Jean Mercier / Mbed 2 deprecated jmAll

Command all jmCLIG modules from serial port

jmMotor.c@0:9112e09912db, 2011-02-12 (annotated)

Committer:
jm
Date:
Sat Feb 12 16:50:25 2011 +0000
Revision:
0:9112e09912db
jmAll Command Line Interface Module

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jm 0:9112e09912db 1 /*************************************************************************
jm 0:9112e09912db 2 * @file jmMotor.c
jm 0:9112e09912db 3 * @version 1.0
jm 0:9112e09912db 4 * @date Feb 12, 2011
jm 0:9112e09912db 5 */
jm 0:9112e09912db 6
jm 0:9112e09912db 7 #include "jmMotor.h"
jm 0:9112e09912db 8 #include "LPC17xx.h"
jm 0:9112e09912db 9 #include "main.h"
jm 0:9112e09912db 10 #include "jmCommands.h"
jm 0:9112e09912db 11 #include "jmMessages.h"
jm 0:9112e09912db 12 #include "jmRingBuffer.h"
jm 0:9112e09912db 13 #include "stdio.h"
jm 0:9112e09912db 14
jm 0:9112e09912db 15 #ifndef nonStop
jm 0:9112e09912db 16 #define nonStop 65535 // for continuous mode operation
jm 0:9112e09912db 17 #endif
jm 0:9112e09912db 18
jm 0:9112e09912db 19 #define mtNotInit 0
jm 0:9112e09912db 20 #define mtRunningCW 1
jm 0:9112e09912db 21 #define mtRunningCCW 2
jm 0:9112e09912db 22 #define mtStopped 3
jm 0:9112e09912db 23
jm 0:9112e09912db 24 // Module Data Structure
jm 0:9112e09912db 25 struct StructMotor sMotor[motorQty]; // static creation
jm 0:9112e09912db 26
jm 0:9112e09912db 27 /** Module Data Structure Initialization
jm 0:9112e09912db 28 * @brief All State Machines non initialized
jm 0:9112e09912db 29 * @param[in] none
jm 0:9112e09912db 30 * @returns none
jm 0:9112e09912db 31 */
jm 0:9112e09912db 32 void MotorInit(void){
jm 0:9112e09912db 33 int i;
jm 0:9112e09912db 34 for(i=0;i<motorQty;i++){
jm 0:9112e09912db 35 sMotor[i].active = mtNotInit;
jm 0:9112e09912db 36 }
jm 0:9112e09912db 37 }
jm 0:9112e09912db 38
jm 0:9112e09912db 39 /** Speed control for motors (1 or up to 4)
jm 0:9112e09912db 40 * @brief motorSpeed Command Line Interface.
jm 0:9112e09912db 41 * Format: command name (arg info)min..max values
jm 0:9112e09912db 42 * motorSpeed (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
jm 0:9112e09912db 43 * @param[in] Extracted from command line (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
jm 0:9112e09912db 44 * @returns Message: motorSpeed ids tOn tOff
jm 0:9112e09912db 45 */
jm 0:9112e09912db 46 void cli_MotorSpeed(void){
jm 0:9112e09912db 47 unsigned int id, i, tOn,tOff;
jm 0:9112e09912db 48 if(ExtractUInteger(pLine,&id,1,15)){ //extract id
jm 0:9112e09912db 49 if(ExtractUInteger(pLine,&tOn,0,255)){ //extract tOn
jm 0:9112e09912db 50 if(ExtractUInteger(pLine,&tOff,0,255)){ //extract tOff
jm 0:9112e09912db 51 for(i=0;i<motorQty;i++){ // check each motor
jm 0:9112e09912db 52 if(id & 1<<i){ // motor included ?
jm 0:9112e09912db 53 if(sMotor[i].active){ // motor initialized ?
jm 0:9112e09912db 54 sMotor[i].tOn=(uint8_t)tOn;
jm 0:9112e09912db 55 sMotor[i].tOff=(uint8_t)tOff;
jm 0:9112e09912db 56
jm 0:9112e09912db 57
jm 0:9112e09912db 58 if(tOn==0){ // 0% ?
jm 0:9112e09912db 59 sMotor[i].cycles=0;
jm 0:9112e09912db 60 sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // output pin low
jm 0:9112e09912db 61 }
jm 0:9112e09912db 62
jm 0:9112e09912db 63 if(tOff==0){ // 100% ?
jm 0:9112e09912db 64 sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // output pin high
jm 0:9112e09912db 65 }
jm 0:9112e09912db 66
jm 0:9112e09912db 67 if(tOn!=0 && tOff!=0){ // PWM ?
jm 0:9112e09912db 68 // change motor tOn and tOff values
jm 0:9112e09912db 69 sMotor[i].cycles=nonStop;
jm 0:9112e09912db 70 }
jm 0:9112e09912db 71 // report to gui
jm 0:9112e09912db 72 rGPPMT(i);
jm 0:9112e09912db 73 }
jm 0:9112e09912db 74 }
jm 0:9112e09912db 75 }
jm 0:9112e09912db 76 }
jm 0:9112e09912db 77 }
jm 0:9112e09912db 78
jm 0:9112e09912db 79 if(Feedback)printf("MotorSpeed ID %d tOn %d tOff %d\n",id,tOn, tOff);
jm 0:9112e09912db 80 return;
jm 0:9112e09912db 81 }
jm 0:9112e09912db 82 if(Help)printf("motorSpeed (Motor IDs ORed)1..15 (tOn Value)1..255 (tOff Value)1..255\n");
jm 0:9112e09912db 83 // Ignore pending command line
jm 0:9112e09912db 84 NextCommand(nl,pLine);
jm 0:9112e09912db 85 }
jm 0:9112e09912db 86
jm 0:9112e09912db 87
jm 0:9112e09912db 88 /***********************************************************************
jm 0:9112e09912db 89 * @brief Module State Machine.
jm 0:9112e09912db 90 * Enable different motor control concurrently.
jm 0:9112e09912db 91 * @param none
jm 0:9112e09912db 92 * @returns Message at end of cycles: GPPMT id dirPin drivePinB tOn tOff status
jm 0:9112e09912db 93 */
jm 0:9112e09912db 94 void MotorSM(void){
jm 0:9112e09912db 95 int i;
jm 0:9112e09912db 96 for(i=0;i<motorQty;i++){ // for each SM define by pins
jm 0:9112e09912db 97 // SM active ?
jm 0:9112e09912db 98 if(!sMotor[i].active) continue;
jm 0:9112e09912db 99
jm 0:9112e09912db 100 if(sMotor[i].cycles!=0){ // Cycles to DO ?
jm 0:9112e09912db 101 switch(sMotor[i].state){
jm 0:9112e09912db 102
jm 0:9112e09912db 103 // pulse is low
jm 0:9112e09912db 104 case 0: if(sMotor[i].eggTimer==0){ // time to change ?
jm 0:9112e09912db 105 sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // set pin High
jm 0:9112e09912db 106 sMotor[i].eggTimer=sMotor[i].tOn; // load timer with tOn
jm 0:9112e09912db 107 sMotor[i].state=1; // next state
jm 0:9112e09912db 108 }
jm 0:9112e09912db 109 break;
jm 0:9112e09912db 110
jm 0:9112e09912db 111 // pulse is High
jm 0:9112e09912db 112 case 1: if(sMotor[i].eggTimer==0){ // time to change ?
jm 0:9112e09912db 113 sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // reset pin low
jm 0:9112e09912db 114 sMotor[i].eggTimer=sMotor[i].tOff; // load timer with tOff
jm 0:9112e09912db 115 if(sMotor[i].cycles != nonStop){ // continuous mode ?
jm 0:9112e09912db 116 if(--sMotor[i].cycles == 0) // decrease qty if not continuous mode
jm 0:9112e09912db 117 rGPPMT(i); // Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:9112e09912db 118 }
jm 0:9112e09912db 119 sMotor[i].state=0; // state 0
jm 0:9112e09912db 120 }
jm 0:9112e09912db 121 break;
jm 0:9112e09912db 122 }//switch
jm 0:9112e09912db 123 }//if
jm 0:9112e09912db 124 }//for
jm 0:9112e09912db 125 }//MotorSM
jm 0:9112e09912db 126
jm 0:9112e09912db 127
jm 0:9112e09912db 128 /** @brief motor Command Line Interface
jm 0:9112e09912db 129 * Command Line Interface to control Motor on mbed pins DIP5 to 30.
jm 0:9112e09912db 130 * Format: command name (arg info)min..max values
jm 0:9112e09912db 131 * Command Line Format: motor (Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]
jm 0:9112e09912db 132 * @param[in] Extracted from command line ((Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)1..255 (tOff)1..255 (Cycles)[1..65535]
jm 0:9112e09912db 133 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:9112e09912db 134 */
jm 0:9112e09912db 135 void cli_Motor(void){
jm 0:9112e09912db 136 unsigned int id,dirPin,drivePin, dir, tOn,tOff,cycles;
jm 0:9112e09912db 137
jm 0:9112e09912db 138 if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract motor id
jm 0:9112e09912db 139 if(ExtractUInteger(pLine,&dirPin,0,432)){ // extract direction pin
jm 0:9112e09912db 140 if(ExtractUInteger(pLine,&drivePin,0,432)){ // extract drive pin
jm 0:9112e09912db 141 if(ExtractUInteger(pLine,&dir,0,1)){ // extract direction
jm 0:9112e09912db 142 if(ExtractUInteger(pLine,&tOn,0,255)){ // extract tOn
jm 0:9112e09912db 143 if(ExtractUInteger(pLine,&tOff,0,255)){ // extract tOff
jm 0:9112e09912db 144 // extract cycles and test for nonStop mode
jm 0:9112e09912db 145 if(!ExtractUInteger(pLine,&cycles,1,nonStop))cycles = nonStop;
jm 0:9112e09912db 146
jm 0:9112e09912db 147 sMotor[id].dirBitValue = 1<<(dirPin%100);
jm 0:9112e09912db 148 sMotor[id].driveBitValue = 1<<(drivePin%100);;
jm 0:9112e09912db 149 sMotor[id].drivePort = jmGPIO[drivePin/100];
jm 0:9112e09912db 150 sMotor[id].dirPort = jmGPIO[dirPin/100];
jm 0:9112e09912db 151 sMotor[id].active = 1;
jm 0:9112e09912db 152
jm 0:9112e09912db 153 // Port.Pin set to outputs
jm 0:9112e09912db 154 sMotor[id].dirPort->FIODIR |= sMotor[id].dirBitValue;
jm 0:9112e09912db 155 sMotor[id].drivePort->FIODIR |= sMotor[id].driveBitValue;
jm 0:9112e09912db 156
jm 0:9112e09912db 157 sMotor[id].direction = dir;
jm 0:9112e09912db 158 sMotor[id].tOn = (uint8_t)tOn;
jm 0:9112e09912db 159 sMotor[id].tOff = (uint8_t)tOff;
jm 0:9112e09912db 160 sMotor[id].cycles = (uint16_t)cycles;
jm 0:9112e09912db 161 sMotor[id].state = 0;
jm 0:9112e09912db 162 sMotor[id].eggTimer = 0;
jm 0:9112e09912db 163 sMotor[id].dirPin = dirPin;
jm 0:9112e09912db 164 sMotor[id].drivePin = drivePin;
jm 0:9112e09912db 165
jm 0:9112e09912db 166 // set output direction bit according to given direction
jm 0:9112e09912db 167 if(dir) sMotor[id].dirPort->FIOPIN |= sMotor[id].dirBitValue;
jm 0:9112e09912db 168 else sMotor[id].dirPort->FIOPIN &= ~sMotor[id].dirBitValue;
jm 0:9112e09912db 169
jm 0:9112e09912db 170 // 100%
jm 0:9112e09912db 171 if(tOff==0){
jm 0:9112e09912db 172 sMotor[id].drivePort->FIOPIN |= sMotor[id].driveBitValue;
jm 0:9112e09912db 173 // SM off
jm 0:9112e09912db 174 sMotor[id].cycles = 0;
jm 0:9112e09912db 175 }
jm 0:9112e09912db 176
jm 0:9112e09912db 177 // 0%
jm 0:9112e09912db 178 if(tOn==0){
jm 0:9112e09912db 179 sMotor[id].drivePort->FIOPIN &= ~sMotor[id].driveBitValue;
jm 0:9112e09912db 180 // SM off
jm 0:9112e09912db 181 sMotor[id].cycles = 0;
jm 0:9112e09912db 182 }
jm 0:9112e09912db 183
jm 0:9112e09912db 184 rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:9112e09912db 185
jm 0:9112e09912db 186 if(Feedback)printf("Motor %d DirPin %d DrivePin %d Dir %d tOn %d tOff %d Cycles %d\n",id,
jm 0:9112e09912db 187 dirPin, drivePin, dir,tOn,tOff,cycles);
jm 0:9112e09912db 188 return;
jm 0:9112e09912db 189 }
jm 0:9112e09912db 190 }
jm 0:9112e09912db 191 }
jm 0:9112e09912db 192 }
jm 0:9112e09912db 193 }
jm 0:9112e09912db 194 // Ignore pending command line
jm 0:9112e09912db 195 NextCommand(nl,pLine);
jm 0:9112e09912db 196 return;
jm 0:9112e09912db 197 }
jm 0:9112e09912db 198
jm 0:9112e09912db 199 if(Help)printf("motor (Motor ID)0..%d (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]\n",motorQty-1);
jm 0:9112e09912db 200 // Ignore pending command line
jm 0:9112e09912db 201 NextCommand(nl,pLine);
jm 0:9112e09912db 202 }
jm 0:9112e09912db 203
jm 0:9112e09912db 204 /** Module Get Module Process Properties Command Line Interface
jm 0:9112e09912db 205 * @brief Command Line Interface to Get Module Public Process Properties
jm 0:9112e09912db 206 * @param[in] id Extracted from command line
jm 0:9112e09912db 207 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:9112e09912db 208 */
jm 0:9112e09912db 209 void cli_GPPMT(void)
jm 0:9112e09912db 210 { unsigned int id;
jm 0:9112e09912db 211 if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract id
jm 0:9112e09912db 212 rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:9112e09912db 213 return;
jm 0:9112e09912db 214 }
jm 0:9112e09912db 215
jm 0:9112e09912db 216 if(Help)printf("GPPST (Motor id)0..%d\n",motorQty-1);
jm 0:9112e09912db 217 // Ignore pending command line
jm 0:9112e09912db 218 NextCommand(nl,pLine);
jm 0:9112e09912db 219 }
jm 0:9112e09912db 220
jm 0:9112e09912db 221 /** Public Properties Message
jm 0:9112e09912db 222 * @brief Send Process Properties to update GUI
jm 0:9112e09912db 223 * @param[in] id Process identification
jm 0:9112e09912db 224 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:9112e09912db 225 */
jm 0:9112e09912db 226 void rGPPMT(unsigned int id ){
jm 0:9112e09912db 227 int status;
jm 0:9112e09912db 228 if( sMotor[id].active )
jm 0:9112e09912db 229 { if(sMotor[id].cycles == 0)status = mtStopped;
jm 0:9112e09912db 230 else
jm 0:9112e09912db 231 {
jm 0:9112e09912db 232 if( sMotor[id].direction) status = mtRunningCW;
jm 0:9112e09912db 233 else status = mtRunningCCW;
jm 0:9112e09912db 234 }
jm 0:9112e09912db 235 }
jm 0:9112e09912db 236 else status = mtNotInit;
jm 0:9112e09912db 237 printf("GPPMT %d %d %d %d %d %d\n",id,sMotor[id].dirPin,sMotor[id].drivePin,sMotor[id].tOn,sMotor[id].tOff,status);
jm 0:9112e09912db 238 }