Vladimir Nemera
rev.1
Dependencies: RA8875 SDFileSystem mbed
Diff: comm.cpp
- Revision:
- 0:6ef3fd4921d7
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/comm.cpp Fri Feb 17 16:53:53 2017 +0000
@@ -0,0 +1,767 @@
+// MW771 Laser Press HMI.
+// V.Nemera, 10/12/2016, ver.1.0, C++
+// CPU: mbed NXP LPC1768 (ARM Cortex-M3, 32bit, 90MHz)
+
+#include "RA8875.h"
+#include "main.h"
+#include "comm.h"
+
+//-----------HMI i/o---------------------
+DigitalIn inEStop(p19); //input: E-Stop ON = 1
+DigitalIn inBtnStart(p20); //input: Btn Start ON = 0
+DigitalIn inLPactive(p26); //input: Laser power active = 1
+DigitalIn in1(p24); //input: in1 ON = 0
+DigitalIn in2(p23); //input: in2 ON = 0
+
+DigitalOut outIrq(p14); //output: interrupt for IO
+DigitalOut outLampStart(p25); //output: Start Lamp ON = 1
+DigitalOut out1(p22); //output: out1 ON = 1
+DigitalOut out2(p21); //output: out2 ON = 1
+
+Ticker resetTime; //time for e-stop reset pulse
+
+int iCh;
+char hexArr[] = "0123456789ABCDEF";
+const char err100[] = "Wrong command\n";
+const char err101[] = "No response\n";
+
+Serial ioRS232(p28, p27); // tx, rx
+int ioRS232baud = 115200;
+int ioRS232bits = 8;
+SerialBase::Parity ioRS232parity = SerialBase::None;
+int ioRS232stop_bits = 1;
+
+Serial LasRS232(p9, p10); // tx, rx
+int LasRS232baud = 57600;
+int LasRS232bits = 8;
+SerialBase::Parity LasRS232parity = SerialBase::None;
+int LasRS232stop_bits = 1;
+
+char hmiLBuf[64]; //buffer hmi command to send to laser
+
+int indLhmi = 0; //index of buffer hmiLBuf[]
+
+char LasBufCom[64]; //buffer command to send to laser
+char LasBufResp[64]; //buffer response from laser
+
+int indLCom = 0; //index of buffer LasBufCom[]
+int indLResp = 0; //index of buffer LasBufResp[]
+
+char IOBufCom[32]; //buffer command from io controller
+char IOBufResp[32]; //buffer response to send to io controller
+
+int indIOCom = 0; //index of buffer IOBufCom[]
+int IOBufSize = 32; //buffer IOBufResp[] size
+int sBio = 0; //send ioBuf pointer
+int wBio = 0; //write ioBuf pointer
+
+char comBuf[128]; //buffer command from pc
+int comBufPointer = 0;
+
+int sBp = 0; //send pcBuf pointer
+int wBp = 0; //write pcBuf pointer
+const int pcBufSize = 128;
+char pcBuf[pcBufSize];
+
+int stLhmi = 0; //status of hmi L.command
+int stLpc = 0; //status of pc L.command
+int iPCcmd = 0; //command # from pc
+int stL3 = 0; //status of execution L.command
+int iCounts = 0;
+int iSta = 0;
+int c;
+int usta;
+int iLasO, iLasO1, iLasO2;
+int iCmax = 10;
+//=========================================================
+const char *cLC[80]; //array of laser commands string
+
+void cLCinit(void) {
+ cLC[0] = "";
+ cLC[1] = "STA"; //cod 0x4001 STA - read laser status
+ cLC[2] = "RCS"; //cod 0x4002 RCS - read current setpoint
+ cLC[3] = "RNC"; //cod 0x4003 RNC - read minimum current setpoint
+ cLC[4] = "ROP"; //cod 0x4004 ROP - read output power
+ cLC[5] = "RPP"; //cod 0x4005 RPP - read peak power
+ cLC[6] = "RPW"; //cod 0x4006 RPW - read pulse width
+ cLC[7] = "RPRR"; //cod 0x4007 RPRR - read pulse repetition rate
+ cLC[8] = "RFV"; //cod 0x4008 RFV - read current software revision
+ cLC[9] = "RCT"; //cod 0x4009 RCT - read laser temperature
+ cLC[10] = "RET"; //cod 0x400A RET - read elapsed time the laser has been on
+ cLC[11] = "RMEC"; //cod 0x400B RMEC - read module error code
+ cLC[12] = "RSN"; //cod 0x400C RSN - read serial number
+ cLC[13] = "REC"; //cod 0x400D REC - read error counter
+ cLC[14] = "RICDT"; //cod 0x400E RICDT - read input circuit discharge time
+ cLC[15] = "RIP"; //cod 0x400F RIP - read the current IP address
+ cLC[16] = "RMASK"; //cod 0x4010 RMASK - read the current subnet mask
+ cLC[17] = "RDGW"; //cod 0x4011 RDGW - read the current default gateway address
+ cLC[18] = "RMAC"; //cod 0x4012 RMAC - read MAC address
+ cLC[19] = "RBAUD"; //cod 0x4013 RBAUD - read the current RS232 baud rate
+ cLC[20] = "";
+ cLC[21] = "";
+ cLC[22] = "";
+ cLC[23] = "";
+ cLC[24] = "";
+ cLC[25] = "";
+ cLC[26] = "";
+ cLC[27] = "";
+ cLC[28] = "";
+ cLC[29] = "";
+ cLC[30] = "";
+ cLC[31] = "";
+ cLC[32] = "EPM"; //cod 0x4020 EPM - enable pulse mode
+ cLC[33] = "DPM"; //cod 0x4021 DPM - disable pulse mode
+ cLC[34] = "ABN"; //cod 0x4022 ABN - aiming beam on
+ cLC[35] = "ABF"; //cod 0x4023 ABF - aiming beam off
+ cLC[36] = "EEC"; //cod 0x4024 EEC - enable external analog power control input
+ cLC[37] = "DEC"; //cod 0x4025 DEC - disable external analog power control input
+ cLC[38] = "EGM"; //cod 0x4026 EGM - enable gate mode (internal pulse generator gated by external modulation input)
+ cLC[39] = "DGM"; //cod 0x4027 DGM - disable gate mode
+ cLC[40] = "EMOD"; //cod 0x4028 EMOD - enable external modulation input
+ cLC[41] = "DMOD"; //cod 0x4029 DMOD - disable external modulation input
+ cLC[42] = "ELE"; //cod 0x402A ELE - enable external emission input
+ cLC[43] = "DLE"; //cod 0x402B DLE - disable external emission input
+ cLC[44] = "EHC"; //cod 0x402C EHC - enable compatibility mode
+ cLC[45] = "EDC"; //cod 0x402D EDC - disable compatibility mode
+ cLC[46] = "EEABC"; //cod 0x402E EEABC - enable external aiming beam control input
+ cLC[47] = "DEABC"; //cod 0x402F DEABC - disable external aiming beam control input
+ cLC[48] = "EWPM"; //Enable Waveform Pulse Mode
+ cLC[49] = "DWPM"; //Disable Waveform Pulse Mode
+ cLC[50] = "PCFG"; //Configure Waveform Mode
+ cLC[51] = "RCE"; //Reset critical error
+ cLC[52] = "RERR"; //Resers any resettable errors
+ cLC[53] = "EMON"; //Start Emission
+ cLC[54] = "EMOFF"; //Stop Emission
+ cLC[55] = "";
+ cLC[56] = "";
+ cLC[57] = "";
+ cLC[58] = "";
+ cLC[59] = "";
+ cLC[60] = "";
+ cLC[61] = "";
+ cLC[62] = "";
+ cLC[63] = "";
+ cLC[64] = "SDC "; //cod 0x4040 SDC - set diode current, min current < xx.x% < 100%
+ cLC[65] = "SPW "; //cod 0x4041 SPW - set pulse width, xx.x mS
+ cLC[66] = "SPRR "; //cod 0x4042 SPRR - set pulse repetition rate, xxx Hz
+ cLC[67] = "SIP "; //cod 0x4043 SIP - set IP, xxx.xxx.xxx.xxx
+ cLC[68] = "SMASK "; //cod 0x4044 SMASK - set subnet mask, xxx.xxx.xxx.xxx
+ cLC[69] = "SDGW "; //cod 0x4045 SDGW - set default gateway, xxx.xxx.xxx.xxx
+ cLC[70] = "SMAC "; //cod 0x4046 SMAC - set MAC address xx-xx-xx-xx-xx-xx
+ cLC[71] = "SBAUD "; //cod 0x4047 SBAUD - set baud rate x (0-110,1-300,2-1200,3-2400,4-4800,5-9600
+ // 6-19200,7-38400,8-57600default,9-115200)
+ cLC[72] = "PRSEL "; //Select Profile
+ cLC[73] = "SQSEL "; //Select Sequence
+ cLC[74] = "";
+ cLC[75] = "";
+ cLC[76] = "";
+ cLC[77] = "";
+ cLC[78] = "";
+ cLC[79] = "";
+}
+
+//-------------------------------------------
+int SetLasComm(int icLC) {
+ for(int i=0; i<15; i++) { //wait 15*20ms stLhmi=0 (last command executed)
+ if(stLhmi == 0) {
+ indLhmi++;
+ for(int j=0; j<indLhmi; j++) {hmiLBuf[j] = '\0';}
+ indLhmi = strlen(cLC[icLC]);
+ strncpy(hmiLBuf, cLC[icLC], indLhmi);
+ //pc.printf("-s%i %s %s %i\n", icLC, hmiLBuf, cLC[icLC], indLhmi);
+ if(icLC == 1) iSta = 1;
+ stLhmi = 2;
+ wait_ms(20);
+ return 0;
+ }
+ else {
+ wait_ms(20);
+ }
+ }
+ //pc.printf("-e%i %s %s %i\n", icLC, hmiLBuf, cLC[icLC], indLhmi);
+ return 1;
+}
+
+void initHMIio(void) {
+ ioRS232.format(ioRS232bits, ioRS232parity, ioRS232stop_bits);
+ ioRS232.baud(ioRS232baud);
+
+ LasRS232.format(LasRS232bits, LasRS232parity, LasRS232stop_bits);
+ LasRS232.baud(LasRS232baud);
+
+ outIrq = 0; //output: interrupt for IO
+ outLampStart = 0; //output: Start Lamp ON = 1
+ out1 = 0; //output: out1 ON = 1
+ out2 = 0; //output: out2 ON = 1
+
+ cLCinit();
+
+ for(int i=0; i<64; i++) {
+ LasBufCom[i] = '\0';
+ LasBufResp[i] = '\0';
+ }
+}
+//write char to pc buffer
+void wrChar(char cCh) {
+ pcBuf[wBp++] = (cCh);
+ if(wBp == pcBufSize) {wBp = 0;}
+}
+//write char array to pc buffer
+void wrCharArr(const char* err) {
+ int iM;
+ iM = strlen(err);
+ for(int i=0; i<iM; i++) {
+ wrChar(err[i]);
+ }
+}
+//write 16bit word to pc buffer
+void wrWord(uint16_t uWrd) {
+ wrChar(hexArr[uWrd/4096]);
+ uWrd = uWrd % 4096;
+ wrChar(hexArr[uWrd/256]);
+ uWrd = uWrd % 256;
+ wrChar(hexArr[uWrd/16]);
+ wrChar(hexArr[uWrd%16]);
+}
+//write 32bit word to pc buffer
+void wrInt(int i32) {
+ wrWord((uint16_t)(i32/65536));
+ wrWord((uint16_t)(i32%65536));
+}
+
+void comParser() {
+ if(comBufPointer < 2) {
+ wrCharArr(err100); //err100 = Wrong command
+ wrChar('>');
+ comBufPointer =0;
+ return;
+ }
+ //pc.printf("1 %i 2 %i\n", comBuf[0], comBuf[1]);
+
+ //for (int j = 3; j < comBufPointer; j++) {
+ // pc.printf("%i %i \n", j, comBuf[j]);
+ //}
+
+ int a = comBuf[0];
+ int b = comBuf[1];
+
+ //-----------------------
+ if (((a == 76) || (a == 108)) && (b == 32)) { //L<SP> or l<SP>
+ if(stLpc == 0) {
+// pc.printf("<%i>", comBufPointer);
+ iPCcmd = 1;
+ }
+ else {
+ wrChar('?');
+ wrChar('>');
+ }
+ }
+
+ //-----------------------
+ else if (((a == 76) || (a == 108)) && ((b == 83) || (b == 15))) { //LS or ls
+ iPCcmd = 2;
+ }
+
+ //-----------------------
+ else if (((a == 76) || (a == 108)) && ((b == 73) || (b == 105))) { //LI or li
+ iPCcmd = 3;
+ }
+
+ //-----------------------
+ else if(((a == 76) || (a == 108)) & ((b == 65) || (b == 97))) { //LA or la
+ iPCcmd = 4;
+ }
+
+ //-----------------------
+ else if(((a == 76) || (a == 108)) & ((b == 67) || (b == 99))) { //LC or lc
+ iPCcmd = 5;
+ }
+
+ //-----------------------
+ else if(((a == 76) || (a == 108)) & ((b == 82) || (b == 114))) { //LR or lr
+ iPCcmd = 6;
+ }
+
+ else {
+ wrCharArr(err100); //err100 = Wrong command
+ wrChar('>');
+ comBufPointer =0;
+ }
+}
+//=========================================================
+void wrIOChar(char cCh) { //write 1 char to io buffer
+ IOBufResp[wBio++] = (cCh);
+ if(wBio == IOBufSize) wBio = 0;
+}
+
+void wrIObyte(int iCh) { //write byte (2 char) to io buffer
+ iCh = iCh & 0xFF;
+ wrIOChar(hexArr[iCh/16]);
+ wrIOChar(hexArr[iCh%16]);
+}
+
+void wrIOword(uint16_t uWrd) { //write 16bit word (4 char) to io buffer
+ wrIOChar(hexArr[uWrd/4096]);
+ uWrd = uWrd % 4096;
+ wrIOChar(hexArr[uWrd/256]);
+ uWrd = uWrd % 256;
+ wrIOChar(hexArr[uWrd/16]);
+ wrIOChar(hexArr[uWrd%16]);
+}
+
+void wrIOint(int i32) { //write 32bit word to io buffer
+ wrIOword((uint16_t)(i32/65536));
+ wrIOword((uint16_t)(i32%65536));
+}
+void ioSt(void) {
+ int b0st = 0; //send bits d7-d4
+ if(in2) b0st = b0st + 1;
+ if(flagParChanged == 0) b0st = b0st + 2;
+ if(flagLrsConnected) b0st = b0st + 4;
+ if(flagLcomProcess) b0st = b0st + 8;
+ wrIOChar(hexArr[b0st]);
+
+ b0st = 0; //send bits d3-d0
+ if(inEStop) b0st = b0st + 1;
+ if(inBtnStart) b0st = b0st + 2;
+ if(inLPactive) b0st = b0st + 4;
+ if(in1) b0st = b0st + 8;
+ wrIOChar(hexArr[b0st]);
+
+ wrIOChar(0xD); //send <CR>
+}
+
+void sendIOerr(int iErr) {
+ wrIOChar(hexArr[iErr | 8]); //1<err> send
+ wrIOChar(0x30); //0-status send
+ ioSt();
+ showTPstatus(iErr);
+}
+
+void sendIOstatus(void) {
+ uint8_t b0st = 0;
+ if(flagParChanged == 0) {
+ b0st = 0x0010; //param. send request
+
+ led3 = 1;
+ wait_us(4);
+ led3 = 0;
+ }
+ else b0st = ioReq << 4; //another requests
+ wrIObyte(b0st);
+
+ ioSt();
+ flagParChanged = 1;
+}
+
+void sendIOpar(void) {
+ int b0par;
+
+ wrIOChar(0x30); //0000-ready & no err
+ wrIOChar(0x31); //1-parameters send
+
+ b0par = prPar[progNumber].wMode + (prPar[progNumber].Lmode * 64);
+ wrIObyte(b0par); //send mode
+
+ wrIObyte(prPar[progNumber].LPbeg);
+ wrIObyte(prPar[progNumber].LPend);
+ wrIOword(prPar[progNumber].Lfreq);
+ wrIObyte(prPar[progNumber].Lpulse);
+ wrIObyte(prPar[progNumber].amplBeg);
+ wrIObyte(prPar[progNumber].amplEnd);
+ wrIObyte(prPar[progNumber].wFreq);
+ wrIOword(prPar[progNumber].wTime);
+ wrIObyte(prPar[progNumber].amplNum);
+
+ wrIOChar(0xD); //senr <CR>
+ //flagParChanged = 1;
+ c7 = c7 | 0x7700;
+}
+
+void sendIOout(void) {
+ for(int i=0; i<2; i++) {
+ ioPar.o3[i] = IOBufCom[i+2];
+ ioPar.o2[i] = IOBufCom[i+4];
+ ioPar.o1[i] = IOBufCom[i+6];
+ }
+
+ if(bitOstate > 0x7F) { //send output
+ wrIOChar(0x30); //0000-ready & no err
+ wrIOChar(0x32); //2-output send
+
+ wrIObyte(bitOstate & 0x7F);
+ wrIOChar(0xD); //senr <CR>
+ }
+ else sendIOstatus();
+}
+
+void sendIOinp(void) {
+ for(int i=0; i<2; i++) {
+ ioPar.i3[i] = IOBufCom[i+8];
+ ioPar.i2[i] = IOBufCom[i+10];
+ ioPar.i1[i] = IOBufCom[i+12];
+ ioPar.aiLPow[i] = IOBufCom[i+14];
+ ioPar.aiLCur[i] = IOBufCom[i+16];
+ ioPar.aiLTemp[i] = IOBufCom[i+18];
+ ioPar.aiLBR[i] = IOBufCom[i+20];
+ }
+ sendIOstatus();
+}
+
+void flip() {
+ out2 = 0;
+ led4 = 0;
+ wait_us(1);
+ led4 = 1;
+ wait_us(2);
+ led4 = 0;
+ // pc.printf("o20 ");
+
+}
+
+void sendIOmsg(int iMsg) {
+ switch (iMsg) {
+ case 48: //0-READY FOR WELDING
+ showTPstatus(16);
+ int t = SetLasComm(52);
+ flagWeld = 0;
+ sendIOstatus();
+ break;
+ case 49: {showTPstatus(17); flagWeld = 0; sendIOstatus(); break;} //1-WOBBLE HEAD INIT...
+ case 50: {showTPstatus(18); flagWeld = 0; sendIOstatus(); break;} //2-WOBBLE HEAD ERROR
+ case 51: {showTPstatus(19); flagWeld = 0; sendIOstatus(); break;} //3-IO CONTROLLER ERROR
+ case 52: {showTPstatus(20); flagWeld = 1; sendIOstatus(); break;} //4-WELDING IN PROGRESS..
+ case 53: //5-auto reset e-stop
+ showTPstatus(16);
+ out2 = 1;
+ led4 = 1;
+ resetTime.attach(&flip, 0.5); //the address of the function to be attached (flip) to ticker
+ //printf("o21 ");
+ flagWeld = 0;
+ sendIOstatus();
+ break;
+ case 54: //6-send laser command
+ if(TPstatus == 0) wrIOChar(0x30); //0000-ready & no err
+ else wrIOChar(0x38); //1000-not ready & no err
+ wrIOChar(0x33); //3-laser STA send
+
+ wrIOint(usta);
+ wrIOChar(0xD); //senr <CR>
+
+ flagWeld = 0;
+ break;
+ }
+}
+
+void ioCommand(void) {
+ if(indIOCom < 2) {
+ sendIOerr(06); //err 06 = Short command
+ indIOCom =0;
+ return;
+ }
+ int a = IOBufCom[0];
+ int b = IOBufCom[1];
+ if (((a == 67) || (a == 99)) && (b == 48)) sendIOstatus(); //C0 or c0
+ else if (((a == 67) || (a == 99)) && (b == 49)) sendIOpar(); //C1 or c1
+ else if (((a == 67) || (a == 99)) && (b == 50)) sendIOout(); //C2 or c2
+ else if (((a == 67) || (a == 99)) && (b == 51)) sendIOinp(); //C3 or c3
+ else if ((a == 69) || (a == 101)) sendIOmsg(b); //E<b> or e<b> command
+ else sendIOerr(07); //err 07 = Wrong command
+ indIOCom =0;
+}
+
+//=========================================================
+
+//execute L.command
+void LaserCommand(void) //laser control
+{
+ if(stL3 == 0) { // check commands will be execute
+
+ if(stLhmi == 2) {stL3 = stL3 + 1;} //command from hmi
+ if(iPCcmd != 0) { //command from pc
+ stLpc = 2;
+ stL3 = stL3 + 2;
+ }
+ if(stL3 == 0) flagLcomProcess = 0;
+ else flagLcomProcess = 1;
+ }
+
+ if(stL3 & 1) { //hmi command
+ if(stLhmi == 2) { //send hmi command to laser
+ while(LasRS232.readable()) {
+ iLasO = LasRS232.getc();
+ }
+ iLasO = 0;
+
+ for (int i = 0; i < indLhmi; i++) {
+ LasRS232.printf("%c", hmiLBuf[i]);
+ }
+ LasRS232.printf("\r");
+ iCounts = 0;
+ stLhmi = 3;
+ }
+ else if(stLhmi == 3) { //wait response from laser
+ if(LasRS232.readable()) {
+lasRS2:
+ iLasO = LasRS232.getc();
+ LasBufResp[indLResp++] = (char)iLasO;
+ if(iLasO == 13) {
+ stLhmi = 4;
+ iCounts = 0;
+ flagLrsConnected = 1;
+ }
+ if(LasRS232.readable()) goto lasRS2;
+ }
+ else {
+ ++iCounts;
+ if(iCounts > 400) {
+ indStat = 11; //error 11 - lazer does not answer
+ indLResp = 0;
+ stLhmi = 0;
+ stL3 = stL3 & 0xE; //no hmi command
+ flagLrsConnected = 0;
+ }
+ }
+ }
+ else if(stLhmi == 4) { //response to hmi
+ //printf("L %c %c\n", *LasBufResp, *hmiLBuf);
+ if (*LasBufResp == *hmiLBuf) {
+ if (iSta == 1) { //update L.status to hmi
+ c = 0;
+ for(int i=6; i<indLResp; i++) {
+ c = (c * 10) + LasBufResp[i-1] - '0';
+ }
+ usta = c;
+ iSta = 0;
+ }
+ indStat = 0; //done
+ stLhmi = 5;
+ }
+ else {
+ indStat = 12; //error 12 - laser command error
+ stLhmi = 5;
+ }
+ }
+ else if(stLhmi == 5) { //delay for next command
+ ++iCounts;
+ if(iCounts > iCmax) {
+ indLResp = 0;
+ stL3 = stL3 & 0xE; //no hmi command
+ stLhmi = 0;
+ }
+ }
+ }
+
+ else if(stL3 & 2) { //pc command
+ if(iPCcmd == 1) {
+ if(stLpc == 2) { //send pc command to laser
+ while(LasRS232.readable()) {
+ iLasO2 = LasRS232.getc();
+ }
+ for (int i = 2; i < (comBufPointer-1); i++) {
+ LasRS232.printf("%c", comBuf[i]);
+ //pc.printf("a%c ", comBuf[i]);
+ }
+ LasRS232.printf("\r");
+ iCounts = 0;
+ stLpc = 3;
+ }
+ else if(stLpc == 3) { //wait response from laser
+ if(LasRS232.readable()) {
+lasRS1:
+ iCh = LasRS232.getc();
+ iCounts = 0;
+ if(iCh == 13) { //CR - carrier return
+ wrChar('\n'); //send LF to pc
+ wrChar('>');
+ stLpc = 4;
+ }
+ else {
+ wrChar(char(iCh));
+ }
+ if(LasRS232.readable()) goto lasRS1;
+ }
+ else {
+ ++iCounts;
+ if(iCounts > 400) { //200mS
+ wrCharArr(err101); //err101 = "No response\n"
+ comBufPointer =0;
+ stL3 = stL3 & 0xD;
+ iPCcmd = 0;
+ stLpc = 0;
+ }
+ }
+ }
+ else if(stLpc == 4) { //delay for next command
+ ++iCounts;
+ if(iCounts > iCmax) {
+ comBufPointer =0;
+ stL3 = stL3 & 0xD;
+ iPCcmd = 0;
+ stLpc = 0;
+ }
+ }
+
+ }
+ else if(iPCcmd == 2) {
+
+ wrChar('S');
+ wrChar('T');
+ wrChar('A');
+ wrChar(' ');
+ wrInt(usta);
+ wrChar('\n');
+ wrChar('>');
+ comBufPointer =0;
+ stL3 = stL3 & 0xD;
+ iPCcmd = 0;
+ stLpc = 0;
+
+ }
+ else if(iPCcmd == 3) {
+
+ wrChar('I');
+ wrChar(' ');
+ wrWord(wBp);
+ wrChar(' ');
+ wrWord(sBp);
+ wrChar(' ');
+ //wrChar('\n');
+ int a = sBp;
+ for(int i=0; i<32; i++) {
+ wrChar(pcBuf[a--]);
+ if(a<0) {a=pcBufSize-1;}
+ }
+ wrChar('\n');
+ wrChar('>');
+ comBufPointer =0;
+ stL3 = stL3 & 0xD;
+ iPCcmd = 0;
+ stLpc = 0;
+
+ }
+ else if(iPCcmd == 4) {
+
+ wrChar('L');
+ wrChar('A');
+ wrChar(' ');
+ wrInt(a7);
+ wrChar(' ');
+ wrInt(b7);
+ wrChar(' ');
+ wrInt(c7);
+ wrChar(' ');
+ wrInt(d7);
+ wrChar('\n');
+ wrChar('>');
+ comBufPointer =0;
+ stL3 = stL3 & 0xD;
+ iPCcmd = 0;
+ stLpc = 0;
+ a7 = 0; b7 = 0; c7 = 0; d7 = 0;
+ }
+ else if(iPCcmd == 5) {
+/*
+ wrInt(indLCabcc);
+ wrChar(' ');
+ wrChar('L');
+ wrChar('C');
+ wrChar(' ');
+ wrChar('"');
+
+ for(int i=0; i<indLCabcc; i++) {
+ wrChar(LabccBufCom[i]);
+ }
+*/ a7=0; b7=0, c7=0; d7=0;
+ wrChar('5');
+ wrChar('\n');
+ wrChar('>');
+ comBufPointer =0;
+ stL3 = stL3 & 0xD;
+ iPCcmd = 0;
+ stLpc = 0;
+
+ }
+ else if(iPCcmd == 6) {
+ pc.printf("wMode %i\n", prPar[progNumber].wMode);
+ pc.printf("Lmode %i\n", prPar[progNumber].Lmode);
+ pc.printf("LPbeg %i\n", prPar[progNumber].LPbeg);
+ pc.printf("LPend %i\n", prPar[progNumber].LPend);
+ pc.printf("Lfreq %i\n", prPar[progNumber].Lfreq);
+ pc.printf("Lpulse %i\n", prPar[progNumber].Lpulse);
+ pc.printf("amplBeg %i\n", prPar[progNumber].amplBeg);
+ pc.printf("amplEnd %i\n", prPar[progNumber].amplEnd);
+ pc.printf("wFreq %i\n", prPar[progNumber].wFreq);
+ pc.printf("wTime %i\n", prPar[progNumber].wTime);
+ pc.printf("amplNum %i\n", prPar[progNumber].amplNum);
+
+ wrChar('\n');
+ wrChar('>');
+ comBufPointer =0;
+ stL3 = stL3 & 0xD;
+ iPCcmd = 0;
+ stLpc = 0;
+
+ }
+ }
+}
+
+void flipRS(void) {
+ led2 = 1;
+ //check io RS232 command
+ if(ioRS232.readable()) {
+flip01:
+ iCh = ioRS232.getc();
+ IOBufCom[indIOCom++] = (char)iCh;
+ if(iCh == 13) { //CR - carriage return
+ ioCommand();
+ }
+ if(ioRS232.readable()) goto flip01;
+ }
+ //check response
+ if(ioRS232.writeable()) {
+ if(sBio != wBio) { //ioBuf not empty
+ int ff = 12;
+flip02:
+ ioRS232.putc(IOBufResp[sBio++]);
+ if(sBio == IOBufSize) {sBio = 0;}
+ --ff;
+ if((sBio != wBio) && (ff > 0)) goto flip02;
+ }
+ }
+ //check pc RS232 command
+ if(pc.readable()) {
+ iCh = pc.getc();
+ comBuf[comBufPointer++] = (char)iCh;
+ wrChar(iCh);
+ if(iCh == 10) { //LF - new line
+ comParser();
+ }
+ }
+
+ if(pc.writeable()) {
+ if(sBp != wBp) { //pcBuf not empty
+ pc.putc(pcBuf[sBp++]);
+ if(sBp == pcBufSize) {sBp = 0;}
+ }
+ }
+ //serve Laser RS232 command
+ LaserCommand();
+ led2 = 0;
+}
+
+//=========================================================
+int lampSt;
+
+void main_cycle_add(void)
+{
+ if((flagWeld == 0) & (lampSt == 1)) {
+ outLampStart = 0;
+ lampSt = 0;
+ }
+ else if((flagWeld == 1) & (lampSt == 0)) {
+ outLampStart = 1;
+ lampSt = 1;
+ }
+}
+