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

arith.cpp

Committer:
JonFreeman
Date:
2014-02-20
Revision:
2:b3c668ec43ac
Parent:
1:66ee619f206b

File content as of revision 2:b3c668ec43ac:

#include "mbed.h"
#include "cnc.h"
using namespace std;

const   double  ball_screw_pitch_mm   =   4.0,    //  KX3 has 4mm ball screws
                motor_step_per_rev  =   200.0,    //  KX3 has 200 step per rev steppers
                micro_steps         =   10.0,      //  Arc Eurotrade choice 2,4,5,8,10,16,20,25,32,40,50,64,100,125,128
                pulses_per_mm       =   micro_steps * motor_step_per_rev / ball_screw_pitch_mm,

                interrupt_period_us =   32.0,//24.0, //16 is possible with Mbed LPC1768
                interrupt_freq_Hz   =   1000000.0 / interrupt_period_us,  //  Serious limit when doing all in software, no real limit with FPGA
                max_pulse_freq_Hz   =   interrupt_freq_Hz / 3.25,  //  strictly 2.0, but allow a good margin
                max_mm_per_min      =   60.0 * max_pulse_freq_Hz / pulses_per_mm,
//                n_for_onemmpermin   = pulses_per_mm * interrupt_period_us * pow(2.0,32) / 60000000.0, //  n pir to produce 1mm/min travel
                n_for_onemmpermin   = pulses_per_mm * interrupt_period_us * pow(2.0,31) / 60000000.0, //  n pir to produce 1mm/min travel
                //  note power reduced from 32to 31 as interrupt handler now issued step pulse on both edges
                feed_rate_max       = max_mm_per_min,
                spindle_factor      = interrupt_period_us * 4280,
                spindle_max         = 5000.0;
//The output frequency F<sub>out</sub> = 'Kernel Speed (Hz)' * n / (2 to the power of 32)
    
struct  Gparams    last_position;
void    grain_clr   (struct singleGparam & g)  {
    g.dbl = 0.0;
    g.ul = 0L;
    g.i = g.c = 0;
    g.changed = false;
}
void    pirs_clr2    (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);
}
void    more_setup  ()  {
    pirs_clr2    (last_position);
}