Diff: main.cpp

Revision:

0:d4b6443a926f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Jun 08 09:31:33 2012 +0000
@@ -0,0 +1,283 @@
+/*
+ * main.cpp
+ *
+ * Copyright (c) 2011 Peter Brier
+ *
+ *   This file is part of the LaOS project (see: http://laoslaser.org)
+ *
+ *   LaOS is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU General Public License as published by
+ *   the Free Software Foundation, either version 3 of the License, or
+ *   (at your option) any later version.
+ *
+ *   LaOS is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU General Public License for more details.
+ *
+ *   You should have received a copy of the GNU General Public License
+ *   along with LaOS.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ * This program tests the inputs and outputs of the laoslaser v1 board
+ * LED1 = xhome
+ * LED2 = yhome
+ * LED3 = zmin
+ * LED4 = zmax
+ *
+ */
+#include "mbed.h"
+#include "SDFileSystem.h"
+
+// USB Serial
+Serial pc(USBTX, USBRX); // tx, rx
+
+// SD card
+SDFileSystem sd(p11, p12, p13, p14, "sd");
+
+// Analog in/out (cover sensor) + NC
+DigitalIn cover(p19);
+
+// I2C
+I2C i2c(p9, p10);        // sda, scl
+#define _I2C_ADDRESS 0x04
+#define _I2C_HOME 0xFE
+#define _I2C_CLS 0xFF
+#define _I2C_BAUD 10000
+
+// status leds
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+DigitalOut led3(LED3);
+DigitalOut led4(LED4);
+
+// Inputs;
+DigitalIn xhome(p8);
+DigitalIn yhome(p17);
+DigitalIn zmin(p15);
+DigitalIn zmax(p16);
+
+
+// motors
+DigitalOut enable(p7);
+DigitalOut xdir(p23);
+DigitalOut xstep(p24);
+DigitalOut ydir(p25);
+DigitalOut ystep(p26);
+DigitalOut zdir(p27);
+DigitalOut zstep(p28);
+
+// laser
+DigitalOut o1(p22);
+DigitalOut o2(p21);
+DigitalOut o3(p6);
+DigitalOut o4(p5);
+
+
+// CAN bus
+CAN can(p30, p29);
+
+
+void home()
+{
+  printf("Homing with x,y,z dir=0\n");
+  int i=0;
+  xdir = 0;
+  ydir = 0;
+  zdir = 0;
+  led1 = 0;
+  while ( 1 )
+  {
+    xstep = ystep = 0;
+    wait(0.0001);
+    xstep = xhome;
+    ystep = yhome;
+    zstep = zmin;
+    wait(0.0001);
+    led1 = !xhome;    
+    led2 = !yhome;
+    led3 = !zmin;
+    led4 = ((i++) & 0x10000);
+    if ( (!xhome) && (!yhome) ) return;
+  }
+}
+
+#define TEST(c,x) case c: io = &x; x = !x; printf("Test %c: " #x " is now %s \n\r", c, (x ? "ON" : "OFF")); break 
+
+/**
+*** main()
+**/
+int main() 
+{
+  led1 = led2 = led3 = led4 = 1;
+  Timer t;
+  DigitalOut *io = NULL;
+  CANMessage msg;
+
+  i2c.frequency(_I2C_BAUD);
+  pc.baud(115200);
+  //pc.baud(9600);
+
+  xhome.mode(PullUp);
+  yhome.mode(PullUp);
+  zmin.mode(PullUp);
+  zmax.mode(PullUp); 
+  
+  char buf[512];
+  char *help = "\n\r\n\r\n\rLaOS Test program\n\r"
+   __DATE__ " " __TIME__ "\n\r"
+   "++++++++++++++++++\n\r"
+   "Use these keys to test the functionality of the board:\n\r"
+   "xX: X Step/Dir\t"
+   "yY: Y Step/Dir\t"
+   "zZ: Z Step/Dir\t"
+   "tT: Ext Step/Dir (o1/o2)\n\r"
+   "e: Toggle Stepper enable\n\r"
+   "c: Can bus test\n\r"
+   "sS: SD-Card test (s=test file, S=speed test)\n\r"
+   "i: I2C\n\r"
+   "1/2/3/4: Toggle outputs\n\r"
+   "f: apply 1Khz frequency to last IO line (1 second)\n\r"
+   "h: X/Y homing (note: direction and home sensor polarity may be wrong\n\r";
+  char iline[] = " LAOS-IOTEST V1.1";
+  iline[0] = 0xFF;
+  //i2c.write(_I2C_ADDRESS, iline, 17);
+  printf(help);
+
+  int i=0;
+  int test=0;
+  char key=0;
+  while( 1 )
+  {
+    i++;
+    led1 = xhome;
+    led2 = yhome;
+    led3 = zmin;
+    led4 = zmax;
+    if ( pc.readable() )
+      test = pc.getc();
+    else 
+      test = 0;
+    switch( test )
+    {
+      TEST('e',enable);
+      TEST('X',xdir);
+      TEST('x',xstep);
+      TEST('Y',ydir);
+      TEST('y',ystep);
+      TEST('Z',zdir);
+      TEST('z',zstep);
+      TEST('t',o2);
+      TEST('T',o1);
+      TEST('1',o1);
+      TEST('2',o2);
+      TEST('3',o3);
+      TEST('4',o4);
+      case 'h': 
+        home(); 
+        break;
+      case 'f':
+      case 'F':
+        if (io != NULL ) 
+        {
+          printf("pulsing output for 1000 pulses sec at 500Hz or 10kHz...\n");
+          for(i=0;i<1000;i++)
+          {
+            wait((test == 'f' ? 0.001 : 0.00005));
+            *io = 1;
+            wait((test == 'f' ? 0.001 : 0.00005));
+            *io = 0;
+          }
+        
+        }
+        break;
+      case 's':
+        memset(buf,0,sizeof(buf));
+        printf("Testing IO board SD card: Write...\n\r");
+        FILE *test1 = fopen("/sd/text.txt", "wb");
+        fwrite("bla bla\n",8, 1, test1); 
+        fclose(test1);
+        printf("Testing IO board SD card: Read...\n\r");
+        test1 = fopen("/sd/text.txt", "rb");
+        fread(&buf,8, 1, test1); 
+        printf("Result: '%s'\n\r", buf);
+        fclose(test1);
+        break;
+      case 'S':
+        printf("SD card speed test (writing and reading 1MByte file\n");
+        memset(buf,23,sizeof(buf));
+        FILE *test2 = fopen("/sd/test.bin", "wb");
+        t.reset();
+        t.start();
+        for(i=0;i<sizeof(buf);i++)
+          buf[i] = (char)t.read_ms();
+         t.stop(); t.reset(); t.start();
+        for(i=0;i<200;i++)
+          fwrite(buf,sizeof(buf), 1, test2); 
+        t.stop();
+        fclose(test2);
+        printf("Write 1MByte: %d msec\n\r", (int)t.read_ms());
+        test2 = fopen("/sd/test.bin", "rb");
+        t.reset();
+        t.start();
+        while( fread(&buf, sizeof(buf), 1, test2) > 0 );
+        t.stop();
+        printf("Read 1MByte: %d msec\n\r", (int)t.read_ms());
+      case 'i': 
+        printf("I2C test:\n\r");
+        char s[48];
+        sprintf(s," 0123456789ABCDEF1234567890ABCDEF");
+        s[0] = 0xFF;
+        i2c.write(_I2C_ADDRESS, s, strlen(s));
+        wait(3);
+        i2c.read(_I2C_ADDRESS, s, 48);
+        sprintf(iline," Key read: %c", s[0]);
+        i2c.write(_I2C_ADDRESS, iline, strlen(iline));
+        break;
+      case 'c':
+        printf("CAN bus test, sending and receiving characters, press any key to quit\n\r");
+        can.frequency(500000);
+        can.reset();
+        t.start();
+        can.reset();
+        while( !pc.readable() )
+        {
+          if ( t > 1.0 ) 
+          {
+            t.reset();
+            can.write(CANMessage(10, &key, 1));
+            key++;
+          }
+          wait(0.1);
+          if(can.read(msg)) 
+            printf("Message received: id=%d, len=%d, data[0]=%d\n\n\r", (int)msg.id, (int)msg.len, (int)msg.data[0]);
+   
+         printf("value=%d, rderror=%d, tderror=%d\n\r", (int)key, can.rderror(), can.tderror());
+       
+        }         
+        break;
+      case 0:
+      case '\n':
+      case '\r': break;
+      default: printf(help); break;
+    }
+    //i2c.read(_I2C_ADDRESS,&key, 1);
+    if (key != 0) {
+        char s[48];
+        printf("I2C key read: %c\n\r", key);
+        sprintf(s," Key read: %c", key);
+        s[0] = 0xFF;
+        //i2c.write(_I2C_ADDRESS, s, strlen(s));
+        wait(0.2);
+        if (key == '7') {
+            wait(1);
+            //i2c.write(_I2C_ADDRESS, iline, 17);
+        }
+        //i2c.read(_I2C_ADDRESS, s, 48);
+        key=0;
+    }
+    if ( test ) 
+    {
+      printf("xhome=%d, yhome=%d, zmin=%d, zmax=%d, cover=%s\n\r", (int)xhome, (int)yhome, (int)zmin, (int)zmax, (cover ? "OPEN" : "CLOSED") );
+    }
+  }
+}