main.cpp

00001 /*
00002  * main.cpp
00003  *
00004  * Copyright (c) 2011 Peter Brier
00005  *
00006  *   This file is part of the LaOS project (see: http://laoslaser.org)
00007  *
00008  *   LaOS is free software: you can redistribute it and/or modify
00009  *   it under the terms of the GNU General Public License as published by
00010  *   the Free Software Foundation, either version 3 of the License, or
00011  *   (at your option) any later version.
00012  *
00013  *   LaOS is distributed in the hope that it will be useful,
00014  *   but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00016  *   GNU General Public License for more details.
00017  *
00018  *   You should have received a copy of the GNU General Public License
00019  *   along with LaOS.  If not, see <http://www.gnu.org/licenses/>.
00020  *
00021  * This program tests the inputs and outputs of the laoslaser v1 board
00022  * LED1 = xhome
00023  * LED2 = yhome
00024  * LED3 = zmin
00025  * LED4 = zmax
00026  *
00027  */
00028 #include "mbed.h"
00029 #include "SDFileSystem.h"
00030 
00031 // USB Serial
00032 Serial pc(USBTX, USBRX); // tx, rx
00033 
00034 // SD card
00035 SDFileSystem sd(p11, p12, p13, p14, "sd");
00036 
00037 // Analog in/out (cover sensor) + NC
00038 DigitalIn cover(p19);
00039 
00040 // I2C
00041 I2C i2c(p9, p10);        // sda, scl
00042 #define _I2C_ADDRESS 0x04
00043 #define _I2C_HOME 0xFE
00044 #define _I2C_CLS 0xFF
00045 #define _I2C_BAUD 10000
00046 
00047 // status leds
00048 DigitalOut led1(LED1);
00049 DigitalOut led2(LED2);
00050 DigitalOut led3(LED3);
00051 DigitalOut led4(LED4);
00052 
00053 // Inputs;
00054 DigitalIn xhome(p8);
00055 DigitalIn yhome(p17);
00056 DigitalIn zmin(p15);
00057 DigitalIn zmax(p16);
00058 
00059 
00060 // motors
00061 DigitalOut enable(p7);
00062 DigitalOut xdir(p23);
00063 DigitalOut xstep(p24);
00064 DigitalOut ydir(p25);
00065 DigitalOut ystep(p26);
00066 DigitalOut zdir(p27);
00067 DigitalOut zstep(p28);
00068 
00069 // laser
00070 DigitalOut o1(p22);
00071 DigitalOut o2(p21);
00072 DigitalOut o3(p6);
00073 DigitalOut o4(p5);
00074 
00075 
00076 // CAN bus
00077 CAN can(p30, p29);
00078 
00079 
00080 void home()
00081 {
00082   printf("Homing with x,y,z dir=0\n");
00083   int i=0;
00084   xdir = 0;
00085   ydir = 0;
00086   zdir = 0;
00087   led1 = 0;
00088   while ( 1 )
00089   {
00090     xstep = ystep = 0;
00091     wait(0.0001);
00092     xstep = xhome;
00093     ystep = yhome;
00094     zstep = zmin;
00095     wait(0.0001);
00096     led1 = !xhome;    
00097     led2 = !yhome;
00098     led3 = !zmin;
00099     led4 = ((i++) & 0x10000);
00100     if ( (!xhome) && (!yhome) ) return;
00101   }
00102 }
00103 
00104 #define TEST(c,x) case c: io = &x; x = !x; printf("Test %c: " #x " is now %s \n\r", c, (x ? "ON" : "OFF")); break 
00105 
00106 /**
00107 *** main()
00108 **/
00109 int main() 
00110 {
00111   led1 = led2 = led3 = led4 = 1;
00112   Timer t;
00113   DigitalOut *io = NULL;
00114   CANMessage msg;
00115 
00116   i2c.frequency(_I2C_BAUD);
00117   pc.baud(115200);
00118   //pc.baud(9600);
00119 
00120   xhome.mode(PullUp);
00121   yhome.mode(PullUp);
00122   zmin.mode(PullUp);
00123   zmax.mode(PullUp); 
00124   
00125   char buf[512];
00126   char *help = "\n\r\n\r\n\rLaOS Test program\n\r"
00127    __DATE__ " " __TIME__ "\n\r"
00128    "++++++++++++++++++\n\r"
00129    "Use these keys to test the functionality of the board:\n\r"
00130    "xX: X Step/Dir\t"
00131    "yY: Y Step/Dir\t"
00132    "zZ: Z Step/Dir\t"
00133    "tT: Ext Step/Dir (o1/o2)\n\r"
00134    "e: Toggle Stepper enable\n\r"
00135    "c: Can bus test\n\r"
00136    "sS: SD-Card test (s=test file, S=speed test)\n\r"
00137    "i: I2C\n\r"
00138    "1/2/3/4: Toggle outputs\n\r"
00139    "f: apply 1Khz frequency to last IO line (1 second)\n\r"
00140    "h: X/Y homing (note: direction and home sensor polarity may be wrong\n\r";
00141   char iline[] = " LAOS-IOTEST V1.1";
00142   iline[0] = 0xFF;
00143   //i2c.write(_I2C_ADDRESS, iline, 17);
00144   printf(help);
00145 
00146   int i=0;
00147   int test=0;
00148   char key=0;
00149   while( 1 )
00150   {
00151     i++;
00152     led1 = xhome;
00153     led2 = yhome;
00154     led3 = zmin;
00155     led4 = zmax;
00156     if ( pc.readable() )
00157       test = pc.getc();
00158     else 
00159       test = 0;
00160     switch( test )
00161     {
00162       TEST('e',enable);
00163       TEST('X',xdir);
00164       TEST('x',xstep);
00165       TEST('Y',ydir);
00166       TEST('y',ystep);
00167       TEST('Z',zdir);
00168       TEST('z',zstep);
00169       TEST('t',o2);
00170       TEST('T',o1);
00171       TEST('1',o1);
00172       TEST('2',o2);
00173       TEST('3',o3);
00174       TEST('4',o4);
00175       case 'h': 
00176         home(); 
00177         break;
00178       case 'f':
00179       case 'F':
00180         if (io != NULL ) 
00181         {
00182           printf("pulsing output for 1000 pulses sec at 500Hz or 10kHz...\n");
00183           for(i=0;i<1000;i++)
00184           {
00185             wait((test == 'f' ? 0.001 : 0.00005));
00186             *io = 1;
00187             wait((test == 'f' ? 0.001 : 0.00005));
00188             *io = 0;
00189           }
00190         
00191         }
00192         break;
00193       case 's':
00194         memset(buf,0,sizeof(buf));
00195         printf("Testing IO board SD card: Write...\n\r");
00196         FILE *test1 = fopen("/sd/text.txt", "wb");
00197         fwrite("bla bla\n",8, 1, test1); 
00198         fclose(test1);
00199         printf("Testing IO board SD card: Read...\n\r");
00200         test1 = fopen("/sd/text.txt", "rb");
00201         fread(&buf,8, 1, test1); 
00202         printf("Result: '%s'\n\r", buf);
00203         fclose(test1);
00204         break;
00205       case 'S':
00206         printf("SD card speed test (writing and reading 1MByte file\n");
00207         memset(buf,23,sizeof(buf));
00208         FILE *test2 = fopen("/sd/test.bin", "wb");
00209         t.reset();
00210         t.start();
00211         for(i=0;i<sizeof(buf);i++)
00212           buf[i] = (char)t.read_ms();
00213          t.stop(); t.reset(); t.start();
00214         for(i=0;i<200;i++)
00215           fwrite(buf,sizeof(buf), 1, test2); 
00216         t.stop();
00217         fclose(test2);
00218         printf("Write 1MByte: %d msec\n\r", (int)t.read_ms());
00219         test2 = fopen("/sd/test.bin", "rb");
00220         t.reset();
00221         t.start();
00222         while( fread(&buf, sizeof(buf), 1, test2) > 0 );
00223         t.stop();
00224         printf("Read 1MByte: %d msec\n\r", (int)t.read_ms());
00225       case 'i': 
00226         printf("I2C test:\n\r");
00227         char s[48];
00228         sprintf(s," 0123456789ABCDEF1234567890ABCDEF");
00229         s[0] = 0xFF;
00230         i2c.write(_I2C_ADDRESS, s, strlen(s));
00231         wait(3);
00232         i2c.read(_I2C_ADDRESS, s, 48);
00233         sprintf(iline," Key read: %c", s[0]);
00234         i2c.write(_I2C_ADDRESS, iline, strlen(iline));
00235         break;
00236       case 'c':
00237         printf("CAN bus test, sending and receiving characters, press any key to quit\n\r");
00238         can.frequency(500000);
00239         can.reset();
00240         t.start();
00241         can.reset();
00242         while( !pc.readable() )
00243         {
00244           if ( t > 1.0 ) 
00245           {
00246             t.reset();
00247             can.write(CANMessage(10, &key, 1));
00248             key++;
00249           }
00250           wait(0.1);
00251           if(can.read(msg)) 
00252             printf("Message received: id=%d, len=%d, data[0]=%d\n\n\r", (int)msg.id, (int)msg.len, (int)msg.data[0]);
00253    
00254          printf("value=%d, rderror=%d, tderror=%d\n\r", (int)key, can.rderror(), can.tderror());
00255        
00256         }         
00257         break;
00258       case 0:
00259       case '\n':
00260       case '\r': break;
00261       default: printf(help); break;
00262     }
00263     //i2c.read(_I2C_ADDRESS,&key, 1);
00264     if (key != 0) {
00265         char s[48];
00266         printf("I2C key read: %c\n\r", key);
00267         sprintf(s," Key read: %c", key);
00268         s[0] = 0xFF;
00269         //i2c.write(_I2C_ADDRESS, s, strlen(s));
00270         wait(0.2);
00271         if (key == '7') {
00272             wait(1);
00273             //i2c.write(_I2C_ADDRESS, iline, 17);
00274         }
00275         //i2c.read(_I2C_ADDRESS, s, 48);
00276         key=0;
00277     }
00278     if ( test ) 
00279     {
00280       printf("xhome=%d, yhome=%d, zmin=%d, zmax=%d, cover=%s\n\r", (int)xhome, (int)yhome, (int)zmin, (int)zmax, (cover ? "OPEN" : "CLOSED") );
00281     }
00282   }
00283 }