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Control up to 4 steppers axis with limit switch logic from serial port
main.cpp@0:3e676fcd9c71, 2011-02-12 (annotated)
- Committer:
- jm
- Date:
- Sat Feb 12 16:49:03 2011 +0000
- Revision:
- 0:3e676fcd9c71
jmStepperAxis Command Line Interface Module
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jm | 0:3e676fcd9c71 | 1 | /************************************************************************* |
jm | 0:3e676fcd9c71 | 2 | * @file main.cpp |
jm | 0:3e676fcd9c71 | 3 | * |
jm | 0:3e676fcd9c71 | 4 | * @version 1.0 |
jm | 0:3e676fcd9c71 | 5 | * @date Feb 12, 2011 |
jm | 0:3e676fcd9c71 | 6 | */ |
jm | 0:3e676fcd9c71 | 7 | |
jm | 0:3e676fcd9c71 | 8 | #include "mbed.h" |
jm | 0:3e676fcd9c71 | 9 | |
jm | 0:3e676fcd9c71 | 10 | // Basic includes |
jm | 0:3e676fcd9c71 | 11 | #include "jmInterpreter.h" |
jm | 0:3e676fcd9c71 | 12 | #include "jmRingBuffer.h" |
jm | 0:3e676fcd9c71 | 13 | #include "jmCommands.h" |
jm | 0:3e676fcd9c71 | 14 | #include "jmMessages.h" |
jm | 0:3e676fcd9c71 | 15 | #include "LPC17xx.h" |
jm | 0:3e676fcd9c71 | 16 | |
jm | 0:3e676fcd9c71 | 17 | |
jm | 0:3e676fcd9c71 | 18 | LPC_GPIO_TypeDef *jmGPIO[5] ={LPC_GPIO0,LPC_GPIO1,LPC_GPIO2,LPC_GPIO3,LPC_GPIO4}; |
jm | 0:3e676fcd9c71 | 19 | |
jm | 0:3e676fcd9c71 | 20 | // CLIG-INCLUDE |
jm | 0:3e676fcd9c71 | 21 | #include "jmStepper.h" |
jm | 0:3e676fcd9c71 | 22 | #include "jmStepperAxis.h" |
jm | 0:3e676fcd9c71 | 23 | #include "jmSwitch.h" |
jm | 0:3e676fcd9c71 | 24 | |
jm | 0:3e676fcd9c71 | 25 | |
jm | 0:3e676fcd9c71 | 26 | // Initializations |
jm | 0:3e676fcd9c71 | 27 | void Inits(){ |
jm | 0:3e676fcd9c71 | 28 | InitCommandLineRingBuffer(); |
jm | 0:3e676fcd9c71 | 29 | InitMessages(); |
jm | 0:3e676fcd9c71 | 30 | cli_version(); |
jm | 0:3e676fcd9c71 | 31 | |
jm | 0:3e676fcd9c71 | 32 | // CLIG-INIT |
jm | 0:3e676fcd9c71 | 33 | StepperInit(); |
jm | 0:3e676fcd9c71 | 34 | StepperAxisInit(); |
jm | 0:3e676fcd9c71 | 35 | SwitchModuleReset(); |
jm | 0:3e676fcd9c71 | 36 | |
jm | 0:3e676fcd9c71 | 37 | } |
jm | 0:3e676fcd9c71 | 38 | |
jm | 0:3e676fcd9c71 | 39 | // EggTimer tickers for modules |
jm | 0:3e676fcd9c71 | 40 | void eggTimers(){ |
jm | 0:3e676fcd9c71 | 41 | int i; |
jm | 0:3e676fcd9c71 | 42 | // CLIG-TIMER |
jm | 0:3e676fcd9c71 | 43 | // Module jmStepper |
jm | 0:3e676fcd9c71 | 44 | for(i=0;i<stepperQty;i++)if(sStepper[i].eggTimer>0)sStepper[i].eggTimer--; |
jm | 0:3e676fcd9c71 | 45 | // Module jmSwitch |
jm | 0:3e676fcd9c71 | 46 | for(i=0;i<switchQty;i++)if(sSwitch[i].eggTimer>0)sSwitch[i].eggTimer--; |
jm | 0:3e676fcd9c71 | 47 | |
jm | 0:3e676fcd9c71 | 48 | } |
jm | 0:3e676fcd9c71 | 49 | |
jm | 0:3e676fcd9c71 | 50 | int main() { |
jm | 0:3e676fcd9c71 | 51 | unsigned char c; |
jm | 0:3e676fcd9c71 | 52 | Serial pc(USBTX, USBRX); // communication medium |
jm | 0:3e676fcd9c71 | 53 | pc.baud(115200); // 115200 bauds, 8bits, 1 stop, no control flow |
jm | 0:3e676fcd9c71 | 54 | Ticker tick; // enable system ticks |
jm | 0:3e676fcd9c71 | 55 | tick.attach_us(&eggTimers,1000); // enable and select granularity for egg timers |
jm | 0:3e676fcd9c71 | 56 | Inits(); // initialization |
jm | 0:3e676fcd9c71 | 57 | |
jm | 0:3e676fcd9c71 | 58 | while(true){ |
jm | 0:3e676fcd9c71 | 59 | if( pc.readable()){ // something to read ? |
jm | 0:3e676fcd9c71 | 60 | c= pc.getc(); // read one char |
jm | 0:3e676fcd9c71 | 61 | |
jm | 0:3e676fcd9c71 | 62 | if(Echo) printf("%c",c); // echo it ? |
jm | 0:3e676fcd9c71 | 63 | |
jm | 0:3e676fcd9c71 | 64 | switch(c){ // process it |
jm | 0:3e676fcd9c71 | 65 | |
jm | 0:3e676fcd9c71 | 66 | case 8 : DelChar(pLine); // remove last one |
jm | 0:3e676fcd9c71 | 67 | break; |
jm | 0:3e676fcd9c71 | 68 | case 10 : Insert(c,pLine); // end of line |
jm | 0:3e676fcd9c71 | 69 | Interpret();// process line |
jm | 0:3e676fcd9c71 | 70 | break; |
jm | 0:3e676fcd9c71 | 71 | default : Insert(c,pLine); // insert char in command line buffer |
jm | 0:3e676fcd9c71 | 72 | } |
jm | 0:3e676fcd9c71 | 73 | } // if |
jm | 0:3e676fcd9c71 | 74 | |
jm | 0:3e676fcd9c71 | 75 | // CLIG-SM |
jm | 0:3e676fcd9c71 | 76 | StepperSM(); |
jm | 0:3e676fcd9c71 | 77 | StepperAxisSM(); |
jm | 0:3e676fcd9c71 | 78 | SwitchEdgeDetect(); |
jm | 0:3e676fcd9c71 | 79 | |
jm | 0:3e676fcd9c71 | 80 | |
jm | 0:3e676fcd9c71 | 81 | }// while |
jm | 0:3e676fcd9c71 | 82 | }// main |
jm | 0:3e676fcd9c71 | 83 | |
jm | 0:3e676fcd9c71 | 84 | |
jm | 0:3e676fcd9c71 | 85 |