jmStepperAxis.c

00001 /*************************************************************************
00002  * @file    jmStepperAxis.c
00003  * @brief   Command Line Interface StepperAxis Module
00004  *               
00005  * @version 1.0
00006  * @date    Feb 12, 2011
00007  */
00008 
00009 #include "jmMessages.h"
00010 #include "jmStepperAxis.h"
00011 #include "LPC17xx.h"
00012 #include "main.h"
00013 #include "jmCommands.h"
00014 #include "jmMessages.h"
00015 #include "jmRingBuffer.h"
00016 #include "stdio.h"
00017 #include "jmSwitch.h"
00018 #include "jmStepper.h"
00019 
00020 #ifndef nonStop
00021    #define nonStop 65535
00022 #endif
00023 
00024 #define NotInit 0
00025 #define Initialized 1
00026 #define CW 1
00027 #define CCW 0
00028 #define Open 1
00029 #define Close 0
00030 #define bothLimitSwitchActivated 4
00031 #define LimitCWReached 3
00032 #define LimitCCWReached 2
00033 #define LogicOK 1
00034 #define true 1
00035 #define false 0
00036 
00037 // static structures creation
00038 struct StructStepperAxis sStepperAxis[stepperAxisQty];
00039 
00040 /** Module Data Structure Initialization
00041  * @brief   All State Machines put to sleep.
00042  * @param[in]   none
00043  * @returns none
00044  */
00045 void StepperAxisInit(void){
00046    int i;
00047    for(i=0;i<stepperAxisQty;i++){
00048      sStepperAxis[i].active = false;
00049    }
00050 }
00051 
00052 /**  @brief stepperAxis Command Line Interface.
00053  * Set up a stepper axis from one stepper and two limit switch modules
00054  * Command Line Format:  stepperAxis id stepperID limitCWid limitCCWid
00055  * @param[in]   Extracted from command line  id stepperID limitCWid limitCCWid
00056  * @returns    Message:  GPPSTA id stepperID limitCWid limitCCWid status
00057  */
00058 void cli_StepperAxis(void){
00059 unsigned int id, stepperID, limitCWid, limitCCWid;
00060 
00061    if(ExtractUInteger(pLine,&id,0,stepperAxisQty-1)){               // extract stepper axis id
00062      if(ExtractUInteger(pLine,&stepperID,0,stepperQty-1)){          // extract stepper id
00063          if(ExtractUInteger(pLine,&limitCWid,0,switchQty-1)){       // extract Limit Switch CW id
00064               if(ExtractUInteger(pLine,&limitCCWid,0,switchQty-1)){ // extract Limit Switch CCW id
00065 
00066                   sStepperAxis[id].active=true;
00067                   sStepperAxis[id].stepperID=stepperID;
00068                   sStepperAxis[id].limitCW=limitCWid;
00069                   sStepperAxis[id].limitCCW=limitCCWid;
00070 
00071                   // chip report to GUI
00072                   rGPPSTA(id); 
00073                   if(Feedback)printf("StepperAxis %d StepperID %d limitCCWid %d limitCWid %d\n",id,stepperID,limitCCWid,limitCWid);              
00074                   return;
00075                }// CCW
00076             }// CW
00077         }// stepper
00078     }// axis
00079     if(Help)printf("stepperAxis (Stepper id)0..3 (limit switch CCW id)0..7 (limit switch CW id)0..7\n"); 
00080     // Ignore pending command line
00081     NextCommand(nl,pLine);
00082 }
00083 
00084 /** @brief   
00085  * @param[in] none
00086  * @returns 
00087  */
00088 void StepperAxisSM(void)
00089 {
00090    int i;
00091    for(i=0;i<stepperAxisQty;i++)
00092    {
00093      if(sStepperAxis[i].active==true)
00094      {
00095          uint8_t oldStatus = sStepperAxis[i].status;     
00096          
00097          // Limits Reached
00098          // two limits switches activated ? 
00099          if(sSwitch[sStepperAxis[i].limitCW].state == Close && sSwitch[sStepperAxis[i].limitCCW].state==Close){
00100             sStepper[sStepperAxis[i].stepperID].nSteps=0;         // stop stepper
00101             sStepperAxis[i].status = bothLimitSwitchActivated;
00102             if(oldStatus !=  bothLimitSwitchActivated)rGPPSTA(i); // report change             
00103             continue;  
00104          }
00105          // Limit Switch CW activated and step direction CW
00106          if(sSwitch[sStepperAxis[i].limitCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CW){
00107             sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
00108             sStepperAxis[i].status = LimitCWReached;  
00109             if(oldStatus !=  LimitCWReached)rGPPSTA(i); // report change                 
00110             continue;
00111          }
00112 
00113          // Limit Switch CCW activated and step direction CCW
00114          if(sSwitch[sStepperAxis[i].limitCCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CCW){
00115             sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
00116             sStepperAxis[i].status = LimitCCWReached;    
00117             if(oldStatus !=  LimitCCWReached)rGPPSTA(i); // report change            
00118             continue;
00119          }  
00120          
00121          // safe operating area
00122          // no limit switch activated
00123          if(sSwitch[sStepperAxis[i].limitCW].state == Open && sSwitch[sStepperAxis[i].limitCCW].state == Open){
00124             sStepperAxis[i].status = LogicOK;  
00125             if(oldStatus !=  LogicOK)rGPPSTA(i); // report change   
00126             continue;
00127          }
00128 
00129          // Limit Switch CW activated and step direction CCW
00130          if(sSwitch[sStepperAxis[i].limitCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CCW){
00131             sStepperAxis[i].status = LogicOK;   
00132             if(oldStatus !=  LogicOK)rGPPSTA(i); // report change     
00133             continue;
00134          }
00135 
00136          // Limit Switch CCW activated and step direction CW
00137          if(sSwitch[sStepperAxis[i].limitCCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CW){
00138             sStepperAxis[i].status = LogicOK; 
00139             if(oldStatus !=  LogicOK)rGPPSTA(i); // report change  
00140             continue;
00141          }   
00142      }
00143    }
00144 }
00145 
00146 /** Module Get Module Process Properties Command Line Interface
00147  * @brief       Command Line Interface to Get Module Public Process Properties
00148  * @param[in]   id Extracted from command line id Process identification
00149  * @returns    none
00150  */
00151 void cli_GPPSTA(void)
00152 {   unsigned int id;
00153    if(ExtractUInteger(pLine,&id,0,stepperAxisQty-1)){  // extract id 
00154        rGPPSTA(id);   
00155        return;
00156     }
00157 
00158     if(Help)printf("GPPSTA (StepperAxis id)0..%d\n",stepperAxisQty-1);  
00159     // Ignore pending command line
00160     NextCommand(nl,pLine);
00161 }
00162 
00163 /** Public Properties Message
00164  * @brief   Send Process Properties to update GUI
00165  * @param[in] id Process identification
00166  * @returns   Message: GPPSTA id stepperID limitCWid limitCCWid status
00167  */
00168 void rGPPSTA(unsigned int id ){      
00169     int status;
00170     if(sStepperAxis[id].active==false)status=0;
00171     else status = sStepperAxis[id].status;
00172     printf("GPPSTA %d %d %d %d %d\n",id,sStepperAxis[id].stepperID,sStepperAxis[id].limitCCW,sStepperAxis[id].limitCW ,status);
00173 }