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

main.cpp@1:66ee619f206b, 2014-02-06 (annotated)

Committer:
JonFreeman
Date:
Thu Feb 06 08:45:02 2014 +0000
Revision:
1:66ee619f206b
Parent:
0:5d0f270bfc87
Child:
2:b3c668ec43ac
Currently creates 3 sets of Step and Dir signals for stepper motor drivers.  Accepts via putty etc, as yet minimal set of 'G Codes' for CNC - G0, G1, G2 and G3.  Still wip.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
JonFreeman 0:5d0f270bfc87 1 #include "mbed.h"
JonFreeman 1:66ee619f206b 2 #include "rtos.h"
JonFreeman 0:5d0f270bfc87 3 #include "cnc.h"
JonFreeman 0:5d0f270bfc87 4 using namespace std;
JonFreeman 1:66ee619f206b 5 extern void command_line_interpreter (void const *) ;
JonFreeman 1:66ee619f206b 6 extern void lissajous (void const *) ;
JonFreeman 1:66ee619f206b 7 extern double feed_rate;
JonFreeman 1:66ee619f206b 8 extern void more_setup () ;
JonFreeman 0:5d0f270bfc87 9
JonFreeman 1:66ee619f206b 10 const int BAUD = 38400;
JonFreeman 0:5d0f270bfc87 11 Serial pc(USBTX, USBRX); // tx, rx to pc
JonFreeman 1:66ee619f206b 12 Ticker NCO_gen; // Ticker generating interrupts at "Kernel Speed", NCO updating frequency (about 40kHz)
JonFreeman 0:5d0f270bfc87 13 struct digital_readouts dro; //some signed int
JonFreeman 0:5d0f270bfc87 14
JonFreeman 1:66ee619f206b 15 bool running = false, new_run_pending = false, idle = false, move_ended = false;
JonFreeman 1:66ee619f206b 16 volatile unsigned long ticks = 0L; // 32 bit count of "interrupt_period_us" interrupts from time t=0
JonFreeman 1:66ee619f206b 17 unsigned long tickrun = 0L; // 32 bit effectively stores time in future when current movement to stop
JonFreeman 1:66ee619f206b 18 unsigned long ticks_next = 0L; // 32 bit effectively stores time in future when current movement to stop
JonFreeman 1:66ee619f206b 19 unsigned long millisecs = 0L; // 32 bit
JonFreeman 1:66ee619f206b 20 unsigned long pir_a = 0L, // Phase Increment Registers
JonFreeman 0:5d0f270bfc87 21 pir_x = 0L,
JonFreeman 0:5d0f270bfc87 22 pir_y = 0L,
JonFreeman 0:5d0f270bfc87 23 pir_z = 0L,
JonFreeman 1:66ee619f206b 24 pir_a_next = 0L, // Data for next move assembled here
JonFreeman 1:66ee619f206b 25 pir_x_next = 0L, // during a move.
JonFreeman 1:66ee619f206b 26 pir_y_next = 0L, // This way, next move can start immediately
JonFreeman 1:66ee619f206b 27 pir_z_next = 0L, // on end of current move - minimised jerking
JonFreeman 1:66ee619f206b 28 pir_s = 0L; // Referenced only in command_interpreter as spindle speed setting
JonFreeman 1:66ee619f206b 29
JonFreeman 0:5d0f270bfc87 30 int spindlefwdrev = 0; // Takes values of 0 or 4 only
JonFreeman 0:5d0f270bfc87 31
JonFreeman 1:66ee619f206b 32
JonFreeman 0:5d0f270bfc87 33 #if defined (TARGET_KL25Z)
JonFreeman 1:66ee619f206b 34 DigitalOut intled (PTE1); //J2p20
JonFreeman 1:66ee619f206b 35 DigitalOut charge_pump (PTE0); //J2p18
JonFreeman 1:66ee619f206b 36 DigitalIn D25pin10 (PTD6); //jp217
JonFreeman 1:66ee619f206b 37 DigitalIn D25pin11 (PTE31); //j2p13
JonFreeman 1:66ee619f206b 38 DigitalIn D25pin12 (PTA17); //j2p11
JonFreeman 1:66ee619f206b 39 DigitalIn D25pin13 (PTA16); //j2p9
JonFreeman 1:66ee619f206b 40 DigitalIn D25pin15 (PTC17); //j2p7
JonFreeman 0:5d0f270bfc87 41 //SPISlave spidevice(PTD3, PTD2, PTD1, PTD0); // mosi, miso, sclk THIS TURNS LED ON BLUE ! (uses p11, p12, p13 on mbed LPC)
JonFreeman 0:5d0f270bfc87 42 SPISlave spidevice(PTD2, PTD3, PTD1, PTD0); // mosi, miso, sclk THIS TURNS LED ON BLUE ! (uses p11, p12, p13 on mbed LPC)
JonFreeman 0:5d0f270bfc87 43 // J2p08,J2p10,J2p12, J2p06
JonFreeman 0:5d0f270bfc87 44 //SPI spidevice(PTD2, PTD3, PTD1); // mosi, miso, sclk THIS TURNS LED ON BLUE ! (uses p11, p12, p13 on mbed LPC)
JonFreeman 0:5d0f270bfc87 45 //SPI spidevice(PTD3, PTD2, PTD1); // mosi, miso, sclk THIS TURNS LED ON BLUE ! (uses p11, p12, p13 on mbed LPC)
JonFreeman 0:5d0f270bfc87 46 //NOTE doubt possibly miso mosi in wrong order here, PTD3 and PTD2
JonFreeman 0:5d0f270bfc87 47 #define STEPPER_PORT PortC
JonFreeman 0:5d0f270bfc87 48 const int PortBitXSt = 3, // Port bit num X Step J1P05
JonFreeman 0:5d0f270bfc87 49 PortBitXDi = 4, // Port bit num X Dir J1P07
JonFreeman 0:5d0f270bfc87 50 PortBitYSt = 5, // Port bit num Y Step J1P09
JonFreeman 0:5d0f270bfc87 51 PortBitYDi = 6, // Port bit num Y Dir J1P11
JonFreeman 0:5d0f270bfc87 52 PortBitZSt = 10, // Port bit num Z Step J1P13
JonFreeman 0:5d0f270bfc87 53 PortBitZDi = 11, // Port bit num Z Dir J1P15
JonFreeman 0:5d0f270bfc87 54 PortBitASt = 12, // Port bit num A Step J2P01
JonFreeman 0:5d0f270bfc87 55 PortBitADi = 13; // Port bit num A Dir J2P03
JonFreeman 0:5d0f270bfc87 56 #endif
JonFreeman 0:5d0f270bfc87 57 #if defined (TARGET_KL46Z)
JonFreeman 1:66ee619f206b 58 DigitalOut intled (PTE1); //J2p20
JonFreeman 1:66ee619f206b 59 DigitalOut charge_pump (PTE0); //J2p18
JonFreeman 1:66ee619f206b 60 DigitalIn D25pin10 (PTB9);//d6 on 25 jp217
JonFreeman 1:66ee619f206b 61 DigitalIn D25pin11 (PTA16);//e31 on 25 j2p13
JonFreeman 1:66ee619f206b 62 DigitalIn D25pin12 (PTA15);//a17 on 20 j2p11
JonFreeman 1:66ee619f206b 63 DigitalIn D25pin13 (PTA14);//a16 on 25 j2p9
JonFreeman 1:66ee619f206b 64 DigitalIn D25pin15 (PTA6);//c17 on 25 j2p7
JonFreeman 0:5d0f270bfc87 65 SPISlave spidevice(PTA16, PTA17, PTA15, PTA14); // mosi, miso, sclk, ssel (uses p11, p12, p13, p? on mbed LPC)
JonFreeman 0:5d0f270bfc87 66 // J2p13, J2p15, J2p11, J2p09
JonFreeman 0:5d0f270bfc87 67 // Easy way to allocate port bits for *** N O T CHECKED for 46Z ***
JonFreeman 0:5d0f270bfc87 68 // output of stepper motor Step and DIR sigs
JonFreeman 0:5d0f270bfc87 69 #define STEPPER_PORT PortC
JonFreeman 0:5d0f270bfc87 70 const int PortBitXSt = 0, // Port bit num X Step J1P05
JonFreeman 0:5d0f270bfc87 71 PortBitXDi = 4, // Port bit num X Dir J1P07
JonFreeman 0:5d0f270bfc87 72 PortBitYSt = 6, // Port bit num Y Step J1P09
JonFreeman 0:5d0f270bfc87 73 PortBitYDi = 7, // Port bit num Y Dir J1P11
JonFreeman 0:5d0f270bfc87 74 PortBitZSt = 10, // Port bit num Z Step J1P13
JonFreeman 0:5d0f270bfc87 75 PortBitZDi = 11, // Port bit num Z Dir J1P15
JonFreeman 0:5d0f270bfc87 76 PortBitASt = 13, // Port bit num A Step J2P01
JonFreeman 0:5d0f270bfc87 77 PortBitADi = 16; // Port bit num A Dir J2P03
JonFreeman 0:5d0f270bfc87 78 #endif
JonFreeman 0:5d0f270bfc87 79 #if defined (TARGET_MBED_LPC1768)
JonFreeman 1:66ee619f206b 80 DigitalOut intled(LED2); // Correct
JonFreeman 1:66ee619f206b 81 DigitalOut charge_pump (PTE0); //J2p18 Following 5 inputs all wrong - TO DO sort which pins
JonFreeman 1:66ee619f206b 82 DigitalIn D25pin10 (PTD6); //jp217
JonFreeman 1:66ee619f206b 83 DigitalIn D25pin11 (PTE31); //j2p13
JonFreeman 1:66ee619f206b 84 DigitalIn D25pin12 (PTA17); //j2p11
JonFreeman 1:66ee619f206b 85 DigitalIn D25pin13 (PTA16); //j2p9
JonFreeman 1:66ee619f206b 86 DigitalIn D25pin15 (PTC17); //j2p7
JonFreeman 0:5d0f270bfc87 87 SPISlave spidevice(p5, p6, p7, p8);
JonFreeman 0:5d0f270bfc87 88 // Easy way to allocate port bits for *** N O T CHECKED for MBED_LPC1768 ***
JonFreeman 0:5d0f270bfc87 89 // output of stepper motor Step and DIR sigs
JonFreeman 0:5d0f270bfc87 90 #define STEPPER_PORT Port0
JonFreeman 0:5d0f270bfc87 91 /* Port 0 bits routed to DIP pins as follows:-
JonFreeman 0:5d0f270bfc87 92 P0.00 p09 Reserve SDA
JonFreeman 0:5d0f270bfc87 93 P0.01 p10 Reserve SCL
JonFreeman 0:5d0f270bfc87 94 P0.04 p30 CAN rd - USE X Step
JonFreeman 0:5d0f270bfc87 95 P0.05 p29 CAN td - USE X Dir
JonFreeman 0:5d0f270bfc87 96 P0.10 p28 SDA - USE Y Step
JonFreeman 0:5d0f270bfc87 97 P0.11 p27 SCL - USE Y Dir
JonFreeman 0:5d0f270bfc87 98 P0.15 p13 Tx - USE Z Step
JonFreeman 0:5d0f270bfc87 99 P0.16 p14 Rx - USE Z Dir
JonFreeman 0:5d0f270bfc87 100 P0.17 p12 miso - USE A Step
JonFreeman 0:5d0f270bfc87 101 P0.18 p11 mosi - Use A Dir
JonFreeman 0:5d0f270bfc87 102 P0.23 p15 A In
JonFreeman 0:5d0f270bfc87 103 P0.24 p16 A In
JonFreeman 0:5d0f270bfc87 104 P0.25 p17 A In
JonFreeman 0:5d0f270bfc87 105 P0.26 p18 Reserve A Out
JonFreeman 0:5d0f270bfc87 106 */
JonFreeman 0:5d0f270bfc87 107 const int PortBitXSt = 4, // Port bit num X Step
JonFreeman 0:5d0f270bfc87 108 PortBitXDi = 5, // Port bit num X Dir
JonFreeman 0:5d0f270bfc87 109 PortBitYSt = 10, // Port bit num Y Step
JonFreeman 0:5d0f270bfc87 110 PortBitYDi = 11, // Port bit num Y Dir
JonFreeman 0:5d0f270bfc87 111 PortBitZSt = 15, // Port bit num Z Step
JonFreeman 0:5d0f270bfc87 112 PortBitZDi = 16, // Port bit num Z Dir
JonFreeman 0:5d0f270bfc87 113 PortBitASt = 17, // Port bit num A Step
JonFreeman 0:5d0f270bfc87 114 PortBitADi = 18; // Port bit num A Dir
JonFreeman 0:5d0f270bfc87 115 #endif
JonFreeman 0:5d0f270bfc87 116
JonFreeman 1:66ee619f206b 117 const long
JonFreeman 0:5d0f270bfc87 118 XSt1 = 1 << PortBitXSt, XSt0 = 0,
JonFreeman 0:5d0f270bfc87 119 XDi1 = 1 << PortBitXDi, XDi0 = 0,
JonFreeman 0:5d0f270bfc87 120 YSt1 = 1 << PortBitYSt, YSt0 = 0,
JonFreeman 0:5d0f270bfc87 121 YDi1 = 1 << PortBitYDi, YDi0 = 0,
JonFreeman 0:5d0f270bfc87 122 ZSt1 = 1 << PortBitZSt, ZSt0 = 0,
JonFreeman 0:5d0f270bfc87 123 ZDi1 = 1 << PortBitZDi, ZDi0 = 0,
JonFreeman 0:5d0f270bfc87 124 ASt1 = 1 << PortBitASt, ASt0 = 0,
JonFreeman 0:5d0f270bfc87 125 ADi1 = 1 << PortBitADi, ADi0 = 0,
JonFreeman 0:5d0f270bfc87 126
JonFreeman 0:5d0f270bfc87 127 SM_MASK = (XSt1 | XDi1 | YSt1 | YDi1 | ZSt1 | ZDi1 | ASt1 | ADi1);
JonFreeman 0:5d0f270bfc87 128
JonFreeman 0:5d0f270bfc87 129 PortOut mysteppers(STEPPER_PORT, SM_MASK);
JonFreeman 0:5d0f270bfc87 130
JonFreeman 1:66ee619f206b 131 const int PIRBUFFSIZE = 10;
JonFreeman 1:66ee619f206b 132 class circbuff {
JonFreeman 1:66ee619f206b 133 private:
JonFreeman 1:66ee619f206b 134 pirbufgrain grain [PIRBUFFSIZE + 1];
JonFreeman 1:66ee619f206b 135 int OnPtr, OffPtr;
JonFreeman 1:66ee619f206b 136 bool bufffull, buffempty, buffhalf;
JonFreeman 1:66ee619f206b 137 void setempty () {
JonFreeman 1:66ee619f206b 138 bufffull = false;
JonFreeman 1:66ee619f206b 139 buffhalf = false;
JonFreeman 1:66ee619f206b 140 buffempty = true;
JonFreeman 1:66ee619f206b 141 }
JonFreeman 1:66ee619f206b 142 void grain_copy (pirbufgrain & src, pirbufgrain & dest) {
JonFreeman 1:66ee619f206b 143 dest.x = src.x;
JonFreeman 1:66ee619f206b 144 dest.y = src.y;
JonFreeman 1:66ee619f206b 145 dest.z = src.z;
JonFreeman 1:66ee619f206b 146 dest.c = src.c;
JonFreeman 1:66ee619f206b 147 dest.f_rate = src.f_rate; // int feed rate mm per min * 1000
JonFreeman 1:66ee619f206b 148 }
JonFreeman 1:66ee619f206b 149 public:
JonFreeman 1:66ee619f206b 150 void init () {
JonFreeman 1:66ee619f206b 151 OnPtr = OffPtr = 0;
JonFreeman 1:66ee619f206b 152 setempty ();
JonFreeman 1:66ee619f206b 153 }
JonFreeman 1:66ee619f206b 154 int On_Q () {
JonFreeman 1:66ee619f206b 155 int k;
JonFreeman 1:66ee619f206b 156 if (bufffull) return PIRBUFFSIZE;
JonFreeman 1:66ee619f206b 157 k = OnPtr - OffPtr;
JonFreeman 1:66ee619f206b 158 if (k < 0) k += PIRBUFFSIZE;
JonFreeman 1:66ee619f206b 159 if (k > PIRBUFFSIZE / 2)
JonFreeman 1:66ee619f206b 160 buffhalf = true;
JonFreeman 1:66ee619f206b 161 else
JonFreeman 1:66ee619f206b 162 buffhalf = false;
JonFreeman 1:66ee619f206b 163 return k;
JonFreeman 1:66ee619f206b 164 }
JonFreeman 1:66ee619f206b 165 bool readable () {return !buffempty; }
JonFreeman 1:66ee619f206b 166 bool writeable () {return !bufffull; }
JonFreeman 1:66ee619f206b 167 bool read (pirbufgrain & g) {
JonFreeman 1:66ee619f206b 168 if (buffempty) return false;
JonFreeman 1:66ee619f206b 169 bufffull = false;
JonFreeman 1:66ee619f206b 170 grain_copy (grain[OffPtr++], g);
JonFreeman 1:66ee619f206b 171 if (OffPtr >= PIRBUFFSIZE)
JonFreeman 1:66ee619f206b 172 OffPtr = 0;
JonFreeman 1:66ee619f206b 173 if (OnPtr == OffPtr)
JonFreeman 1:66ee619f206b 174 buffempty = true;
JonFreeman 1:66ee619f206b 175 return true;
JonFreeman 1:66ee619f206b 176 }
JonFreeman 1:66ee619f206b 177 bool write (pirbufgrain & g) {
JonFreeman 1:66ee619f206b 178 if (bufffull) return false;
JonFreeman 1:66ee619f206b 179 buffempty = false;
JonFreeman 1:66ee619f206b 180 grain_copy (g, grain[OnPtr++]);
JonFreeman 1:66ee619f206b 181 if (OnPtr >= PIRBUFFSIZE)
JonFreeman 1:66ee619f206b 182 OnPtr = 0;
JonFreeman 1:66ee619f206b 183 if (OnPtr == OffPtr)
JonFreeman 1:66ee619f206b 184 bufffull = true;
JonFreeman 1:66ee619f206b 185 return true;
JonFreeman 1:66ee619f206b 186 }
JonFreeman 1:66ee619f206b 187 } CircBuff;
JonFreeman 1:66ee619f206b 188
JonFreeman 1:66ee619f206b 189 int PutMoveOnList (struct pirbufgrain & s) {
JonFreeman 1:66ee619f206b 190 while (!CircBuff.writeable())
JonFreeman 1:66ee619f206b 191 osThreadYield();
JonFreeman 1:66ee619f206b 192 CircBuff.write (s); // pc.printf("CircBuff, contains %d\r\n", CircBuff.On_Q());
JonFreeman 1:66ee619f206b 193 return 0;
JonFreeman 1:66ee619f206b 194 }
JonFreeman 1:66ee619f206b 195
JonFreeman 1:66ee619f206b 196
JonFreeman 0:5d0f270bfc87 197 /*
JonFreeman 0:5d0f270bfc87 198 * Interrupt Service Routine
JonFreeman 0:5d0f270bfc87 199 */
JonFreeman 0:5d0f270bfc87 200 void Numerically_Controlled_Oscillators_ISR () { // services Ticker 'NCO_gen' generated interrupts ***ISR***
JonFreeman 1:66ee619f206b 201 static const int millisec_countdown = 1000 / interrupt_period_us;
JonFreeman 0:5d0f270bfc87 202 const long bit_lutx[4] = {XSt0 | XDi0, XSt0 | XDi1, XSt1 | XDi1, XSt1 | XDi0}, // Used to look-up 'clk' and 'dir' signals from accum MSBs
JonFreeman 0:5d0f270bfc87 203 bit_luty[4] = {YSt0 | YDi0, YSt0 | YDi1, YSt1 | YDi1, YSt1 | YDi0}, // Used to look-up 'clk' and 'dir' signals from accum MSBs
JonFreeman 0:5d0f270bfc87 204 bit_lutz[4] = {ZSt0 | ZDi0, ZSt0 | ZDi1, ZSt1 | ZDi1, ZSt1 | ZDi0}, // Used to look-up 'clk' and 'dir' signals from accum MSBs
JonFreeman 0:5d0f270bfc87 205 bit_luta[4] = {ASt0 | ADi0, ASt0 | ADi1, ASt1 | ADi1, ASt1 | ADi0}, // Used to look-up 'clk' and 'dir' signals from accum MSBs
JonFreeman 0:5d0f270bfc87 206 bits2shift = (sizeof (long) << 3) - 2;
JonFreeman 0:5d0f270bfc87 207 static unsigned long
JonFreeman 0:5d0f270bfc87 208 // acc_s = 0L, // For Spindle motor, probably not needed as may be pwm
JonFreeman 0:5d0f270bfc87 209 acc_a = 0L,
JonFreeman 0:5d0f270bfc87 210 acc_x = 0L,
JonFreeman 0:5d0f270bfc87 211 acc_y = 0L,
JonFreeman 0:5d0f270bfc87 212 acc_z = 0L;
JonFreeman 1:66ee619f206b 213 static int obitz = 0, mscount = millisec_countdown;
JonFreeman 0:5d0f270bfc87 214 int oldbitz, acts;
JonFreeman 0:5d0f270bfc87 215
JonFreeman 0:5d0f270bfc87 216 intled = 1; // LED on for duration of interrupt service - point for scope probing
JonFreeman 0:5d0f270bfc87 217 ticks++; // count of interrupts serviced
JonFreeman 1:66ee619f206b 218 if(!--mscount) { // Maintain global counter of elapsed milli seconds
JonFreeman 1:66ee619f206b 219 mscount = millisec_countdown;
JonFreeman 1:66ee619f206b 220 millisecs++;
JonFreeman 0:5d0f270bfc87 221 }
JonFreeman 1:66ee619f206b 222 if (running) {
JonFreeman 1:66ee619f206b 223 acc_x += pir_x; // Update phase of signals in accumulators
JonFreeman 1:66ee619f206b 224 acc_y += pir_y;
JonFreeman 1:66ee619f206b 225 acc_z += pir_z;
JonFreeman 1:66ee619f206b 226 acc_a += pir_a; // not yet implemented
JonFreeman 1:66ee619f206b 227 // acc_s += pir_s; // pir_s used for spindle speed
JonFreeman 1:66ee619f206b 228 oldbitz = obitz; // pin output levels as determined during previous interrut
JonFreeman 1:66ee619f206b 229 obitz = bit_lutx[acc_x >> bits2shift] | bit_luty[acc_y >> bits2shift] | bit_lutz[acc_z >> bits2shift] | bit_luta[acc_a >> bits2shift];
JonFreeman 1:66ee619f206b 230
JonFreeman 1:66ee619f206b 231 mysteppers = obitz; // Output signals to stepper motor drivers, next look for _- pos clk events on 'Step' outputs
JonFreeman 1:66ee619f206b 232
JonFreeman 1:66ee619f206b 233 acts = (~oldbitz & obitz); // get pos clk edge triggers 'Step' bits
JonFreeman 1:66ee619f206b 234 acts |= (obitz & (XDi1 | YDi1 | ZDi1)); // get axis X, Y and Z Direction bits
JonFreeman 1:66ee619f206b 235 if(acts & XSt1) { // got pos clk edge for axis X
JonFreeman 1:66ee619f206b 236 if (acts & XDi1)
JonFreeman 1:66ee619f206b 237 dro.x++;
JonFreeman 1:66ee619f206b 238 else dro.x--;
JonFreeman 1:66ee619f206b 239 }
JonFreeman 1:66ee619f206b 240 if(acts & YSt1) { // got pos clk edge for axis Y
JonFreeman 1:66ee619f206b 241 if (acts & YDi1)
JonFreeman 1:66ee619f206b 242 dro.y++;
JonFreeman 1:66ee619f206b 243 else dro.y--;
JonFreeman 1:66ee619f206b 244 }
JonFreeman 1:66ee619f206b 245 if(acts & ZSt1) { // got pos clk edge for axis Z
JonFreeman 1:66ee619f206b 246 if (acts & ZDi1)
JonFreeman 1:66ee619f206b 247 dro.z++;
JonFreeman 1:66ee619f206b 248 else dro.z--;
JonFreeman 1:66ee619f206b 249 }
JonFreeman 1:66ee619f206b 250 if (tickrun <= ticks) { // End of a machine movement detected, start next move here if possible
JonFreeman 1:66ee619f206b 251 running = false;
JonFreeman 1:66ee619f206b 252 move_ended = true;
JonFreeman 1:66ee619f206b 253 pir_x = 0L; // stop all stepper motors
JonFreeman 1:66ee619f206b 254 pir_y = 0L;
JonFreeman 1:66ee619f206b 255 pir_z = 0L;
JonFreeman 1:66ee619f206b 256 pir_a = 0L;
JonFreeman 1:66ee619f206b 257 // ticks = 0L; // Simply to avoid having to think about overflow problems
JonFreeman 1:66ee619f206b 258 }
JonFreeman 0:5d0f270bfc87 259 }
JonFreeman 1:66ee619f206b 260 else { // Not running. Grab next data here when or if available
JonFreeman 1:66ee619f206b 261 if (new_run_pending) { // Pick up on flag set elsewhere
JonFreeman 1:66ee619f206b 262 pir_a = pir_a_next;
JonFreeman 1:66ee619f206b 263 pir_x = pir_x_next;
JonFreeman 1:66ee619f206b 264 pir_y = pir_y_next;
JonFreeman 1:66ee619f206b 265 pir_z = pir_z_next;
JonFreeman 1:66ee619f206b 266 tickrun = ticks + ticks_next;
JonFreeman 1:66ee619f206b 267 running = true; // Start the new run
JonFreeman 1:66ee619f206b 268 new_run_pending = false; // Clear the flag which initiated this update
JonFreeman 1:66ee619f206b 269 idle = false;
JonFreeman 1:66ee619f206b 270 }
JonFreeman 0:5d0f270bfc87 271 }
JonFreeman 1:66ee619f206b 272 charge_pump = ticks & 0x02;
JonFreeman 0:5d0f270bfc87 273 intled = 0; // LED off
JonFreeman 0:5d0f270bfc87 274 } // end of interrupt handler
JonFreeman 0:5d0f270bfc87 275
JonFreeman 0:5d0f270bfc87 276 /*
JonFreeman 0:5d0f270bfc87 277 * End of Interrupt Service Routine
JonFreeman 0:5d0f270bfc87 278 */
JonFreeman 0:5d0f270bfc87 279
JonFreeman 0:5d0f270bfc87 280
JonFreeman 1:66ee619f206b 281 void newpir_updater (void const * name) {
JonFreeman 1:66ee619f206b 282 static long x, y, z, count = 0;
JonFreeman 1:66ee619f206b 283 struct pirbufgrain outs;
JonFreeman 1:66ee619f206b 284 pc.printf("Arrived at newpir_updater\r\n");
JonFreeman 1:66ee619f206b 285 while (true) {
JonFreeman 1:66ee619f206b 286 while (!move_ended || !CircBuff.readable()) {
JonFreeman 1:66ee619f206b 287 osThreadYield();
JonFreeman 1:66ee619f206b 288 }
JonFreeman 1:66ee619f206b 289 CircBuff.read(outs);
JonFreeman 1:66ee619f206b 290 x = (long)(outs.f_rate * outs.x); // These take much CPU time !!
JonFreeman 1:66ee619f206b 291 y = (long)(outs.f_rate * outs.y);
JonFreeman 1:66ee619f206b 292 z = (long)(outs.f_rate * outs.z);
JonFreeman 1:66ee619f206b 293 ticks_next = (unsigned long)(outs.c / outs.f_rate);
JonFreeman 1:66ee619f206b 294 pir_x_next = x;
JonFreeman 1:66ee619f206b 295 pir_y_next = y;
JonFreeman 1:66ee619f206b 296 pir_z_next = z;
JonFreeman 1:66ee619f206b 297 move_ended = false;
JonFreeman 1:66ee619f206b 298 new_run_pending = true; // cleared and 'running' flag set in interrupt handler
JonFreeman 1:66ee619f206b 299 idle = false;
JonFreeman 1:66ee619f206b 300 count++;
JonFreeman 1:66ee619f206b 301 // pc.printf("CircB tot %d\r\n", count);
JonFreeman 1:66ee619f206b 302 }
JonFreeman 0:5d0f270bfc87 303 }
JonFreeman 0:5d0f270bfc87 304
JonFreeman 1:66ee619f206b 305
JonFreeman 1:66ee619f206b 306 class digital_readout_stuff { // class does not need to be named here
JonFreeman 1:66ee619f206b 307 char * readout (char * txt, long p) // p has running subtotal of all pulses issued to stepper driver
JonFreeman 1:66ee619f206b 308 {
JonFreeman 1:66ee619f206b 309 txt[0] = '+'; // constructs string e.g. "+123.456"
JonFreeman 1:66ee619f206b 310 txt[8] = 0; // null terminated
JonFreeman 1:66ee619f206b 311 if (p < 0) {
JonFreeman 1:66ee619f206b 312 txt[0] = '-';
JonFreeman 1:66ee619f206b 313 p = -p;
JonFreeman 1:66ee619f206b 314 }
JonFreeman 1:66ee619f206b 315 p *= 1000;
JonFreeman 1:66ee619f206b 316 p /= pulses_per_mm;
JonFreeman 1:66ee619f206b 317 if (p > 999999) {
JonFreeman 1:66ee619f206b 318 sprintf(txt + 1, "OVRANGE");
JonFreeman 1:66ee619f206b 319 return txt;
JonFreeman 1:66ee619f206b 320 }
JonFreeman 1:66ee619f206b 321 for(int k = 7; k > 0; k--) {
JonFreeman 1:66ee619f206b 322 if (k == 4)
JonFreeman 1:66ee619f206b 323 txt[k] = '.';
JonFreeman 1:66ee619f206b 324 else {
JonFreeman 1:66ee619f206b 325 txt[k] = '0' + (p % 10);
JonFreeman 1:66ee619f206b 326 p /= 10;
JonFreeman 1:66ee619f206b 327 }
JonFreeman 1:66ee619f206b 328 }
JonFreeman 1:66ee619f206b 329 return txt; // Returns pointer unaltered for subsequent use by e.g. cout
JonFreeman 1:66ee619f206b 330 }
JonFreeman 1:66ee619f206b 331 public:
JonFreeman 1:66ee619f206b 332 void update () {
JonFreeman 1:66ee619f206b 333 static long t = 0;
JonFreeman 1:66ee619f206b 334 if (millisecs < t)
JonFreeman 1:66ee619f206b 335 return;
JonFreeman 1:66ee619f206b 336 if(!idle && dro.dro_output) {
JonFreeman 1:66ee619f206b 337 char txt[12];
JonFreeman 1:66ee619f206b 338 pc.printf("dros X %s,", readout(txt, dro.x)); // dro.n has running subtotal of all pulses issued to stepper driver.n
JonFreeman 1:66ee619f206b 339 pc.printf(" Y %s, Z ", readout(txt, dro.y));
JonFreeman 1:66ee619f206b 340 pc.printf("%s, %s\r\n", readout(txt, dro.z), running ? "runn":"idle");
JonFreeman 1:66ee619f206b 341 if(!running) idle = true; // Purpose of idle flag is to stop dro after run completes.
JonFreeman 1:66ee619f206b 342 t = millisecs + 350; // Schedule next update after this non-blocking delay
JonFreeman 1:66ee619f206b 343 }
JonFreeman 1:66ee619f206b 344 }
JonFreeman 1:66ee619f206b 345 } dro_out ;
JonFreeman 1:66ee619f206b 346
JonFreeman 1:66ee619f206b 347 /*void taskone (void const * name)
JonFreeman 1:66ee619f206b 348 {
JonFreeman 1:66ee619f206b 349 static int i = 0;
JonFreeman 1:66ee619f206b 350 while (true) {
JonFreeman 1:66ee619f206b 351 pc.printf("%s %d\r\n", name, i++);
JonFreeman 1:66ee619f206b 352 Thread::wait(9500);
JonFreeman 1:66ee619f206b 353 osThreadYield();
JonFreeman 1:66ee619f206b 354 }
JonFreeman 1:66ee619f206b 355 }
JonFreeman 1:66ee619f206b 356
JonFreeman 1:66ee619f206b 357 void tasktwo (void const * name)
JonFreeman 1:66ee619f206b 358 {
JonFreeman 1:66ee619f206b 359 pc.printf("Task Two runs once and exits\r\n");
JonFreeman 1:66ee619f206b 360 Thread::wait(700);
JonFreeman 1:66ee619f206b 361 osThreadYield();
JonFreeman 1:66ee619f206b 362 }
JonFreeman 1:66ee619f206b 363
JonFreeman 1:66ee619f206b 364 void taskthree (void const * name)
JonFreeman 1:66ee619f206b 365 {
JonFreeman 1:66ee619f206b 366 static int i = 0;
JonFreeman 1:66ee619f206b 367 while (true) {
JonFreeman 1:66ee619f206b 368 pc.printf("%s %d\r\n", name, i++);
JonFreeman 1:66ee619f206b 369 Thread::wait(3500);
JonFreeman 1:66ee619f206b 370 osThreadYield();
JonFreeman 1:66ee619f206b 371 }
JonFreeman 1:66ee619f206b 372 }*/
JonFreeman 1:66ee619f206b 373
JonFreeman 0:5d0f270bfc87 374 int main() {
JonFreeman 0:5d0f270bfc87 375 pc.baud(BAUD); // comms to 'PuTTY' serial terminal via mbed usb
JonFreeman 0:5d0f270bfc87 376 dro.x = dro.y = dro.z = 0; // These dro registers count pulses delivered to stepper motor driver
JonFreeman 0:5d0f270bfc87 377 dro.dro_output = true;
JonFreeman 1:66ee619f206b 378 more_setup () ; // Zeros one 'pirs' structure 'last_position'
JonFreeman 1:66ee619f206b 379 CircBuff.init ();
JonFreeman 0:5d0f270bfc87 380 spidevice.format(8, 0); // 8 bits mode 0, // p11 mosi, p12 miso, p13 sclk ** ONLY 8 BIT **
JonFreeman 0:5d0f270bfc87 381 spidevice.frequency(12000000); // 12MHz bit rate
JonFreeman 1:66ee619f206b 382 pc.printf("\r\n*\n*\n");
JonFreeman 0:5d0f270bfc87 383 #if defined (TARGET_KL25Z)
JonFreeman 0:5d0f270bfc87 384 pc.printf ("Found device Freescale KL25Z\r\n");
JonFreeman 0:5d0f270bfc87 385 #endif
JonFreeman 0:5d0f270bfc87 386 #if defined (TARGET_KL46Z)
JonFreeman 0:5d0f270bfc87 387 pc.printf ("Found device Freescale KL46Z\r\n");
JonFreeman 0:5d0f270bfc87 388 #endif
JonFreeman 0:5d0f270bfc87 389 #if defined (TARGET_MBED_LPC1768)
JonFreeman 0:5d0f270bfc87 390 pc.printf ("Found device MBED_LPC1768\r\n");
JonFreeman 0:5d0f270bfc87 391 #endif
JonFreeman 1:66ee619f206b 392 pc.printf("Welcome to the CNC tester\r\nStep pulses required to move 1.0mm = %9.0f\r\n", pulses_per_mm);
JonFreeman 1:66ee619f206b 393 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);
JonFreeman 1:66ee619f206b 394 NCO_gen.attach_us(&Numerically_Controlled_Oscillators_ISR, (long)interrupt_period_us);// Have setup timed interrupts, let other code deal
JonFreeman 1:66ee619f206b 395 // Thread threadnametaskone (taskone, (void *)"task one stuff");
JonFreeman 1:66ee619f206b 396 // Thread t8 (tasktwo, (void *)"task two");
JonFreeman 1:66ee619f206b 397 Thread tsr2 (newpir_updater, (void *)"read from CircBuff and move");
JonFreeman 1:66ee619f206b 398 // Thread tthree (taskthree, (void *)"task three");
JonFreeman 1:66ee619f206b 399 Thread patterngen (lissajous, (void *)"Loading Lissajous") ;
JonFreeman 1:66ee619f206b 400 Thread comlin (command_line_interpreter, (void *)"cli"); // Read any instructions arriving via serial port and act upon them
JonFreeman 1:66ee619f206b 401 pc.printf("Added cli thread\r\n");
JonFreeman 1:66ee619f206b 402 move_ended = true; // Needed to kickstart system
JonFreeman 1:66ee619f206b 403
JonFreeman 1:66ee619f206b 404 while(1) { // Round Robin loop
JonFreeman 1:66ee619f206b 405 dro_out.update (); // Update DRO readings if, and as often as needed
JonFreeman 1:66ee619f206b 406 osThreadYield(); //
JonFreeman 1:66ee619f206b 407 } // end of Round Robin loop
JonFreeman 1:66ee619f206b 408 } // end of int main()
JonFreeman 1:66ee619f206b 409