Jean Mercier / Mbed 2 deprecated jmMotor

Control up to 4 DC Motors from a serial port

Dependencies:   mbed

jmMotor.c@0:dedab08b24ea, 2011-02-12 (annotated)

Committer:
jm
Date:
Sat Feb 12 16:39:20 2011 +0000
Revision:
0:dedab08b24ea
jmMotor Command Line Interface Module

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jm 0:dedab08b24ea 1 /*************************************************************************
jm 0:dedab08b24ea 2 * @file jmMotor.c
jm 0:dedab08b24ea 3 * @version 1.0
jm 0:dedab08b24ea 4 * @date Feb 12, 2011
jm 0:dedab08b24ea 5 */
jm 0:dedab08b24ea 6
jm 0:dedab08b24ea 7 #include "jmMotor.h"
jm 0:dedab08b24ea 8 #include "LPC17xx.h"
jm 0:dedab08b24ea 9 #include "main.h"
jm 0:dedab08b24ea 10 #include "jmCommands.h"
jm 0:dedab08b24ea 11 #include "jmMessages.h"
jm 0:dedab08b24ea 12 #include "jmRingBuffer.h"
jm 0:dedab08b24ea 13 #include "stdio.h"
jm 0:dedab08b24ea 14
jm 0:dedab08b24ea 15 #ifndef nonStop
jm 0:dedab08b24ea 16 #define nonStop 65535 // for continuous mode operation
jm 0:dedab08b24ea 17 #endif
jm 0:dedab08b24ea 18
jm 0:dedab08b24ea 19 #define mtNotInit 0
jm 0:dedab08b24ea 20 #define mtRunningCW 1
jm 0:dedab08b24ea 21 #define mtRunningCCW 2
jm 0:dedab08b24ea 22 #define mtStopped 3
jm 0:dedab08b24ea 23
jm 0:dedab08b24ea 24 extern LPC_GPIO_TypeDef *jmGPIO[5];
jm 0:dedab08b24ea 25
jm 0:dedab08b24ea 26 // Module Data Structure
jm 0:dedab08b24ea 27 struct StructMotor sMotor[motorQty]; // static creation
jm 0:dedab08b24ea 28
jm 0:dedab08b24ea 29 /** Module Data Structure Initialization
jm 0:dedab08b24ea 30 * @brief All State Machines non initialized
jm 0:dedab08b24ea 31 * @param[in] none
jm 0:dedab08b24ea 32 * @returns none
jm 0:dedab08b24ea 33 */
jm 0:dedab08b24ea 34 void MotorInit(void){
jm 0:dedab08b24ea 35 int i;
jm 0:dedab08b24ea 36 for(i=0;i<motorQty;i++){
jm 0:dedab08b24ea 37 sMotor[i].active = mtNotInit;
jm 0:dedab08b24ea 38 }
jm 0:dedab08b24ea 39 }
jm 0:dedab08b24ea 40
jm 0:dedab08b24ea 41 /** Speed control for motors (1 or up to 4)
jm 0:dedab08b24ea 42 * @brief motorSpeed Command Line Interface.
jm 0:dedab08b24ea 43 * Format: command name (arg info)min..max values
jm 0:dedab08b24ea 44 * motorSpeed (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
jm 0:dedab08b24ea 45 * @param[in] Extracted from command line (Motor IDs ORed)1..15 (tOn Value)0..255 (tOff Value)0..255
jm 0:dedab08b24ea 46 * @returns Message: motorSpeed ids tOn tOff
jm 0:dedab08b24ea 47 */
jm 0:dedab08b24ea 48 void cli_MotorSpeed(void){
jm 0:dedab08b24ea 49 unsigned int id, i, tOn,tOff;
jm 0:dedab08b24ea 50 if(ExtractUInteger(pLine,&id,1,15)){ //extract id
jm 0:dedab08b24ea 51 if(ExtractUInteger(pLine,&tOn,0,255)){ //extract tOn
jm 0:dedab08b24ea 52 if(ExtractUInteger(pLine,&tOff,0,255)){ //extract tOff
jm 0:dedab08b24ea 53 for(i=0;i<motorQty;i++){ // check each motor
jm 0:dedab08b24ea 54 if(id & 1<<i){ // motor included ?
jm 0:dedab08b24ea 55 if(sMotor[i].active){ // motor initialized ?
jm 0:dedab08b24ea 56 sMotor[i].tOn=(uint8_t)tOn;
jm 0:dedab08b24ea 57 sMotor[i].tOff=(uint8_t)tOff;
jm 0:dedab08b24ea 58
jm 0:dedab08b24ea 59
jm 0:dedab08b24ea 60 if(tOn==0){ // 0% ?
jm 0:dedab08b24ea 61 sMotor[i].cycles=0;
jm 0:dedab08b24ea 62 sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // output pin low
jm 0:dedab08b24ea 63 }
jm 0:dedab08b24ea 64
jm 0:dedab08b24ea 65 if(tOff==0){ // 100% ?
jm 0:dedab08b24ea 66 sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // output pin high
jm 0:dedab08b24ea 67 }
jm 0:dedab08b24ea 68
jm 0:dedab08b24ea 69 if(tOn!=0 && tOff!=0){ // PWM ?
jm 0:dedab08b24ea 70 // change motor tOn and tOff values
jm 0:dedab08b24ea 71 sMotor[i].cycles=nonStop;
jm 0:dedab08b24ea 72 }
jm 0:dedab08b24ea 73 // report to gui
jm 0:dedab08b24ea 74 rGPPMT(i);
jm 0:dedab08b24ea 75 }
jm 0:dedab08b24ea 76 }
jm 0:dedab08b24ea 77 }
jm 0:dedab08b24ea 78 }
jm 0:dedab08b24ea 79 }
jm 0:dedab08b24ea 80
jm 0:dedab08b24ea 81 if(Feedback)printf("MotorSpeed ID %d tOn %d tOff %d\n",id,tOn, tOff);
jm 0:dedab08b24ea 82 return;
jm 0:dedab08b24ea 83 }
jm 0:dedab08b24ea 84 if(Help)printf("motorSpeed (Motor IDs ORed)1..15 (tOn Value)1..255 (tOff Value)1..255\n");
jm 0:dedab08b24ea 85 // Ignore pending command line
jm 0:dedab08b24ea 86 NextCommand(nl,pLine);
jm 0:dedab08b24ea 87 }
jm 0:dedab08b24ea 88
jm 0:dedab08b24ea 89
jm 0:dedab08b24ea 90 /***********************************************************************
jm 0:dedab08b24ea 91 * @brief Module State Machine.
jm 0:dedab08b24ea 92 * Enable different motor control concurrently.
jm 0:dedab08b24ea 93 * @param none
jm 0:dedab08b24ea 94 * @returns Message at end of cycles: GPPMT id dirPin drivePinB tOn tOff status
jm 0:dedab08b24ea 95 */
jm 0:dedab08b24ea 96 void MotorSM(void){
jm 0:dedab08b24ea 97 int i;
jm 0:dedab08b24ea 98 for(i=0;i<motorQty;i++){ // for each SM define by pins
jm 0:dedab08b24ea 99 // SM active ?
jm 0:dedab08b24ea 100 if(!sMotor[i].active) continue;
jm 0:dedab08b24ea 101
jm 0:dedab08b24ea 102 if(sMotor[i].cycles!=0){ // Cycles to DO ?
jm 0:dedab08b24ea 103 switch(sMotor[i].state){
jm 0:dedab08b24ea 104
jm 0:dedab08b24ea 105 // pulse is low
jm 0:dedab08b24ea 106 case 0: if(sMotor[i].eggTimer==0){ // time to change ?
jm 0:dedab08b24ea 107 sMotor[i].drivePort->FIOPIN |= sMotor[i].driveBitValue; // set pin High
jm 0:dedab08b24ea 108 sMotor[i].eggTimer=sMotor[i].tOn; // load timer with tOn
jm 0:dedab08b24ea 109 sMotor[i].state=1; // next state
jm 0:dedab08b24ea 110 }
jm 0:dedab08b24ea 111 break;
jm 0:dedab08b24ea 112
jm 0:dedab08b24ea 113 // pulse is High
jm 0:dedab08b24ea 114 case 1: if(sMotor[i].eggTimer==0){ // time to change ?
jm 0:dedab08b24ea 115 sMotor[i].drivePort->FIOPIN &= ~sMotor[i].driveBitValue; // reset pin low
jm 0:dedab08b24ea 116 sMotor[i].eggTimer=sMotor[i].tOff; // load timer with tOff
jm 0:dedab08b24ea 117 if(sMotor[i].cycles != nonStop){ // continuous mode ?
jm 0:dedab08b24ea 118 if(--sMotor[i].cycles == 0) // decrease qty if not continuous mode
jm 0:dedab08b24ea 119 rGPPMT(i); // Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:dedab08b24ea 120 }
jm 0:dedab08b24ea 121 sMotor[i].state=0; // state 0
jm 0:dedab08b24ea 122 }
jm 0:dedab08b24ea 123 break;
jm 0:dedab08b24ea 124 }//switch
jm 0:dedab08b24ea 125 }//if
jm 0:dedab08b24ea 126 }//for
jm 0:dedab08b24ea 127 }//MotorSM
jm 0:dedab08b24ea 128
jm 0:dedab08b24ea 129
jm 0:dedab08b24ea 130 /** @brief motor Command Line Interface
jm 0:dedab08b24ea 131 * Command Line Interface to control Motor on mbed pins DIP5 to 30.
jm 0:dedab08b24ea 132 * Format: command name (arg info)min..max values
jm 0:dedab08b24ea 133 * Command Line Format: motor (Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]
jm 0:dedab08b24ea 134 * @param[in] Extracted from command line ((Motor ID)0..3 (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)1..255 (tOff)1..255 (Cycles)[1..65535]
jm 0:dedab08b24ea 135 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:dedab08b24ea 136 */
jm 0:dedab08b24ea 137 void cli_Motor(void){
jm 0:dedab08b24ea 138 unsigned int id,dirPin,drivePin, dir, tOn,tOff,cycles;
jm 0:dedab08b24ea 139
jm 0:dedab08b24ea 140 if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract motor id
jm 0:dedab08b24ea 141 if(ExtractUInteger(pLine,&dirPin,0,432)){ // extract direction pin
jm 0:dedab08b24ea 142 if(ExtractUInteger(pLine,&drivePin,0,432)){ // extract drive pin
jm 0:dedab08b24ea 143 if(ExtractUInteger(pLine,&dir,0,1)){ // extract direction
jm 0:dedab08b24ea 144 if(ExtractUInteger(pLine,&tOn,0,255)){ // extract tOn
jm 0:dedab08b24ea 145 if(ExtractUInteger(pLine,&tOff,0,255)){ // extract tOff
jm 0:dedab08b24ea 146 // extract cycles and test for nonStop mode
jm 0:dedab08b24ea 147 if(!ExtractUInteger(pLine,&cycles,1,nonStop))cycles = nonStop;
jm 0:dedab08b24ea 148
jm 0:dedab08b24ea 149 sMotor[id].dirBitValue = 1<<(dirPin%100);
jm 0:dedab08b24ea 150 sMotor[id].driveBitValue = 1<<(drivePin%100);;
jm 0:dedab08b24ea 151 sMotor[id].drivePort = jmGPIO[drivePin/100];
jm 0:dedab08b24ea 152 sMotor[id].dirPort = jmGPIO[dirPin/100];
jm 0:dedab08b24ea 153 sMotor[id].active = 1;
jm 0:dedab08b24ea 154
jm 0:dedab08b24ea 155 // Port.Pin set to outputs
jm 0:dedab08b24ea 156 sMotor[id].dirPort->FIODIR |= sMotor[id].dirBitValue;
jm 0:dedab08b24ea 157 sMotor[id].drivePort->FIODIR |= sMotor[id].driveBitValue;
jm 0:dedab08b24ea 158
jm 0:dedab08b24ea 159 sMotor[id].direction = dir;
jm 0:dedab08b24ea 160 sMotor[id].tOn = (uint8_t)tOn;
jm 0:dedab08b24ea 161 sMotor[id].tOff = (uint8_t)tOff;
jm 0:dedab08b24ea 162 sMotor[id].cycles = (uint16_t)cycles;
jm 0:dedab08b24ea 163 sMotor[id].state = 0;
jm 0:dedab08b24ea 164 sMotor[id].eggTimer = 0;
jm 0:dedab08b24ea 165 sMotor[id].dirPin = dirPin;
jm 0:dedab08b24ea 166 sMotor[id].drivePin = drivePin;
jm 0:dedab08b24ea 167
jm 0:dedab08b24ea 168 // set output direction bit according to given direction
jm 0:dedab08b24ea 169 if(dir) sMotor[id].dirPort->FIOPIN |= sMotor[id].dirBitValue;
jm 0:dedab08b24ea 170 else sMotor[id].dirPort->FIOPIN &= ~sMotor[id].dirBitValue;
jm 0:dedab08b24ea 171
jm 0:dedab08b24ea 172 // 100%
jm 0:dedab08b24ea 173 if(tOff==0){
jm 0:dedab08b24ea 174 sMotor[id].drivePort->FIOPIN |= sMotor[id].driveBitValue;
jm 0:dedab08b24ea 175 // SM off
jm 0:dedab08b24ea 176 sMotor[id].cycles = 0;
jm 0:dedab08b24ea 177 }
jm 0:dedab08b24ea 178
jm 0:dedab08b24ea 179 // 0%
jm 0:dedab08b24ea 180 if(tOn==0){
jm 0:dedab08b24ea 181 sMotor[id].drivePort->FIOPIN &= ~sMotor[id].driveBitValue;
jm 0:dedab08b24ea 182 // SM off
jm 0:dedab08b24ea 183 sMotor[id].cycles = 0;
jm 0:dedab08b24ea 184 }
jm 0:dedab08b24ea 185
jm 0:dedab08b24ea 186 rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:dedab08b24ea 187
jm 0:dedab08b24ea 188 if(Feedback)printf("Motor %d DirPin %d DrivePin %d Dir %d tOn %d tOff %d Cycles %d\n",id,
jm 0:dedab08b24ea 189 dirPin, drivePin, dir,tOn,tOff,cycles);
jm 0:dedab08b24ea 190 return;
jm 0:dedab08b24ea 191 }
jm 0:dedab08b24ea 192 }
jm 0:dedab08b24ea 193 }
jm 0:dedab08b24ea 194 }
jm 0:dedab08b24ea 195 }
jm 0:dedab08b24ea 196 // Ignore pending command line
jm 0:dedab08b24ea 197 NextCommand(nl,pLine);
jm 0:dedab08b24ea 198 return;
jm 0:dedab08b24ea 199 }
jm 0:dedab08b24ea 200
jm 0:dedab08b24ea 201 if(Help)printf("motor (Motor ID)0..%d (Direction Pin)0..432 (Drive Pin)0..432 (Direction)0..1 (tOn)0..255 (tOff)0..255 (Cycles)[1..65535]\n",motorQty-1);
jm 0:dedab08b24ea 202 // Ignore pending command line
jm 0:dedab08b24ea 203 NextCommand(nl,pLine);
jm 0:dedab08b24ea 204 }
jm 0:dedab08b24ea 205
jm 0:dedab08b24ea 206 /** Module Get Module Process Properties Command Line Interface
jm 0:dedab08b24ea 207 * @brief Command Line Interface to Get Module Public Process Properties
jm 0:dedab08b24ea 208 * @param[in] id Extracted from command line
jm 0:dedab08b24ea 209 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:dedab08b24ea 210 */
jm 0:dedab08b24ea 211 void cli_GPPMT(void)
jm 0:dedab08b24ea 212 { unsigned int id;
jm 0:dedab08b24ea 213 if(ExtractUInteger(pLine,&id,0,motorQty-1)){ // extract id
jm 0:dedab08b24ea 214 rGPPMT(id); // Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:dedab08b24ea 215 return;
jm 0:dedab08b24ea 216 }
jm 0:dedab08b24ea 217
jm 0:dedab08b24ea 218 if(Help)printf("GPPST (Motor id)0..%d\n",motorQty-1);
jm 0:dedab08b24ea 219 // Ignore pending command line
jm 0:dedab08b24ea 220 NextCommand(nl,pLine);
jm 0:dedab08b24ea 221 }
jm 0:dedab08b24ea 222
jm 0:dedab08b24ea 223 /** Public Properties Message
jm 0:dedab08b24ea 224 * @brief Send Process Properties to update GUI
jm 0:dedab08b24ea 225 * @param[in] id Process identification
jm 0:dedab08b24ea 226 * @returns Message: GPPMT id dirPin drivePinB tOn tOff status
jm 0:dedab08b24ea 227 */
jm 0:dedab08b24ea 228 void rGPPMT(unsigned int id ){
jm 0:dedab08b24ea 229 int status;
jm 0:dedab08b24ea 230 if( sMotor[id].active )
jm 0:dedab08b24ea 231 { if(sMotor[id].cycles == 0)status = mtStopped;
jm 0:dedab08b24ea 232 else
jm 0:dedab08b24ea 233 {
jm 0:dedab08b24ea 234 if( sMotor[id].direction) status = mtRunningCW;
jm 0:dedab08b24ea 235 else status = mtRunningCCW;
jm 0:dedab08b24ea 236 }
jm 0:dedab08b24ea 237 }
jm 0:dedab08b24ea 238 else status = mtNotInit;
jm 0:dedab08b24ea 239 printf("GPPMT %d %d %d %d %d %d\n",id,sMotor[id].dirPin,sMotor[id].drivePin,sMotor[id].tOn,sMotor[id].tOff,status);
jm 0:dedab08b24ea 240 }