 +0000 @@ -2,51 +2,62 @@ #include "rtos.h" #include "MODSERIAL.h" #include "cnc.h" -using namespace std; +extern void i2c_handler (void const *); extern void command_line_interpreter (void const *) ; -//extern void lissajous (void const *) ; -extern double feed_rate, spindle_rpm; -extern void more_setup () ; -extern struct Gparams last_position; +extern fl_typ feed_rate; // float type is 'float' +extern signed long spindle_rpm; const int BAUD = 38400; -MODSERIAL pc(USBTX, USBRX); // tx, rx to pc -//Serial pc(USBTX, USBRX); // tx, rx to pc -Ticker NCO_gen; // Ticker generating interrupts at "Kernel Speed", NCO updating frequency (about 40kHz) +MODSERIAL pc(USBTX, USBRX); // tx, rx to pc via usb lead +Ticker NCO_gen; // Ticker generating interrupts at "Kernel Speed", NCO updating frequency (about 40kHz) +Ticker msec; // Ticker updating global millisecs counter + +bool running = false, + new_run_pending = false, + idle = false, + move_ended = false; -bool running = false, new_run_pending = false, idle = false, move_ended = false; -volatile unsigned long ticks = 0L; // 32 bit count of "interrupt_period_us" interrupts from time t=0 -unsigned long tickrun = 0L; // 32 bit effectively stores time in future when current movement to stop -unsigned long ticks_next = 0L; // 32 bit effectively stores time in future when current movement to stop -unsigned long millisecs = 0L; // 32 bit -unsigned long pir_a = 0L, // Phase Increment Registers - pir_x = 0L, - pir_y = 0L, - pir_z = 0L, - pir_a_next = 0L, // Data for next move assembled here - pir_x_next = 0L, // during a move. - pir_y_next = 0L, // This way, next move can start immediately - pir_z_next = 0L, // on end of current move - minimised jerking - pir_spin = 0L; // Referenced only in command_interpreter as spindle speed setting +volatile unsigned long ticks = 0L; // 32 bit count of "interrupt_period_us" interrupts from time t=0 +unsigned long tickrun = 0L, // 32 bit effectively stores time in future when current movement to stop + ticks_next = 0L, // 32 bit effectively stores time in future when current movement to stop + millisecs = 0L; // 32 bit +signed long +#if defined Fourth_Axis + pir_a_next = 0L, // Data for next move assembled here +#endif + pir_x_next = 0L, // during a move. + pir_y_next = 0L, // This way, next move can start immediately + pir_z_next = 0L, // on end of current move - minimised jerking +#if defined Fourth_Axis + inc_a_next = 1L, +#endif + inc_x_next = 1L, + inc_y_next = 1L, + inc_z_next = 1L, + dir_bits_next = 0L, + pir_spin = 0L; // Referenced only in command_interpreter as spindle speed setting + +struct Gparams last_position; // #if defined (TARGET_KL25Z) - const char Target[] = "KL25Z"; - DigitalOut intled (PTE1); //J2p20 - DigitalOut charge_pumpD25pin1 (PTE0); //J2p18 + const char Target[] = "KL25Z"; // Note need PTE0 (sda) and PTE1 (scl) + DigitalOut intled (PTD7); //(PTE1); //J2p19, was 20 + DigitalOut charge_pumpD25pin1 (PTD6); //(PTE0); //J2p17, was 18 // InterruptIn D25pin10_EStop (PTE20); //j10p1 KL25 J10 is KL46 j4 DigitalIn D25pin10_EStop (PTE20); //j10p1 KL25 J10 is KL46 j4 DigitalIn D25pin11_XLim (PTE21); //j10p3 DigitalIn D25pin12_YLim (PTE22); //j10p5 DigitalIn D25pin13_ZLim (PTE23); //j10p7 DigitalIn D25pin15_unkn (PTE30); //j10p11 - //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) +#if defined I2C_Enable + I2CSlave slave(PTE0, PTE1); // PTE0 sda, (yellow) PTE1 scl (blue) +#endif +#if defined SPI_Enable + SPISlave spidevice(PTD2, PTD3, PTD1, PTD0); // mosi, miso, sclk (uses p11, p12, p13 on mbed LPC1768) +#endif // 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 D25pin 2 PortBitXDi = 4, // Port bit num X Dir J1P07 D25pin 3 @@ -74,7 +85,12 @@ DigitalIn D25pin12_YLim (PTE22); // j4p5 checked DigitalIn D25pin13_ZLim (PTE23); // j4p7 checked DigitalIn D25pin15_unkn (PTE30); // j4p11 checked +#if defined I2C_Enable + I2CSlave slave(p9, p10); +#endif +#if defined SPI_Enable SPISlave spidevice(PTA16, PTA17, PTA15, PTA14); // mosi, miso, sclk, ssel (uses p11, p12, p13, p? on mbed LPC) +#endif // J2p13, J2p15, J2p11, J2p09 // Easy way to allocate port bits for // output of stepper motor Step and DIR sigs @@ -93,15 +109,20 @@ #if defined (TARGET_MBED_LPC1768) const char Target[] = "MBED LPC1768"; DigitalOut intled(LED2); // Correct - DigitalOut charge_pumpD25pin1 (p25); //J2p18 Following 5 inputs all wrong - TO DO sort which pins + DigitalOut charge_pumpD25pin1 (p25); // // InterruptIn D25pin10_EStop (p26); //P2.0 DigitalIn D25pin10_EStop (p26); //P2.0 DigitalIn D25pin11_XLim (p24); //P2.2 DigitalIn D25pin12_YLim (p23); //P2.3 DigitalIn D25pin13_ZLim (p19); //P1.30 DigitalIn D25pin15_unkn (p20); //P1.31 +#if defined I2C_Enable + I2CSlave slave(p9, p10); +#endif +#if defined SPI_Enable SPISlave spidevice(p5, p6, p7, p8); - // Easy way to allocate port bits for *** N O T CHECKED for MBED_LPC1768 *** +#endif + // Easy way to allocate port bits // output of stepper motor Step and DIR sigs #define STEPPER_PORT Port0 /* Port 0 bits routed to DIP pins as follows:- @@ -133,29 +154,37 @@ #endif const long // Assemble mask bits from now known port bit positions - XSt = 1 << PortBitXSt, // X axis Step signal - XDi = 1 << PortBitXDi, // X axis Direction signal - YSt = 1 << PortBitYSt, // Y axis Step, etc - YDi = 1 << PortBitYDi, - ZSt = 1 << PortBitZSt, // Z axis - ZDi = 1 << PortBitZDi, - ASt = 1 << PortBitASt, // A axis, not implemented in full, for e.g. rotary axis - ADi = 1 << PortBitADi, - SDi = 1 << PortBitSDi, // Spindle, also driven by Step and Dir signals up to 5kHz - SSt = 1 << PortBitSSt, // for 5000 RPM + XSt = 1 << PortBitXSt, // X axis Step signal + XDi = 1 << PortBitXDi, // X axis Direction signal + YSt = 1 << PortBitYSt, // Y axis Step, etc + YDi = 1 << PortBitYDi, + ZSt = 1 << PortBitZSt, // Z axis + ZDi = 1 << PortBitZDi, + ASt = 1 << PortBitASt, // A axis, not implemented in full, for e.g. rotary axis + ADi = 1 << PortBitADi, + SDi = 1 << PortBitSDi, // Spindle, also driven by Step and Dir signals up to 5kHz + SSt = 1 << PortBitSSt, // for 5000 RPM - SM_MASK = (XSt | XDi | YSt | YDi | ZSt | ZDi | ASt | ADi | SDi | SSt); + SM_MASK = (XSt | XDi | YSt | YDi | ZSt | ZDi | ASt | ADi | SDi | SSt), + direction_swappers = XDi | YDi | ZDi | SDi; // include bit to swap direction PortOut Steppers (STEPPER_PORT, SM_MASK); - const long direction_swappers = XDi | YDi | ZDi | SDi; // include bit to swap direction -/* - long read () { - return mysteppers ^ direction_swappers; - } - void write (long val) { - mysteppers = val ^ direction_swappers; - } - */ + +void target_cmd (struct singleGparam * a) { + pc.printf("Computer is %s\r\n", Target); +} + +void grain_clr (struct singleGparam & g) { + g.flt = 0.0; + g.ul = 0L; + g.i = g.c = 0; + g.changed = false; +} +void Gparams_clr (struct Gparams & p) { + grain_clr (p.x); grain_clr (p.y); grain_clr (p.z); grain_clr (p.i); grain_clr (p.j); + grain_clr (p.r); grain_clr (p.a); grain_clr (p.b); grain_clr (p.c); grain_clr (p.d); +} + class digital_readout_stuff { // class does not need to be named here private: char * readout (char * txt, long p) // p has running subtotal of all pulses issued to stepper driver @@ -184,16 +213,17 @@ } public: signed long x, y, z, a; // Could easily expand up to six or more dros - bool dro_output; // To enabe / disable output to terminal +// bool dro_output; // To enabe / disable output to terminal void init () { x = y = z = a = 0; // These dro registers count pulses delivered to stepper motor driver - dro_output = true; +// dro_output = true; } void update () { static long t = 300; // Prevent display immediately upon startup if (millisecs < t) return; - if(!idle && dro_output) { +// if(!idle && dro_output) { + if(!idle) { char txt[12]; pc.printf("dros X %s,", readout(txt, x)); // dro.n has running subtotal of all pulses issued to stepper driver.n pc.printf(" Y %s, Z ", readout(txt, y)); @@ -202,8 +232,17 @@ t = millisecs + 350; // Schedule next update after this non-blocking delay } } -} dro_out ; +} dro_out ; // single instance of class digital_readout_stuff +/** +class circbuff { public functions + void init () { + int On_Q () { + bool readable () {return !buffempty; } + bool writeable () {return !bufffull; } + bool read (pirbufgrain & g) { + bool write (pirbufgrain & g) { +*/ const int PIRBUFFSIZE = 40; // pirbufgrain are 40 bytes each class circbuff { private: @@ -216,10 +255,10 @@ buffempty = true; } void grain_copy (pirbufgrain & src, pirbufgrain & dest) { - dest.x = src.x; - dest.y = src.y; - dest.z = src.z; - dest.c = src.c; + dest.x = src.x; + dest.y = src.y; + dest.z = src.z; + dest.distance_code = src.distance_code; dest.f_rate = src.f_rate; // int feed rate mm per min * 1000 } public: @@ -261,167 +300,79 @@ bufffull = true; return true; } -} CircBuff; +} CircBuff; // single instance of class circbuff -int PutMoveOnList (struct pirbufgrain & s) { - while (!CircBuff.writeable()) - osThreadYield(); - CircBuff.write (s); // pc.printf("CircBuff, contains %d\r\n", CircBuff.On_Q()); - return 0; -} -const double duration_multiplier = 60000000.0 / interrupt_period_us; - +/** void move_to_XYZ (struct pirbufgrain & ins) { + Takes floating point x, y, z and feed_rate as input. + Finds distances from 'last_position' global, + copies structure containing floating point values for x, y, z, distance_multiplier and feed_rate + onto a circular buffer. + If buffer full, executes 'osThreadYield()' until space is created on buffer +*/ +void move_to_XYZ (struct pirbufgrain & ins) { +static const fl_typ duration_multiplier = 60000000.0 / interrupt_period_us; struct pirbufgrain outs; - double distx = ins.x - last_position.x.dbl, - disty = ins.y - last_position.y.dbl, - distz = ins.z - last_position.z.dbl, + fl_typ distx = ins.x - last_position.x.flt, + disty = ins.y - last_position.y.flt, + distz = ins.z - last_position.z.flt, distT = sqrt ((distx * distx) + (disty * disty) + (distz * distz)), // 3D Pythag ! temp = n_for_onemmpermin / distT; if (distT < 0.01) { pc.printf("Very small move %.4f, Ignoring!\r\n", distT); - return; + return; // Return without updating last_position as it was not changed } - last_position.x.dbl = ins.x; // Update global last_position record - last_position.y.dbl = ins.y; - last_position.z.dbl = ins.z; + last_position.x.flt = ins.x; // Update global last_position record + last_position.y.flt = ins.y; + last_position.z.flt = ins.z; outs.f_rate = ins.f_rate; - outs.c = duration_multiplier * distT; // Duration ticks subject to feed rate compo + outs.distance_code = duration_multiplier * distT; // Duration ticks subject to feed rate compo outs.x = temp * distx; outs.y = temp * disty; outs.z = temp * distz; // Have assembled data ready to put onto queue of move instructions - PutMoveOnList (outs); + while (!CircBuff.writeable()) + osThreadYield(); + CircBuff.write (outs); // Move details put on circular buffer +} + +/** +* Interrupt Service Routines +void millisec_update_ISR () { self explanatory + +void Numerically_Controlled_Oscillators_ISR () { + services Ticker 'NCO_gen' generated interrupts ***ISR*** + Does all of the stepper motor driving. + At end of movement, fetches and starts next move to run from circular buffer + If nothing buffered, stops x, y and z, leaves spindle unaltered +*/ +void millisec_update_ISR () { + millisecs++; } -void target_cmd (struct singleGparam * a) { - pc.printf("Computer is %s\r\n", Target); -} -/* -* Interrupt Service Routine -*/ -/* **** UNBROKEN VERSION 6th Feb 2014 ****************** +#define STEP_IDLE_HI // Choose IDLE_HI or LO to suit any power save function of stepper motor drive units +//#define STEP_IDLE_LO void Numerically_Controlled_Oscillators_ISR () { // services Ticker 'NCO_gen' generated interrupts ***ISR*** - static const int millisec_countdown = 1000 / interrupt_period_us; - 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, mscount = millisec_countdown; - int oldbitz, acts; + static const long step_mask = ASt | XSt | YSt | ZSt, // Added 6th Feb 14 Mask Does NOT include spindle bits + dir_mask = ADi | XDi | YDi | ZDi; // Added 6th Feb 14 Mask Does NOT include spindle bits + static signed long // 27 Feb 14 changed from unsigned +#if defined Fourth_Axis + acc_a = 0L, pir_a = 0L, +#endif + acc_x = 0L, // acc Accumuloators + pir_x = 0L, // pir Phase Increment Registers + acc_y = 0L, pir_y = 0L, + acc_z = 0L, pir_z = 0L, + acc_spin = 0L, // separate acc for spindle rotation NCO + inc_x = 1L, // inc_x, y, z for updating DRO registers + inc_y = 1L, inc_z = 1L, + dir_bits = 0L, // direction flags for up to four axes + oldSteps = 0L; // + long tmp, newSteps = 0L; intled = 1; // LED on for duration of interrupt service - point for scope probing - ticks++; // count of interrupts serviced - if(!--mscount) { // Maintain global counter of elapsed milli seconds - mscount = millisec_countdown; - millisecs++; - } - if (running) { - acc_x += pir_x; // Update phase of signals in accumulators - acc_y += pir_y; - acc_z += pir_z; - acc_a += pir_a; // not yet implemented - // 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 'Step' outputs - - acts = (~oldbitz & obitz); // get pos clk edge triggers 'Step' bits - acts |= (obitz & (XDi1 | YDi1 | ZDi1)); // get axis X, Y and Z Direction bits - 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 (tickrun <= ticks) { // End of a machine movement detected, start next move here if possible - running = false; - move_ended = true; - pir_x = 0L; // stop all stepper motors - pir_y = 0L; - pir_z = 0L; - pir_a = 0L; -// ticks = 0L; // Simply to avoid having to think about overflow problems - } - } - else { // Not running. Grab next data here when or if available - if (new_run_pending) { // Pick up on flag set elsewhere - pir_a = pir_a_next; - pir_x = pir_x_next; - pir_y = pir_y_next; - pir_z = pir_z_next; - tickrun = ticks + ticks_next; - running = true; // Start the new run - new_run_pending = false; // Clear the flag which initiated this update - idle = false; - } - } - charge_pump = ticks & 0x02; - intled = 0; // LED off -} // end of interrupt handler -*/ -/* -* End of Interrupt Service Routine -*/ - - - - - - - - - - - - - - - - -/* -* Interrupt Service Routine -*/ -#define STEP_IDLE_HI -//#define STEP_IDLE_LO -void Numerically_Controlled_Oscillators_ISR () { // services Ticker 'NCO_gen' generated interrupts ***ISR*** - static const int millisec_countdown = 1000 / interrupt_period_us; - const long step_mask = ASt | XSt | YSt | ZSt, // Added 6th Feb 14 Mask Does NOT include spindle bits - dir_mask = ADi | XDi | YDi | ZDi; // Added 6th Feb 14 Mask Does NOT include spindle bits - static unsigned long - acc_spin = 0L, - acc_a = 0L, - acc_x = 0L, - acc_y = 0L, - acc_z = 0L; - static long mscount = millisec_countdown; - static long dir_bits = 0L, oldSteps = 0L; // Added 6th Feb 14 - long acts, tmp, newSteps, stbits; - - intled = 1; // LED on for duration of interrupt service - point for scope probing - ticks++; // count of interrupts serviced - if(!--mscount) { // Maintain global counter of elapsed milli seconds - mscount = millisec_countdown; - millisecs++; - } - acc_spin += pir_spin; + ticks++; // count of interrupts serviced, vital to time end of movement + charge_pumpD25pin1 = ticks & 0x01; // Can use 0x01 or 0x02 here to alter charge pump freq tmp = Steppers ^ direction_swappers; #if defined STEP_IDLE_LO tmp &= ~step_mask; // Step bits prepared for idle lo @@ -429,96 +380,62 @@ #if defined STEP_IDLE_HI tmp |= step_mask; // Step bits prepared for idle hi #endif - if (acc_spin & 0x80000000) { tmp |= SSt; } - else { tmp &= ~SSt; } -// mysteppers = tmp; - if (running) { - acc_x += pir_x; // Update phase of signals in accumulators - acc_y += pir_y; - acc_z += pir_z; - acc_a += pir_a; // not yet implemented - - newSteps = 0L; // Added 6th Feb 14 - if (acc_a & 0x80000000) newSteps |= ASt;// Added 6th Feb 14 - if (acc_x & 0x80000000) newSteps |= XSt;// Added 6th Feb 14 - if (acc_y & 0x80000000) newSteps |= YSt;// Added 6th Feb 14 - if (acc_z & 0x80000000) newSteps |= ZSt;// Added 6th Feb 14 - stbits = newSteps ^ oldSteps; // Any bit of stbits set to initiate a Step pulse - acts = dir_bits | stbits; // - oldSteps = newSteps; // Added 6th Feb 14 -// tmp = acts ^ step_mask; // Invert clock - Arc Euro stepp motor driver only goes into half current mode this way - tmp ^= stbits; + acc_spin += pir_spin; // Spindle NCO + if (acc_spin < 0) tmp |= SSt; + else tmp &= ~SSt; + if (!running) Steppers = tmp ^ direction_swappers; // Axes not moving, spindle may be turning or not + else { // running == true, Further manipulation of tmp follows, prior to rewriting to 'Steppers' IO Port +// newSteps = 0L; // Added 6th Feb 14 +#if defined Fourth_Axis + acc_a += pir_a; + if (acc_a < 0) newSteps |= ASt;// Added 6th Feb 14 +#endif + acc_x += pir_x; // Update phase of signals in accumulators + if (acc_x < 0) newSteps |= XSt;// Added 6th Feb 14 + acc_y += pir_y; + if (acc_y < 0) newSteps |= YSt;// Added 6th Feb 14 + acc_z += pir_z; + if (acc_z < 0) newSteps |= ZSt;// Added 6th Feb 14 + // newSteps has copy of all 4 'acc' MSBs shifted into port bit positions + oldSteps ^= newSteps; // Any bit of stbits set to initiate a Step pulse + tmp ^= oldSteps; Steppers = tmp ^ direction_swappers; // Output signals to stepper motor drivers, next update dros from 'clocked' bits CLOCK IDLES HIGH - - if(acts & XSt) { // got clk edge for axis X - if (acts & XDi) - dro_out.x--; - else dro_out.x++; - } - if(acts & YSt) { // got clk edge for axis Y - if (acts & YDi) - dro_out.y--; - else dro_out.y++; - } - if(acts & ZSt) { // got clk edge for axis Z - if (acts & ZDi) - dro_out.z--; - else dro_out.z++; - } - if (tickrun <= ticks) { // End of a machine movement detected, start next move here if possible - if (new_run_pending) { - pir_a = pir_a_next; - pir_x = pir_x_next; - pir_y = pir_y_next; - pir_z = pir_z_next; - dir_bits = 0; // Added 6th Feb 14 - if (pir_a & 0x80000000) dir_bits |= ADi;// Added 6th Feb 14 read sign bits - if (pir_x & 0x80000000) dir_bits |= XDi;// Added 6th Feb 14 - if (pir_y & 0x80000000) dir_bits |= YDi;// Added 6th Feb 14 - if (pir_z & 0x80000000) dir_bits |= ZDi;// Added 6th Feb 14 - acts = Steppers ^ direction_swappers; // read output lines - acts &= ~dir_mask; - acts |= dir_bits; - Steppers = acts ^ direction_swappers; - tickrun = ticks + ticks_next; - running = true; // Start the new run - new_run_pending = false; // Clear the flag which initiated this update - idle = false; - } // End of if (new_run_pending) { - else { // End of machine movement AND no new_run_pending + if(oldSteps & XSt) dro_out.x += inc_x; // got clk edge for axis X + if(oldSteps & YSt) dro_out.y += inc_y; // got clk edge for axis Y + if(oldSteps & ZSt) dro_out.z += inc_z; // got clk edge for axis Z + oldSteps = newSteps; // Added 6th Feb 14 + if (tickrun <= ticks & !new_run_pending) { // End of a machine movement detected, start next move here if possible running = false; move_ended = true; pir_x = 0L; // stop all stepper motors pir_y = 0L; pir_z = 0L; +#if defined Fourth_Axis pir_a = 0L; +#endif // ticks = 0L; // Simply to avoid having to think about overflow problems - } - } - } - else { // Not running. Grab next data here when or if available + } // end of if (tickrun <= ticks) { + } // end of else is (running) { + if (!running & new_run_pending) { // Start axis movement + dir_bits= dir_bits_next; +#if defined Fourth_Axis + pir_a = pir_a_next; +#endif + pir_x = pir_x_next; + pir_y = pir_y_next; + pir_z = pir_z_next; + inc_x = inc_x_next; + inc_y = inc_y_next; + inc_z = inc_z_next; + tmp = Steppers ^ direction_swappers; // read output lines + tmp &= ~dir_mask; + tmp |= dir_bits; Steppers = tmp ^ direction_swappers; - if (new_run_pending) { // Pick up on flag set elsewhere - pir_a = pir_a_next; - pir_x = pir_x_next; - pir_y = pir_y_next; - pir_z = pir_z_next; - dir_bits = 0; // Added 6th Feb 14 - if (pir_a & 0x80000000) dir_bits |= ADi;// Added 6th Feb 14 read sign bits - if (pir_x & 0x80000000) dir_bits |= XDi;// Added 6th Feb 14 - if (pir_y & 0x80000000) dir_bits |= YDi;// Added 6th Feb 14 - if (pir_z & 0x80000000) dir_bits |= ZDi;// Added 6th Feb 14 - acts = Steppers ^ direction_swappers; // read output lines - acts &= ~dir_mask; - acts |= dir_bits; - Steppers = acts ^ direction_swappers; - tickrun = ticks + ticks_next; - running = true; // Start the new run - new_run_pending = false; // Clear the flag which initiated this update - idle = false; - } // end of if (new_run_pending) { // Pick up on flag set elsewhere + tickrun = ticks + ticks_next; + running = true; // Start the new run + new_run_pending = false; // Clear the flag which initiated this update + idle = false; } // end of else { // Not running. Grab next data here when or if available - charge_pumpD25pin1 = ticks & 0x01; // Can use 0x01 or 0x02 here to alter charge pump freq intled = 0; // LED off } // end of interrupt handler @@ -526,47 +443,33 @@ * End of Interrupt Service Routine */ bool spindle_running () { - return pir_spin; + if (pir_spin == 0) return false; + return true; } -void spindle_control (double ss) { +void spindle_control (signed long ss) { long t, p; - pir_spin = (signed long) (ss * spindle_factor); + pir_spin = ss * spindle_factor; t = ticks; while (t == ticks) {} // wait until just after next interrupt p = Steppers ^ direction_swappers; - if (pir_spin & 0x80000000) - p |= SDi; - else - p &= ~SDi; + if (pir_spin & 0x80000000) p |= SDi; + else p &= ~SDi; Steppers = p ^ direction_swappers; - pc.printf("Done setting spindle speed %.0f, delay = %d\r\n", ss, ticks - t); + pc.printf("Done setting spindle speed %d, pir_spin %d, delay = %d\r\n", ss, pir_spin, ticks - t); } - -/* -void scmd (struct singleGparam * a) { - long t, p; - if (fabs(a[1].dbl) > spindle_max) { - pc.printf ("Errror setting spindle RPM, can't set to %.0f, ignoring request\r\n", a[1].dbl); - return; - } - pc.printf ("Setting spindle RPM to %.0f Can set Pos or Neg for fwd/rev\r\n", a[1].dbl); - pir_spin = (signed long) (a[1].dbl * spindle_factor); - t = ticks; - while (t == ticks) {} // wait until just after next interrupt - p = mysteppers; - if (pir_spin & 0x80000000) - p |= SDi; - else - p &= ~SDi; - mysteppers = p; - pc.printf("Done setting spindle, delay = %d", ticks - t); -} +/** +void pir_updater_task (void const * name) { + A task handed to the RTOS Round Robin + ISR controls certain flags. + This task responds after 'move_ended' flag asserted by NCO ISR + If CircBuff not empty, set of floating point data for next point is fetched, + remaining calcs performed and translated into signed longs, results placed in + set of '_next' locations to be picked up by future NCO ISR */ -void newpir_updater (void const * name) { +void pir_updater_task (void const * name) { static long x, y, z;//, count = 0; struct pirbufgrain outs; -// pc.printf("Arrived at newpir_updater\r\n"); while (true) { // while (!move_ended || !CircBuff.readable()) { ** TO DO ** Solve problem with empty flag while (!move_ended || CircBuff.On_Q() == 0) { @@ -576,16 +479,28 @@ x = (long)(outs.f_rate * outs.x); // These take much CPU time !! y = (long)(outs.f_rate * outs.y); z = (long)(outs.f_rate * outs.z); - ticks_next = (unsigned long)(outs.c / outs.f_rate); + ticks_next = (unsigned long)(outs.distance_code / outs.f_rate); pir_x_next = x; pir_y_next = y; pir_z_next = z; + dir_bits_next = 0; + //if (pir_a & 0x80000000) dir_bits_next |= ADi;// Added 6th Feb 14 read sign bits + inc_x_next = inc_y_next = inc_z_next = 1L; + if (x < 0) { + dir_bits_next |= XDi; + inc_x_next = -1L; + } + if (y < 0) { + dir_bits_next |= YDi; + inc_y_next = -1L; + } + if (z < 0) { + dir_bits_next |= ZDi; + inc_z_next = -1L; + } move_ended = idle = false; new_run_pending = true; // cleared and 'running' flag set in interrupt handler -// idle = false; -// count++; -// pc.printf("CircB tot %d\r\n", count); - } + } // end of while (true) { } @@ -598,32 +513,6 @@ pc.printf("On CircBuff %d\r\n", CircBuff.On_Q()); } -/*void taskone (void const * name) -{ - static int i = 0; - while (true) { - pc.printf("%s %d\r\n", name, i++); - Thread::wait(9500); - osThreadYield(); - } -} - -void tasktwo (void const * name) -{ - pc.printf("Task Two runs once and exits\r\n"); - Thread::wait(700); - osThreadYield(); -} - -void taskthree (void const * name) -{ - static int i = 0; - while (true) { - pc.printf("%s %d\r\n", name, i++); - Thread::wait(3500); - osThreadYield(); - } -}*/ /* #define ESTOP 0x100 #define XLIM 1 @@ -658,10 +547,15 @@ //void Emergency_Stop_Interrupt () { // pc.printf("Emergency Stop Activated !!\r\n"); -// spindle_control (0.0); // Stop spindle rotation +// spindle_control (0); // Stop spindle rotation //} +/** int main() { + +*/ +int main() { + long ins, ins_old, ins_changed = 0; pc.baud(BAUD); // comms to 'PuTTY' serial terminal via mbed usb // D25pin11_XLim.mode (PullDown); External resistors now fitted // D25pin12_YLim.mode (PullDown); @@ -670,24 +564,31 @@ // D25pin10_EStop.mode (PullDown); // D25pin10_EStop.rise (& Emergency_Stop_Interrupt); // D25pin10_EStop.fall (& Emergency_Stop_Interrupt); - - more_setup () ; // Zeros one 'pirs' structure 'last_position' - dro_out.init(); + + Gparams_clr (last_position); + dro_out.init (); CircBuff.init (); Inputs_From_Machine.init (); +#if defined SPI_Enable spidevice.format(8, 0); // 8 bits mode 0, // p11 mosi, p12 miso, p13 sclk ** ONLY 8 BIT ** spidevice.frequency(12000000); // 12MHz bit rate +#endif pc.printf("\r\n*\n*\nFound Computer %s\r\n", Target); pc.printf("Welcome to the CNC tester\r\nStep pulses required to move 1.0mm = %9.0f\r\n", pulses_per_mm); - pc.printf("PIR 'n' for 1mm per min = %9.0f\r\ntop speed = %6.1f mm per min\r\n\n", n_for_onemmpermin, max_mm_per_min); - NCO_gen.attach_us(&Numerically_Controlled_Oscillators_ISR, (long)interrupt_period_us);// Have setup timed interrupts, let other code deal -// Thread threadnametaskone (taskone, (void *)"task one stuff"); -// Thread t8 (tasktwo, (void *)"task two"); - Thread tsr2 (newpir_updater, (void *)"read from CircBuff and move"); -// Thread tthree (taskthree, (void *)"task three"); -// Thread patterngen (lissajous, (void *)"Loading Lissajous") ; + 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); + + +// NVIC_SetPriority(TIMER3_IRQn, 255); // set mbed tickers to lower priority than other things ONLY COMPILES FOR LPC1768 + + + NCO_gen.attach_us(&Numerically_Controlled_Oscillators_ISR, interrupt_period_us);// Have setup timed interrupts, let other code deal + msec.attach_us(&millisec_update_ISR, 1001); + + Thread tsr2 (pir_updater_task, (void *)"read from CircBuff and move"); Thread comlin (command_line_interpreter, (void *)"cli"); // Read any instructions arriving via serial port and act upon them - long ins, ins_old, ins_changed = 0; +#if defined I2C_Enable + Thread i2cstuff (i2c_handler, (void *)"i2c thing"); +#endif ins = ins_old = Inputs_From_Machine.read (); move_ended = true; // Needed to kickstart system @@ -698,7 +599,6 @@ ins_old = ins; if (ins_changed) pc.printf("Inputs Have Changed 0x%x, read 0x%x\r\n", ins_changed, ins); -// pc.printf("."); osThreadYield(); // } // end of Round Robin loop } // end of int main()