Diff: main.cpp

Revision:

29:a510e875936d

Parent:

28:19b25daa7777

Child:

30:a23204ee2be2

--- a/main.cpp	Thu Apr 01 00:43:00 2021 +0000
+++ b/main.cpp	Thu Apr 01 18:03:26 2021 +0000
@@ -161,18 +161,30 @@
 /* Nasty globals haha */
 bool limit_flag = false;
 bool status_flag = false;
-char cmd_buffer[CMD_BUFFER_SIZE];
-char output_buffer[OUTPUT_BUFFER_SIZE];
+bool run_flag = false;
+bool stop_flag = false;
 
 /* Tinyshell command handler functions */
-void print_status(int argc, char **argv)
+void set_status_flag(int argc, char **argv)
 {
     status_flag = true;
 }
 
+void set_run_flag(int argc, char **argv)
+{
+    run_flag = true;
+}
+
+void set_stop_flag(int argc, char **argv)
+{
+    stop_flag = true;
+}
+
 // parent cmd (0 for top) cmd input name, help string, usage string, 
 //   function to launch, arg when called, next (0 at init), child (0 at init)
-tinysh_cmd_t print_status_cmd = {0, "status", "status command", "[args]", print_status,0,0,0};
+tinysh_cmd_t print_status_cmd = {0, "status", "status command", "[args]", set_status_flag,0,0,0};
+tinysh_cmd_t run_cmd = {0, "run", "run command", "[args]", set_run_flag,0,0,0};
+tinysh_cmd_t stop_cmd = {0, "stop", "stop command", "[args]", set_stop_flag,0,0,0};
 
 /* mandatory tiny shell output function */
 void tinysh_char_out(unsigned char c)
@@ -194,6 +206,8 @@
     
     // Add all tinyshell commands here
     tinysh_add_command(&print_status_cmd);
+    tinysh_add_command(&run_cmd);
+    tinysh_add_command(&stop_cmd);
 
     /* Initializing SPI bus. */
 #ifdef TARGET_STM32F429
@@ -207,19 +221,14 @@
 
     /* Building a list of motor control components. */
     L6470 **motors = x_nucleo_ihm02a1->get_components();
-
-    // Hello world: just run the damn motor forever
-    printf("Running.\r\n");
-    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-        motors[m]->prepare_run(StepperMotor::BWD, SPEED_SPS);
-    }
-    x_nucleo_ihm02a1->perform_prepared_actions();
-    
-    
+   
     // Main loop
     while(1) {
         /* 1: Check for hardware flags ----------------------------------------*/
         if (limit_flag) {
+            // clear flag
+            limit_flag = false;
+
             // Hard stop 
             for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
                 motors[m]->prepare_hard_stop();
@@ -235,14 +244,44 @@
             x_nucleo_ihm02a1->perform_prepared_actions();
         
             printf("Reached limit.\r\n");
-            limit_flag = false;
         }
         
         /* 2: Fetch new chars for Tinyshell ----------------------------------*/
         tinysh_char_in(pc.getc());
         
         /* 3: Handle Commands ------------------------------------------------*/
+        if (run_flag) {
+            run_flag = false;
+            // Hello world: just run the damn motor forever
+            printf("Running.\r\n");
+            for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                motors[m]->prepare_run(StepperMotor::BWD, SPEED_SPS);
+            }
+            x_nucleo_ihm02a1->perform_prepared_actions();
+        }
+
+        if (stop_flag) {
+            stop_flag = false;
+            // Hard stop 
+            printf("Stopping.\r\n");
+            for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                motors[m]->prepare_hard_stop();
+            }
+            x_nucleo_ihm02a1->perform_prepared_actions();
+            
+            wait_ms(HARD_STOP_WAIT_MS);
+            
+            // High Z
+            for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                motors[m]->prepare_hard_hiz();
+            }
+            x_nucleo_ihm02a1->perform_prepared_actions();
+        }
+    
         if (status_flag) {
+            // clear flag
+            status_flag = false;
+            
             // Fetch and parse the status register for each motor
             for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
                 status_bytes[m] = motors[m]->get_status();