Jean Mercier / Mbed 2 deprecated jmStepperAxis

Control up to 4 steppers axis with limit switch logic from serial port

Dependencies:   mbed

jmStepper.c@0:3e676fcd9c71, 2011-02-12 (annotated)

Committer:
jm
Date:
Sat Feb 12 16:49:03 2011 +0000
Revision:
0:3e676fcd9c71
jmStepperAxis Command Line Interface Module

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jm 0:3e676fcd9c71 1 /*************************************************************************
jm 0:3e676fcd9c71 2 * @file jmStepper.c
jm 0:3e676fcd9c71 3 * @brief Command Line Interface Stepper Module
jm 0:3e676fcd9c71 4 *
jm 0:3e676fcd9c71 5 * @version 1.0
jm 0:3e676fcd9c71 6 * @date Feb 12, 2011
jm 0:3e676fcd9c71 7 */
jm 0:3e676fcd9c71 8
jm 0:3e676fcd9c71 9 #include "jmMessages.h"
jm 0:3e676fcd9c71 10 #include "jmStepper.h"
jm 0:3e676fcd9c71 11 #include "LPC17xx.h"
jm 0:3e676fcd9c71 12 #include "main.h"
jm 0:3e676fcd9c71 13 #include "jmCommands.h"
jm 0:3e676fcd9c71 14 #include "jmMessages.h"
jm 0:3e676fcd9c71 15 #include "jmRingBuffer.h"
jm 0:3e676fcd9c71 16 #include "stdio.h"
jm 0:3e676fcd9c71 17
jm 0:3e676fcd9c71 18 #ifndef nonStop
jm 0:3e676fcd9c71 19 #define nonStop 65535
jm 0:3e676fcd9c71 20 #endif
jm 0:3e676fcd9c71 21
jm 0:3e676fcd9c71 22 #define stNotInit 0
jm 0:3e676fcd9c71 23 #define stRunningCW 1
jm 0:3e676fcd9c71 24 #define stRunningCCW 2
jm 0:3e676fcd9c71 25 #define stStopped 3
jm 0:3e676fcd9c71 26
jm 0:3e676fcd9c71 27 // static structures creation
jm 0:3e676fcd9c71 28 struct StructStepper sStepper[stepperQty];
jm 0:3e676fcd9c71 29
jm 0:3e676fcd9c71 30 /** Module Data Structure Initialization
jm 0:3e676fcd9c71 31 * @brief All State Machines put to sleep.
jm 0:3e676fcd9c71 32 * @param[in] none
jm 0:3e676fcd9c71 33 * @returns none
jm 0:3e676fcd9c71 34 */
jm 0:3e676fcd9c71 35 void StepperInit(void){
jm 0:3e676fcd9c71 36 int i;
jm 0:3e676fcd9c71 37 for(i=0;i<stepperQty;i++){
jm 0:3e676fcd9c71 38 sStepper[i].active = stNotInit;
jm 0:3e676fcd9c71 39 }
jm 0:3e676fcd9c71 40 }
jm 0:3e676fcd9c71 41
jm 0:3e676fcd9c71 42 /** @brief Step Function
jm 0:3e676fcd9c71 43 * Change Coil drives according to stepper number and direction.
jm 0:3e676fcd9c71 44 * For 2 bit hardware controllers (full steps, full torque)
jm 0:3e676fcd9c71 45 * @param[in] number (stepper number)0..3
jm 0:3e676fcd9c71 46 * @param[in] CW (direction)0..1
jm 0:3e676fcd9c71 47 * @returns none
jm 0:3e676fcd9c71 48 */
jm 0:3e676fcd9c71 49 void Step(int number, uint8_t CW){
jm 0:3e676fcd9c71 50 uint8_t seq = sStepper[number].seq;
jm 0:3e676fcd9c71 51 if(CW){
jm 0:3e676fcd9c71 52 if(seq)sStepper[number].portCoilA->FIOPIN ^=sStepper[number].CoilA_bitValue;
jm 0:3e676fcd9c71 53 else sStepper[number].portCoilB->FIOPIN ^=sStepper[number].CoilB_bitValue;
jm 0:3e676fcd9c71 54 }
jm 0:3e676fcd9c71 55 else {
jm 0:3e676fcd9c71 56 if(seq)sStepper[number].portCoilB->FIOPIN ^=sStepper[number].CoilB_bitValue;
jm 0:3e676fcd9c71 57 else sStepper[number].portCoilA->FIOPIN ^=sStepper[number].CoilA_bitValue;
jm 0:3e676fcd9c71 58 }
jm 0:3e676fcd9c71 59 sStepper[number].seq = !seq;
jm 0:3e676fcd9c71 60 }
jm 0:3e676fcd9c71 61
jm 0:3e676fcd9c71 62
jm 0:3e676fcd9c71 63 /**
jm 0:3e676fcd9c71 64 * @brief stepperStop Command Line Interface.
jm 0:3e676fcd9c71 65 * Format: command name (arg info)min..max values
jm 0:3e676fcd9c71 66 * @param[in] number Extracted from command line (stepper ORed ids)1..15
jm 0:3e676fcd9c71 67 * @returns none
jm 0:3e676fcd9c71 68 */
jm 0:3e676fcd9c71 69 void cli_StepperStop(void){
jm 0:3e676fcd9c71 70 unsigned int value, i;
jm 0:3e676fcd9c71 71 if(ExtractUInteger(pLine,&value,1,15)){
jm 0:3e676fcd9c71 72 for(i=0;i<stepperQty;i++){
jm 0:3e676fcd9c71 73 if(value & 1<<i)sStepper[i].nSteps=0;
jm 0:3e676fcd9c71 74 rGPPST(i); // GPPST id pinA pinB delay status
jm 0:3e676fcd9c71 75 }
jm 0:3e676fcd9c71 76
jm 0:3e676fcd9c71 77 if(Feedback)printf("StepperStop %d\n",value);
jm 0:3e676fcd9c71 78 return;
jm 0:3e676fcd9c71 79 }
jm 0:3e676fcd9c71 80 if(Help)printf("stepperStop (Value)1..15\n");
jm 0:3e676fcd9c71 81 // Ignore pending command line
jm 0:3e676fcd9c71 82 NextCommand(nl,pLine);
jm 0:3e676fcd9c71 83 }
jm 0:3e676fcd9c71 84
jm 0:3e676fcd9c71 85 /** Speed control for step motors (1 or up to 4)
jm 0:3e676fcd9c71 86 * @brief stepSpeed Command Line Interface.
jm 0:3e676fcd9c71 87 * Format: command name (arg info)min..max values
jm 0:3e676fcd9c71 88 * @param[in] Extracted from command line (stepper ORed ids)1..15
jm 0:3e676fcd9c71 89 * @returns Message: stepSpeed ids value
jm 0:3e676fcd9c71 90 */
jm 0:3e676fcd9c71 91 void cli_StepSpeed(void){
jm 0:3e676fcd9c71 92 unsigned int id, i, delay;
jm 0:3e676fcd9c71 93 if(ExtractUInteger(pLine,&id,1,15)){
jm 0:3e676fcd9c71 94 if(ExtractUInteger(pLine,&delay,1,255)){
jm 0:3e676fcd9c71 95 for(i=0;i<stepperQty;i++){
jm 0:3e676fcd9c71 96 // change delay for one stepper
jm 0:3e676fcd9c71 97 if(id & 1<<i)sStepper[i].delay=(uint8_t)delay;
jm 0:3e676fcd9c71 98 // report to gui
jm 0:3e676fcd9c71 99 printf("stepSpeed %d %d\n",id,delay);
jm 0:3e676fcd9c71 100 }
jm 0:3e676fcd9c71 101 }
jm 0:3e676fcd9c71 102
jm 0:3e676fcd9c71 103 if(Feedback)printf("StepperSpeed ID %d Delay %d\n",id,delay);
jm 0:3e676fcd9c71 104 return;
jm 0:3e676fcd9c71 105 }
jm 0:3e676fcd9c71 106 if(Help)printf("stepSpeed (Stepper IDs ORed)1..15 (Delay Value)1..255\n");
jm 0:3e676fcd9c71 107 // Ignore pending command line
jm 0:3e676fcd9c71 108 NextCommand(nl,pLine);
jm 0:3e676fcd9c71 109 }
jm 0:3e676fcd9c71 110
jm 0:3e676fcd9c71 111 /** @brief Module State Machine.
jm 0:3e676fcd9c71 112 * @param[in] none
jm 0:3e676fcd9c71 113 * @returns On Ending steps, Send Message: GPPST id pinA pinB delay status
jm 0:3e676fcd9c71 114 */
jm 0:3e676fcd9c71 115 void StepperSM(void){
jm 0:3e676fcd9c71 116 int i;
jm 0:3e676fcd9c71 117
jm 0:3e676fcd9c71 118 for(i=0;i<stepperQty;i++){ // for each stepper
jm 0:3e676fcd9c71 119 if(sStepper[i].active){ // SM initialized ?
jm 0:3e676fcd9c71 120 if(sStepper[i].nSteps!=0){ // step to do ?
jm 0:3e676fcd9c71 121 if(sStepper[i].eggTimer==0){ // time to step ?
jm 0:3e676fcd9c71 122 Step(i,sStepper[i].cw); // step
jm 0:3e676fcd9c71 123 sStepper[i].eggTimer=sStepper[i].delay; // set delay timer for next step
jm 0:3e676fcd9c71 124 if(sStepper[i].nSteps<nonStop){ // continuous mode ?
jm 0:3e676fcd9c71 125 if(--sStepper[i].nSteps == 0) // decrease step qty if not continuous mode
jm 0:3e676fcd9c71 126 rGPPST(i); // Message GPPST id pinA pinB delay status
jm 0:3e676fcd9c71 127 }
jm 0:3e676fcd9c71 128 }
jm 0:3e676fcd9c71 129 }
jm 0:3e676fcd9c71 130 }
jm 0:3e676fcd9c71 131 }
jm 0:3e676fcd9c71 132 }
jm 0:3e676fcd9c71 133
jm 0:3e676fcd9c71 134
jm 0:3e676fcd9c71 135 /** @brief stepper Command Line Interface.
jm 0:3e676fcd9c71 136 * This function controls the stepper
jm 0:3e676fcd9c71 137 * Command Line Format: stepper (value)0..3 (direction)0..1 (PinA)0..432 (PinB)0..432 (delay)1..255 (steps)1..65535
jm 0:3e676fcd9c71 138 * @param[in] Extracted from command line (value)0..3 (PinA)0..432 (PinB)0..432 (direction)0..1 (delay)1..255 (steps)1..65535
jm 0:3e676fcd9c71 139 * @returns Message: GPPST id pinA pinB delay status
jm 0:3e676fcd9c71 140 */
jm 0:3e676fcd9c71 141 void cli_Stepper(void){
jm 0:3e676fcd9c71 142 unsigned int id,cw, delay, steps, pinA, pinB, port, bitValue;
jm 0:3e676fcd9c71 143
jm 0:3e676fcd9c71 144 if(ExtractUInteger(pLine,&id,0,stepperQty-1)){ // extract stepper id
jm 0:3e676fcd9c71 145 if(ExtractUInteger(pLine,&pinA,0,432)){ // extract pinA
jm 0:3e676fcd9c71 146 if(ExtractUInteger(pLine,&pinB,0,432)){ // extract pinB
jm 0:3e676fcd9c71 147 if(ExtractUInteger(pLine,&cw,0,1)){ // extract direction
jm 0:3e676fcd9c71 148 if(ExtractUInteger(pLine,&delay,1,255)){ // extract step delay
jm 0:3e676fcd9c71 149 if(!ExtractUInteger(pLine,&steps,1,65535)){ // check for optionnal steps arg
jm 0:3e676fcd9c71 150 steps = nonStop; // default to nonStop
jm 0:3e676fcd9c71 151 }
jm 0:3e676fcd9c71 152
jm 0:3e676fcd9c71 153 // Get ports, bit and bit values
jm 0:3e676fcd9c71 154 sStepper[id].pinA=(uint8_t)pinA;
jm 0:3e676fcd9c71 155 sStepper[id].pinB=(uint8_t)pinB;
jm 0:3e676fcd9c71 156 port = pinA/100;
jm 0:3e676fcd9c71 157 bitValue = 1<<(pinA%100);
jm 0:3e676fcd9c71 158 sStepper[id].portCoilA = jmGPIO[port]; // Coil A port
jm 0:3e676fcd9c71 159 sStepper[id].CoilA_bitValue = bitValue; // Coil A bit
jm 0:3e676fcd9c71 160
jm 0:3e676fcd9c71 161 port = pinB/100;
jm 0:3e676fcd9c71 162 bitValue = 1<<(pinB%100);
jm 0:3e676fcd9c71 163 sStepper[id].portCoilB = jmGPIO[port]; // Coil B port
jm 0:3e676fcd9c71 164 sStepper[id].CoilB_bitValue = bitValue; // Coil B bit
jm 0:3e676fcd9c71 165
jm 0:3e676fcd9c71 166 sStepper[id].active = 1; // initialized true
jm 0:3e676fcd9c71 167
jm 0:3e676fcd9c71 168 // Port.Pin set to outputs
jm 0:3e676fcd9c71 169 sStepper[id].portCoilA->FIODIR |= sStepper[id].CoilA_bitValue;
jm 0:3e676fcd9c71 170 sStepper[id].portCoilB->FIODIR |= sStepper[id].CoilB_bitValue;
jm 0:3e676fcd9c71 171
jm 0:3e676fcd9c71 172 sStepper[id].cw =cw;
jm 0:3e676fcd9c71 173 sStepper[id].delay = (uint8_t)delay;
jm 0:3e676fcd9c71 174 sStepper[id].nSteps = (uint16_t)steps;
jm 0:3e676fcd9c71 175
jm 0:3e676fcd9c71 176 // chip report to GUI
jm 0:3e676fcd9c71 177 rGPPST(id); //Message: GPPST id pinA pinB delay status
jm 0:3e676fcd9c71 178
jm 0:3e676fcd9c71 179 if(Feedback)printf("Stepper:%d PinA:%d PinB:%d CW:%d Delay:%d Steps:%d\n",id,pinA,pinB,cw,delay,steps);
jm 0:3e676fcd9c71 180 return;
jm 0:3e676fcd9c71 181 }// delay
jm 0:3e676fcd9c71 182 }// direction
jm 0:3e676fcd9c71 183 }// pinB
jm 0:3e676fcd9c71 184 }// pinA
jm 0:3e676fcd9c71 185 }// stepper number
jm 0:3e676fcd9c71 186 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");
jm 0:3e676fcd9c71 187 // Ignore pending command line
jm 0:3e676fcd9c71 188 NextCommand(nl,pLine);
jm 0:3e676fcd9c71 189 }
jm 0:3e676fcd9c71 190
jm 0:3e676fcd9c71 191 /** Module Get Module Process Properties Command Line Interface
jm 0:3e676fcd9c71 192 * @brief Command Line Interface to Get Module Public Process Properties
jm 0:3e676fcd9c71 193 * @param[in] id Extracted from command line id Process identification
jm 0:3e676fcd9c71 194 * @returns Message: GPPST id pinA pinB delay status
jm 0:3e676fcd9c71 195 */
jm 0:3e676fcd9c71 196 void cli_GPPST(void)
jm 0:3e676fcd9c71 197 { unsigned int id;
jm 0:3e676fcd9c71 198 if(ExtractUInteger(pLine,&id,0,stepperQty-1)){ // extract id Number
jm 0:3e676fcd9c71 199 rGPPST(id); // Message: GPPST id pinA pinB delay status
jm 0:3e676fcd9c71 200 return;
jm 0:3e676fcd9c71 201 }
jm 0:3e676fcd9c71 202
jm 0:3e676fcd9c71 203 if(Help)printf("GPPST (Stepper id)0..%d\n",stepperQty-1);
jm 0:3e676fcd9c71 204 // Ignore pending command line
jm 0:3e676fcd9c71 205 NextCommand(nl,pLine);
jm 0:3e676fcd9c71 206 }
jm 0:3e676fcd9c71 207
jm 0:3e676fcd9c71 208 /** Public Properties Message
jm 0:3e676fcd9c71 209 * @brief Send Process Properties to update GUI
jm 0:3e676fcd9c71 210 * @param[in] id Process identification
jm 0:3e676fcd9c71 211 * @returns Message: GPPST id pinA pinB ddelay status
jm 0:3e676fcd9c71 212 */
jm 0:3e676fcd9c71 213 void rGPPST(unsigned int id ){
jm 0:3e676fcd9c71 214 int status;
jm 0:3e676fcd9c71 215 if( sStepper[id].active )
jm 0:3e676fcd9c71 216 { if(sStepper[id].nSteps == 0)status = stStopped;
jm 0:3e676fcd9c71 217 else
jm 0:3e676fcd9c71 218 {
jm 0:3e676fcd9c71 219 if( sStepper[id].cw) status = stRunningCW;
jm 0:3e676fcd9c71 220 else status = stRunningCCW;
jm 0:3e676fcd9c71 221 }
jm 0:3e676fcd9c71 222 }
jm 0:3e676fcd9c71 223 else status = stNotInit;
jm 0:3e676fcd9c71 224 printf("GPPST %d %d %d %d %d\n",id,sStepper[id].pinA,sStepper[id].pinB,sStepper[id].delay,status);
jm 0:3e676fcd9c71 225 }