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Control up to 4 steppers axis with limit switch logic from serial port
Revision 0:3e676fcd9c71, committed 2011-02-12
- Comitter:
- jm
- Date:
- Sat Feb 12 16:49:03 2011 +0000
- Commit message:
- jmStepperAxis Command Line Interface Module
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmCommands.c Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,98 @@ +/** @file jmCommands.c + * Auto Generated by jmCLIG + * Saturday, February 12, 2011 11:03 AM + * @version 2011.01.05 + */ + +#include "main.h" +#include "jmCommands.h" +#include "jmMessages.h" +#include "jmRingBuffer.h" +#include "jmStepper.h" +#include "jmStepperAxis.h" +#include "jmSwitch.h" + +const char jmCLIG[] = {"\njmCLIG Version 2011.01.05 \nInstance Saturday, February 12, 2011 11:03 AM\n"}; + +// Command Name Table +const char cmdNames[]= + { + 'l','i','s','t',0, + 'v','e','r',0, + 'h','e','l','p',0, + 'f','e','e','d','b','a','c','k',0, + 'e','c','h','o',0, + 's','t','e','p','p','e','r',0, + 's','t','e','p','p','e','r','S','t','o','p',0, + 'G','P','P','S','T',0, + 's','t','e','p','S','p','e','e','d',0, + 's','t','e','p','p','e','r','A','x','i','s',0, + 'G','P','P','S','T','A',0, + 's','w','R','e','a','d',0, + 's','w','I','n','i','t',0, + 'G','P','P','S','0',0, + 'i','n','i','t',0, + 0 + }; + +// Section Definitions +#define list 0 +#define ver 1 +#define help 2 +#define feedback 3 +#define echo 4 +#define stepper 5 +#define stepperStop 6 +#define GPPST 7 +#define stepSpeed 8 +#define stepperAxis 9 +#define GPPSTA 10 +#define swRead 11 +#define swInit 12 +#define GPPS0 13 +#define init 14 + + +/*********************************************************************** + * @brief Command steering + * Command Associated with Command Number is Executed + * @param[in] cmdNum Command Number + * @return none + **********************************************************************/ +void Action(int cmdNum){ + switch(cmdNum){ + case list : cli_list(); + break; + case ver : cli_version(); + break; + case help : cli_help(); + break; + case feedback : cli_feedback(); + break; + case echo : cli_echo(); + break; + case stepper : cli_Stepper(); + break; + case stepperStop : cli_StepperStop(); + break; + case GPPST : cli_GPPST(); + break; + case stepSpeed : cli_StepSpeed(); + break; + case stepperAxis : cli_StepperAxis(); + break; + case GPPSTA : cli_GPPSTA(); + break; + case swRead : cli_SwitchRead(); + break; + case swInit : cli_SwitchInit(); + break; + case GPPS0 : cli_GPPS0(); + break; + case init : Inits(); + break; + default : UnknownCommand(); + NextCommand(nl,pLine); + } +} +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmCommands.h Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,18 @@ +/** @file jmCommands.h +* Auto Generated by jmCLIG +* @version Saturday, February 12, 2011 11:03 AM +*/ + +#ifndef jmCommandsdef + #define jmCommandsdef 1 + + #define nbCommands 15 + + // Strings + extern const char jmCLIG[77]; + extern const char cmdNames[109]; + +#endif + +// Prototypes +void Action(int);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmInterpreter.c Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,46 @@ +/************************************************************************* + * @file jmInterpreter.c + * @brief Command Line Interpreter + * + * @date December 27,2010 +*/ + +#include "jmInterpreter.h" +#include "jmRingBuffer.h" +#include "jmCommands.h" + +/** @brief Interpret a command line. + * Interpreter uses Command Line Buffer to fecth command name + * and redirects execution to associated function. + * @param none + * @returns none + */ +void Interpret(void){ + unsigned int i,k; + unsigned char Command, found; + char Word[WordMaxSize]; + Command =0; + found = 0; + + if(NotEmpty(pLine)){ + ExtractWord(pLine,Word); // Command name extraction + for(i=0, k=0;i<sizeof(cmdNames);i++){ // lookup in names array + if(cmdNames[i]!=Word[k]){ // if different + while(cmdNames[i]!=0)i++; // next entry in names array + Command++; // update command index + k=0; + } + else{ + if(Word[k]==0){ + found=1; + } + else k++; + } //else + + if(found)break; + } //for + } + + // Command execution + Action(Command); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmInterpreter.h Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,9 @@ +/************************************************************************* + * @file jmInterpreter.h + * @brief Command Line Interpreter + * + * @date December 27,2010 +*/ + +// Prototypes +void Interpret(void);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmMessages.c Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,125 @@ +/************************************************************************* + * @file jmMessages.c + * @brief Control System Messages + * + * @date December 27,2010 +*/ + +#include "jmCommands.h" +#include "jmRingBuffer.h" +#include "stdio.h" +#include "jmMessages.h" +#include "stdint.h" + +uint8_t Help; +uint8_t Feedback; +uint8_t Echo; + + +/** @brief Enable only help messages + * @param none + * @returns none + */ +void InitMessages(void){ + Help = 1; + Echo = 0; + Feedback = 0; +} + +/** @brief Send all command names in a project + * @param none + * @returns none + */ +void cli_list(void){ + int i,j; + printf("Commands:\n"); + printf(".......................\n"); + // for each command + for(i=0,j=0; i<nbCommands; i++,j++){ + // print name + while(cmdNames[j]) printf("%c",cmdNames[j++]); + printf("\n"); + } + printf("........................\n"); +} + +/** @brief Send Message Unknown Command from interpreter + * @param none + * @returns none + */ +void UnknownCommand(void){ + printf("\n?\n"); +} + +/** @brief Send Build Version Message + * @param none + * @returns none + */ +void cli_version(void){ + printf(jmCLIG); +} + +/** @brief Help Command Line Control. + * Enable/disable help messages + * When enabled, Typing name only prints Command Format + * @param none + * @returns none + */ +void cli_help(void){ + unsigned int value; + if(ExtractUInteger(pLine,&value,0,1)){ + if(value == 1) printf("Help Enabled ! type command name to print its format\n"); + else printf("Help Disabled !\n"); + + Help = (uint8_t) value; // save status + return; + } + // Error on input, show format + if(Help)printf("help (value)0..1\n"); + // Ignore pending command line + NextCommand(nl,pLine); +} + +/** @brief Feedback Command Line Control. + * Enable/disable feedback messages + * When enabled, feedback from user input commands are returned + * @param none + * @returns none + */ +void cli_feedback(void){ + unsigned int value; + if(ExtractUInteger(pLine,&value,0,1)){ + if(value == 1) printf("Feedback Enabled !\n"); + else printf("Feedback Disabled !\n"); + + Feedback = (uint8_t)value; // save status + return; + } + + // Error on input, show format + if(Help)printf("feedback (value)0..1\n"); + // Ignore pending command line + NextCommand(nl,pLine); +} + +/** @brief Echo Command Line Control. + * Enable/disable communication echoes + * When enabled, user inputs are echoed back + * @param none + * @returns none + */ +void cli_echo(void){ + unsigned int value; + if(ExtractUInteger(pLine,&value,0,1)){ + if(value == 1) printf("Echo Enabled !\n"); + else printf("Echo Disabled !\n"); + + Echo = (uint8_t)value; // save status + return; + } + + // Error on input, show format + if(Help)printf("echo (value)0..1\n"); + // Ignore pending command line + NextCommand(nl,pLine); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmMessages.h Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,35 @@ +/************************************************************************* + * @file jmMessages.h + * @brief Control System Messages + * + * @date December 27,2010 +*/ + +#include "stdint.h" + +// variables to enable/disable messages +extern uint8_t Help; +extern uint8_t Feedback; +extern uint8_t Echo; + +// Prototypes +void InitMessages(void); +void cli_list(void); +void cli_version(void); +void UnknownCommand(void); +void cli_help(void); +void cli_feedback(void); +void cli_echo(void); + + +//-------------------------- CLIG PLUGS -------------------- +// CLIG-CMD +/* +list cli_list(); +ver cli_version(); +help cli_help(); +feedback cli_feedback(); +echo cli_echo(); +*/ + +//------------------------ END CLIG PLUGS -----------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmRingBuffer.c Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,215 @@ +/************************************************************************* + * @file jmRingBuffer.c + * @brief Command Line Rx Ring Buffer + * + * @date Feb 12, 2011 +*/ + + +#include "jmRingBuffer.h" +#include "stdio.h" + +// static creation of Command Line Buffer +struct RingBuffer Line, *pLine; + +/** @brief Command line ring buffer initialization. + * @param none + * @returns none + */ +void InitCommandLineRingBuffer(void){ + pLine = &Line; + FlushRingBuffer(pLine); +} + +/** @brief Move ring head pointer foward. + * @param *p pointer to ring buffer + * @returns none + */ +void NextHead(struct RingBuffer *p) +{ p->head++; + if(p->head >= DimRingBuffer) + p->head=0; +} + +/** @brief Move ring tail pointer foward. + * @param pointer to ring buffer + * @returns none + */ +void NextTail(struct RingBuffer *p) +{ p->tail++; + if(p->tail >= DimRingBuffer) + p->tail=0; +} + +/** @brief Check if buffer full. + * @param *p pointer to ring buffer + * @returns true if full, false otherwise + */ +bool Full(struct RingBuffer *p) +{ if(p->qty >= DimRingBuffer) + return true; + else + return false; +} + +/** @brief Insert a char in buffer. + * @param c unsigned char to be inserted + * @param *p pointer to ring buffer + * @returns none + */ +void Insert(unsigned char c, struct RingBuffer *p) +{ if(Full(p)) + NextHead(p); + else + p->qty++; + + p->Buffer[p->tail]=c; + NextTail(p); +} + +/** @brief Check if ring buffer not empty. + * @param *p pointer to ring buffer + * @returns true if full, false otherwise + */ +bool NotEmpty(struct RingBuffer *p) +{ if(p->qty == 0) + return false ; + else + return true; +} + +/** @brief Extract a char from ring buffer. + * @param *p pointer to ring buffer + * @returns unsigned char + */ +unsigned char Extract(struct RingBuffer *p) +{ unsigned char c; + c = p->Buffer[p->head]; + if(NotEmpty(p)) + { NextHead(p); + p->qty--; + } + return c; +} + +/** @brief Flush ring buffer. + * @param *p pointer to ring buffer + * @returns none + */ +void FlushRingBuffer(struct RingBuffer *p) +{ int i; + p->head = 0; + p->tail = 0; + p->qty = 0; + for(i=0;i<DimRingBuffer;i++)p->Buffer[i]=0; +} + +/** @brief Delete last char from ring buffer. + * @param *p pointer to ring buffer + * @returns none + */ +void DelChar(struct RingBuffer *p) +{ if(p->qty != 0){ + if(p->tail==0)p->tail=DimRingBuffer; + else p->tail--; + p->qty--; + } +} + +/** @brief Remove a command line from ring buffer. + * @param c end command identifier unsigned char + * @param *p pointer to ring buffer + * @returns none + */ +void NextCommand(unsigned char c, struct RingBuffer *p){ + // remove all char till end identifier is found + while(NotEmpty(p) && p->Buffer[p->head] != c) + { NextHead(p); + p->qty--; + } + + // remove end identifier + if(NotEmpty(p)&& p->Buffer[p->head] == c) + { NextHead(p); + p->qty--; + } +} + +/** @brief View ring buffer content. + * Print ring buffer content + * @param *p pointer to ring buffer + * @returns none + */ +void ViewRingBuffer(struct RingBuffer *p){ + int i,j; + + printf("\nRingBuffer Qty: %d \nContent: ",p->qty); + + for(j=0,i=p->head;j<p->qty;j++){ + printf("%c",p->Buffer[i]); + if(i++>DimRingBuffer)i=0; + } + printf("\n"); +} + +/** @brief Extract a word from ring buffer. + * The extracted word is put in the array pointed by word + * @param p pointer to a ring buffer + * @param word pointer to array of char + * @returns true if a word is extracted otherwise returns false + */ +bool ExtractWord(struct RingBuffer *p, char * word){ + unsigned char c; + int i,j; + j=0; + + if(NotEmpty(p)){ + for(i=0;i<WordMaxSize-1;i++){ + // extract a char from Rx ring buffer + c=Extract(p); + + // remove leading blanks + if(c==' ' && j==0)continue; + + // end of word or end of command line + if(c==' ' || c==nl)break; + + // build the Word + word[j++]=c; + } + // 0 string termination + word[j]=0; + if(j>0)return true; + } + return false; +} + +/** @brief Extract an unsigned int from ring buffer. + * Convert a word from buffer into an integer between min and max values + * Value converted should be between min and max values. + * Value should be decimal or hexadecimal (beginning by 0x or 0X) + * @param p pointer to ring buffer + * @param result pointer to unsigned int + * @param min minimum limit + * @param max maximum limit + * @returns true if value is converted beetween limits, including limits. + */ +bool ExtractUInteger(struct RingBuffer *p, unsigned int *result, unsigned int min, unsigned int max){ + unsigned int i ; + char word[WordMaxSize-1]; + + if(ExtractWord(p,word)){ // Extract string value + if(word[0]=='0' && (word[1]=='x' || word[1]=='X')) { + sscanf(word,"%x",&i); // convert hexadecimal input + } + else + sscanf(word,"%d",&i); // convert decimal input + + if(i>=min && i<=max){ + *result = i; + return true; + } + } + *result = 0; + return false; +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmRingBuffer.h Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,36 @@ +/************************************************************************* + * @file jmRingBuffer.h + * @brief Command Line Rx Ring Buffer + * + * @date Feb12, 2011 +*/ + +#ifndef jmRingBufferDef + #define jmRingBufferDef 1 + + #define nl 10 // new line + #define WordMaxSize 21 + #define DimRingBuffer 41 + + + // Ring Buffer data structure + extern struct RingBuffer + { unsigned char Buffer[DimRingBuffer]; + unsigned char head; + unsigned char tail; + unsigned char qty; + }Line, *pLine; +#endif + +// Prototypes +bool Full(struct RingBuffer *p); +void Insert(unsigned char c, struct RingBuffer *p); +bool NotEmpty(struct RingBuffer *p); +unsigned char Extract(struct RingBuffer *p); +void FlushRingBuffer(struct RingBuffer *p); +void DelChar(struct RingBuffer *p); +void InitCommandLineRingBuffer(void); +void NextCommand(unsigned char c, struct RingBuffer *p); +void ViewRingBuffer(struct RingBuffer *p); +bool ExtractWord(struct RingBuffer *p, char *param); +bool ExtractUInteger(struct RingBuffer *p, unsigned int *result, unsigned int min, unsigned int max);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmStepper.c Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,225 @@ +/************************************************************************* + * @file jmStepper.c + * @brief Command Line Interface Stepper Module + * + * @version 1.0 + * @date Feb 12, 2011 + */ + +#include "jmMessages.h" +#include "jmStepper.h" +#include "LPC17xx.h" +#include "main.h" +#include "jmCommands.h" +#include "jmMessages.h" +#include "jmRingBuffer.h" +#include "stdio.h" + +#ifndef nonStop + #define nonStop 65535 +#endif + +#define stNotInit 0 +#define stRunningCW 1 +#define stRunningCCW 2 +#define stStopped 3 + +// static structures creation +struct StructStepper sStepper[stepperQty]; + +/** Module Data Structure Initialization + * @brief All State Machines put to sleep. + * @param[in] none + * @returns none + */ +void StepperInit(void){ + int i; + for(i=0;i<stepperQty;i++){ + sStepper[i].active = stNotInit; + } +} + +/** @brief Step Function + * Change Coil drives according to stepper number and direction. + * For 2 bit hardware controllers (full steps, full torque) + * @param[in] number (stepper number)0..3 + * @param[in] CW (direction)0..1 + * @returns none + */ +void Step(int number, uint8_t CW){ + uint8_t seq = sStepper[number].seq; + if(CW){ + if(seq)sStepper[number].portCoilA->FIOPIN ^=sStepper[number].CoilA_bitValue; + else sStepper[number].portCoilB->FIOPIN ^=sStepper[number].CoilB_bitValue; + } + else { + if(seq)sStepper[number].portCoilB->FIOPIN ^=sStepper[number].CoilB_bitValue; + else sStepper[number].portCoilA->FIOPIN ^=sStepper[number].CoilA_bitValue; + } + sStepper[number].seq = !seq; +} + + +/** + * @brief stepperStop Command Line Interface. + * Format: command name (arg info)min..max values + * @param[in] number Extracted from command line (stepper ORed ids)1..15 + * @returns none + */ +void cli_StepperStop(void){ + unsigned int value, i; + if(ExtractUInteger(pLine,&value,1,15)){ + for(i=0;i<stepperQty;i++){ + if(value & 1<<i)sStepper[i].nSteps=0; + rGPPST(i); // GPPST id pinA pinB delay status + } + + if(Feedback)printf("StepperStop %d\n",value); + return; + } + if(Help)printf("stepperStop (Value)1..15\n"); + // Ignore pending command line + NextCommand(nl,pLine); +} + +/** Speed control for step motors (1 or up to 4) + * @brief stepSpeed Command Line Interface. + * Format: command name (arg info)min..max values + * @param[in] Extracted from command line (stepper ORed ids)1..15 + * @returns Message: stepSpeed ids value + */ +void cli_StepSpeed(void){ + unsigned int id, i, delay; + if(ExtractUInteger(pLine,&id,1,15)){ + if(ExtractUInteger(pLine,&delay,1,255)){ + for(i=0;i<stepperQty;i++){ + // change delay for one stepper + if(id & 1<<i)sStepper[i].delay=(uint8_t)delay; + // report to gui + printf("stepSpeed %d %d\n",id,delay); + } + } + + if(Feedback)printf("StepperSpeed ID %d Delay %d\n",id,delay); + return; + } + if(Help)printf("stepSpeed (Stepper IDs ORed)1..15 (Delay Value)1..255\n"); + // Ignore pending command line + NextCommand(nl,pLine); +} + +/** @brief Module State Machine. + * @param[in] none + * @returns On Ending steps, Send Message: GPPST id pinA pinB delay status + */ +void StepperSM(void){ + int i; + + for(i=0;i<stepperQty;i++){ // for each stepper + if(sStepper[i].active){ // SM initialized ? + if(sStepper[i].nSteps!=0){ // step to do ? + if(sStepper[i].eggTimer==0){ // time to step ? + Step(i,sStepper[i].cw); // step + sStepper[i].eggTimer=sStepper[i].delay; // set delay timer for next step + if(sStepper[i].nSteps<nonStop){ // continuous mode ? + if(--sStepper[i].nSteps == 0) // decrease step qty if not continuous mode + rGPPST(i); // Message GPPST id pinA pinB delay status + } + } + } + } + } +} + + +/** @brief stepper Command Line Interface. + * This function controls the stepper + * Command Line Format: stepper (value)0..3 (direction)0..1 (PinA)0..432 (PinB)0..432 (delay)1..255 (steps)1..65535 + * @param[in] Extracted from command line (value)0..3 (PinA)0..432 (PinB)0..432 (direction)0..1 (delay)1..255 (steps)1..65535 + * @returns Message: GPPST id pinA pinB delay status + */ +void cli_Stepper(void){ +unsigned int id,cw, delay, steps, pinA, pinB, port, bitValue; + + if(ExtractUInteger(pLine,&id,0,stepperQty-1)){ // extract stepper id + if(ExtractUInteger(pLine,&pinA,0,432)){ // extract pinA + if(ExtractUInteger(pLine,&pinB,0,432)){ // extract pinB + if(ExtractUInteger(pLine,&cw,0,1)){ // extract direction + if(ExtractUInteger(pLine,&delay,1,255)){ // extract step delay + if(!ExtractUInteger(pLine,&steps,1,65535)){ // check for optionnal steps arg + steps = nonStop; // default to nonStop + } + + // Get ports, bit and bit values + sStepper[id].pinA=(uint8_t)pinA; + sStepper[id].pinB=(uint8_t)pinB; + port = pinA/100; + bitValue = 1<<(pinA%100); + sStepper[id].portCoilA = jmGPIO[port]; // Coil A port + sStepper[id].CoilA_bitValue = bitValue; // Coil A bit + + port = pinB/100; + bitValue = 1<<(pinB%100); + sStepper[id].portCoilB = jmGPIO[port]; // Coil B port + sStepper[id].CoilB_bitValue = bitValue; // Coil B bit + + sStepper[id].active = 1; // initialized true + + // Port.Pin set to outputs + sStepper[id].portCoilA->FIODIR |= sStepper[id].CoilA_bitValue; + sStepper[id].portCoilB->FIODIR |= sStepper[id].CoilB_bitValue; + + sStepper[id].cw =cw; + sStepper[id].delay = (uint8_t)delay; + sStepper[id].nSteps = (uint16_t)steps; + + // chip report to GUI + rGPPST(id); //Message: GPPST id pinA pinB delay status + + if(Feedback)printf("Stepper:%d PinA:%d PinB:%d CW:%d Delay:%d Steps:%d\n",id,pinA,pinB,cw,delay,steps); + return; + }// delay + }// direction + }// pinB + }// pinA + }// stepper number + if(Help)printf("stepper (Stepper id)0..3 (PinA)0..432 (PinB)0..432 (Direction cw/ccw)0..1 (Delay)1..255 [(Steps)1..65535]\n"); + // Ignore pending command line + NextCommand(nl,pLine); +} + +/** 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 Message: GPPST id pinA pinB delay status + */ +void cli_GPPST(void) +{ unsigned int id; + if(ExtractUInteger(pLine,&id,0,stepperQty-1)){ // extract id Number + rGPPST(id); // Message: GPPST id pinA pinB delay status + return; + } + + if(Help)printf("GPPST (Stepper id)0..%d\n",stepperQty-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: GPPST id pinA pinB ddelay status + */ +void rGPPST(unsigned int id ){ + int status; + if( sStepper[id].active ) + { if(sStepper[id].nSteps == 0)status = stStopped; + else + { + if( sStepper[id].cw) status = stRunningCW; + else status = stRunningCCW; + } + } + else status = stNotInit; + printf("GPPST %d %d %d %d %d\n",id,sStepper[id].pinA,sStepper[id].pinB,sStepper[id].delay,status); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmStepper.h Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,99 @@ +/************************************************************************* + * @file jmStepper.h + * @brief Stepper Control Interface + * You can use 4,5,6 and 8 wire steppers. + * Each output pin must have two drivers. + * One driver must be the inverted output pin. + * The other driver is the non inverted output pin. + * This way the steppers operate in full step, full torque mode. + * . + * @version 1.0 + * @date Feb 12, 2010 + */ + +/* + * Module Command Line Interface + Format: command name (arg info)min..max values [optional argument] + stepper (Stepper number)0..3 (Pin CoilA)0..432 (Pin CoilB)0..432 (Direction)0..1 (Delay)1..255 [(Steps)1..65535] + stepperStop (steppers value)1..15 + + Example for stepper on pins Port1.31 Port1.30 DIP20 DIP19 + stepper 0 131 130 1 1 shortest delays between steps (fastest speed) continuous mode + stepper 0 131 130 0 1 1 one step in reverse direction + stepper 0 131 130 1 10 5 5 steps in foward direction with 10 unit ticks between steps + + * Module Events + GPPST (stepper id)0..3 + On Ending steps, Send Message: GPPST id pinA pinB delay status + + * Module Feedback and Help messages may be enabled/disabled by Command Lines. + feedback (enable/disable)0..1 + help (enable/disable)0..1 + +*/ + +#ifndef jmStepperdef + #define jmStepperdef 1 + + #define stepperQty 4 // 4 steppers max + + #include "LPC17xx.h" + + // Module Data Structure + extern struct StructStepper{ + uint8_t cw; + uint8_t active; + uint8_t seq; + uint8_t delay; + uint8_t eggTimer; + uint16_t nSteps; + uint16_t pinA; + uint16_t pinB; + uint32_t CoilA_bitValue; + uint32_t CoilB_bitValue; + LPC_GPIO_TypeDef *portCoilA; + LPC_GPIO_TypeDef *portCoilB; + }sStepper[stepperQty]; + +#endif + +// Module Prototypes +void StepperInit(void); +void StepperSM(void); +void cli_Stepper(void); +void Step(int number, bool CW); +void cli_StepperStop(void); +void cli_GPPST(void); +void rGPPST(unsigned int id); +void cli_StepSpeed(void); + +//-------------------------- CLIG PLUGS -------------------- +// CLIG-INCLUDE +/* +#include "jmStepper.h" +*/ + +// CLIG-INIT +/* + StepperInit(); +*/ + +// CLIG-TIMER +/* + // Module jmStepper + for(i=0;i<stepperQty;i++)if(sStepper[i].eggTimer>0)sStepper[i].eggTimer--; +*/ + +// CLIG-CMD +/* +stepper cli_Stepper(); +stepperStop cli_StepperStop(); +GPPST cli_GPPST(); +stepSpeed cli_StepSpeed(); +*/ + +// CLIG-SM +/* + StepperSM(); +*/ +//-------------------------- END CLIG PLUGS --------------------
--- /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); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmStepperAxis.h Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,74 @@ +/************************************************************************* + * @file jmStepperAxis.h + * @brief + * . + * @version 1.0 + * @date Feb 12, 2011 + */ + +/* + * Module Command Line Interface + Format: command name (arg info)min..max values [optional argument] + + + * Module Events + + * Module Feedback and Help messages may be enabled/disabled by Command Lines. + feedback (enable/disable)0..1 + help (enable/disable)0..1 + +*/ + +#ifndef jmStepperAxisdef + #define jmStepperAxisdef 1 + + #define stepperAxisQty 4 // 4 steppers max + + #include "LPC17xx.h" + + // Module Data Structure + extern struct StructStepperAxis{ + uint8_t active; + uint8_t limitCW; + uint8_t limitCCW; + uint8_t stepperID; + uint8_t status; + }sStepperAxis[stepperAxisQty]; + +#endif + +// Module Prototypes +void StepperAxisInit(void); +void StepperAxisSM(void); +void cli_StepperAxis(void); +void rGPPSTA(unsigned int id ); +void cli_GPPSTA(void); + +//-------------------------- CLIG PLUGS -------------------- +// CLIG-INCLUDE +/* +#include "jmStepperAxis.h" +*/ + +// CLIG-INIT +/* + StepperAxisInit(); +*/ + +// CLIG-NEEDS +/* +jmStepper +jmSwitch +*/ + +// CLIG-CMD +/* +stepperAxis cli_StepperAxis(); +GPPSTA cli_GPPSTA(); +*/ + +// CLIG-SM +/* + StepperAxisSM(); +*/ +//-------------------------- END CLIG PLUGS --------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmSwitch.c Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,152 @@ +/************************************************************************* + * @file jmSwitch.c + * @brief Switch Debounce Module + * + * @version 1.0 + * @date Feb 12, 2011 +*/ + +#include "jmRingBuffer.h" +#include "jmMessages.h" +#include "jmSwitch.h" +#include "LPC17xx.h" +#include "main.h" +#include "jmCommands.h" +#include "jmMessages.h" +#include "jmRingBuffer.h" +#include "stdio.h" + +#define swClose 0 +#define swOpen 1 +#define swNotInit 2 + + +// Static structure creation +struct StructSwitch sSwitch[switchQty]; + +/*********************************************************************** + * @brief Limit Switch Module Reset + * @param[in] none + * @return none + **********************************************************************/ +void SwitchModuleReset(void){ + int i; + for(i=0;i<switchQty;i++){ + sSwitch[i].state=swNotInit; + } +} + +/*********************************************************************** + * @brief Initialize an input Switch process + * Format: command name (arg info)min..max values + * Command Line Format: swInit (Switch id)0..7 (Pin number)0..432 (Debounce)1..255 + * @param[in] Extracted from command line (Switch id)0..7 (Pin number)0..432 (Debounce)1..255 + * @return Send Message GPPS0 id pin debounce state + **********************************************************************/ +void cli_SwitchInit(void){ + //get switch id, DIP number, debounce time and update structure + unsigned int swNum, pin, debounce, state, port,bitValue; + if(ExtractUInteger(pLine,&swNum,0,7)){ + if(ExtractUInteger(pLine,&pin,0,432)){ + if(ExtractUInteger(pLine,&debounce,1,255)){ + // Get port, bit and bit value + port = pin/100; + bitValue = 1<<(pin%100); + + sSwitch[swNum].pin = (uint8_t)pin; + sSwitch[swNum].port = jmGPIO[port]; + sSwitch[swNum].bitValue = bitValue; + sSwitch[swNum].debounce = (uint8_t)debounce; + // read Switch present state + state = sSwitch[swNum].port->FIOPIN &= sSwitch[swNum].bitValue; + if(state>0)sSwitch[swNum].state = swOpen; + else sSwitch[swNum].state = swClose; + rGPPS0(swNum); // Message GPPS0 id pin debounce state + if(Feedback)printf("SW %d Pin %d Debounce %d Value %d\n",swNum,pin,debounce,state); + + return; + } + } + } + if(Help)printf("swInit (Switch id)0..7 (Pin number)0..432 (Debounce)1..255\n"); + + // Ignore pending command line + NextCommand(nl,pLine); +} + +/*********************************************************************** + * @brief Switch Edge Detection + * @param[in] none + * @return Send Message GPPS0 id pin debounce state + **********************************************************************/ +void SwitchEdgeDetect(void){ + unsigned int presentState,i; + + for(i=0;i<switchQty;i++){ // for each switch SM + if(sSwitch[i].state < swNotInit){ // Switch initialized ? + if(sSwitch[i].eggTimer==0){ // debouncing ? + + presentState = sSwitch[i].port->FIOPIN &= sSwitch[i].bitValue; + + if(presentState > 0)presentState = swOpen; // present switch state + else presentState = swClose; + + if(sSwitch[i].state > presentState ){ // High to Low edge ? + sSwitch[i].eggTimer = sSwitch[i].debounce; // load debounce time + // memorize presentState + sSwitch[i].state = presentState; + rGPPS0(i); // GPPS0 message + } + else{ + if(presentState > sSwitch[i].state ){ // Low to High edge ? + sSwitch[i].eggTimer = sSwitch[i].debounce;// load debounce time + // memorize presentState + sSwitch[i].state = presentState; + rGPPS0(i); // GPPS0 message + } + } + } + } + } +} + +/*********************************************************************** + * @brief Command line interface to read Limit Switch Status + * Format: command name (arg info)min..max values + * Command Line Format: swRead (Switch id number)0..7 + * @param[in] Extracted from command line (switch id number)0..7 + * @return Message GPPS0 id pin debounce state + **********************************************************************/ +void cli_SwitchRead(void){ + unsigned int swNumber; + if(ExtractUInteger(pLine,&swNumber,0,7)){ + // One Message GPPS0 id pin debounce state + rGPPS0(swNumber); + return; + } + if(Help)printf("swRead (Switch id number)0..7\n"); + // Ignore pending command line + NextCommand(nl,pLine); +} + +/** Get Module Process Properties Command Line Interface + * @brief Command Line Interface to Get All Public Process Properties + * @param[in] none + * @returns 8 Messages: GPPS0 id pin debounce state + */ +void cli_GPPS0(void){ + int i; + for(i=0;i<switchQty;i++){ + rGPPS0(i); // Message GPPS0 id pin debounce state + } +} + +/** Public Properties Message + * @brief Send Process Properties to update GUI + * @param[in] id Process identification + * @returns Message GPPS0 id pin debounce state + */ +void rGPPS0(unsigned int id ) +{ + printf("GPPS0 %d %d %d %d\n",id,sSwitch[id].pin,sSwitch[id].debounce,sSwitch[id].state); +}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/jmSwitch.h Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,77 @@ +/************************************************************************* + * @file jmSwitch.h + * @brief Command Line Interface Module for reading switches + * Up to 8 switches can be defined on any digital mbed Pin. + * Provide debounce and edge detection + * @version 1.0 + * @date Feb 2, 2011 + + Command Line Interface + Format: command name (arg info)min..max values [optional argument] + swRead (Switch id)0..3 Return Message: GPPS0 id pin debounce state + swInit (Switch id)0..7 (Pin number)0..432 (debounce interval)1..255 + Initialize a Limit Switch Process and return Message: GPPS0 id pin debounce state + GPPS0 Return 8 Message: GPPS0 id pin debounce state + + Module Events + On closing of switch, Return Message: GPPS0 id pin debounce state + On Opening of switch, Return Message: GPPS0 id pin debounce state +*/ + +#ifndef jmSwitchDef + #define jmSwitchDef 1 + #include "stdint.h" + #include "LPC17xx.h" + + #define switchQty 8 // max switch qty + + // Module Data Structure + extern struct StructSwitch{ + uint16_t pin; + uint8_t debounce; + uint8_t state; + uint8_t eggTimer; + uint32_t bitValue; + LPC_GPIO_TypeDef *port; + }sSwitch[switchQty]; +#endif + +// Module Prototypes +void SwitchEdgeDetect(void); +void cli_SwitchInit(void); +void cli_SwitchRead(void); +void cli_GPPS0(); +void rGPPS0(unsigned int id); +void SwitchModuleReset(void); + +//-------------------------- CLIG PLUGS -------------------- +// CLIG-INCLUDE +/* +#include "jmSwitch.h" + +*/ + +// CLIG-INIT +/* + SwitchModuleReset(); +*/ + +// CLIG-TIMER +/* + // Module jmSwitch + for(i=0;i<switchQty;i++)if(sSwitch[i].eggTimer>0)sSwitch[i].eggTimer--; +*/ + +// CLIG-CMD +/* +swRead cli_SwitchRead(); +swInit cli_SwitchInit(); +GPPS0 cli_GPPS0(); +*/ + +// CLIG-SM +/* + SwitchEdgeDetect(); +*/ + +//-------------------------- END CLIG PLUGS --------------------
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,85 @@ +/************************************************************************* + * @file main.cpp + * + * @version 1.0 + * @date Feb 12, 2011 +*/ + +#include "mbed.h" + +// Basic includes +#include "jmInterpreter.h" +#include "jmRingBuffer.h" +#include "jmCommands.h" +#include "jmMessages.h" +#include "LPC17xx.h" + + +LPC_GPIO_TypeDef *jmGPIO[5] ={LPC_GPIO0,LPC_GPIO1,LPC_GPIO2,LPC_GPIO3,LPC_GPIO4}; + +// CLIG-INCLUDE +#include "jmStepper.h" +#include "jmStepperAxis.h" +#include "jmSwitch.h" + + +// Initializations +void Inits(){ + InitCommandLineRingBuffer(); + InitMessages(); + cli_version(); + + // CLIG-INIT + StepperInit(); + StepperAxisInit(); + SwitchModuleReset(); + +} + +// EggTimer tickers for modules +void eggTimers(){ + int i; + // CLIG-TIMER + // Module jmStepper + for(i=0;i<stepperQty;i++)if(sStepper[i].eggTimer>0)sStepper[i].eggTimer--; + // Module jmSwitch + for(i=0;i<switchQty;i++)if(sSwitch[i].eggTimer>0)sSwitch[i].eggTimer--; + +} + +int main() { + unsigned char c; + Serial pc(USBTX, USBRX); // communication medium + pc.baud(115200); // 115200 bauds, 8bits, 1 stop, no control flow + Ticker tick; // enable system ticks + tick.attach_us(&eggTimers,1000); // enable and select granularity for egg timers + Inits(); // initialization + + while(true){ + if( pc.readable()){ // something to read ? + c= pc.getc(); // read one char + + if(Echo) printf("%c",c); // echo it ? + + switch(c){ // process it + + case 8 : DelChar(pLine); // remove last one + break; + case 10 : Insert(c,pLine); // end of line + Interpret();// process line + break; + default : Insert(c,pLine); // insert char in command line buffer + } + } // if + + // CLIG-SM + StepperSM(); + StepperAxisSM(); + SwitchEdgeDetect(); + + + }// while +}// main + + +
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,18 @@ +/************************************************************************* + * @file main.h + * @version 1.0 + * @date Feb 12, 2011 + */ + +#include "LPC17xx.h" + +// registers +extern LPC_GPIO_TypeDef *jmGPIO[5]; + +// Prototypes +void Inits(void); + +// CLIG-CMD +/* +init Inits(); +*/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Sat Feb 12 16:49:03 2011 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912