Jean Mercier
/
jmMotor
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jmMotor.c
00001 /************************************************************************* 00002 * @file jmMotor.c 00003 * @version 1.0 00004 * @date Feb 12, 2011 00005 */ 00006 00007 #include "jmMotor.h" 00008 #include "LPC17xx.h" 00009 #include "main.h" 00010 #include "jmCommands.h" 00011 #include "jmMessages.h" 00012 #include "jmRingBuffer.h" 00013 #include "stdio.h" 00014 00015 #ifndef nonStop 00016 #define nonStop 65535 // for continuous mode operation 00017 #endif 00018 00019 #define mtNotInit 0 00020 #define mtRunningCW 1 00021 #define mtRunningCCW 2 00022 #define mtStopped 3 00023 00024 extern LPC_GPIO_TypeDef *jmGPIO[5]; 00025 00026 // Module Data Structure 00027 struct StructMotor sMotor[motorQty]; // static creation 00028 00029 /** Module Data Structure Initialization 00030 * @brief All State Machines non initialized 00031 * @param[in] none 00032 * @returns none 00033 */ 00034 void MotorInit(void){ 00035 int i; 00036 for(i=0;i<motorQty;i++){ 00037 sMotor[i].active = mtNotInit; 00038 } 00039 } 00040 00041 /** Speed control for motors (1 or up to 4) 00042 * @brief motorSpeed Command Line Interface. 00043 * Format: command name (arg info)min..max values 00044 * motorSpeed (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255 00045 * @param[in] Extracted from command line (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255 00046 * @returns Message: motorSpeed ids tOn tOff 00047 */ 00048 void cli_MotorSpeed(void){ 00049 unsigned int id, i, tOn,tOff; 00050 if(ExtractUInteger(pLine,&id,1,15)){ //extract id 00051 if(ExtractUInteger(pLine,&tOn,0,255)){ //extract tOn 00052 if(ExtractUInteger(pLine,&tOff,0,255)){ //extract tOff 00053 for(i=0;i<motorQty;i++){ // check each motor 00054 if(id & 1<<i){ // motor included ? 00055 if(sMotor[i].active){ // motor initialized ? 00056 sMotor[i].tOn=(uint8_t)tOn; 00057 sMotor[i].tOff=(uint8_t)tOff; 00058 00059 00060 if(tOn==0){ // 0% ? 00061 sMotor[i].cycles=0; 00062 sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // output pin low 00063 } 00064 00065 if(tOff==0){ // 100% ? 00066 sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // output pin high 00067 } 00068 00069 if(tOn!=0 && tOff!=0){ // PWM ? 00070 // change motor tOn and tOff values 00071 sMotor[i].cycles=nonStop; 00072 } 00073 // report to gui 00074 rGPPMT(i); 00075 } 00076 } 00077 } 00078 } 00079 } 00080 00081 if(Feedback)printf("MotorSpeed ID %d tOn %d tOff %d\n",id,tOn, tOff); 00082 return; 00083 } 00084 if(Help)printf("motorSpeed (Motor IDs ORed)1..15 (tOn Value)1..255 (tOff Value)1..255\n"); 00085 // Ignore pending command line 00086 NextCommand(nl,pLine); 00087 } 00088 00089 00090 /*********************************************************************** 00091 * @brief Module State Machine. 00092 * Enable different motor control concurrently. 00093 * @param none 00094 * @returns Message at end of cycles: GPPMT id dirPin drivePinB tOn tOff status 00095 */ 00096 void MotorSM(void){ 00097 int i; 00098 for(i=0;i<motorQty;i++){ // for each SM define by pins 00099 // SM active ? 00100 if(!sMotor[i].active) continue; 00101 00102 if(sMotor[i].cycles!=0){ // Cycles to DO ? 00103 switch(sMotor[i].state){ 00104 00105 // pulse is low 00106 case 0: if(sMotor[i].eggTimer==0){ // time to change ? 00107 sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // set pin High 00108 sMotor[i].eggTimer=sMotor[i].tOn; // load timer with tOn 00109 sMotor[i].state=1; // next state 00110 } 00111 break; 00112 00113 // pulse is High 00114 case 1: if(sMotor[i].eggTimer==0){ // time to change ? 00115 sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // reset pin low 00116 sMotor[i].eggTimer=sMotor[i].tOff; // load timer with tOff 00117 if(sMotor[i].cycles != nonStop){ // continuous mode ? 00118 if(--sMotor[i].cycles == 0) // decrease qty if not continuous mode 00119 rGPPMT(i); // Message: GPPMT id dirPin drivePinB tOn tOff status 00120 } 00121 sMotor[i].state=0; // state 0 00122 } 00123 break; 00124 }//switch 00125 }//if 00126 }//for 00127 }//MotorSM 00128 00129 00130 /** @brief motor Command Line Interface 00131 * Command Line Interface to control Motor on mbed pins DIP5 to 30. 00132 * Format: command name (arg info)min..max values 00133 * Command Line Format: motor (Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535] 00134 * @param[in] Extracted from command line ((Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)1..255 (tOff)1..255 (Cycles)[1..65535] 00135 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status 00136 */ 00137 void cli_Motor(void){ 00138 unsigned int id,dirPin,drivePin, dir, tOn,tOff,cycles; 00139 00140 if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract motor id 00141 if(ExtractUInteger(pLine,&dirPin,0,432)){ // extract direction pin 00142 if(ExtractUInteger(pLine,&drivePin,0,432)){ // extract drive pin 00143 if(ExtractUInteger(pLine,&dir,0,1)){ // extract direction 00144 if(ExtractUInteger(pLine,&tOn,0,255)){ // extract tOn 00145 if(ExtractUInteger(pLine,&tOff,0,255)){ // extract tOff 00146 // extract cycles and test for nonStop mode 00147 if(!ExtractUInteger(pLine,&cycles,1,nonStop))cycles = nonStop; 00148 00149 sMotor[id].dirBitValue = 1<<(dirPin%100); 00150 sMotor[id].driveBitValue = 1<<(drivePin%100);; 00151 sMotor[id].drivePort = jmGPIO[drivePin/100]; 00152 sMotor[id].dirPort = jmGPIO[dirPin/100]; 00153 sMotor[id].active = 1; 00154 00155 // Port.Pin set to outputs 00156 sMotor[id].dirPort->FIODIR |= sMotor[id].dirBitValue; 00157 sMotor[id].drivePort->FIODIR |= sMotor[id].driveBitValue; 00158 00159 sMotor[id].direction = dir; 00160 sMotor[id].tOn = (uint8_t)tOn; 00161 sMotor[id].tOff = (uint8_t)tOff; 00162 sMotor[id].cycles = (uint16_t)cycles; 00163 sMotor[id].state = 0; 00164 sMotor[id].eggTimer = 0; 00165 sMotor[id].dirPin = dirPin; 00166 sMotor[id].drivePin = drivePin; 00167 00168 // set output direction bit according to given direction 00169 if(dir) sMotor[id].dirPort->FIOPIN |= sMotor[id].dirBitValue; 00170 else sMotor[id].dirPort->FIOPIN &= ~sMotor[id].dirBitValue; 00171 00172 // 100% 00173 if(tOff==0){ 00174 sMotor[id].drivePort->FIOPIN |= sMotor[id].driveBitValue; 00175 // SM off 00176 sMotor[id].cycles = 0; 00177 } 00178 00179 // 0% 00180 if(tOn==0){ 00181 sMotor[id].drivePort->FIOPIN &= ~sMotor[id].driveBitValue; 00182 // SM off 00183 sMotor[id].cycles = 0; 00184 } 00185 00186 rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status 00187 00188 if(Feedback)printf("Motor %d DirPin %d DrivePin %d Dir %d tOn %d tOff %d Cycles %d\n",id, 00189 dirPin, drivePin, dir,tOn,tOff,cycles); 00190 return; 00191 } 00192 } 00193 } 00194 } 00195 } 00196 // Ignore pending command line 00197 NextCommand(nl,pLine); 00198 return; 00199 } 00200 00201 if(Help)printf("motor (Motor ID)0..%d (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]\n",motorQty-1); 00202 // Ignore pending command line 00203 NextCommand(nl,pLine); 00204 } 00205 00206 /** Module Get Module Process Properties Command Line Interface 00207 * @brief Command Line Interface to Get Module Public Process Properties 00208 * @param[in] id Extracted from command line 00209 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status 00210 */ 00211 void cli_GPPMT(void) 00212 { unsigned int id; 00213 if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract id 00214 rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status 00215 return; 00216 } 00217 00218 if(Help)printf("GPPST (Motor id)0..%d\n",motorQty-1); 00219 // Ignore pending command line 00220 NextCommand(nl,pLine); 00221 } 00222 00223 /** Public Properties Message 00224 * @brief Send Process Properties to update GUI 00225 * @param[in] id Process identification 00226 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status 00227 */ 00228 void rGPPMT(unsigned int id ){ 00229 int status; 00230 if( sMotor[id].active ) 00231 { if(sMotor[id].cycles == 0)status = mtStopped; 00232 else 00233 { 00234 if( sMotor[id].direction) status = mtRunningCW; 00235 else status = mtRunningCCW; 00236 } 00237 } 00238 else status = mtNotInit; 00239 printf("GPPMT %d %d %d %d %d %d\n",id,sMotor[id].dirPin,sMotor[id].drivePin,sMotor[id].tOn,sMotor[id].tOff,status); 00240 }
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