File content as of revision 1:66ee619f206b:

#include "mbed.h"
#include "rtos.h"
#include "cnc.h"
using namespace std;
extern  void    command_line_interpreter    (void const *) ;
extern  void    lissajous   (void const *)  ;
extern  double  feed_rate;
extern  void    more_setup  ()  ;

const   int BAUD = 38400;
Serial  pc(USBTX, USBRX);        //  tx, rx to pc
Ticker  NCO_gen;                 // Ticker generating interrupts at "Kernel Speed", NCO updating frequency (about 40kHz)
struct  digital_readouts    dro;    //some signed int

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_s = 0L;     //  Referenced only in command_interpreter as spindle speed setting

int spindlefwdrev = 0;  //  Takes values of 0 or 4 only


#if defined (TARGET_KL25Z)
    DigitalOut intled       (PTE1);     //J2p20
    DigitalOut charge_pump  (PTE0);     //J2p18    
    DigitalIn   D25pin10    (PTD6);     //jp217
    DigitalIn   D25pin11    (PTE31);    //j2p13
    DigitalIn   D25pin12    (PTA17);    //j2p11
    DigitalIn   D25pin13    (PTA16);    //j2p9
    DigitalIn   D25pin15    (PTC17);    //j2p7
    //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
    DigitalOut charge_pump  (PTE0);    //J2p18    
    DigitalIn   D25pin10    (PTB9);//d6 on 25 jp217
    DigitalIn   D25pin11    (PTA16);//e31 on 25 j2p13
    DigitalIn   D25pin12    (PTA15);//a17 on 20 j2p11
    DigitalIn   D25pin13    (PTA14);//a16 on 25 j2p9
    DigitalIn   D25pin15    (PTA6);//c17 on 25 j2p7
    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);                    //  Correct
    DigitalOut charge_pump  (PTE0);    //J2p18    Following 5 inputs all wrong - TO DO sort which pins
    DigitalIn   D25pin10    (PTD6);     //jp217
    DigitalIn   D25pin11    (PTE31);    //j2p13
    DigitalIn   D25pin12    (PTA17);    //j2p11
    DigitalIn   D25pin13    (PTA16);    //j2p9
    DigitalIn   D25pin15    (PTC17);    //j2p7
    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

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);

const int PIRBUFFSIZE = 10;
class   circbuff    {
    private:
        pirbufgrain grain   [PIRBUFFSIZE + 1];
    int     OnPtr, OffPtr;
    bool    bufffull, buffempty, buffhalf;
    void    setempty    ()  {
        bufffull = false;
        buffhalf = false;
        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.f_rate = src.f_rate;   //  int feed rate mm per min * 1000
    }
    public:
    void    init    ()  {
        OnPtr = OffPtr = 0;
        setempty    ();
    }
    int     On_Q    ()  {
        int k;
        if  (bufffull)    return  PIRBUFFSIZE;
        k = OnPtr - OffPtr;
        if  (k < 0) k += PIRBUFFSIZE;
        if  (k > PIRBUFFSIZE / 2)
            buffhalf = true;
        else
            buffhalf = false;
        return  k;
    }
    bool    readable    ()  {return !buffempty; }
    bool    writeable   ()  {return !bufffull; }
    bool    read    (pirbufgrain & g)   {
        if  (buffempty) return  false;
        bufffull = false;
        grain_copy  (grain[OffPtr++], g);
        if  (OffPtr >= PIRBUFFSIZE)
            OffPtr = 0;
        if  (OnPtr == OffPtr)
            buffempty = true;
        return  true;
    }
    bool    write   (pirbufgrain & g)   {
        if  (bufffull)  return  false;
        buffempty = false;
        grain_copy  (g, grain[OnPtr++]);
        if  (OnPtr >= PIRBUFFSIZE)
            OnPtr = 0;
        if  (OnPtr == OffPtr)
            bufffull = true;
        return  true;
    }
}   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;
}


/*
*   Interrupt Service Routine
*/
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;

    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
*/


void    newpir_updater (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())   {
            osThreadYield();
        }
        CircBuff.read(outs);
        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);
        pir_x_next = x;
        pir_y_next = y;
        pir_z_next = z;
        move_ended = false;
        new_run_pending = true; //  cleared and 'running' flag set in interrupt handler
        idle = false;
        count++;
//        pc.printf("CircB tot %d\r\n", count);
    }
}


class digital_readout_stuff  {   //  class does not need to be named here
    char *  readout (char * txt, long p)         //  p has running subtotal of all pulses issued to stepper driver
    {
        txt[0] = '+';               //  constructs string e.g. "+123.456"
        txt[8] = 0;                 //  null terminated
        if  (p < 0)    {
            txt[0] = '-';
            p = -p;
        }
        p *= 1000;
        p /= pulses_per_mm;
        if  (p > 999999)    {
            sprintf(txt + 1, "OVRANGE");
            return  txt;
        }
        for(int k = 7; k > 0; k--)  {
            if  (k == 4)
                txt[k] = '.';
            else    {
                txt[k] = '0' + (p % 10);
                p /= 10;
            }
        }
        return  txt;    //  Returns pointer unaltered for subsequent use by e.g. cout
    }
        public:
    void    update  ()  {
        static  long    t = 0;
        if  (millisecs < t)
            return;
        if(!idle && dro.dro_output)  {
            char    txt[12];
            pc.printf("dros X %s,", readout(txt, dro.x));    //  dro.n has running subtotal of all pulses issued to stepper driver.n
            pc.printf(" Y %s, Z ", readout(txt, dro.y));
            pc.printf("%s, %s\r\n", readout(txt, dro.z), running ? "runn":"idle");
            if(!running)    idle = true;    //  Purpose of idle flag is to stop dro after run completes.
            t = millisecs + 350;    //  Schedule next update after this non-blocking delay
        }
    }
}   dro_out ;

/*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();
    }
}*/

int main() {
    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;
    more_setup  ()  ;   //  Zeros one 'pirs' structure 'last_position'
    CircBuff.init   ();
    spidevice.format(8, 0);    //  8 bits mode 0,  // p11 mosi, p12 miso, p13 sclk ** ONLY 8 BIT **
    spidevice.frequency(12000000);  //  12MHz bit rate
    pc.printf("\r\n*\n*\n");
#if defined (TARGET_KL25Z)
    pc.printf   ("Found device Freescale KL25Z\r\n");
#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("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 = %6.5f 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")  ;
    Thread comlin (command_line_interpreter,    (void *)"cli"); //  Read any instructions arriving via serial port and act upon them
    pc.printf("Added cli thread\r\n");
    move_ended = true;  //  Needed to kickstart system
    
    while(1) {  //  Round Robin loop
        dro_out.update  ();             //  Update DRO readings if, and as often as needed
        osThreadYield();                //
    }   //  end of Round Robin loop
}       //  end of int main()