Firmware for single step driver with fast step (up to 340kHz) and simple gcode interpreter.
Dependencies: FastPWM SimpleIOMacros mbed
main.cpp
- Committer:
- daapp
- Date:
- 2013-02-25
- Revision:
- 0:b53649cd217f
- Child:
- 1:86997189bb6b
File content as of revision 0:b53649cd217f:
/* picocom -b 115200 -c --imap lfcrlf --omap crlf /dev/ttyACM0 */ /* todo: attach callback to Serial when no command executed only with STOP command todo: when command complete it should print "ok" todo: when all settings printed print "ok" todo: when value of parameter changed print "ok saved" todo: when value of parameter is invalid print "err invalid value" todo: add G command for set zero here todo: add G90/G91 */ #include "mbed.h" #include "FastPWM.h" #include "IOMacros.h" #define VERSION "0.1" #define DEBUG /* p30 - P0_4 */ const uint32_t stepPin = 4; const uint32_t stepIntMask = (1UL << stepPin); volatile int32_t position; /* G code interpreter state*/ bool absMovementMode = true; double mmPosition = 0.0; // mm double feedRate = 0.0; // mm/sec^2 /* *** Serial port *** */ Serial pc(USBTX, USBRX); #define SERIAL_BUFFER_SIZE 40 char serialBuffer[SERIAL_BUFFER_SIZE+1]; int serialPosition = 0; void invalidCommand() { pc.printf("err invalid command %s\n", serialBuffer); } void processCommand(void) { #ifdef DEBUG pc.printf("<%s>\n", serialBuffer); #endif if (serialBuffer[0] == '\0') { // todo: empty command stop the stage } else if (serialBuffer[0] == '$') { // '$' - print or change settings if (serialBuffer[1] == '\0') { pc.printf("todo: show settings\n"); } else if (serialBuffer[1] >= '0' and serialBuffer[1] <='9' and serialBuffer[2] == '=') { pc.printf("todo: set value here\n"); // todo: save settings to file } else { invalidCommand(); } } else if (serialBuffer[0] == '?' && serialBuffer[1] == '\0') { // todo: print in millimeters pc.printf("ok %d\n", position); } else { // todo: parse G-code here char *p = serialBuffer, *endP = serialBuffer; uint32_t ulValue; double dblValue; bool error = false; bool newAbsMovementMode = absMovementMode; double newmmPosition = mmPosition; double newFeedRate = feedRate; bool move = false; while (*p != '\0') { switch (*p) { case 'G': p++; ulValue = strtoul(p, &endP, 10); if (p == endP) { pc.printf("err invalid value for command G: %s\n", p); error = true; } else { #ifdef DEBUG pc.printf("debug G%u -> %s\n", ulValue, endP); #endif p = endP; switch (ulValue) { case 0: // todo: implement break; case 1: // todo: implement break; case 90: newAbsMovementMode = true; break; case 91: newAbsMovementMode = false; break; default: pc.printf("err invalid value for command G: %u\n", ulValue); error = true; break; } } break; case 'X': p++; dblValue = strtod(p, &endP); if (p == endP) { pc.printf("err invalid value for command X: %f\n", dblValue); error = true; } else { #ifdef DEBUG pc.printf("debug X%f -> %s\n", dblValue, endP); #endif p = endP; newmmPosition = dblValue; move = true; } break; case 'F': p++; dblValue = strtod(p, &endP); if (p == endP || dblValue < 0.0) { pc.printf("err invalid value for command F: %f\n", dblValue); error = true; } else { #ifdef DEBUG pc.printf("debug F%f -> %s\n", dblValue, endP); #endif p = endP; newFeedRate = dblValue; } break; default: pc.printf("err invalid command %s\n", p); error = true; break; } if (error) { break; } } if (!error) { // todo: check all flags and execute commands here absMovementMode = newAbsMovementMode; mmPosition = newmmPosition; feedRate = newFeedRate; // todo: run line module here pc.printf("absMovementMode = %u\n", absMovementMode); pc.printf("mmPosition = %f\n", mmPosition); pc.printf("feedRate = %f\n", feedRate); #ifdef DEBUG if (move) { pc.printf("MOVE\n"); } #endif } } } void readChar(void) { int ch; #ifdef DEBUG LED4_ON; #endif ch = pc.getc(); if (serialPosition < SERIAL_BUFFER_SIZE) { } else { pc.printf("\nToo long string, should be <= %d characters.\n", SERIAL_BUFFER_SIZE); serialPosition = 0; } if (ch == ' ' || ch == '\t') { // ignore space characters } else { if (ch == '\n') { serialBuffer[serialPosition] = '\0'; processCommand(); serialPosition = 0; serialBuffer[serialPosition] = '\0'; } else { if (ch >= 'a' and ch <= 'z') { ch = 'A' + (ch - 'a'); // convert to upper case } serialBuffer[serialPosition++] = ch; } } #ifdef DEBUG LED4_OFF; #endif } FastPWM stepper(p21); void update_position(); extern "C" void EINT3_IRQHandler (void) __irq { if (LPC_GPIOINT->IntStatus & 0x1) { if (LPC_GPIOINT->IO0IntStatR & stepIntMask) { update_position(); } } LPC_GPIOINT->IO2IntClr = (LPC_GPIOINT->IO2IntStatR | LPC_GPIOINT->IO2IntStatF); LPC_GPIOINT->IO0IntClr = (LPC_GPIOINT->IO0IntStatR | LPC_GPIOINT->IO0IntStatF); } void update_position() { //position++; if (position > 0) { position--; } else { position = 170000; } } void event_irq_init(void) { p30_AS_INPUT; // Enable p30 is P0_4 for rising edge interrupt generation. LPC_GPIOINT->IO0IntEnR |= stepIntMask; //NVIC_SetPriority(EINT3_IRQn, 1); // Enable the interrupt NVIC_EnableIRQ(EINT3_IRQn); } int main() { LED1_USE; // step movement LED4_USE; // serial port receive position = 0; pc.baud(115200); pc.attach(readChar); pc.printf("IGNB module driver version %s. Input '$' for settings.\n", VERSION); // todo: load settings from file //stepper.period(1.0/170000.0); //stepper.write(0.50); //event_irq_init(); while(1) { //position = 0; //LED1_ON; //stepper.write(0.5); //wait(1); //stepper.write(0.0); //LED1_OFF; //pc.printf("%d\r\n", position); //wait(1); } }