Diff: jmStepper.c

Revision:

0:9112e09912db

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepper.c	Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,225 @@
+/*************************************************************************
+ * @file	jmStepper.c
+ * @brief	Command Line Interface Stepper Module
+ * 				 
+ * @version	1.0
+ * @date	Feb 12, 2011
+ */
+
+#include "jmMessages.h"
+#include "jmStepper.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+
+#ifndef nonStop
+   #define nonStop 65535
+#endif
+
+#define stNotInit 0
+#define stRunningCW 1
+#define stRunningCCW 2
+#define stStopped 3
+
+// static structures creation
+struct StructStepper sStepper[stepperQty];
+
+/** Module Data Structure Initialization
+ * @brief   All State Machines put to sleep.
+ * @param[in]	none
+ * @returns none
+ */
+void StepperInit(void){
+   int i;
+   for(i=0;i<stepperQty;i++){
+     sStepper[i].active = stNotInit;
+   }
+}
+
+/**  @brief Step Function
+ * Change Coil drives according to stepper number and direction.
+ * For 2 bit hardware controllers (full steps, full torque)
+ * @param[in]	number     (stepper number)0..3  
+ * @param[in]	CW         (direction)0..1
+ * @returns none
+ */
+void Step(int number, uint8_t CW){
+  uint8_t seq = sStepper[number].seq;
+   if(CW){
+      if(seq)sStepper[number].portCoilA->FIOPIN ^=sStepper[number].CoilA_bitValue;
+      else sStepper[number].portCoilB->FIOPIN ^=sStepper[number].CoilB_bitValue;
+   }
+   else {
+      if(seq)sStepper[number].portCoilB->FIOPIN ^=sStepper[number].CoilB_bitValue;
+      else sStepper[number].portCoilA->FIOPIN ^=sStepper[number].CoilA_bitValue;
+   }
+   sStepper[number].seq = !seq;
+}
+
+
+/**  
+ * @brief stepperStop Command Line Interface.
+ * Format: command name (arg info)min..max values 
+ * @param[in]	number   Extracted from command line (stepper ORed ids)1..15  
+ * @returns none
+ */
+void cli_StepperStop(void){
+   unsigned int value, i;
+   if(ExtractUInteger(pLine,&value,1,15)){ 
+      for(i=0;i<stepperQty;i++){
+         if(value & 1<<i)sStepper[i].nSteps=0;
+		 rGPPST(i);  // GPPST id pinA pinB delay status
+      }
+
+      if(Feedback)printf("StepperStop %d\n",value);
+      return;
+   }
+   if(Help)printf("stepperStop (Value)1..15\n");
+   // Ignore pending command line
+   NextCommand(nl,pLine);
+}
+
+/** Speed control for step motors (1 or up to 4)
+ * @brief stepSpeed Command Line Interface.
+ * Format: command name (arg info)min..max values 
+ * @param[in] Extracted from command line (stepper ORed ids)1..15  
+ * @returns Message: stepSpeed ids value
+ */
+void cli_StepSpeed(void){
+   unsigned int id, i, delay;
+   if(ExtractUInteger(pLine,&id,1,15)){ 
+      if(ExtractUInteger(pLine,&delay,1,255)){ 
+	      for(i=0;i<stepperQty;i++){
+	         // change delay for one stepper
+			 if(id & 1<<i)sStepper[i].delay=(uint8_t)delay;
+			 // report to gui
+			 printf("stepSpeed %d %d\n",id,delay);
+	      }
+	  }
+
+      if(Feedback)printf("StepperSpeed ID %d Delay %d\n",id,delay);
+      return;
+   }
+   if(Help)printf("stepSpeed (Stepper IDs ORed)1..15 (Delay Value)1..255\n");
+   // Ignore pending command line
+   NextCommand(nl,pLine);
+}
+
+/**  @brief Module State Machine.
+ * @param[in]	none 
+ * @returns    On Ending steps, Send Message: GPPST id pinA pinB delay status
+ */
+void StepperSM(void){
+   int i;
+
+   for(i=0;i<stepperQty;i++){                      // for each stepper
+      if(sStepper[i].active){                      // SM initialized ?  
+         if(sStepper[i].nSteps!=0){                // step to do ?
+            if(sStepper[i].eggTimer==0){           // time to step ?
+               Step(i,sStepper[i].cw);             // step
+               sStepper[i].eggTimer=sStepper[i].delay;  // set delay timer for next step
+               if(sStepper[i].nSteps<nonStop){     // continuous mode ?
+                  if(--sStepper[i].nSteps == 0)    // decrease step qty if not continuous mode
+                     rGPPST(i);   // Message GPPST id pinA pinB delay status
+               }
+            }     
+         }
+      }
+   }
+}
+
+
+/**  @brief stepper Command Line Interface.
+ * This function controls the stepper 
+ * Command Line Format: stepper (value)0..3 (direction)0..1 (PinA)0..432 (PinB)0..432 (delay)1..255 (steps)1..65535  
+ * @param[in]	Extracted from command line (value)0..3 (PinA)0..432 (PinB)0..432 (direction)0..1 (delay)1..255 (steps)1..65535 
+ * @returns    Message: GPPST id pinA pinB delay status
+ */
+void cli_Stepper(void){
+unsigned int id,cw, delay, steps, pinA, pinB, port, bitValue;
+
+   if(ExtractUInteger(pLine,&id,0,stepperQty-1)){       // extract stepper id
+   	 if(ExtractUInteger(pLine,&pinA,0,432)){			// extract pinA
+	 	 if(ExtractUInteger(pLine,&pinB,0,432)){		// extract pinB
+		      if(ExtractUInteger(pLine,&cw,0,1)){               // extract direction
+		         if(ExtractUInteger(pLine,&delay,1,255)){       // extract step delay
+		            if(!ExtractUInteger(pLine,&steps,1,65535)){ // check for optionnal steps arg
+		               steps = nonStop;  // default to nonStop
+		            }
+			     				  
+				  // Get ports, bit and bit values
+				  sStepper[id].pinA=(uint8_t)pinA;
+				  sStepper[id].pinB=(uint8_t)pinB;
+			      port = pinA/100;
+			      bitValue = 1<<(pinA%100);
+				  sStepper[id].portCoilA = jmGPIO[port];    // Coil A port
+	              sStepper[id].CoilA_bitValue = bitValue; // Coil A bit
+	
+				  port = pinB/100;
+			      bitValue = 1<<(pinB%100);
+				  sStepper[id].portCoilB = jmGPIO[port];    // Coil B port
+	              sStepper[id].CoilB_bitValue = bitValue; // Coil B bit
+	
+	              sStepper[id].active = 1;            // initialized true
+	
+	              // Port.Pin set to outputs
+	              sStepper[id].portCoilA->FIODIR |= sStepper[id].CoilA_bitValue;
+	              sStepper[id].portCoilB->FIODIR |= sStepper[id].CoilB_bitValue;
+					
+		          sStepper[id].cw =cw;           
+		          sStepper[id].delay = (uint8_t)delay;
+		          sStepper[id].nSteps = (uint16_t)steps;
+		            
+				  // chip report to GUI
+				  rGPPST(id); //Message: GPPST id pinA pinB delay status
+
+				  if(Feedback)printf("Stepper:%d PinA:%d PinB:%d CW:%d Delay:%d Steps:%d\n",id,pinA,pinB,cw,delay,steps);              
+		          return;
+		        }// delay
+		      }// direction
+			}// pinB
+		}// pinA
+    }// stepper number
+    if(Help)printf("stepper (Stepper id)0..3 (PinA)0..432 (PinB)0..432 (Direction cw/ccw)0..1 (Delay)1..255 [(Steps)1..65535]\n"); 
+    // 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 id Process identification
+ * @returns    Message: GPPST id pinA pinB delay status
+ */
+void cli_GPPST(void)
+{	unsigned int id;
+   if(ExtractUInteger(pLine,&id,0,stepperQty-1)){  // extract id Number
+       rGPPST(id);   // Message: GPPST id pinA pinB delay status
+	   return;
+	}
+
+    if(Help)printf("GPPST (Stepper id)0..%d\n",stepperQty-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: GPPST id pinA pinB ddelay status
+ */
+void rGPPST(unsigned int id ){
+    int status;
+	if( sStepper[id].active )
+	{   if(sStepper[id].nSteps == 0)status = stStopped;
+	    else 
+		{
+		 if( sStepper[id].cw) status = stRunningCW;
+		 else status = stRunningCCW;
+		}
+	}
+	else  status = stNotInit;					 
+	printf("GPPST %d %d %d %d %d\n",id,sStepper[id].pinA,sStepper[id].pinB,sStepper[id].delay,status);
+}