This is the firmware for the LaOS - Laser Open Source project. You can use it to drive a laser cutter. For hardware and more information, look at our wiki: http://wiki.laoslaser.org
Dependencies: EthernetNetIf mbed
main.cpp@0:3852426a5068, 2012-06-08 (annotated)
- Committer:
- fablabtruck
- Date:
- Fri Jun 08 09:26:40 2012 +0000
- Revision:
- 0:3852426a5068
svn revision 379
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
fablabtruck | 0:3852426a5068 | 1 | /* |
fablabtruck | 0:3852426a5068 | 2 | * main.cpp |
fablabtruck | 0:3852426a5068 | 3 | * Laos Controller, main function |
fablabtruck | 0:3852426a5068 | 4 | * |
fablabtruck | 0:3852426a5068 | 5 | * Copyright (c) 2011 Peter Brier & Jaap Vermaas |
fablabtruck | 0:3852426a5068 | 6 | * |
fablabtruck | 0:3852426a5068 | 7 | * This file is part of the LaOS project (see: http://wiki.laoslaser.org) |
fablabtruck | 0:3852426a5068 | 8 | * |
fablabtruck | 0:3852426a5068 | 9 | * LaOS is free software: you can redistribute it and/or modify |
fablabtruck | 0:3852426a5068 | 10 | * it under the terms of the GNU General Public License as published by |
fablabtruck | 0:3852426a5068 | 11 | * the Free Software Foundation, either version 3 of the License, or |
fablabtruck | 0:3852426a5068 | 12 | * (at your option) any later version. |
fablabtruck | 0:3852426a5068 | 13 | * |
fablabtruck | 0:3852426a5068 | 14 | * LaOS is distributed in the hope that it will be useful, |
fablabtruck | 0:3852426a5068 | 15 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
fablabtruck | 0:3852426a5068 | 16 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
fablabtruck | 0:3852426a5068 | 17 | * GNU General Public License for more details. |
fablabtruck | 0:3852426a5068 | 18 | * |
fablabtruck | 0:3852426a5068 | 19 | * You should have received a copy of the GNU General Public License |
fablabtruck | 0:3852426a5068 | 20 | * along with LaOS. If not, see <http://www.gnu.org/licenses/>. |
fablabtruck | 0:3852426a5068 | 21 | * |
fablabtruck | 0:3852426a5068 | 22 | * This program consists of a few parts: |
fablabtruck | 0:3852426a5068 | 23 | * |
fablabtruck | 0:3852426a5068 | 24 | * ConfigFile Read configuration files |
fablabtruck | 0:3852426a5068 | 25 | * EthConfig Initialize an ethernet stack, based on a configuration file (includes link status monitoring) |
fablabtruck | 0:3852426a5068 | 26 | * LaosDisplay User interface functions (read keys, display text and menus on LCD) |
fablabtruck | 0:3852426a5068 | 27 | * LaosMenu User interface stuctures (menu navigation) |
fablabtruck | 0:3852426a5068 | 28 | * LaosServer TCP/IP server, accept connections read/write data |
fablabtruck | 0:3852426a5068 | 29 | * LaosMotion Motion control functions (X,Y,Z motion, homing) |
fablabtruck | 0:3852426a5068 | 30 | * LaosIO Input/Output functions |
fablabtruck | 0:3852426a5068 | 31 | * LaosFile File based jobs (read/write/delete) |
fablabtruck | 0:3852426a5068 | 32 | * |
fablabtruck | 0:3852426a5068 | 33 | * Program functions: |
fablabtruck | 0:3852426a5068 | 34 | * 1) Read config file |
fablabtruck | 0:3852426a5068 | 35 | * 2) Enable TCP/IP stack (Fixed ip or DHCP) |
fablabtruck | 0:3852426a5068 | 36 | * 3) Instantiate tcp/ip port and accept connections |
fablabtruck | 0:3852426a5068 | 37 | * 4) Show menus, peform user actions |
fablabtruck | 0:3852426a5068 | 38 | * 5) Controll laser |
fablabtruck | 0:3852426a5068 | 39 | * 6) Controll motion |
fablabtruck | 0:3852426a5068 | 40 | * 7) Set and read IO, check status (e.g. interlocks) |
fablabtruck | 0:3852426a5068 | 41 | * |
fablabtruck | 0:3852426a5068 | 42 | */ |
fablabtruck | 0:3852426a5068 | 43 | #include "global.h" |
fablabtruck | 0:3852426a5068 | 44 | #include "ConfigFile.h" |
fablabtruck | 0:3852426a5068 | 45 | #include "EthConfig.h" |
fablabtruck | 0:3852426a5068 | 46 | #include "TFTPServer.h" |
fablabtruck | 0:3852426a5068 | 47 | #include "LaosMenu.h" |
fablabtruck | 0:3852426a5068 | 48 | #include "LaosMotion.h" |
fablabtruck | 0:3852426a5068 | 49 | #include "SDFileSystem.h" |
fablabtruck | 0:3852426a5068 | 50 | #include "laosfilesystem.h" |
fablabtruck | 0:3852426a5068 | 51 | |
fablabtruck | 0:3852426a5068 | 52 | // MBED blue status leds |
fablabtruck | 0:3852426a5068 | 53 | DigitalOut led1(LED1); |
fablabtruck | 0:3852426a5068 | 54 | DigitalOut led2(LED2); |
fablabtruck | 0:3852426a5068 | 55 | DigitalOut led3(LED3); |
fablabtruck | 0:3852426a5068 | 56 | DigitalOut led4(LED4); |
fablabtruck | 0:3852426a5068 | 57 | |
fablabtruck | 0:3852426a5068 | 58 | // Status and communication |
fablabtruck | 0:3852426a5068 | 59 | DigitalOut eth_link(p29); // green |
fablabtruck | 0:3852426a5068 | 60 | DigitalOut eth_speed(p30); // yellow |
fablabtruck | 0:3852426a5068 | 61 | EthernetNetIf *eth; // Ethernet, tcp/ip |
fablabtruck | 0:3852426a5068 | 62 | |
fablabtruck | 0:3852426a5068 | 63 | // Filesystems |
fablabtruck | 0:3852426a5068 | 64 | LocalFileSystem local("local"); //File System |
fablabtruck | 0:3852426a5068 | 65 | LaosFileSystem sd(p11, p12, p13, p14, "sd"); |
fablabtruck | 0:3852426a5068 | 66 | |
fablabtruck | 0:3852426a5068 | 67 | // Laos objects |
fablabtruck | 0:3852426a5068 | 68 | LaosDisplay *dsp; |
fablabtruck | 0:3852426a5068 | 69 | LaosMenu *mnu; |
fablabtruck | 0:3852426a5068 | 70 | TFTPServer *srv; |
fablabtruck | 0:3852426a5068 | 71 | LaosMotion *mot; |
fablabtruck | 0:3852426a5068 | 72 | Timer systime; |
fablabtruck | 0:3852426a5068 | 73 | |
fablabtruck | 0:3852426a5068 | 74 | // Config |
fablabtruck | 0:3852426a5068 | 75 | GlobalConfig *cfg; |
fablabtruck | 0:3852426a5068 | 76 | |
fablabtruck | 0:3852426a5068 | 77 | // Protos |
fablabtruck | 0:3852426a5068 | 78 | void GetFile(void); |
fablabtruck | 0:3852426a5068 | 79 | void main_nodisplay(); |
fablabtruck | 0:3852426a5068 | 80 | void main_menu(); |
fablabtruck | 0:3852426a5068 | 81 | |
fablabtruck | 0:3852426a5068 | 82 | // for debugging: |
fablabtruck | 0:3852426a5068 | 83 | extern void plan_get_current_position_xyz(float *x, float *y, float *z); |
fablabtruck | 0:3852426a5068 | 84 | extern PwmOut pwm; |
fablabtruck | 0:3852426a5068 | 85 | extern "C" void mbed_reset(); |
fablabtruck | 0:3852426a5068 | 86 | |
fablabtruck | 0:3852426a5068 | 87 | /** |
fablabtruck | 0:3852426a5068 | 88 | *** Main function |
fablabtruck | 0:3852426a5068 | 89 | **/ |
fablabtruck | 0:3852426a5068 | 90 | int main() |
fablabtruck | 0:3852426a5068 | 91 | { |
fablabtruck | 0:3852426a5068 | 92 | systime.start(); |
fablabtruck | 0:3852426a5068 | 93 | //float x, y, z; |
fablabtruck | 0:3852426a5068 | 94 | eth_speed = 1; |
fablabtruck | 0:3852426a5068 | 95 | |
fablabtruck | 0:3852426a5068 | 96 | dsp = new LaosDisplay(); |
fablabtruck | 0:3852426a5068 | 97 | printf( VERSION_STRING "...\nBOOT...\n" ); |
fablabtruck | 0:3852426a5068 | 98 | mnu = new LaosMenu(dsp); |
fablabtruck | 0:3852426a5068 | 99 | eth_speed=0; |
fablabtruck | 0:3852426a5068 | 100 | |
fablabtruck | 0:3852426a5068 | 101 | printf("TEST SD...\n"); |
fablabtruck | 0:3852426a5068 | 102 | FILE *fp = sd.openfile("test.txt", "wb"); |
fablabtruck | 0:3852426a5068 | 103 | if ( fp == NULL ) |
fablabtruck | 0:3852426a5068 | 104 | { |
fablabtruck | 0:3852426a5068 | 105 | mnu->SetScreen("SD NOT READY!"); |
fablabtruck | 0:3852426a5068 | 106 | wait(2.0); |
fablabtruck | 0:3852426a5068 | 107 | mbed_reset(); |
fablabtruck | 0:3852426a5068 | 108 | } |
fablabtruck | 0:3852426a5068 | 109 | else |
fablabtruck | 0:3852426a5068 | 110 | { |
fablabtruck | 0:3852426a5068 | 111 | printf("SD: READY...\n"); |
fablabtruck | 0:3852426a5068 | 112 | fclose(fp); |
fablabtruck | 0:3852426a5068 | 113 | removefile("test.txt"); |
fablabtruck | 0:3852426a5068 | 114 | } |
fablabtruck | 0:3852426a5068 | 115 | |
fablabtruck | 0:3852426a5068 | 116 | // See if there's a .bin file on the SD |
fablabtruck | 0:3852426a5068 | 117 | // if so, put it on the MBED and reboot |
fablabtruck | 0:3852426a5068 | 118 | if (SDcheckFirmware()) mbed_reset(); |
fablabtruck | 0:3852426a5068 | 119 | |
fablabtruck | 0:3852426a5068 | 120 | mnu->SetScreen(VERSION_STRING); |
fablabtruck | 0:3852426a5068 | 121 | printf("START...\n"); |
fablabtruck | 0:3852426a5068 | 122 | cfg = new GlobalConfig("config.txt"); |
fablabtruck | 0:3852426a5068 | 123 | mnu->SetScreen("CONFIG OK...."); |
fablabtruck | 0:3852426a5068 | 124 | printf("CONFIG OK...\n"); |
fablabtruck | 0:3852426a5068 | 125 | if (!cfg->nodisplay) |
fablabtruck | 0:3852426a5068 | 126 | dsp->testI2C(); |
fablabtruck | 0:3852426a5068 | 127 | |
fablabtruck | 0:3852426a5068 | 128 | printf("MOTION...\n"); |
fablabtruck | 0:3852426a5068 | 129 | mot = new LaosMotion(); |
fablabtruck | 0:3852426a5068 | 130 | |
fablabtruck | 0:3852426a5068 | 131 | eth = EthConfig(); |
fablabtruck | 0:3852426a5068 | 132 | eth_speed=1; |
fablabtruck | 0:3852426a5068 | 133 | |
fablabtruck | 0:3852426a5068 | 134 | printf("SERVER...\n"); |
fablabtruck | 0:3852426a5068 | 135 | srv = new TFTPServer("/sd", cfg->port); |
fablabtruck | 0:3852426a5068 | 136 | mnu->SetScreen("SERVER OK...."); |
fablabtruck | 0:3852426a5068 | 137 | wait(0.5); |
fablabtruck | 0:3852426a5068 | 138 | mnu->SetScreen(9); // IP |
fablabtruck | 0:3852426a5068 | 139 | wait(1.0); |
fablabtruck | 0:3852426a5068 | 140 | |
fablabtruck | 0:3852426a5068 | 141 | printf("RUN...\n"); |
fablabtruck | 0:3852426a5068 | 142 | |
fablabtruck | 0:3852426a5068 | 143 | // Wait for key, and then home |
fablabtruck | 0:3852426a5068 | 144 | |
fablabtruck | 0:3852426a5068 | 145 | if ( cfg->autohome ) |
fablabtruck | 0:3852426a5068 | 146 | { |
fablabtruck | 0:3852426a5068 | 147 | printf("HOME...\n"); |
fablabtruck | 0:3852426a5068 | 148 | wait(1); |
fablabtruck | 0:3852426a5068 | 149 | |
fablabtruck | 0:3852426a5068 | 150 | mnu->SetScreen("HOME...."); |
fablabtruck | 0:3852426a5068 | 151 | |
fablabtruck | 0:3852426a5068 | 152 | // Start homing |
fablabtruck | 0:3852426a5068 | 153 | while ( !mot->isStart() ); |
fablabtruck | 0:3852426a5068 | 154 | mot->home(cfg->xhome,cfg->yhome, cfg->zhome); |
fablabtruck | 0:3852426a5068 | 155 | // if ( !mot->isHome ) exit(1); |
fablabtruck | 0:3852426a5068 | 156 | printf("HOME DONE. (%d,%d, %d)\n",cfg->xhome,cfg->yhome,cfg->zhome); |
fablabtruck | 0:3852426a5068 | 157 | } |
fablabtruck | 0:3852426a5068 | 158 | else |
fablabtruck | 0:3852426a5068 | 159 | printf("Homing skipped: %d\n", cfg->autohome); |
fablabtruck | 0:3852426a5068 | 160 | |
fablabtruck | 0:3852426a5068 | 161 | // clean sd card? |
fablabtruck | 0:3852426a5068 | 162 | if (cfg->cleandir) cleandir(); |
fablabtruck | 0:3852426a5068 | 163 | mnu->SetScreen(NULL); |
fablabtruck | 0:3852426a5068 | 164 | |
fablabtruck | 0:3852426a5068 | 165 | if (cfg->nodisplay) { |
fablabtruck | 0:3852426a5068 | 166 | printf("No display set\n\r"); |
fablabtruck | 0:3852426a5068 | 167 | main_nodisplay(); |
fablabtruck | 0:3852426a5068 | 168 | } else { |
fablabtruck | 0:3852426a5068 | 169 | printf("Entering display\n\r"); |
fablabtruck | 0:3852426a5068 | 170 | main_menu(); |
fablabtruck | 0:3852426a5068 | 171 | } |
fablabtruck | 0:3852426a5068 | 172 | } |
fablabtruck | 0:3852426a5068 | 173 | |
fablabtruck | 0:3852426a5068 | 174 | void main_nodisplay() { |
fablabtruck | 0:3852426a5068 | 175 | float x, y, z = 0; |
fablabtruck | 0:3852426a5068 | 176 | |
fablabtruck | 0:3852426a5068 | 177 | // main loop |
fablabtruck | 0:3852426a5068 | 178 | while(1) |
fablabtruck | 0:3852426a5068 | 179 | { |
fablabtruck | 0:3852426a5068 | 180 | led1=led2=led3=led4=0; |
fablabtruck | 0:3852426a5068 | 181 | mnu->SetScreen("Wait for file ..."); |
fablabtruck | 0:3852426a5068 | 182 | while (srv->State() == listen) |
fablabtruck | 0:3852426a5068 | 183 | Net::poll(); |
fablabtruck | 0:3852426a5068 | 184 | GetFile(); |
fablabtruck | 0:3852426a5068 | 185 | |
fablabtruck | 0:3852426a5068 | 186 | plan_get_current_position_xyz(&x, &y, &z); |
fablabtruck | 0:3852426a5068 | 187 | printf("%f %f\n", x,y); |
fablabtruck | 0:3852426a5068 | 188 | mnu->SetScreen("Laser BUSY..."); |
fablabtruck | 0:3852426a5068 | 189 | |
fablabtruck | 0:3852426a5068 | 190 | char name[32]; |
fablabtruck | 0:3852426a5068 | 191 | srv->getFilename(name); |
fablabtruck | 0:3852426a5068 | 192 | printf("Now processing file: '%s'\n\r", name); |
fablabtruck | 0:3852426a5068 | 193 | FILE *in = sd.openfile(name, "r"); |
fablabtruck | 0:3852426a5068 | 194 | while (!feof(in)) |
fablabtruck | 0:3852426a5068 | 195 | { |
fablabtruck | 0:3852426a5068 | 196 | while (!mot->ready() ); |
fablabtruck | 0:3852426a5068 | 197 | mot->write(readint(in)); |
fablabtruck | 0:3852426a5068 | 198 | } |
fablabtruck | 0:3852426a5068 | 199 | fclose(in); |
fablabtruck | 0:3852426a5068 | 200 | removefile(name); |
fablabtruck | 0:3852426a5068 | 201 | // done |
fablabtruck | 0:3852426a5068 | 202 | printf("DONE!...\n"); |
fablabtruck | 0:3852426a5068 | 203 | mot->moveTo(cfg->xrest, cfg->yrest, cfg->zrest); |
fablabtruck | 0:3852426a5068 | 204 | } |
fablabtruck | 0:3852426a5068 | 205 | } |
fablabtruck | 0:3852426a5068 | 206 | |
fablabtruck | 0:3852426a5068 | 207 | |
fablabtruck | 0:3852426a5068 | 208 | void main_menu() { |
fablabtruck | 0:3852426a5068 | 209 | // main loop |
fablabtruck | 0:3852426a5068 | 210 | while (1) { |
fablabtruck | 0:3852426a5068 | 211 | led1=led2=led3=led4=0; |
fablabtruck | 0:3852426a5068 | 212 | |
fablabtruck | 0:3852426a5068 | 213 | mnu->SetScreen(1); |
fablabtruck | 0:3852426a5068 | 214 | while (1) {; |
fablabtruck | 0:3852426a5068 | 215 | mnu->Handle(); |
fablabtruck | 0:3852426a5068 | 216 | Net::poll(); |
fablabtruck | 0:3852426a5068 | 217 | if (srv->State() != listen) { |
fablabtruck | 0:3852426a5068 | 218 | GetFile(); |
fablabtruck | 0:3852426a5068 | 219 | char myname[32]; |
fablabtruck | 0:3852426a5068 | 220 | srv->getFilename(myname); |
fablabtruck | 0:3852426a5068 | 221 | if (isFirmware(myname)) { |
fablabtruck | 0:3852426a5068 | 222 | installFirmware(myname); |
fablabtruck | 0:3852426a5068 | 223 | mnu->SetScreen(1); |
fablabtruck | 0:3852426a5068 | 224 | } else { |
fablabtruck | 0:3852426a5068 | 225 | if (strcmp("config.txt", myname) == 0) { |
fablabtruck | 0:3852426a5068 | 226 | // it's a config file! |
fablabtruck | 0:3852426a5068 | 227 | mnu->SetScreen(1); |
fablabtruck | 0:3852426a5068 | 228 | } else { |
fablabtruck | 0:3852426a5068 | 229 | if (isLaosFile(myname)) { |
fablabtruck | 0:3852426a5068 | 230 | mnu->SetFileName(myname); |
fablabtruck | 0:3852426a5068 | 231 | mnu->SetScreen(2); |
fablabtruck | 0:3852426a5068 | 232 | } |
fablabtruck | 0:3852426a5068 | 233 | } |
fablabtruck | 0:3852426a5068 | 234 | } |
fablabtruck | 0:3852426a5068 | 235 | } |
fablabtruck | 0:3852426a5068 | 236 | } |
fablabtruck | 0:3852426a5068 | 237 | } |
fablabtruck | 0:3852426a5068 | 238 | } |
fablabtruck | 0:3852426a5068 | 239 | |
fablabtruck | 0:3852426a5068 | 240 | /** |
fablabtruck | 0:3852426a5068 | 241 | *** Get file from network and save on SDcard |
fablabtruck | 0:3852426a5068 | 242 | *** Ascii data is read from the network, and saved on the SD card in binary int32 format |
fablabtruck | 0:3852426a5068 | 243 | **/ |
fablabtruck | 0:3852426a5068 | 244 | void GetFile(void) { |
fablabtruck | 0:3852426a5068 | 245 | Timer t; |
fablabtruck | 0:3852426a5068 | 246 | printf("Main::GetFile()\n\r" ); |
fablabtruck | 0:3852426a5068 | 247 | mnu->SetScreen("Receive file..."); |
fablabtruck | 0:3852426a5068 | 248 | t.start(); |
fablabtruck | 0:3852426a5068 | 249 | while (srv->State() != listen) { |
fablabtruck | 0:3852426a5068 | 250 | Net::poll(); |
fablabtruck | 0:3852426a5068 | 251 | switch ((int)t.read()) { |
fablabtruck | 0:3852426a5068 | 252 | case 1: |
fablabtruck | 0:3852426a5068 | 253 | mnu->SetScreen("Receive file"); |
fablabtruck | 0:3852426a5068 | 254 | break; |
fablabtruck | 0:3852426a5068 | 255 | case 2: |
fablabtruck | 0:3852426a5068 | 256 | mnu->SetScreen("Receive file."); |
fablabtruck | 0:3852426a5068 | 257 | break; |
fablabtruck | 0:3852426a5068 | 258 | case 3: |
fablabtruck | 0:3852426a5068 | 259 | mnu->SetScreen("Receive file.."); |
fablabtruck | 0:3852426a5068 | 260 | break; |
fablabtruck | 0:3852426a5068 | 261 | case 4: |
fablabtruck | 0:3852426a5068 | 262 | mnu->SetScreen("Receive file..."); |
fablabtruck | 0:3852426a5068 | 263 | t.reset(); |
fablabtruck | 0:3852426a5068 | 264 | break; |
fablabtruck | 0:3852426a5068 | 265 | } |
fablabtruck | 0:3852426a5068 | 266 | } |
fablabtruck | 0:3852426a5068 | 267 | mnu->SetScreen("Received file."); |
fablabtruck | 0:3852426a5068 | 268 | } // GetFile |
fablabtruck | 0:3852426a5068 | 269 |