Diff: jmStepperAxis.c

Revision:

0:3e676fcd9c71

diff -r 000000000000 -r 3e676fcd9c71 jmStepperAxis.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepperAxis.c	Sat Feb 12 16:49:03 2011 +0000
@@ -0,0 +1,173 @@
+/*************************************************************************
+ * @file    jmStepperAxis.c
+ * @brief    Command Line Interface StepperAxis Module
+ *                  
+ * @version    1.0
+ * @date    Feb 12, 2011
+ */
+
+#include "jmMessages.h"
+#include "jmStepperAxis.h"
+#include "LPC17xx.h"
+#include "main.h"
+#include "jmCommands.h"
+#include "jmMessages.h"
+#include "jmRingBuffer.h"
+#include "stdio.h"
+#include "jmSwitch.h"
+#include "jmStepper.h"
+
+#ifndef nonStop
+   #define nonStop 65535
+#endif
+
+#define NotInit 0
+#define Initialized 1
+#define CW 1
+#define CCW 0
+#define Open 1
+#define Close 0
+#define bothLimitSwitchActivated 4
+#define LimitCWReached 3
+#define LimitCCWReached 2
+#define LogicOK 1
+#define true 1
+#define false 0
+
+// static structures creation
+struct StructStepperAxis sStepperAxis[stepperAxisQty];
+
+/** Module Data Structure Initialization
+ * @brief   All State Machines put to sleep.
+ * @param[in]    none
+ * @returns none
+ */
+void StepperAxisInit(void){
+   int i;
+   for(i=0;i<stepperAxisQty;i++){
+     sStepperAxis[i].active = false;
+   }
+}
+
+/**  @brief stepperAxis Command Line Interface.
+ * Set up a stepper axis from one stepper and two limit switch modules
+ * Command Line Format:  stepperAxis id stepperID limitCWid limitCCWid
+ * @param[in]    Extracted from command line  id stepperID limitCWid limitCCWid
+ * @returns    Message:  GPPSTA id stepperID limitCWid limitCCWid status
+ */
+void cli_StepperAxis(void){
+unsigned int id, stepperID, limitCWid, limitCCWid;
+
+   if(ExtractUInteger(pLine,&id,0,stepperAxisQty-1)){               // extract stepper axis id
+        if(ExtractUInteger(pLine,&stepperID,0,stepperQty-1)){            // extract stepper id
+          if(ExtractUInteger(pLine,&limitCWid,0,switchQty-1)){        // extract Limit Switch CW id
+              if(ExtractUInteger(pLine,&limitCCWid,0,switchQty-1)){ // extract Limit Switch CCW id
+
+                  sStepperAxis[id].active=true;
+                  sStepperAxis[id].stepperID=stepperID;
+                  sStepperAxis[id].limitCW=limitCWid;
+                  sStepperAxis[id].limitCCW=limitCCWid;
+
+                  // chip report to GUI
+                  rGPPSTA(id); 
+                  if(Feedback)printf("StepperAxis %d StepperID %d limitCCWid %d limitCWid %d\n",id,stepperID,limitCCWid,limitCWid);              
+                  return;
+               }// CCW
+            }// CW
+        }// stepper
+    }// axis
+    if(Help)printf("stepperAxis (Stepper id)0..3 (limit switch CCW id)0..7 (limit switch CW id)0..7\n"); 
+    // Ignore pending command line
+    NextCommand(nl,pLine);
+}
+
+/** @brief   
+ * @param[in] none
+ * @returns 
+ */
+void StepperAxisSM(void)
+{
+   int i;
+   for(i=0;i<stepperAxisQty;i++)
+   {
+     if(sStepperAxis[i].active==true)
+     {
+         uint8_t oldStatus = sStepperAxis[i].status;     
+         
+         // Limits Reached
+         // two limits switches activated ? 
+         if(sSwitch[sStepperAxis[i].limitCW].state == Close && sSwitch[sStepperAxis[i].limitCCW].state==Close){
+             sStepper[sStepperAxis[i].stepperID].nSteps=0;         // stop stepper
+            sStepperAxis[i].status = bothLimitSwitchActivated;
+            if(oldStatus !=  bothLimitSwitchActivated)rGPPSTA(i); // report change                
+            continue;  
+         }
+         // Limit Switch CW activated and step direction CW
+         if(sSwitch[sStepperAxis[i].limitCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CW){
+            sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
+            sStepperAxis[i].status = LimitCWReached;  
+            if(oldStatus !=  LimitCWReached)rGPPSTA(i); // report change                   
+            continue;
+         }
+
+         // Limit Switch CCW activated and step direction CCW
+         if(sSwitch[sStepperAxis[i].limitCCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CCW){
+            sStepper[sStepperAxis[i].stepperID].nSteps=0; // stop stepper
+            sStepperAxis[i].status = LimitCCWReached;    
+            if(oldStatus !=  LimitCCWReached)rGPPSTA(i); // report change              
+            continue;
+         }    
+         
+         // safe operating area
+         // no limit switch activated
+         if(sSwitch[sStepperAxis[i].limitCW].state == Open && sSwitch[sStepperAxis[i].limitCCW].state == Open){
+            sStepperAxis[i].status = LogicOK;  
+            if(oldStatus !=  LogicOK)rGPPSTA(i); // report change   
+            continue;
+         }
+
+         // Limit Switch CW activated and step direction CCW
+         if(sSwitch[sStepperAxis[i].limitCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CCW){
+            sStepperAxis[i].status = LogicOK;   
+            if(oldStatus !=  LogicOK)rGPPSTA(i); // report change     
+            continue;
+         }
+
+         // Limit Switch CCW activated and step direction CW
+         if(sSwitch[sStepperAxis[i].limitCCW].state == Close && sStepper[sStepperAxis[i].stepperID].cw ==CW){
+            sStepperAxis[i].status = LogicOK; 
+            if(oldStatus !=  LogicOK)rGPPSTA(i); // report change  
+            continue;
+         }     
+     }
+   }
+}
+
+/** 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 id Process identification
+ * @returns    none
+ */
+void cli_GPPSTA(void)
+{    unsigned int id;
+   if(ExtractUInteger(pLine,&id,0,stepperAxisQty-1)){  // extract id 
+       rGPPSTA(id);   
+       return;
+    }
+
+    if(Help)printf("GPPSTA (StepperAxis id)0..%d\n",stepperAxisQty-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: GPPSTA id stepperID limitCWid limitCCWid status
+ */
+void rGPPSTA(unsigned int id ){         
+    int status;
+    if(sStepperAxis[id].active==false)status=0;
+    else status = sStepperAxis[id].status;
+    printf("GPPSTA %d %d %d %d %d\n",id,sStepperAxis[id].stepperID,sStepperAxis[id].limitCCW,sStepperAxis[id].limitCW ,status);
+}