Diff: command_interpreter.cpp

Revision:

2:b3c668ec43ac

Parent:

1:66ee619f206b

Child:

3:7aaf0072cc22

--- a/command_interpreter.cpp	Thu Feb 06 08:45:02 2014 +0000
+++ b/command_interpreter.cpp	Thu Feb 20 09:27:18 2014 +0000
@@ -1,17 +1,21 @@
 #include "mbed.h"
 #include "rtos.h"
+#include "MODSERIAL.h"
 #include "cnc.h"
 using namespace std;
 
-extern  Serial pc;
-extern  bool    liss_active;
-extern  unsigned long pir_s;
-extern  int spindlefwdrev;
+extern  MODSERIAL pc;
+//extern  Serial pc;
+//extern  bool    liss_active;
 extern  struct  Gparams    last_position;
-extern  int PutMoveOnList   (struct pirbufgrain & s)    ;
-extern  struct  digital_readouts    dro;    //
+extern  void    move_to_XYZ   (struct pirbufgrain & ins)   ;
+//extern  struct  digital_readouts    dro;    //
+//extern  void    scmd (struct singleGparam * a)   ;
+extern  void    flags_report_cmd (struct singleGparam * a)   ;
+extern  void    report_inputs   ()  ;
 
-double  feed_rate = 1.0;  //  global scope, mm per minute. DEFAULTS to 1.0mm per min, very slow.
+double  feed_rate = 1.0,  //  global scope, mm per minute. DEFAULTS to 1.0mm per min, very slow.
+        spindle_rpm = 0.0;  //  global scope
 
 bool    isdigit (int a)
 {
@@ -122,29 +126,6 @@
     }
 }
 
-const   double  duration_multiplier =   60000000.0 /  interrupt_period_us;
-
-void    mover   (struct pirbufgrain & ins)   {
-    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,
-            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;
-    }
-    last_position.x.dbl   = ins.x;     //  Update global last_position record
-    last_position.y.dbl   = ins.y;
-    last_position.z.dbl   = ins.z;
-    outs.f_rate = ins.f_rate;
-    outs.c  = 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);
-}
 
 void    g2g3cmdcore (struct singleGparam * source_array, int twoorthree) {
     struct  Gparams tmp;
@@ -222,6 +203,8 @@
                 next_point.z += z_step; 
                 pc.printf("X %.3f, Y %.3f\r\n", next_point.x, next_point.y);
                 Thread::wait(300);
+                next_point.f_rate = feed_rate;
+                move_to_XYZ (next_point);
             }
         break;  //  end of case    2:  //  Centre format arc ** OFFSETS ARE RELATIVE ** Abs coordinates not catered for
         default:    //  Input error detected
@@ -232,8 +215,7 @@
 
 void    g0g1cmdcore (struct singleGparam * source_array, double f_rate)    //  Updates any / all of x, y, z NCOs
 {   //  Only get here when some G0 or G1 input has been read.  G0 or G1 determined by f_rate
-    struct  pirbufgrain ins, outs;
-    double  distx, disty, distz;//, outx, outy, outz, outtimefactor;
+    struct  pirbufgrain ins;//, outs;
     struct  Gparams tmp;
     get_codepositions   (source_array, tmp);  //  will overwrite with new where entered
     if  (!tmp.x.changed && !tmp.y.changed && !tmp.z.changed)    {
@@ -244,41 +226,7 @@
     ins.y  = tmp.y.dbl;
     ins.z  = tmp.z.dbl;
     ins.f_rate = f_rate;
-    distx  = ins.x - last_position.x.dbl;     //  All doubles
-    disty  = ins.y - last_position.y.dbl;
-    distz  = ins.z - last_position.z.dbl;
-    double  distT = sqrt ((distx * distx) + (disty * disty) + (distz * distz));
-    if  (distT < 0.01)  {
-        pc.printf("Very small move %.4f, Ignoring!\r\n", distT);
-        return;
-    }
-    if  (f_rate > feed_rate_max)   {
-        pc.printf("WARNING Stupid feed rate in G0/G1 of %f, setting to %f\r\n", f_rate, feed_rate_max);
-        f_rate = feed_rate_max;
-    }
-    if  (f_rate < 0.0)  {
-        pc.printf("Bonkers neg feed rate %f, setting to 0");
-        f_rate = 0.0;
-    }
-    double  temp    = n_for_onemmpermin / distT;
-//    pc.printf("\nG0--G1 Moving to  X %4.4f, Y %4.4f, Z%4.4f, distT %f\r\n", px, py, pz, distT);
-//    pc.printf("Moving From pos'n X %4.4f, Y %4.4f, Z%4.4f\r\n", last_position.x.dbl, last_position.y.dbl, last_position.z.dbl);
-//    pc.printf("Distances to move X %4.4f, Y %4.4f, Z%4.4f\r\n", distx, disty, distz);
-//    pc.printf("mm per sec req'd  X %4.4f, Y %4.4f, Z%4.4f\r\n", xmmps, ymmps, zmmps);
-    pc.printf("Total move distance %4.4f, at feed rate %.2f, run time SECs = %f\r\n", distT, f_rate, 60.0 * distT / f_rate);
-//    pc.printf("This time maps to %f interrupt ticks\r\n", run_secs * 1000000.0 / interrupt_period_us);
-    last_position.x.dbl   = ins.x;     //  Update global last_position record
-    last_position.y.dbl   = ins.y;
-    last_position.z.dbl   = ins.z;
-    outs.f_rate = ins.f_rate;
-    outs.c  = duration_multiplier * distT;   //  Duration ticks subject to feed rate compo
-    outs.x = temp * distx;
-    outs.y = temp * disty;
-    outs.z = temp * distz;
-//    pc.printf("Dists Scaled for angle, X%f, Y%f, Z%f\r\n", outs.x, outs.y, outs.z);
-//    pc.printf("Last position X%f, Y%f, Z%f\r\n", last_position.x.dbl, last_position.y.dbl, last_position.z.dbl);
-//    outs.a.dbl = 0.0;     // not used axis
-    PutMoveOnList (outs);
+    move_to_XYZ (ins);
 }
 
 void    g0cmd (struct singleGparam * a)    //  Updates any / all of x, y, z NCOs
@@ -291,36 +239,59 @@
     g0g1cmdcore (a, feed_rate);     //  Settable feed_rate
 }
 
+void    g2cmd (struct singleGparam * a)   { //  Clockwise arc
+    g2g3cmdcore (a, 2);
+}
+
+void    g3cmd (struct singleGparam * a)   { //  Counter clockwise arc
+    g2g3cmdcore (a, 3);
+}
+
 void    fcmd (struct singleGparam * a)   {  //  Set Feed Rate command
     if  (a[1].dbl < 0.0)    {
-        pc.printf("feed rate %f ? Setting to 0\r\n", a[1].dbl);
+        pc.printf("feed rate %.1f ? Setting to 0\r\n", a[1].dbl);
         a[1].dbl = 0.0;
     }
     if  (a[1].dbl > feed_rate_max)    {
-        pc.printf   ("Error, can't set feed rate to %f, max is %f, ", a[1].dbl, feed_rate_max);
+        pc.printf   ("Error, can't set feed rate to %.1f, max is %.1f, ", a[1].dbl, feed_rate_max);
         a[1].dbl = feed_rate_max;
     }
-    pc.printf   ("Setting feed_rate to %f\r\n", a[1].dbl);
+    pc.printf   ("Setting feed_rate to %.1f\r\n", a[1].dbl);
     feed_rate = a[1].dbl;
 }
+extern  void    spindle_control (double ss)  ;
+extern  bool    spindle_running ()  ;
 
-void    sfcmd (struct singleGparam * a)   {pc.printf("Spindle Fwd\r\n"); spindlefwdrev = 0;}
-void    srcmd (struct singleGparam * a)   {pc.printf("Spindle Rev\r\n"); spindlefwdrev = 4;}
-void    stopcmd (struct singleGparam * a)   {pc.printf("Stop ! er, not working yet\r\n");}
+void    M3cmd (struct singleGparam * a)   { spindle_control (spindle_rpm);  }
+void    M5cmd (struct singleGparam * a)   { spindle_control (0.0);  }
 
 void    scmd (struct singleGparam * a)   {
-    pc.printf("pir_s=0x%x\r\n", pir_s);
-    if  (a[1].dbl < 0.0 || a[1].dbl > spindle_max)    {
-        pc.printf   ("Errror setting spindle RPM, can't set to %f, ignoring request\r\n", a[1].dbl);
-//        return;
+    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 %f\r\n", a[1].dbl);
-//    feed_rate = a[1].d;   //  ****TO DO****
-    pir_s = (unsigned long) (a[1].dbl * 4096);
-    pc.printf("pir_s=0x%x\r\n", pir_s);
+    pc.printf   ("Setting spindle RPM to %.0f Can set Pos or Neg for fwd/rev\r\n", a[1].dbl);
+    spindle_rpm = a[1].dbl;
+    if  (spindle_running())
+        spindle_control (spindle_rpm);
+/*
+
+    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;
+*/
+
 }
 
-//void    stopcmd (struct grain * a)   {pc.printf("Stop !\r\n");}
+extern  void    target_cmd (struct singleGparam * a)   ;
+
+void    stopcmd (struct singleGparam * a)   {pc.printf("Stop ! er, not working yet\r\n");}
 void    m1cmd (struct singleGparam * a)   {pc.printf("m1 Optional Programme Stop\r\n");}
 void    m3cmd (struct singleGparam * a)   {pc.printf("m3 Rotate Spindle Clockwise\r\n");}
 void    m4cmd (struct singleGparam * a)   {pc.printf("m4 Rotate Spindle Counter Clockwise\r\n");}
@@ -341,16 +312,14 @@
 void    g53cmd (struct singleGparam * a)   {pc.printf("g53 Move in Absolute Coordinates\r\n");}
 void    g90cmd (struct singleGparam * a)   {pc.printf("g90 Absolute Distance Mode\r\n");}
 */
-void    g2cmd (struct singleGparam * a)   { //  Clockwise arc
-    g2g3cmdcore (a, 2);
-    }
-void    g3cmd (struct singleGparam * a)   { //  Counter clockwise arc
-    g2g3cmdcore (a, 3);
-    }
-void    g4cmd (struct singleGparam * a)   {pc.printf("g4 Dwell\r\n");}
-void    g91p1cmd (struct singleGparam * a)   {pc.printf("g91.1 \r\n");}
+//void    g4cmd (struct singleGparam * a)   {pc.printf("g4 Dwell\r\n");}
+//void    g91p1cmd (struct singleGparam * a)   {pc.printf("g91.1 \r\n");}
 
-void    tasktstone    (void const * name)
+//void    report_inputs   ()  {
+void    report_ins_cmd  (struct singleGparam * a)  {
+   report_inputs();
+}
+/*void    tasktstone    (void const * name)
 {
     static int i = 0;
     pc.printf("Arrived at tasktstone\r\n");
@@ -359,7 +328,7 @@
         Thread::wait(9500);
         osThreadYield();
     }
-}
+}*/
 
 /*void    tasktestcmd (struct singleGparam * a)   {
     pc.printf("At tasktestcmd\r\n");
@@ -367,16 +336,19 @@
     pc.printf("Leaving tasktestcmd\r\n");
 }
 */
+extern  void    lissajous   (double)  ;
+
 void    lisscmd (struct singleGparam * a)   {
-    if(liss_active) {
+    lissajous   (feed_rate);
+/*    if(liss_active) {
         pc.printf("Can not add Lissajous, already running.\r\n");
     }
     else    {
         pc.printf("Adding Lissajous task\r\n");
         liss_active = true;
-    }
+    }*/
 }
-
+/*
 void    drooncmd    (struct singleGparam * a)
 {
     dro.dro_output = true;     //  Enable continuous dro display update
@@ -385,9 +357,9 @@
 {
     dro.dro_output = false;    //  Disable continuous dro display update
 }
-
+*/
 
-void    g90p1cmd (struct singleGparam * a)
+/*void    g90p1cmd (struct singleGparam * a)
 {
     pc.printf   ("Arrived at function fredcmd with %d parameters\r\n", a[0].i);
     for (int i = 1; i <= a[0].i; i++)   {
@@ -397,7 +369,7 @@
     }
     pc.printf   (" endof param list\r\n");
 }
-
+*/
 void    menucmd (struct singleGparam * a);
 struct kb_command  {
     const char * cmd_word;         //  points to text e.g. "menu"
@@ -416,10 +388,10 @@
     {"menu", "Lists available commands, same as ls", menucmd},
     {"ls", "Lists available commands, same as menu", menucmd},
     {"stop", "To Stop the Machine !", stopcmd},
-    {"sf", "Spindle Clockwise", sfcmd},
-    {"sr", "Spindle Anticlockwise", srcmd},
     {"f ", "To set Feed Rate mm/min, e.g. f 25", fcmd},
     {"s ", "To set Spindle RPM, e.g. S 1250", scmd},
+    {"m3", "Start Spindle at last 'S'", M3cmd},
+    {"m5", "Stop Spindle", M5cmd},
     {"g0", "Rapid move", g0cmd},
     /*{"m30", "Not Implemented", m30cmd},
     {"m47", "Not Implemented", m47cmd},
@@ -444,10 +416,13 @@
     {"g1", "Linear Interpolation - move straight at current feed rate", g1cmd},
     {"g2", "Helical Interpolation CW (Arc, circle)", g2cmd},
     {"g3", "Helical Interpolation CCW (Arc, circle)", g3cmd},
-    {"liss", "Add Lissajous pattern generator", lisscmd},
+    {"liss", "Run Lissajous pattern generator", lisscmd},
+    {"flags", "Report System Flags", flags_report_cmd},
+    {"inputs", "Report State of Input bits", report_ins_cmd},
+    {"target", "Identify computer device", target_cmd},
 //    {"ttest", "Add a task to prove we can, or not", tasktestcmd},
-    {"dro on", "Turn dro readout on", drooncmd},
-    {"dro off", "Turn dro readout off", drooffcmd}
+//    {"dro on", "Turn dro readout on", drooncmd},
+//    {"dro off", "Turn dro readout off", drooffcmd}
 };
 //const    int numof_menu_items = sizeof(kbc2) / sizeof(kb_command);
 //const    int numof_menu_items_sc = sizeof(input_syntax_check) / sizeof(kb_command);
@@ -468,6 +443,40 @@
     return  false;
 }
 
+void    nudger  (int code)  {
+    //  Using <Ctrl>+ 'F', 'B' for Y, 'L', 'R' for X, 'U', 'D' for Z
+    //                 6    2          12   18         21   4
+//    struct  Gparams dest;
+    struct  pirbufgrain dest;
+    dest.x = last_position.x.dbl;
+    dest.y = last_position.y.dbl;
+    dest.z = last_position.z.dbl;
+    dest.f_rate = feed_rate;
+    switch  (code)  {
+        case    6:  //  'F' move -Y
+        dest.y -= 0.1;
+        break;
+        case    2:  //  'B' move +Y
+        dest.y += 0.1;
+        break;
+        case    12: //  'L' move +X
+        dest.x += 0.1;
+        break;
+        case    18: //  'R' move -X
+        dest.x -= 0.1;
+        break;
+        case    21: //  'U' move +Z
+        dest.z += 0.1;
+        break;
+        case    4:  //  'D' move -Z
+        dest.z -= 0.1;
+        default:
+        break;
+//            pc.printf("Nuffink to do in nudger\r\n");
+    }   //  end of switch
+    move_to_XYZ (dest);
+}
+
 ////class CLI {
 
 /*
@@ -481,7 +490,7 @@
 static  char    cmd_line[MAX_CMD_LEN + 4];
 static  struct  singleGparam   params[MAX_PARAMS + 1];
 static  int     cl_index = 0, lastalpha = 0;
-    pc.printf("Got to cli, Starting cli\r\n");
+//    pc.printf("Got to cli, Starting cli\r\n");
     if  (true)  {
         command_list_ptr = command_execute;
         numof_menu_items = sizeof(command_execute) / sizeof(kb_command);
@@ -498,6 +507,13 @@
                 cl_index = 0;
             }
             ch = tolower(pc.getc());
+            if  (ch == '\r' || ch >= ' ' && ch <= 'z')
+                pc.printf("%c", ch);
+            else    {                   //  Using <Ctrl>+ 'F', 'B' for Y, 'L', 'R' for X, 'U', 'D' for Z
+                cl_index = 0;           //                 6    2          12   18         21   4
+                pc.printf("[%d]", ch);
+                nudger  (ch);
+            }
             if(ch != '\r')  //  was this the 'Enter' key?
                 cmd_line[cl_index++] = ch;  //  added char to command being assembled
             else    {   //  key was CR, may or may not be command to lookup
@@ -587,6 +603,7 @@
                     if(i == numof_menu_items)
                         pc.printf("No Match Found for CMD [%s]\r\n", cmd_line);
                 }           //  End of If have got some chars to lookup
+                pc.printf("\r\n>");
                 cl_index = lastalpha = 0;
             }               // End of else key was CR, may or may not be command to lookup
         }                   //  End of while (pc.readable())