File content as of revision 0:b031f05749d0:

#include "mbed.h"

#include <sstream>
#include <string>
// Version 1.0 : Fait uniquement marcher les moteurs d'une position à une autre donnée en nb d'impulsion
// Version 1.1.0 : non utilisation du PWM mais du mode ticker pour piloter le moteur
//validation 1.1 : Rajout d'une rampe sur le pin de control du moteur en 500ms, et gestion du pin par ticker au lieu d'une PWM
// fonction stop?

// Version 1.2.0 : integration du code QEI(quadrature encoder input) , nécessiste 2 ports : pin 15 et 16
// position transformé directement en cm

// Version 1.3 : mesure de temps entre impulsion  + résolution encodeur 1/800 e de tour au lieu de 1/400e

// version 1.3.2 : envoi de la position réelle 

//A little test in order to slipt a string in two part, as following :
// "This string" => arg[0]="This"  arg[1]="string"
// After a test with split



//This programm is designed in order to move on a z-axis a device by a step motot
// a card sold by selectronic controlling a step motor through a L297 and a L6203 from ST
//see:
//http://www.selectronic.fr/c/robotique-moteurs-accessoires/modules-de-commande/commandes-de-moteur-pas-a-pas/carte-de-commande-pour-moteur-pas-a-pas-a-l6203-version-montee.html
//Ref. 6950-11

//Config LCD
//TextLCD lcd(p14,p19,p24,p23,p22,p21); //rs, e, d4-d7


//config LEDS
DigitalOut led1(LED1);
DigitalOut led2(LED2);
DigitalOut led3(LED3);
DigitalOut led4(LED4);

//In some Future version :

DigitalOut PinEnable(p17);
DigitalOut PinControl(p18);

DigitalOut Pin_HF_Pas(p27);

// QEI Voie A et B
InterruptIn VoieA(p16);
InterruptIn VoieB(p15);
Timer t;
//PwmOut Clock(p25); // CHANGE :: tranforn in Digital OUt and put a ticker on
DigitalOut Clock(p25);
Ticker Clocker;
Timeout flipper;
DigitalOut PinDrct(p28);
DigitalOut PinReset(p26);
//InterruptIn PinCount(p29); //counter of PWM so it's count the number of step of the motor. pin free from 1.1 version

/*union FloatBytes {
    char c[4];
    float f;


};*/

float speed=5e-3; // speed is the period of the motot pulse by default the frequency is 200Hz => 1.2 cm/s

// Variables of position : given here vers 1.0 like an int af after 1.1 in cm as an float.
float NewPos=0.0;
//int position=0;
float dir=0.0;
int RealPosition=0;
float p=1.0/200.0*1.2;
int run=0;
int Stop=0;
float positionCm=0;// positionCm=position/200*1.2
float RealPositionCm=0;// RealPositionCm=RealPosition/400*1.2
int i=0;
int count=0;

Serial pc(USBTX,USBRX); //tx, rx

//QEI variables :

float periode=0;
int k=0;
float drpm=1.0/800.0*1.2;
float velocity=0; //in mm/s


float array_time_pos[40];

float array_time_pulse[14];

//*************************

char s1[20],s2[20];// s1 and s2 will be the two arg off the string
// I will do just an echo as following:
// string1 = ...
//string 2 = ...

//TO DO LIST 1.1
/*
func POW    =>  DONE
func PAS    =>  DONE
func VIT    =>  DONE
func DRCT   =>  DONE
func ZERO   =>  DONE
func POS    =>  DONE
func MOVE   =>  DONE


*/
//TO DO LIST 1.2
/*Integration QEI :
Integration QEI :
- injection code init dans main : FAIT
- inclure fonction fall et rise : FAIT
- inclure déclaration de variables utilisées dans fall and rise :FAIT
- exploitation de l'information QEI dans le code : à faire
- non utilisation de la variable timeout t : pour l'instant à voir

*/

//values return by text the status of the controller


void Values()
{
    int pas=Pin_HF_Pas;
    int power=PinEnable;


    pc.printf("\n\rStates\n\r");
    pc.printf("Half/Full %d\n",pas); //half 0 full 1
    pc.printf("Period_speed %f\n",speed);
    pc.printf("Actual_position %fcm\n",positionCm);
    pc.printf("Real_position %fcm\n",RealPositionCm);
    pc.printf("Power %d\n@",power);

}
// Moving() permit to manage the movement of the step motor
void compt_rise_A(void)
{

    //t.start();
    if(VoieB)     {

        RealPositionCm=RealPositionCm+drpm;
    } else {

        RealPositionCm=RealPositionCm-drpm;

    }
    
    array_time_pos[i]=t.read();
   //i++;
}

void compt_rise_B(void)
{
    //t.start();
    if(VoieA)     {

        RealPositionCm=RealPositionCm-drpm;
    } else {

        RealPositionCm=RealPositionCm+drpm;

    }

    array_time_pos[i]=t.read();
   //i++;
}

void compt_fall_A(void)
{
    // t.stop();
    //periode=t.read()*2;
    // velocity=Pas/(periode*PPR*2);//in µm/s

    //t.reset();
    if(!VoieB) {

        RealPositionCm=RealPositionCm+drpm;
    } else {

        RealPositionCm=RealPositionCm-drpm;
    }
    
    array_time_pos[i]=t.read();
   //i++;
}

void compt_fall_B(void)
{
    // t.stop();
    //periode=t.read()*2;
    // velocity=Pas/(periode*PPR*2);//in µm/s

    //t.reset();
    if(!VoieA) {

        RealPositionCm=RealPositionCm-drpm;
    } else {

        RealPositionCm=RealPositionCm+drpm;
    }
    
    array_time_pos[i]=t.read();
   //i++;
}
LocalFileSystem local("local");               // Create the local filesystem under the name "local"
FILE *fp = fopen("/local/out.txt", "w");  // Open "out.txt" on the local file system for writing


/*void Write()
{
     int j=0;
    fp = fopen("/local/out.txt", "w");
    for( j =0;  j<=i ; j++ ) {
        fprintf(fp, "%f\n",array_time_pos[j]);
    }

    fclose(fp);
    j=0;

    fp=fopen("/local/out_pulse.txt", "w");
    for( j =0;  j<=k ; j++ ) {
        fprintf(fp, "%f\n",array_time_pulse[j]);
    }
    fclose(fp);
    


}*/

void flip(){
    
    Clock=1;
    
    }

void Moving()
{
    if(positionCm*dir>=NewPos*dir||Stop==1) {

        Clock=1;// set the PWM at 1 so it switch off the controller at pull up
        Clocker.detach();// this action detach the funxctio Moving() from PinCount
        PinEnable=0;
        pc.printf("\narrived at %fcm\nReal_position %fcm\n@",positionCm,RealPositionCm);
        //Write();
        Stop=0;
        t.stop();
        t.reset();
        k=0;
        i=0;
    } else {
        Clock=0;
        array_time_pulse[k]= t.read();
       //k++;
        
        flipper.attach_us(&flip,500);        
        if(PinDrct==1) {
            //position++;
            positionCm=positionCm+p;
        }
        if(PinDrct==0) {
            //position--;
            positionCm=positionCm-p;
        }
    }

}




void POW(char p)//DONE
// rend "enable" l'action des moteur
{
    //To be optimized later
    if(p=='1') {
        PinEnable=1;
    }
    if(p=='0') {
        PinEnable=0;
    }
}


void PAS(char t)//DONE
{
    if(t=='0') {// FULL
        Pin_HF_Pas=0;
        p=1.0/200.0*1.2;
    }
    if(t=='1') {
        Pin_HF_Pas=1;// Half
        p=1.0/400.0*1.2;
    }

}


void VIT(char SpeedTxt[7])//DONE
{
    speed=atof(SpeedTxt); // speed is a period of frenquency of the step motor
}


void DRCT(char t)//DONE
{
    if(t=='0')
        PinDrct=0;
    if(t=='1')
        PinDrct=1;
}


void ZERO()//DONE
{
    positionCm=0.0;

}


void POS(char PosTxt[7])//DONE
{
    positionCm = atof(PosTxt);
    RealPosition= positionCm;

}

void MOVE(char PosTxt[7])//DOING
{
    float f,diff;
    int dirdir=0;
//   compt=0;
    k=0;
    i=0;


    f=1/speed;
    NewPos = atof(PosTxt);
    diff=NewPos-positionCm;
    diff=abs(diff);
    if(diff>0) {
        POW('1');
        if(NewPos>positionCm) {
            PinDrct=1;
            //position=position+2; // code non nécessaire depuis vers 1.1
        } else {
            //position=position-2; // code non nécessaire depuis vers 1.1
            PinDrct=0;
        }
        dirdir=PinDrct;
        dir=dirdir;
        dir=dir*2.0-1.0;
        pc.printf("\n\rPos= %f Newpos= %f \nDirection = %f\n Frequency = %f\n\r@",positionCm,NewPos,dir,f);
        //distance of run unit ste (version 1.0) and in version 1.1 : the unit will be the cm
        //PinCount.rise(&Moving);
        //Clock=0.5; // switch on clock count
        t.reset();
        t.start();
        Clocker.attach(&Moving,speed);
    }

}



void reception()
{
    //char s[]="";
    sprintf(s1,"");
    sprintf(s2,"");
    //long longueur=100000;

    if(pc.readable()) {
        pc.scanf("%s %s",&s1,&s2);

        if (strcmp(s1,"POW")==0) {
            POW(s2[0]);
            pc.printf("POW\n\r@");
        }
        if (strcmp(s1,"PAS")==0) {
            PAS(s2[0]);
            pc.printf("\n\r@");
        }
        if (strcmp(s1,"VIT")==0) {
            VIT(s2);
            pc.printf("\n\r@");
        }
        if (strcmp(s1,"DRCT")==0) {
            DRCT(s2[0]);
            pc.printf("\n\r@");
        }
        if (strcmp(s1,"ZERO")==0) {
            ZERO();
            pc.printf("\n\r@");

        }
        if (strcmp(s1,"STOP")==0) {
            Stop=1;

            pc.printf("\n Stop received\r@");
        }


        if (strcmp(s1,"MOVE")==0) {
            MOVE(s2);
            pc.printf("\nMoving\n\r@");

        }
        if (strcmp(s1,"POS")==0) {
            //function to see array to integer or something like that
            // in order to transform a string (s2) into an int and after a float(version 1.1)
            float oldpos=positionCm;
            positionCm=atof(s2);
            RealPositionCm=positionCm;
            count++;

            pc.printf("Old position : %f\n\rNew Position : %f\n@",oldpos,positionCm);
        }

        if (strcmp(s1,"CONT")==0) {
            PinControl=atoi(s2);
        }

        if (strcmp(s1,"POS?")==0) {
            pc.printf("\nPosition = %f cm\nRealPosition = %f cm\n\@",positionCm,RealPositionCm);
        }
        if (strcmp(s1,"VAL?")==0) {
            Values();
        }


    }
}


int main()
{
    PinControl=0;
    PinReset=1; //reset on 0
    PinDrct=1;
    Pin_HF_Pas=0; //full step:0   Half step:1
    // could be programmable later if necessairly.
    //pc.baud(115200);
    pc.baud(921600);
    
    VoieA.mode(PullUp);
    VoieA.rise(&compt_rise_A);
    VoieA.fall(&compt_fall_A);
    VoieB.mode(PullUp);
    VoieB.rise(&compt_rise_B);
    VoieB.fall(&compt_fall_B);
    pc.printf("MBED\r\n\r@");
    fclose(fp);





    //PinCount.mode(PullDown);
    positionCm=0;
    Clock=1;
    while(1) {

        pc.attach(&reception);

    }


}