Revision 28:19b25daa7777, committed 2021-04-01

Comitter:

tom_astranis

Date:

Thu Apr 01 00:43:00 2021 +0000

Parent:

27:2abcf13d90a3

Child:

29:a510e875936d

Commit message:

Added tinyshell and command to print status register. Not tested.

Changed in this revision

--- a/main.cpp	Wed Mar 31 22:28:53 2021 +0000
+++ b/main.cpp	Thu Apr 01 00:43:00 2021 +0000
@@ -48,6 +48,8 @@
 /* Expansion Board specific header files. */
 #include "XNucleoIHM02A1.h"
 
+/* Tinyshell: https://os.mbed.com/users/murilopontes/code/tinyshell/ */
+#include "tinysh.h"
 
 /* Definitions ---------------------------------------------------------------*/
 
@@ -67,14 +69,22 @@
 #define OCD_TH_MA                   600.0
 #define STALL_TH_MA                 1000.0
 
-/* Number of movements per revolution. */
-#define MPR_1 4
+/* Behavioral stuff */
+#define STATUS_LOG_RATE_HZ 1
+#define MIN_LOOP_TIME_MS 1
+#define HARD_STOP_WAIT_MS 100
+
+#define CMD_BUFFER_SIZE 256
+#define OUTPUT_BUFFER_SIZE 1024
 
 /* Number of steps. */
 #define STEPS_1 (20000 * 1)   /* 1 revolution given a 200 step motor and 100:1 gearbox, with full stepping */
 #define STEPS_2 (STEPS_1 * 2)
 #define SPEED_SPS 10000 // steps per second
 
+/* Number of movements per revolution. */
+#define MPR_1 4
+
 /* Delay in milliseconds. */
 #define DELAY_1 1000
 #define DELAY_2 2000
@@ -145,12 +155,45 @@
     }
 };
 
+/* Serial Port for console */
+Serial pc(USBTX, USBRX);
+
+/* Nasty globals haha */
+bool limit_flag = false;
+bool status_flag = false;
+char cmd_buffer[CMD_BUFFER_SIZE];
+char output_buffer[OUTPUT_BUFFER_SIZE];
+
+/* Tinyshell command handler functions */
+void print_status(int argc, char **argv)
+{
+    status_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};
+
+/* mandatory tiny shell output function */
+void tinysh_char_out(unsigned char c)
+{
+    pc.putc(c);
+}
 
 /* Main ----------------------------------------------------------------------*/
 
 int main()
 {
     /*----- Initialization. -----*/
+    unsigned int status_bytes[L6470DAISYCHAINSIZE];
+    
+    /* Set up tinyshell */
+    pc.baud(115200);
+    pc.printf("Motor controller ready\r\n");
+    tinysh_set_prompt("$ ");
+    
+    // Add all tinyshell commands here
+    tinysh_add_command(&print_status_cmd);
 
     /* Initializing SPI bus. */
 #ifdef TARGET_STM32F429
@@ -165,19 +208,83 @@
     /* Building a list of motor control components. */
     L6470 **motors = x_nucleo_ihm02a1->get_components();
 
-    /* Printing to the console. */
-    printf("Motor Control Application Example for 2 Motors\r\n\n");
-
-
-    /*----- Setting home and marke positions, getting positions, and going to positions. -----*/
+    // 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);
     }
-
-    /* Performing the action on each motor at the same time. */
     x_nucleo_ihm02a1->perform_prepared_actions();
     
-    printf("Running.\r\n");
+    
+    // Main loop
+    while(1) {
+        /* 1: Check for hardware flags ----------------------------------------*/
+        if (limit_flag) {
+            // Hard stop 
+            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();
+        
+            printf("Reached limit.\r\n");
+            limit_flag = false;
+        }
+        
+        /* 2: Fetch new chars for Tinyshell ----------------------------------*/
+        tinysh_char_in(pc.getc());
+        
+        /* 3: Handle Commands ------------------------------------------------*/
+        if (status_flag) {
+            // Fetch and parse the status register for each motor
+            for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+                status_bytes[m] = motors[m]->get_status();
+                printf("Status reg %d: 0x%02X\r\n", m, status_bytes[m]);
+                printf("    STEP-CLOCK MODE:       ");
+                printf(status_bytes[m] & 0x8000 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    STEP_LOSS_B:           ");
+                printf(status_bytes[m] & 0x4000 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    STEP_LOSS_A:           ");
+                printf(status_bytes[m] & 0x2000 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    OVERCURRENT DETECT:    ");
+                printf(status_bytes[m] & 0x1000 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    THERMAL SHUTDOWN:      ");
+                printf(status_bytes[m] & 0x0800 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    THERMAL WARN:          ");
+                printf(status_bytes[m] & 0x0400 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    UNDERVOLTAGE LOCKOUT:  ");
+                printf(status_bytes[m] & 0x0200 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    WRONG_CMD:             ");
+                printf(status_bytes[m] & 0x0100 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    NOTPERF_CMD:           ");
+                printf(status_bytes[m] & 0x0080 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    MOTOR_STATUS:          ");
+                if ((status_bytes[m] && 0x0060) >> 5 == 0x00) printf("STOPPED\r\n");
+                if ((status_bytes[m] && 0x0060) >> 5 == 0x01) printf("ACCELERATING\r\n");
+                if ((status_bytes[m] && 0x0060) >> 5 == 0x10) printf("DECELERATING\r\n");
+                if ((status_bytes[m] && 0x0060) >> 5 == 0x11) printf("CONSTANT SPEED\r\n");
+                printf("    DIRECTION:             ");
+                printf(status_bytes[m] & 0x0010 ? "FWD\r\n" : "REV\r\n");
+                printf("    SWITCH TURN-ON EVENT:  ");
+                printf(status_bytes[m] & 0x0008 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    SWITCH STATUS:         ");
+                printf(status_bytes[m] & 0x0004 ? "CLOSED\r\n" : "OPEN\r\n");
+                printf("    BUSY:                  ");
+                printf(status_bytes[m] & 0x0002 ? "SET\r\n" : "NOT SET\r\n");
+                printf("    HI_Z:                  ");
+                printf(status_bytes[m] & 0x0001 ? "SET\r\n" : "NOT SET\r\n");
+                printf("\n\n");
+            }
+        }
+        
+    } // end main loop
 }
 
 
@@ -400,23 +507,6 @@
 //    wait_ms(DELAY_1);
 //
 //
-//    /*----- Hard Stop. -----*/
-//
-//    /* Printing to the console. */
-//    printf("--> Hard Stop.\r\n");
-//
-//    /* Preparing each motor to perform a hard stop. */
-//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-//        motors[m]->prepare_hard_stop();
-//    }
-//
-//    /* Performing the action on each motor at the same time. */
-//    x_nucleo_ihm02a1->perform_prepared_actions();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_2);
-//
-//
 //    /*----- Doing a full revolution on each motor, one after the other. -----*/
 //
 //    /* Printing to the console. */
@@ -442,20 +532,4 @@
 //    /* Waiting. */
 //    wait_ms(DELAY_2);
 //
-//
-//    /*----- High Impedance State. -----*/
-//
-//    /* Printing to the console. */
-//    printf("--> High Impedance State.\r\n");
-//
-//    /* Preparing each motor to set High Impedance State. */
-//    for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
-//        motors[m]->prepare_hard_hiz();
-//    }
-//
-//    /* Performing the action on each motor at the same time. */
-//    x_nucleo_ihm02a1->perform_prepared_actions();
-//
-//    /* Waiting. */
-//    wait_ms(DELAY_2);
 //}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tinyshell.lib	Thu Apr 01 00:43:00 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/murilopontes/code/tinyshell/#71580bf962fe