Firmware for single step driver with fast step (up to 340kHz) and simple gcode interpreter.
Dependencies: FastPWM SimpleIOMacros mbed
Diff: main.cpp
- Revision:
- 1:86997189bb6b
- Parent:
- 0:b53649cd217f
- Child:
- 2:33a99f65551d
--- a/main.cpp Mon Feb 25 23:27:01 2013 +0000 +++ b/main.cpp Thu Feb 28 11:40:50 2013 +0000 @@ -1,277 +1,443 @@ -/* picocom -b 115200 -c --imap lfcrlf --omap crlf /dev/ttyACM0 */ - - -/* - todo: attach callback to Serial when no command executed only with STOP command - todo: when command complete it should print "ok" - todo: when all settings printed print "ok" - todo: when value of parameter changed print "ok saved" - todo: when value of parameter is invalid print "err invalid value" - todo: add G command for set zero here - todo: add G90/G91 -*/ - -#include "mbed.h" -#include "FastPWM.h" -#include "IOMacros.h" - -#define VERSION "0.1" - - -#define DEBUG - -/* p30 - P0_4 */ -const uint32_t stepPin = 4; -const uint32_t stepIntMask = (1UL << stepPin); - -volatile int32_t position; - - -/* G code interpreter state*/ -bool absMovementMode = true; -double mmPosition = 0.0; // mm -double feedRate = 0.0; // mm/sec^2 - -/* *** Serial port *** */ -Serial pc(USBTX, USBRX); -#define SERIAL_BUFFER_SIZE 40 -char serialBuffer[SERIAL_BUFFER_SIZE+1]; -int serialPosition = 0; - -void invalidCommand() { - pc.printf("err invalid command %s\n", serialBuffer); -} - -void processCommand(void) { -#ifdef DEBUG - pc.printf("<%s>\n", serialBuffer); -#endif - - if (serialBuffer[0] == '\0') { - // todo: empty command stop the stage - } else if (serialBuffer[0] == '$') { - // '$' - print or change settings - if (serialBuffer[1] == '\0') { - pc.printf("todo: show settings\n"); - } else if (serialBuffer[1] >= '0' and serialBuffer[1] <='9' and serialBuffer[2] == '=') { - pc.printf("todo: set value here\n"); - // todo: save settings to file - } else { - invalidCommand(); - } - } else if (serialBuffer[0] == '?' && serialBuffer[1] == '\0') { - // todo: print in millimeters - pc.printf("ok %d\n", position); - } else { - // todo: parse G-code here - char *p = serialBuffer, *endP = serialBuffer; - uint32_t ulValue; - double dblValue; - - bool error = false; - - bool newAbsMovementMode = absMovementMode; - double newmmPosition = mmPosition; - double newFeedRate = feedRate; - - bool move = false; - - while (*p != '\0') { - switch (*p) { - case 'G': - p++; - ulValue = strtoul(p, &endP, 10); - if (p == endP) { - pc.printf("err invalid value for command G: %s\n", p); - error = true; - } else { -#ifdef DEBUG - pc.printf("debug G%u -> %s\n", ulValue, endP); -#endif - p = endP; - switch (ulValue) { - case 0: - // todo: implement - break; - case 1: - // todo: implement - break; - case 90: - newAbsMovementMode = true; - break; - case 91: - newAbsMovementMode = false; - break; - default: - pc.printf("err invalid value for command G: %u\n", ulValue); - error = true; - break; - } - } - break; - case 'X': - p++; - dblValue = strtod(p, &endP); - if (p == endP) { - pc.printf("err invalid value for command X: %f\n", dblValue); - error = true; - } else { -#ifdef DEBUG - pc.printf("debug X%f -> %s\n", dblValue, endP); -#endif - p = endP; - newmmPosition = dblValue; - - move = true; - } - break; - case 'F': - p++; - dblValue = strtod(p, &endP); - if (p == endP || dblValue < 0.0) { - pc.printf("err invalid value for command F: %f\n", dblValue); - error = true; - } else { -#ifdef DEBUG - pc.printf("debug F%f -> %s\n", dblValue, endP); -#endif - p = endP; - newFeedRate = dblValue; - } - break; - default: - pc.printf("err invalid command %s\n", p); - error = true; - break; - } - - if (error) { - break; - } - - } - - if (!error) { - // todo: check all flags and execute commands here - absMovementMode = newAbsMovementMode; - mmPosition = newmmPosition; - feedRate = newFeedRate; - // todo: run line module here - - pc.printf("absMovementMode = %u\n", absMovementMode); - pc.printf("mmPosition = %f\n", mmPosition); - pc.printf("feedRate = %f\n", feedRate); -#ifdef DEBUG - if (move) { - pc.printf("MOVE\n"); - } -#endif - } - } -} - - -void readChar(void) { - int ch; - -#ifdef DEBUG - LED4_ON; -#endif - - ch = pc.getc(); - if (serialPosition < SERIAL_BUFFER_SIZE) { - - } else { - pc.printf("\nToo long string, should be <= %d characters.\n", SERIAL_BUFFER_SIZE); - serialPosition = 0; - } - if (ch == ' ' || ch == '\t') { - // ignore space characters - } else { - - if (ch == '\n') { - serialBuffer[serialPosition] = '\0'; - processCommand(); - serialPosition = 0; - serialBuffer[serialPosition] = '\0'; - } else { - if (ch >= 'a' and ch <= 'z') { - ch = 'A' + (ch - 'a'); // convert to upper case - } - serialBuffer[serialPosition++] = ch; - } - } - -#ifdef DEBUG - LED4_OFF; -#endif -} - - -FastPWM stepper(p21); - - -void update_position(); - - -extern "C" void EINT3_IRQHandler (void) __irq { - if (LPC_GPIOINT->IntStatus & 0x1) { - if (LPC_GPIOINT->IO0IntStatR & stepIntMask) { - update_position(); - } - } - - LPC_GPIOINT->IO2IntClr = (LPC_GPIOINT->IO2IntStatR | LPC_GPIOINT->IO2IntStatF); - LPC_GPIOINT->IO0IntClr = (LPC_GPIOINT->IO0IntStatR | LPC_GPIOINT->IO0IntStatF); - -} - -void update_position() { - //position++; - if (position > 0) { - position--; - } else { - position = 170000; - } -} - - -void event_irq_init(void) { - p30_AS_INPUT; - // Enable p30 is P0_4 for rising edge interrupt generation. - LPC_GPIOINT->IO0IntEnR |= stepIntMask; - //NVIC_SetPriority(EINT3_IRQn, 1); - // Enable the interrupt - NVIC_EnableIRQ(EINT3_IRQn); -} - -int main() { - LED1_USE; // step movement - LED4_USE; // serial port receive - position = 0; - - pc.baud(115200); - pc.attach(readChar); - - pc.printf("IGNB module driver version %s. Input '$' for settings.\n", VERSION); - - // todo: load settings from file - - //stepper.period(1.0/170000.0); - //stepper.write(0.50); - - //event_irq_init(); - - while(1) { - //position = 0; - - //LED1_ON; - //stepper.write(0.5); - //wait(1); - //stepper.write(0.0); - //LED1_OFF; - //pc.printf("%d\r\n", position); - //wait(1); - } - -} +/* picocom -b 115200 -c --imap lfcrlf --omap crlf /dev/ttyACM0 */ + + +/* + todo: attach callback to Serial when no command executed only with STOP command + todo: when command complete it should print "ok" + todo: when all settings printed print "ok" + todo: when value of parameter changed print "ok saved" + todo: when value of parameter is invalid print "err invalid value" + todo: add G command for set zero here +*/ + +#include "mbed.h" +#include "FastPWM.h" +#include "IOMacros.h" + +#define VERSION "0.1" + +#define DEBUG + +#define FILESYSTEM_ROOT "local" +#define SETTINGS_FILE ("/" FILESYSTEM_ROOT "/settings.txt") +#define SETTINGS_BACKUP_FILE ("/" FILESYSTEM_ROOT "/settings.bak") + +LocalFileSystem local(FILESYSTEM_ROOT); + + +/* p30 - P0_4 */ +// const uint32_t counterPin = 4; +const uint32_t counterIntMask = p30_SET_MASK; + +volatile int32_t position; + +FastPWM stepper(p21); + +// Dir pin is p22 - P2.4 + + +/* G code interpreter state*/ +bool absMovementMode = true; +double mmPosition = 0.0; // mm +double feedRate = 1.0; // mm/sec^2 + +/* *** Serial port *** */ +Serial pc(USBTX, USBRX); +#define SERIAL_BUFFER_SIZE 40 +char serialBuffer[SERIAL_BUFFER_SIZE+1]; +int serialPosition = 0; + + +/* *** Settings *** */ + +typedef struct { + double steps_per_mm; + double acceleration; // mm/sec^2 + double start_acceleration; // mm/sec^2 +} settings_t; + +settings_t settings; + +// return true - if parsed succesfully +// return false - if error during parsing +bool parse_settings(FILE *fp, settings_t *settings) { + // todo: write parser + return true; +} + +void load_settings(char *filename) { + FILE *fp; + +#ifdef DEBUG + pc.printf("debug load settings from file \"%s\"\n", filename); +#endif + + fp = fopen(filename, "r"); + if (fp == NULL) { + settings.steps_per_mm = 25600.0 / 150.0; // 170.666667; + settings.acceleration = 1000.000; + settings.start_acceleration = 0.0; + } else { + parse_settings(fp, &settings); + fclose(fp); + } +} + +void save_settings(char *filename) { + FILE *fp; + + fp = fopen(SETTINGS_FILE, "w"); + if (fp != NULL) { + fprintf(fp, "$0=%f\n", settings.steps_per_mm); + fprintf(fp, "$1=%f\n", settings.acceleration); + fprintf(fp, "$2=%f\n", settings.start_acceleration); + fclose(fp); +#ifdef DEBUG + pc.printf("ok settings saved to %s\n", SETTINGS_FILE); +#endif + } else { + pc.printf("err unable to open %s for writing\n", SETTINGS_FILE); + } +} + +void print_settings() { + pc.printf("$0=%f (x, steps/mm)\n", settings.steps_per_mm); + pc.printf("$1=%f (x accel, mm/sec^2)\n", settings.acceleration); + pc.printf("$2=%f (x start acceleration, mm/sec^2)\n", settings.start_acceleration); + pc.printf("ok\n"); +} + +// return true if no error +// return false if error (invalid parameter or value) +bool set_param(char name, char *value) { + if (name >= '0' && name <= '2') { + char *endP = value; + double dblValue; + bool error = false; + + dblValue = strtod(value, &endP); + if (value == endP || *endP != '\0') { + pc.printf("err invalid value for command $%c: %s\n", name, value); + error = true; + } else { + +#ifdef DEBUG + pc.printf("debug $%c=%f -> %s\n", name, dblValue, endP); +#endif + + switch (name) { + case '0': + if (dblValue > 0.0) { + settings.steps_per_mm = dblValue; + } else { + pc.printf("err value should be > 0.0, but %f\n", dblValue); + error = true; + } + break; + case '1': + if (dblValue > 0.0) { + settings.acceleration = dblValue; + } else { + pc.printf("err value should be > 0.0, but %f\n", dblValue); + error = true; + } + break; + case '2': + if (dblValue >= 0.0) { + settings.start_acceleration = dblValue; + } else { + pc.printf("err value should be >= 0.0, but %f\n", dblValue); + error = true; + } + break; + default: + pc.printf("err parameter %c unrecognized\n", name); + error = true; + break; + } + } + return !error; + } else { + pc.printf("err invalid parameter %c\n", name); + return false; + } +} + + +void invalidCommand() { + pc.printf("err invalid command %s\n", serialBuffer); +} + +void moveModule(double position) { + double newmmPosition; + newmmPosition = absMovementMode ? position : mmPosition + position; + +#ifdef DEBUG + pc.printf("debug move from %f to %f\n", mmPosition, newmmPosition); + pc.printf("debug move from %f to %f\n", mmPosition * settings.steps_per_mm, newmmPosition * settings.steps_per_mm); +#endif + + if (newmmPosition > mmPosition) { + p22_CLR; + } else { + p22_SET; + } + + // todo: remove + position = 0; + + stepper.period(1.0/170000.0); + stepper.write(0.50); + + mmPosition = newmmPosition; +} + +void stopModule() { + stepper.write(0); + +#ifdef DEBUG + pc.printf("position = %d steps\n", position); +#endif + + mmPosition = position / settings.steps_per_mm; + pc.printf("ok stop position %f mm\n", mmPosition); +} + +void processCommand(void) { +#ifdef DEBUG + pc.printf("debug serial buffer <%s>\n", serialBuffer); +#endif + + if (serialBuffer[0] == '\0') { + // todo: empty command stop the stage + stopModule(); + } else if (serialBuffer[0] == '$') { + // '$' - print or change settings + if (serialBuffer[1] == '\0') { + print_settings(); + } else if (serialBuffer[1] >= '0' and serialBuffer[1] <='9' and serialBuffer[2] == '=') { + // todo: save settings to file + if (set_param(serialBuffer[1], &serialBuffer[3])) { + save_settings(SETTINGS_FILE); + } + } else { + invalidCommand(); + } + } else if (serialBuffer[0] == '?' && serialBuffer[1] == '\0') { + // todo: print in millimeters + pc.printf("ok %f\n", mmPosition); + } else { + // todo: parse G-code here + char *p = serialBuffer, *endP = serialBuffer; + uint32_t ulValue; + double dblValue; + + bool error = false; + + bool newAbsMovementMode = absMovementMode; + double newmmPosition = mmPosition; + double newFeedRate = feedRate; + + bool move = false; + + while (*p != '\0') { + switch (*p) { + case 'G': + p++; + ulValue = strtoul(p, &endP, 10); + if (p == endP) { + pc.printf("err invalid value for command G: %s\n", p); + error = true; + } else { +#ifdef DEBUG + pc.printf("debug G%u -> %s\n", ulValue, endP); +#endif + p = endP; + switch (ulValue) { + case 0: + // todo: implement + break; + case 1: + // todo: implement + break; + case 90: + newAbsMovementMode = true; + break; + case 91: + newAbsMovementMode = false; + break; + default: + pc.printf("err invalid value for command G: %u\n", ulValue); + error = true; + break; + } + } + break; + case 'X': + p++; + dblValue = strtod(p, &endP); + if (p == endP) { + pc.printf("err invalid value for command X: %s\n", p); + error = true; + } else { +#ifdef DEBUG + pc.printf("debug X%f -> %s\n", dblValue, endP); +#endif + p = endP; + newmmPosition = dblValue; + + move = true; + } + break; + case 'F': + p++; + dblValue = strtod(p, &endP); + if (p == endP || dblValue < 0.0) { + pc.printf("err invalid value for command F: %s\n", p); + error = true; + } else { +#ifdef DEBUG + pc.printf("debug parse F%f => rest %s\n", dblValue, endP); +#endif + p = endP; + newFeedRate = dblValue; + } + break; + default: + pc.printf("err invalid command %s\n", p); + error = true; + break; + } + + if (error) { + break; + } + + } + + if (!error) { + // todo: check all flags and execute commands here + absMovementMode = newAbsMovementMode; + //mmPosition = newmmPosition; + feedRate = newFeedRate; + // todo: run line module here + + pc.printf("absMovementMode = %u\n", absMovementMode); + pc.printf("mmPosition = %f\n", mmPosition); + pc.printf("feedRate = %f\n", feedRate); + + if (move) { + moveModule(newmmPosition); + } + } + } +} + + +void readChar(void) { + int ch; + +#ifdef DEBUG + LED4_ON; +#endif + + ch = pc.getc(); + if (serialPosition < SERIAL_BUFFER_SIZE) { + + } else { + pc.printf("\nToo long string, should be <= %d characters.\n", SERIAL_BUFFER_SIZE); + serialPosition = 0; + } + if (ch == ' ' || ch == '\t') { + // ignore space characters + } else { + + if (ch == '\n') { + serialBuffer[serialPosition] = '\0'; + processCommand(); + serialPosition = 0; + serialBuffer[serialPosition] = '\0'; + } else { + if (ch >= 'a' and ch <= 'z') { + ch = 'A' + (ch - 'a'); // convert to upper case + } + serialBuffer[serialPosition++] = ch; + } + } + +#ifdef DEBUG + LED4_OFF; +#endif +} + + + +void update_position(); + + +extern "C" void EINT3_IRQHandler (void) __irq { + if (LPC_GPIOINT->IntStatus & 0x1) { + if (LPC_GPIOINT->IO0IntStatF & counterIntMask) { + update_position(); + } + } + + LPC_GPIOINT->IO2IntClr = (LPC_GPIOINT->IO2IntStatR | LPC_GPIOINT->IO2IntStatF); + LPC_GPIOINT->IO0IntClr = (LPC_GPIOINT->IO0IntStatR | LPC_GPIOINT->IO0IntStatF); + +} + +void update_position() { + position++; + /* + if (position > 0) { + position--; + } else { + position = 170000; + }*/ +} + + +void event_irq_init(void) { + p30_AS_INPUT; + // Enable p30 is P0_4 for rising edge interrupt generation. + LPC_GPIOINT->IO0IntEnF |= counterIntMask; + //NVIC_SetPriority(EINT3_IRQn, 1); + // Enable the interrupt + NVIC_EnableIRQ(EINT3_IRQn); +} + + + +int main() { + LED1_USE; // step movement + LED4_USE; // serial port receive + + p22_AS_OUTPUT; + + position = 0; + + pc.baud(115200); + pc.attach(readChar); + + pc.printf("IGNB-SM %s ['$' for help]\n", VERSION); + + load_settings(SETTINGS_FILE); + + //stepper.period(1.0/170000.0); + //stepper.write(0.50); + + event_irq_init(); + + while(1) { + //position = 0; + + //LED1_ON; + //stepper.write(0.5); + //wait(1); + //stepper.write(0.0); + //LED1_OFF; + //pc.printf("%d\r\n", position); + //wait(1); + } +}