Jean Mercier
/
jmBridge
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jmBridge.c
00001 /************************************************************************* 00002 * @file jmBridge.c 00003 * @version 1.0 00004 * @date Feb 18, 2011 00005 */ 00006 00007 #include "jmBridge.h" 00008 #include "jmRingBuffer.h" 00009 #include "LPC17xx.h" 00010 #include "main.h" 00011 #include "jmCommands.h" 00012 #include "jmMessages.h" 00013 #include "stdio.h" 00014 00015 #define ActiveLevelLow 00016 #include "ActiveLevel.h" 00017 00018 #ifndef nonStop 00019 #define nonStop 65535 // for continuous mode operation 00020 #endif 00021 00022 #define bdNotInit 0 00023 #define bdRunningCW 1 00024 #define bdRunningCCW 2 00025 #define bdStopped 3 00026 00027 // Module Data Structure 00028 struct StructBridge sBridge[bridgeQty]; // static creation 00029 00030 /** Module Data Structure Initialization 00031 * @brief All State Machines non initialized 00032 * @param[in] none 00033 * @returns none 00034 */ 00035 void BridgeInit(void){ 00036 int i; 00037 for(i=0;i<bridgeQty;i++){ 00038 sBridge[i].active = bdNotInit; 00039 } 00040 } 00041 00042 /** Bridge DC control (1 or up to 4) 00043 * @brief bridgeDC Command Line Interface. 00044 * Format: command name (arg info)min..max values 00045 * bridgeDC (Bridge IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255 00046 * @param[in] Extracted from command line (Bridge IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255 00047 * @returns Message: bridgeDC ids tOn tOff 00048 */ 00049 void cli_BridgeDC(void){ 00050 unsigned int id, i, tOn,tOff; 00051 if(ExtractUInteger(pLine,&id,1,15)){ //extract id 00052 if(ExtractUInteger(pLine,&tOn,0,255)){ //extract tOn 00053 if(ExtractUInteger(pLine,&tOff,0,255)){ //extract tOff 00054 for(i=0;i<bridgeQty;i++){ // check each motor 00055 if(id & 1<<i){ // motor included ? 00056 if(sBridge[i].active){ // motor initialized ? 00057 sBridge[i].tOn=(uint8_t)tOn; 00058 sBridge[i].tOff=(uint8_t)tOff; 00059 00060 if(tOn==0){ // 0% ? 00061 sBridge[i].cycles=0; 00062 // Inactive output according to active level selection 00063 Inactive(sBridge[i].driveBitValue,sBridge[i].drivePort->FIOPIN); 00064 } 00065 00066 if(tOff==0){ // 100% ? 00067 // Active output according to active level selection 00068 Active(sBridge[i].driveBitValue,sBridge[i].drivePort->FIOPIN); 00069 } 00070 00071 if(tOn!=0 && tOff!=0){ // PWM ? 00072 // change motor tOn and tOff values 00073 sBridge[i].cycles=nonStop; 00074 } 00075 // report to gui 00076 rGPPBD(i); 00077 } 00078 } 00079 } 00080 } 00081 } 00082 00083 if(Feedback)printf("BridgeDC ID %d tOn %d tOff %d\n",id,tOn, tOff); 00084 return; 00085 } 00086 if(Help)printf("bridgeDC (Bridge IDs ORed)1..15 (tOn Value)1..255 (tOff Value)1..255\n"); 00087 // Ignore pending command line 00088 NextCommand(nl,pLine); 00089 } 00090 00091 00092 /*********************************************************************** 00093 * @brief Module State Machine. 00094 * Enable different bridges control concurrently. 00095 * @param none 00096 * @returns Message at end of cycles: GPPBD id pinA pinB tOn tOff status 00097 */ 00098 void BridgeSM(void){ 00099 int i; 00100 for(i=0;i<bridgeQty;i++){ // for each SM define by pins 00101 // SM active ? 00102 if(!sBridge[i].active) continue; 00103 00104 if(sBridge[i].cycles!=0){ // Cycles to DO ? 00105 switch(sBridge[i].state){ 00106 00107 // pulse is low 00108 case 0: if(sBridge[i].eggTimer==0){ // time to change ? 00109 // Active output according to active level selection 00110 Active(sBridge[i].driveBitValue,sBridge[i].drivePort->FIOPIN); 00111 sBridge[i].eggTimer=sBridge[i].tOn; // load timer with tOn 00112 sBridge[i].state=1; // next state 00113 } 00114 break; 00115 00116 // pulse is High 00117 case 1: if(sBridge[i].eggTimer==0){ // time to change ? 00118 // Inactive output according to active level selection 00119 Inactive(sBridge[i].driveBitValue,sBridge[i].drivePort->FIOPIN); 00120 sBridge[i].eggTimer=sBridge[i].tOff; // load timer with tOff 00121 if(sBridge[i].cycles != nonStop){ // continuous mode ? 00122 if(--sBridge[i].cycles == 0) // decrease qty if not continuous mode 00123 rGPPBD(i); // Message: GPPBD id pinA pinB tOn tOff status 00124 } 00125 sBridge[i].state=0; // state 0 00126 } 00127 break; 00128 }//switch 00129 }//if 00130 }//for 00131 }//BridgeSM 00132 00133 00134 /** @brief Bridge Command Line Interface 00135 * Command Line Interface to control Bridge on mbed pins DIP5 to 30. 00136 * Format: command name (arg info)min..max values 00137 * 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] 00138 * @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] 00139 * @returns Message: GPPBD id pinA pinB tOn tOff status 00140 */ 00141 void cli_Bridge(void){ 00142 unsigned int id,pinA,pinB, dir, tOn,tOff,cycles; 00143 00144 if(ExtractUInteger(pLine,&id,0,bridgeQty-1)){ // extract motor id 00145 if(ExtractUInteger(pLine,&pinA,0,432)){ // extract pinA pin 00146 if(ExtractUInteger(pLine,&pinB,0,432)){ // extract pinB pin 00147 if(ExtractUInteger(pLine,&dir,0,1)){ // extract direction 00148 if(ExtractUInteger(pLine,&tOn,0,255)){ // extract tOn 00149 if(ExtractUInteger(pLine,&tOff,0,255)){ // extract tOff 00150 // extract cycles and test for nonStop mode 00151 if(!ExtractUInteger(pLine,&cycles,1,nonStop))cycles = nonStop; 00152 00153 sBridge[id].active = 1; 00154 sBridge[id].direction = dir; 00155 sBridge[id].tOn = (uint8_t)tOn; 00156 sBridge[id].tOff = (uint8_t)tOff; 00157 sBridge[id].cycles = (uint16_t)cycles; 00158 sBridge[id].state = 0; 00159 sBridge[id].eggTimer = 0; 00160 sBridge[id].pinA = pinA; 00161 sBridge[id].pinB = pinB; 00162 00163 // the bridge driver that uses this software needs to switch 00164 // dir and drive pins when you reverse direction 00165 if(dir) 00166 { // direction on pinA and drive on pinB 00167 sBridge[id].dirBitValue = 1<<(pinA%100); 00168 sBridge[id].dirPort = jmGPIO[pinA/100]; 00169 sBridge[id].driveBitValue = 1<<(pinB%100);; 00170 sBridge[id].drivePort = jmGPIO[pinB/100]; 00171 } 00172 else 00173 { // direction on pinB and drive on pinA 00174 sBridge[id].dirBitValue = 1<<(pinB%100); 00175 sBridge[id].dirPort = jmGPIO[pinB/100]; 00176 sBridge[id].driveBitValue = 1<<(pinA%100);; 00177 sBridge[id].drivePort = jmGPIO[pinA/100]; 00178 } 00179 00180 // PinA, PinB directions to outputs 00181 sBridge[id].dirPort->FIODIR |= sBridge[id].dirBitValue; 00182 sBridge[id].drivePort->FIODIR |= sBridge[id].driveBitValue; 00183 00184 00185 // Assert direction pin 00186 Inactive(sBridge[id].dirBitValue,sBridge[id].dirPort->FIOPIN); 00187 00188 // 100% 00189 if(tOff==0){ 00190 Active(sBridge[id].driveBitValue,sBridge[id].drivePort->FIOPIN); 00191 // SM off 00192 sBridge[id].cycles = 0; 00193 } 00194 00195 // 0% 00196 if(tOn==0){ 00197 Inactive(sBridge[id].driveBitValue,sBridge[id].drivePort->FIOPIN); 00198 // SM off 00199 sBridge[id].cycles = 0; 00200 } 00201 00202 rGPPBD(id); // Message: GPPBD id pinA pinB tOn tOff status 00203 00204 if(Feedback)printf("Bridge %d pinA %d pinB %d Dir %d tOn %d tOff %d Cycles %d\n",id, 00205 pinA, pinB, dir,tOn,tOff,cycles); 00206 return; 00207 } 00208 } 00209 } 00210 } 00211 } 00212 // Ignore pending command line 00213 NextCommand(nl,pLine); 00214 return; 00215 } 00216 00217 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); 00218 // Ignore pending command line 00219 NextCommand(nl,pLine); 00220 } 00221 00222 /** Module Get Module Process Properties Command Line Interface 00223 * @brief Command Line Interface to Get Module Public Process Properties 00224 * @param[in] id Extracted from command line 00225 * @returns Message: GPPBD id pinA pinB tOn tOff status 00226 */ 00227 void cli_GPPBD(void) 00228 { unsigned int id; 00229 if(ExtractUInteger(pLine,&id,0,bridgeQty-1)){ // extract id 00230 rGPPBD(id); // Message: GPPBD id pinA pinB tOn tOff status 00231 return; 00232 } 00233 00234 if(Help)printf("GPPST (Bridge id)0..%d\n",bridgeQty-1); 00235 // Ignore pending command line 00236 NextCommand(nl,pLine); 00237 } 00238 00239 /** Public Properties Message 00240 * @brief Send Process Properties to update GUI 00241 * @param[in] id Process identification 00242 * @returns Message: GPPBD id pinA pinB tOn tOff status 00243 */ 00244 void rGPPBD(unsigned int id ){ 00245 int status; 00246 if( sBridge[id].active ) 00247 { if(sBridge[id].cycles == 0)status = bdStopped; 00248 else 00249 { 00250 if( sBridge[id].direction) status = bdRunningCW; 00251 else status = bdRunningCCW; 00252 } 00253 } 00254 else status = bdNotInit; 00255 printf("GPPBD %d %d %d %d %d %d\n",id,sBridge[id].pinA,sBridge[id].pinB,sBridge[id].tOn,sBridge[id].tOff,status); 00256 }
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