Diff: main.cpp

Revision:

0:b53649cd217f

Child:

1:86997189bb6b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Feb 25 23:27:01 2013 +0000
@@ -0,0 +1,277 @@
+/* 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);
+    }
+
+}