Diff: jmStepperAxis.c

Revision:

0:9112e09912db

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepperAxis.c	Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,173 @@
+/*************************************************************************
+ * @file	jmStepperAxis.c
+ * @brief	Command Line Interface StepperAxis Module
+ * 				 
+ * @version	1.0
+ * @date	Feb 12, 2011
+ */
+
+#include "jmMessages.h"
+#include "jmStepperAxis.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+#include "jmSwitch.h"
+#include "jmStepper.h"
+
+#ifndef nonStop
+   #define nonStop 65535
+#endif
+
+#define NotInit 0
+#define Initialized 1
+#define CW 1
+#define CCW 0
+#define Open 1
+#define Close 0
+#define bothLimitSwitchActivated 4
+#define LimitCWReached 3
+#define LimitCCWReached 2
+#define LogicOK 1
+#define true 1
+#define false 0
+
+// static structures creation
+struct StructStepperAxis sStepperAxis[stepperAxisQty];
+
+/** Module Data Structure Initialization
+ * @brief   All State Machines put to sleep.
+ * @param[in]	none
+ * @returns none
+ */
+void StepperAxisInit(void){
+   int i;
+   for(i=0;i<stepperAxisQty;i++){
+     sStepperAxis[i].active = false;
+   }
+}
+
+/**  @brief stepperAxis Command Line Interface.
+ * Set up a stepper axis from one stepper and two limit switch modules
+ * Command Line Format:  stepperAxis id stepperID limitCWid limitCCWid
+ * @param[in]	Extracted from command line  id stepperID limitCWid limitCCWid
+ * @returns    Message:  GPPSTA id stepperID limitCWid limitCCWid status
+ */
+void cli_StepperAxis(void){
+unsigned int id, stepperID, limitCWid, limitCCWid;
+
+   if(ExtractUInteger(pLine,&id,0,stepperAxisQty-1)){               // extract stepper axis id
+   	 if(ExtractUInteger(pLine,&stepperID,0,stepperQty-1)){			// extract stepper id
+	 	 if(ExtractUInteger(pLine,&limitCWid,0,switchQty-1)){		// extract Limit Switch CW id
+		      if(ExtractUInteger(pLine,&limitCCWid,0,switchQty-1)){ // extract Limit Switch CCW id
+
+				  sStepperAxis[id].active=true;
+				  sStepperAxis[id].stepperID=stepperID;
+				  sStepperAxis[id].limitCW=limitCWid;
+				  sStepperAxis[id].limitCCW=limitCCWid;
+
+				  // chip report to GUI
+				  rGPPSTA(id); 
+				  if(Feedback)printf("StepperAxis %d StepperID %d limitCCWid %d limitCWid %d\n",id,stepperID,limitCCWid,limitCWid);              
+		          return;
+			   }// CCW
+			}// CW
+		}// stepper
+    }// axis
+    if(Help)printf("stepperAxis (Stepper id)0..3 (limit switch CCW id)0..7 (limit switch CW id)0..7\n"); 
+    // Ignore pending command line
+    NextCommand(nl,pLine);
+}
+
+/** @brief   
+ * @param[in] none
+ * @returns 
+ */
+void StepperAxisSM(void)
+{
+   int i;
+   for(i=0;i<stepperAxisQty;i++)
+   {
+     if(sStepperAxis[i].active==true)
+	 {
+		 uint8_t oldStatus = sStepperAxis[i].status;	 
+		 
+		 // Limits Reached
+		 // two limits switches activated ? 
+		 if(sSwitch[sStepperAxis[i].limitCW].state == Close && sSwitch[sStepperAxis[i].limitCCW].state==Close){
+		 	sStepper[sStepperAxis[i].stepperID].nSteps=0;         // stop stepper
+			sStepperAxis[i].status = bothLimitSwitchActivated;
+			if(oldStatus !=  bothLimitSwitchActivated)rGPPSTA(i); // report change 			   
+			continue;  
+	     }
+		 // Limit Switch CW activated and step direction CW
+		 if(sSwitch[sStepperAxis[i].limitCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CW){
+			sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
+			sStepperAxis[i].status = LimitCWReached;  
+			if(oldStatus !=  LimitCWReached)rGPPSTA(i); // report change  			     
+			continue;
+		 }
+
+		 // Limit Switch CCW activated and step direction CCW
+		 if(sSwitch[sStepperAxis[i].limitCCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CCW){
+			sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
+			sStepperAxis[i].status = LimitCCWReached;    
+			if(oldStatus !=  LimitCCWReached)rGPPSTA(i); // report change 			 
+			continue;
+		 }	
+		 
+		 // safe operating area
+		 // no limit switch activated
+		 if(sSwitch[sStepperAxis[i].limitCW].state == Open && sSwitch[sStepperAxis[i].limitCCW].state == Open){
+			sStepperAxis[i].status = LogicOK;  
+			if(oldStatus !=  LogicOK)rGPPSTA(i); // report change   
+			continue;
+		 }
+
+		 // Limit Switch CW activated and step direction CCW
+		 if(sSwitch[sStepperAxis[i].limitCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CCW){
+			sStepperAxis[i].status = LogicOK;   
+			if(oldStatus !=  LogicOK)rGPPSTA(i); // report change     
+			continue;
+		 }
+
+		 // Limit Switch CCW activated and step direction CW
+		 if(sSwitch[sStepperAxis[i].limitCCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CW){
+			sStepperAxis[i].status = LogicOK; 
+			if(oldStatus !=  LogicOK)rGPPSTA(i); // report change  
+			continue;
+		 }	 
+	 }
+   }
+}
+
+/** 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    none
+ */
+void cli_GPPSTA(void)
+{	unsigned int id;
+   if(ExtractUInteger(pLine,&id,0,stepperAxisQty-1)){  // extract id 
+       rGPPSTA(id);   
+	   return;
+	}
+
+    if(Help)printf("GPPSTA (StepperAxis id)0..%d\n",stepperAxisQty-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: GPPSTA id stepperID limitCWid limitCCWid status
+ */
+void rGPPSTA(unsigned int id ){		 
+	int status;
+	if(sStepperAxis[id].active==false)status=0;
+	else status = sStepperAxis[id].status;
+	printf("GPPSTA %d %d %d %d %d\n",id,sStepperAxis[id].stepperID,sStepperAxis[id].limitCCW,sStepperAxis[id].limitCW ,status);
+}