Jean Mercier
Command all jmCLIG modules from serial port
Diff: jmMotor.c
- Revision:
- 0:9112e09912db
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmMotor.c Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,238 @@
+/*************************************************************************
+ * @file jmMotor.c
+ * @version 1.0
+ * @date Feb 12, 2011
+ */
+
+#include "jmMotor.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+
+#ifndef nonStop
+ #define nonStop 65535 // for continuous mode operation
+#endif
+
+#define mtNotInit 0
+#define mtRunningCW 1
+#define mtRunningCCW 2
+#define mtStopped 3
+
+// Module Data Structure
+struct StructMotor sMotor[motorQty]; // static creation
+
+/** Module Data Structure Initialization
+ * @brief All State Machines non initialized
+ * @param[in] none
+ * @returns none
+ */
+void MotorInit(void){
+ int i;
+ for(i=0;i<motorQty;i++){
+ sMotor[i].active = mtNotInit;
+ }
+}
+
+/** Speed control for motors (1 or up to 4)
+ * @brief motorSpeed Command Line Interface.
+ * Format: command name (arg info)min..max values
+ * motorSpeed (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
+ * @param[in] Extracted from command line (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
+ * @returns Message: motorSpeed ids tOn tOff
+ */
+void cli_MotorSpeed(void){
+ unsigned int id, i, tOn,tOff;
+ if(ExtractUInteger(pLine,&id,1,15)){ //extract id
+ if(ExtractUInteger(pLine,&tOn,0,255)){ //extract tOn
+ if(ExtractUInteger(pLine,&tOff,0,255)){ //extract tOff
+ for(i=0;i<motorQty;i++){ // check each motor
+ if(id & 1<<i){ // motor included ?
+ if(sMotor[i].active){ // motor initialized ?
+ sMotor[i].tOn=(uint8_t)tOn;
+ sMotor[i].tOff=(uint8_t)tOff;
+
+
+ if(tOn==0){ // 0% ?
+ sMotor[i].cycles=0;
+ sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // output pin low
+ }
+
+ if(tOff==0){ // 100% ?
+ sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // output pin high
+ }
+
+ if(tOn!=0 && tOff!=0){ // PWM ?
+ // change motor tOn and tOff values
+ sMotor[i].cycles=nonStop;
+ }
+ // report to gui
+ rGPPMT(i);
+ }
+ }
+ }
+ }
+ }
+
+ if(Feedback)printf("MotorSpeed ID %d tOn %d tOff %d\n",id,tOn, tOff);
+ return;
+ }
+ if(Help)printf("motorSpeed (Motor IDs ORed)1..15 (tOn Value)1..255 (tOff Value)1..255\n");
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+
+/***********************************************************************
+ * @brief Module State Machine.
+ * Enable different motor control concurrently.
+ * @param none
+ * @returns Message at end of cycles: GPPMT id dirPin drivePinB tOn tOff status
+ */
+void MotorSM(void){
+ int i;
+ for(i=0;i<motorQty;i++){ // for each SM define by pins
+ // SM active ?
+ if(!sMotor[i].active) continue;
+
+ if(sMotor[i].cycles!=0){ // Cycles to DO ?
+ switch(sMotor[i].state){
+
+ // pulse is low
+ case 0: if(sMotor[i].eggTimer==0){ // time to change ?
+ sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // set pin High
+ sMotor[i].eggTimer=sMotor[i].tOn; // load timer with tOn
+ sMotor[i].state=1; // next state
+ }
+ break;
+
+ // pulse is High
+ case 1: if(sMotor[i].eggTimer==0){ // time to change ?
+ sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // reset pin low
+ sMotor[i].eggTimer=sMotor[i].tOff; // load timer with tOff
+ if(sMotor[i].cycles != nonStop){ // continuous mode ?
+ if(--sMotor[i].cycles == 0) // decrease qty if not continuous mode
+ rGPPMT(i); // Message: GPPMT id dirPin drivePinB tOn tOff status
+ }
+ sMotor[i].state=0; // state 0
+ }
+ break;
+ }//switch
+ }//if
+ }//for
+}//MotorSM
+
+
+/** @brief motor Command Line Interface
+ * Command Line Interface to control Motor on mbed pins DIP5 to 30.
+ * Format: command name (arg info)min..max values
+ * 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]
+ * @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]
+ * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
+ */
+void cli_Motor(void){
+ unsigned int id,dirPin,drivePin, dir, tOn,tOff,cycles;
+
+ if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract motor id
+ if(ExtractUInteger(pLine,&dirPin,0,432)){ // extract direction pin
+ if(ExtractUInteger(pLine,&drivePin,0,432)){ // extract drive pin
+ if(ExtractUInteger(pLine,&dir,0,1)){ // extract direction
+ if(ExtractUInteger(pLine,&tOn,0,255)){ // extract tOn
+ if(ExtractUInteger(pLine,&tOff,0,255)){ // extract tOff
+ // extract cycles and test for nonStop mode
+ if(!ExtractUInteger(pLine,&cycles,1,nonStop))cycles = nonStop;
+
+ sMotor[id].dirBitValue = 1<<(dirPin%100);
+ sMotor[id].driveBitValue = 1<<(drivePin%100);;
+ sMotor[id].drivePort = jmGPIO[drivePin/100];
+ sMotor[id].dirPort = jmGPIO[dirPin/100];
+ sMotor[id].active = 1;
+
+ // Port.Pin set to outputs
+ sMotor[id].dirPort->FIODIR |= sMotor[id].dirBitValue;
+ sMotor[id].drivePort->FIODIR |= sMotor[id].driveBitValue;
+
+ sMotor[id].direction = dir;
+ sMotor[id].tOn = (uint8_t)tOn;
+ sMotor[id].tOff = (uint8_t)tOff;
+ sMotor[id].cycles = (uint16_t)cycles;
+ sMotor[id].state = 0;
+ sMotor[id].eggTimer = 0;
+ sMotor[id].dirPin = dirPin;
+ sMotor[id].drivePin = drivePin;
+
+ // set output direction bit according to given direction
+ if(dir) sMotor[id].dirPort->FIOPIN |= sMotor[id].dirBitValue;
+ else sMotor[id].dirPort->FIOPIN &= ~sMotor[id].dirBitValue;
+
+ // 100%
+ if(tOff==0){
+ sMotor[id].drivePort->FIOPIN |= sMotor[id].driveBitValue;
+ // SM off
+ sMotor[id].cycles = 0;
+ }
+
+ // 0%
+ if(tOn==0){
+ sMotor[id].drivePort->FIOPIN &= ~sMotor[id].driveBitValue;
+ // SM off
+ sMotor[id].cycles = 0;
+ }
+
+ rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status
+
+ if(Feedback)printf("Motor %d DirPin %d DrivePin %d Dir %d tOn %d tOff %d Cycles %d\n",id,
+ dirPin, drivePin, dir,tOn,tOff,cycles);
+ return;
+ }
+ }
+ }
+ }
+ }
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+ return;
+ }
+
+ 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);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Module Get Module Process Properties Command Line Interface
+ * @brief Command Line Interface to Get Module Public Process Properties
+ * @param[in] id Extracted from command line
+ * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
+ */
+void cli_GPPMT(void)
+{ unsigned int id;
+ if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract id
+ rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status
+ return;
+ }
+
+ if(Help)printf("GPPST (Motor id)0..%d\n",motorQty-1);
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+}
+
+/** Public Properties Message
+ * @brief Send Process Properties to update GUI
+ * @param[in] id Process identification
+ * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
+ */
+void rGPPMT(unsigned int id ){
+ int status;
+ if( sMotor[id].active )
+ { if(sMotor[id].cycles == 0)status = mtStopped;
+ else
+ {
+ if( sMotor[id].direction) status = mtRunningCW;
+ else status = mtRunningCCW;
+ }
+ }
+ else status = mtNotInit;
+ printf("GPPMT %d %d %d %d %d %d\n",id,sMotor[id].dirPin,sMotor[id].drivePin,sMotor[id].tOn,sMotor[id].tOff,status);
+}