Jean Mercier
/
jmStepper
Control up to 4 steppers from serial port
main.cpp@0:0785901b085e, 2011-02-12 (annotated)
- Committer:
- jm
- Date:
- Sat Feb 12 16:42:08 2011 +0000
- Revision:
- 0:0785901b085e
jmStepper Command Line Interface Module
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jm | 0:0785901b085e | 1 | /************************************************************************* |
jm | 0:0785901b085e | 2 | * @file main.cpp |
jm | 0:0785901b085e | 3 | * |
jm | 0:0785901b085e | 4 | * @version 1.0 |
jm | 0:0785901b085e | 5 | * @date Feb 12, 2011 |
jm | 0:0785901b085e | 6 | */ |
jm | 0:0785901b085e | 7 | |
jm | 0:0785901b085e | 8 | #include "mbed.h" |
jm | 0:0785901b085e | 9 | |
jm | 0:0785901b085e | 10 | // Basic includes |
jm | 0:0785901b085e | 11 | #include "jmInterpreter.h" |
jm | 0:0785901b085e | 12 | #include "jmRingBuffer.h" |
jm | 0:0785901b085e | 13 | #include "jmCommands.h" |
jm | 0:0785901b085e | 14 | #include "jmMessages.h" |
jm | 0:0785901b085e | 15 | #include "LPC17xx.h" |
jm | 0:0785901b085e | 16 | |
jm | 0:0785901b085e | 17 | |
jm | 0:0785901b085e | 18 | LPC_GPIO_TypeDef *jmGPIO[5] ={LPC_GPIO0,LPC_GPIO1,LPC_GPIO2,LPC_GPIO3,LPC_GPIO4}; |
jm | 0:0785901b085e | 19 | |
jm | 0:0785901b085e | 20 | // CLIG-INCLUDE |
jm | 0:0785901b085e | 21 | #include "jmStepper.h" |
jm | 0:0785901b085e | 22 | |
jm | 0:0785901b085e | 23 | |
jm | 0:0785901b085e | 24 | // Initializations |
jm | 0:0785901b085e | 25 | void Inits(){ |
jm | 0:0785901b085e | 26 | InitCommandLineRingBuffer(); |
jm | 0:0785901b085e | 27 | InitMessages(); |
jm | 0:0785901b085e | 28 | cli_version(); |
jm | 0:0785901b085e | 29 | |
jm | 0:0785901b085e | 30 | // CLIG-INIT |
jm | 0:0785901b085e | 31 | StepperInit(); |
jm | 0:0785901b085e | 32 | |
jm | 0:0785901b085e | 33 | } |
jm | 0:0785901b085e | 34 | |
jm | 0:0785901b085e | 35 | // EggTimer tickers for modules |
jm | 0:0785901b085e | 36 | void eggTimers(){ |
jm | 0:0785901b085e | 37 | int i; |
jm | 0:0785901b085e | 38 | // CLIG-TIMER |
jm | 0:0785901b085e | 39 | // Module jmStepper |
jm | 0:0785901b085e | 40 | for(i=0;i<stepperQty;i++)if(sStepper[i].eggTimer>0)sStepper[i].eggTimer--; |
jm | 0:0785901b085e | 41 | |
jm | 0:0785901b085e | 42 | } |
jm | 0:0785901b085e | 43 | |
jm | 0:0785901b085e | 44 | int main() { |
jm | 0:0785901b085e | 45 | unsigned char c; |
jm | 0:0785901b085e | 46 | Serial pc(USBTX, USBRX); // communication medium |
jm | 0:0785901b085e | 47 | pc.baud(115200); // 115200 bauds, 8bits, 1 stop, no control flow |
jm | 0:0785901b085e | 48 | Ticker tick; // enable system ticks |
jm | 0:0785901b085e | 49 | tick.attach_us(&eggTimers,1000); // enable and select granularity for egg timers |
jm | 0:0785901b085e | 50 | Inits(); // initialization |
jm | 0:0785901b085e | 51 | |
jm | 0:0785901b085e | 52 | while(true){ |
jm | 0:0785901b085e | 53 | if( pc.readable()){ // something to read ? |
jm | 0:0785901b085e | 54 | c= pc.getc(); // read one char |
jm | 0:0785901b085e | 55 | |
jm | 0:0785901b085e | 56 | if(Echo) printf("%c",c); // echo it ? |
jm | 0:0785901b085e | 57 | |
jm | 0:0785901b085e | 58 | switch(c){ // process it |
jm | 0:0785901b085e | 59 | |
jm | 0:0785901b085e | 60 | case 8 : DelChar(pLine); // remove last one |
jm | 0:0785901b085e | 61 | break; |
jm | 0:0785901b085e | 62 | case 10 : Insert(c,pLine); // end of line |
jm | 0:0785901b085e | 63 | Interpret();// process line |
jm | 0:0785901b085e | 64 | break; |
jm | 0:0785901b085e | 65 | default : Insert(c,pLine); // insert char in command line buffer |
jm | 0:0785901b085e | 66 | } |
jm | 0:0785901b085e | 67 | } // if |
jm | 0:0785901b085e | 68 | |
jm | 0:0785901b085e | 69 | // CLIG-SM |
jm | 0:0785901b085e | 70 | StepperSM(); |
jm | 0:0785901b085e | 71 | |
jm | 0:0785901b085e | 72 | |
jm | 0:0785901b085e | 73 | }// while |
jm | 0:0785901b085e | 74 | }// main |
jm | 0:0785901b085e | 75 | |
jm | 0:0785901b085e | 76 | |
jm | 0:0785901b085e | 77 |