Jean Mercier
2 bit Bridge Driver
Diff: jmBridge.c
- Revision:
- 0:bfa30f27fe9d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/jmBridge.c Sat Feb 19 01:30:54 2011 +0000
@@ -0,0 +1,256 @@
+/*************************************************************************
+ * @file jmBridge.c
+ * @version 1.0
+ * @date Feb 18, 2011
+ */
+
+#include "jmBridge.h"
+#include "jmRingBuffer.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "stdio.h"
+
+#define ActiveLevelLow
+#include "ActiveLevel.h"
+
+#ifndef nonStop
+ #define nonStop 65535 // for continuous mode operation
+#endif
+
+#define bdNotInit 0
+#define bdRunningCW 1
+#define bdRunningCCW 2
+#define bdStopped 3
+
+// Module Data Structure
+struct StructBridge sBridge[bridgeQty]; // static creation
+
+/** Module Data Structure Initialization
+ * @brief All State Machines non initialized
+ * @param[in] none
+ * @returns none
+ */
+void BridgeInit(void){
+ int i;
+ for(i=0;i<bridgeQty;i++){
+ sBridge[i].active = bdNotInit;
+ }
+}
+
+/** Bridge DC control (1 or up to 4)
+ * @brief bridgeDC Command Line Interface.
+ * Format: command name (arg info)min..max values
+ * bridgeDC (Bridge IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
+ * @param[in] Extracted from command line (Bridge IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
+ * @returns Message: bridgeDC ids tOn tOff
+ */
+void cli_BridgeDC(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<bridgeQty;i++){ // check each motor
+ if(id & 1<<i){ // motor included ?
+ if(sBridge[i].active){ // motor initialized ?
+ sBridge[i].tOn=(uint8_t)tOn;
+ sBridge[i].tOff=(uint8_t)tOff;
+
+ if(tOn==0){ // 0% ?
+ sBridge[i].cycles=0;
+ // Inactive output according to active level selection
+ Inactive(sBridge[i].driveBitValue,sBridge[i].drivePort->FIOPIN);
+ }
+
+ if(tOff==0){ // 100% ?
+ // Active output according to active level selection
+ Active(sBridge[i].driveBitValue,sBridge[i].drivePort->FIOPIN);
+ }
+
+ if(tOn!=0 && tOff!=0){ // PWM ?
+ // change motor tOn and tOff values
+ sBridge[i].cycles=nonStop;
+ }
+ // report to gui
+ rGPPBD(i);
+ }
+ }
+ }
+ }
+ }
+
+ if(Feedback)printf("BridgeDC ID %d tOn %d tOff %d\n",id,tOn, tOff);
+ return;
+ }
+ if(Help)printf("bridgeDC (Bridge 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 bridges control concurrently.
+ * @param none
+ * @returns Message at end of cycles: GPPBD id pinA pinB tOn tOff status
+ */
+void BridgeSM(void){
+ int i;
+ for(i=0;i<bridgeQty;i++){ // for each SM define by pins
+ // SM active ?
+ if(!sBridge[i].active) continue;
+
+ if(sBridge[i].cycles!=0){ // Cycles to DO ?
+ switch(sBridge[i].state){
+
+ // pulse is low
+ case 0: if(sBridge[i].eggTimer==0){ // time to change ?
+ // Active output according to active level selection
+ Active(sBridge[i].driveBitValue,sBridge[i].drivePort->FIOPIN);
+ sBridge[i].eggTimer=sBridge[i].tOn; // load timer with tOn
+ sBridge[i].state=1; // next state
+ }
+ break;
+
+ // pulse is High
+ case 1: if(sBridge[i].eggTimer==0){ // time to change ?
+ // Inactive output according to active level selection
+ Inactive(sBridge[i].driveBitValue,sBridge[i].drivePort->FIOPIN);
+ sBridge[i].eggTimer=sBridge[i].tOff; // load timer with tOff
+ if(sBridge[i].cycles != nonStop){ // continuous mode ?
+ if(--sBridge[i].cycles == 0) // decrease qty if not continuous mode
+ rGPPBD(i); // Message: GPPBD id pinA pinB tOn tOff status
+ }
+ sBridge[i].state=0; // state 0
+ }
+ break;
+ }//switch
+ }//if
+ }//for
+}//BridgeSM
+
+
+/** @brief Bridge Command Line Interface
+ * Command Line Interface to control Bridge on mbed pins DIP5 to 30.
+ * Format: command name (arg info)min..max values
+ * Command Line Format: bridge (Bridge ID)0..3 (pinA Pin)0..432 (pinB Pin)0..432 (pinA)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]
+ * @param[in] Extracted from command line ((Bridge ID)0..3 (pinA Pin)0..432 (pinB Pin)0..432 (pinA)0..1 (tOn)1..255 (tOff)1..255 (Cycles)[1..65535]
+ * @returns Message: GPPBD id pinA pinB tOn tOff status
+ */
+void cli_Bridge(void){
+ unsigned int id,pinA,pinB, dir, tOn,tOff,cycles;
+
+ if(ExtractUInteger(pLine,&id,0,bridgeQty-1)){ // extract motor id
+ if(ExtractUInteger(pLine,&pinA,0,432)){ // extract pinA pin
+ if(ExtractUInteger(pLine,&pinB,0,432)){ // extract pinB 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;
+
+ sBridge[id].active = 1;
+ sBridge[id].direction = dir;
+ sBridge[id].tOn = (uint8_t)tOn;
+ sBridge[id].tOff = (uint8_t)tOff;
+ sBridge[id].cycles = (uint16_t)cycles;
+ sBridge[id].state = 0;
+ sBridge[id].eggTimer = 0;
+ sBridge[id].pinA = pinA;
+ sBridge[id].pinB = pinB;
+
+ // the bridge driver that uses this software needs to switch
+ // dir and drive pins when you reverse direction
+ if(dir)
+ { // direction on pinA and drive on pinB
+ sBridge[id].dirBitValue = 1<<(pinA%100);
+ sBridge[id].dirPort = jmGPIO[pinA/100];
+ sBridge[id].driveBitValue = 1<<(pinB%100);;
+ sBridge[id].drivePort = jmGPIO[pinB/100];
+ }
+ else
+ { // direction on pinB and drive on pinA
+ sBridge[id].dirBitValue = 1<<(pinB%100);
+ sBridge[id].dirPort = jmGPIO[pinB/100];
+ sBridge[id].driveBitValue = 1<<(pinA%100);;
+ sBridge[id].drivePort = jmGPIO[pinA/100];
+ }
+
+ // PinA, PinB directions to outputs
+ sBridge[id].dirPort->FIODIR |= sBridge[id].dirBitValue;
+ sBridge[id].drivePort->FIODIR |= sBridge[id].driveBitValue;
+
+
+ // Assert direction pin
+ Inactive(sBridge[id].dirBitValue,sBridge[id].dirPort->FIOPIN);
+
+ // 100%
+ if(tOff==0){
+ Active(sBridge[id].driveBitValue,sBridge[id].drivePort->FIOPIN);
+ // SM off
+ sBridge[id].cycles = 0;
+ }
+
+ // 0%
+ if(tOn==0){
+ Inactive(sBridge[id].driveBitValue,sBridge[id].drivePort->FIOPIN);
+ // SM off
+ sBridge[id].cycles = 0;
+ }
+
+ rGPPBD(id); // Message: GPPBD id pinA pinB tOn tOff status
+
+ if(Feedback)printf("Bridge %d pinA %d pinB %d Dir %d tOn %d tOff %d Cycles %d\n",id,
+ pinA, pinB, dir,tOn,tOff,cycles);
+ return;
+ }
+ }
+ }
+ }
+ }
+ // Ignore pending command line
+ NextCommand(nl,pLine);
+ return;
+ }
+
+ if(Help)printf("Bridge (Bridge ID)0..%d (pinA Pin)0..432 (pinB Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]\n",bridgeQty-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: GPPBD id pinA pinB tOn tOff status
+ */
+void cli_GPPBD(void)
+{ unsigned int id;
+ if(ExtractUInteger(pLine,&id,0,bridgeQty-1)){ // extract id
+ rGPPBD(id); // Message: GPPBD id pinA pinB tOn tOff status
+ return;
+ }
+
+ if(Help)printf("GPPST (Bridge id)0..%d\n",bridgeQty-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: GPPBD id pinA pinB tOn tOff status
+ */
+void rGPPBD(unsigned int id ){
+ int status;
+ if( sBridge[id].active )
+ { if(sBridge[id].cycles == 0)status = bdStopped;
+ else
+ {
+ if( sBridge[id].direction) status = bdRunningCW;
+ else status = bdRunningCCW;
+ }
+ }
+ else status = bdNotInit;
+ printf("GPPBD %d %d %d %d %d %d\n",id,sBridge[id].pinA,sBridge[id].pinB,sBridge[id].tOn,sBridge[id].tOff,status);
+}