void LCD_Init(void)
{
bitclr(P2OUT,RS);
Delayx100us(250); // Delay 100ms
Delayx100us(250);
Delayx100us(250);
Delayx100us(250);
LCD_Data |= BIT4 | BIT5; // D7-D4 = 0011
LCD_Data &= ~BIT6 & ~BIT7;
_E(); // Toggle E for LCD
Delayx100us(100); // 10ms
_E(); // Toggle E for LCD
Delayx100us(100); // 10ms
_E(); // Toggle E for LCD
Delayx100us(100); // 10ms
LCD_Data &= ~BIT4;
_E(); // Toggle E for LCD
Send_Cmd(DISP_ON);
Send_Cmd(CLR_DISP);
Delayx100us(250);
Delayx100us(250);
Delayx100us(250);
Delayx100us(250);
}
XYPos(int axisIndex)
{
char responce[255];
char *cmd,*cmdlandmark;
int nchars;
float xpos, landmarkpos;
float dist2ISO, LaserRef2ISO;
if (axisIndex == X_AXIS)
{
cmd = "XP21R";
cmdlandmark = "R2R";
LaserRef2ISO = XLaserRef2ISO;
}
else if (axisIndex == Y_AXIS)
{
cmd = "YP21R";
cmdlandmark = "R5R";
LaserRef2ISO = YLaserRef2ISO;
}
else
{
cmd = "XP21R"; /* default X axis */
cmdlandmark = "R2R";
LaserRef2ISO = XLaserRef2ISO;
}
nchars = Send_Cmd(cmd, responce);
xpos = atof(responce);
nchars = Send_Cmd(cmdlandmark, responce);
landmarkpos = atof(responce);
dist2ISO = landmarkpos - xpos + LaserRef2ISO;
fprintf(stdout,"%f\n",xpos);
fprintf(stdout,"%f\n",dist2ISO);
/* fprintf(stderr,"dist 2 ISO: %f\n",dist2ISO); */
fflush(stdout);
/* get status and clear up error bits */
Send_Cmd(statusCmd, responce);
return(0);
}
wait4Axis2Stop(char axis)
{
char cmd[25];
char responce[40];
int nchars;
sprintf(cmd,"%c=H\n",axis);
/* loop until the resonce is 'E', which means the axis motor
has stopped, while running the responce is 'N'
*/
nchars = Send_Cmd(cmd, responce);
fprintf(stderr,"result: '%s'\n",responce);
while(strcmp(responce,"E") != 0)
{
delayMsec(250);
nchars = Send_Cmd(cmd, responce);
fprintf(stderr,"result: '%s'\n",responce);
}
}
MoveAxis(char *Cmd)
{
/* xMA x+100 xMD */
char mcmd[40],wcmd[32],dcmd[32];
char responce[255];
char *cptr;
char axis;
char direction;
int nchars;
axis = toupper(*Cmd++);
direction = *Cmd++;
if ( (axis != 'X') && (axis != 'Y') )
{
fprintf(stdout,"Error invalid Axis '%c' specified, only X or Y valid\n",axis);
return -1;
}
sprintf(wcmd,"%cMA",axis);
sprintf(mcmd,"%cMA %c%c%s",axis,axis,direction,Cmd);
sprintf(wcmd,"%c=H",axis);
sprintf(dcmd,"%cMD",axis);
/* 1st activate motor, then start the axis on it's way */
nchars = Send_Cmd(mcmd, responce);
/* 2nd wait until axis motor has completed */
nchars = Send_Cmd(wcmd, responce); /* has the axis motor stopped, N=no, E=yes */
while(responce[0] != 'E')
{
delayMsec(250);
nchars = Send_Cmd(wcmd, responce);
}
/* just a precaution delay before turn off motor */
delayMsec(250);
/* 3rd turn off motor */
nchars = Send_Cmd(dcmd, responce);
return ( 0 );
}
Status()
{
char *cmd = "ST";
char responce[255];
int status,bit,nchars;
float ypos, xpos, landmarkXpos, landmarkYpos, Xdist2ISO, Ydist2ISO, laser2ISO, laserYref;
nchars = Send_Cmd(cmd, responce);
status = atoi(responce);
fprintf(stdout,"Status: 0x%x\n",status);
for (bit = 0; bit < 8; bit++)
{
if (status & (1 << bit)) fprintf(stdout,"\t'%s'\n",StatusVals[bit]);
}
fprintf(stdout,"\n");
nchars = Send_Cmd("XP21R", responce);
xpos = atof(responce);
nchars = Send_Cmd("YP21R", responce);
ypos = atof(responce);
fprintf(stdout,"X-Position (vertical) : %f mm, %f in\n",xpos,xpos/25.4);
fprintf(stdout,"Y-Position (horizontal) : %f mm, %f in\n",ypos,ypos/25.4);
/*
Oops, R15 & R16 are only updated if the key pad is used, not much use here.
nchars = Send_Cmd("R15R", responce);
xpos = atof(responce);
nchars = Send_Cmd("R16R", responce);
ypos = atof(responce);
*/
/* calc taken from CALDST.APR, used in PT controller to calc dist to ISO center */
nchars = Send_Cmd("R10R", responce);
laser2ISO = atof(responce);
nchars = Send_Cmd("R11R", responce);
laserYref = atof(responce);
nchars = Send_Cmd("R2R", responce);
landmarkXpos = atof(responce);
nchars = Send_Cmd("R5R", responce);
landmarkYpos = atof(responce);
Xdist2ISO = landmarkXpos - xpos + laser2ISO;
Ydist2ISO = landmarkYpos - ypos + laserYref;
fprintf(stdout,"laser2ISO: %f, LaserYref: %f, LandmarkX: %f, LandmarkY: %f\n",
laser2ISO,laserYref,landmarkXpos,landmarkYpos);
fprintf(stdout,"X-Position relative to ISO (vertical) : %f mm, %f in\n",
Xdist2ISO,Xdist2ISO/25.4);
fprintf(stdout,"Y-Position relative to ISO (horizontal) : %f mm, %f in\n",
Ydist2ISO,Ydist2ISO/25.4);
fprintf(stdout,"\n\n");
return(0);
}
SoftLimits()
{
char *cmd;
char responce[255];
int nchars;
/* get status and clear up error bits */
Send_Cmd(statusCmd, responce);
/* calc taken from CALDST.APR, used in PT controller to calc dist to ISO center */
nchars = Send_Cmd("R10R", responce);
XLaserRef2ISO = atof(responce);
nchars = Send_Cmd("R11R", responce);
YLaserRef2ISO = atof(responce);
nchars = Send_Cmd("R20R", responce);
XShrouldLimit = atof(responce);
nchars = Send_Cmd("R21R", responce);
XHlimitIn = atof(responce);
nchars = Send_Cmd("R22R", responce);
XHlimitOut = atof(responce);
nchars = Send_Cmd("R23R", responce);
Y_XLL1 = atof(responce);
nchars = Send_Cmd("R24R", responce);
Y_XLH1 = atof(responce);
nchars = Send_Cmd("R25R", responce);
Y_XLL2 = atof(responce);
nchars = Send_Cmd("R26R", responce);
Y_XLH2 = atof(responce);
if (verbose)
{
printf("XShrouldLimit: %lf, XHlimitIn: %lf, XHlimitOut: %lf\n",XShrouldLimit,XHlimitIn,XHlimitOut);
printf("Y_XLL1: %lf, Y_XLH1: %lf, Y_XLL2: %lf, Y_XLH2: %lf\n",Y_XLL1,Y_XLH1,Y_XLL2,Y_XLH2);
}
}
main()
{
char *cmd, *str;
char rbuf[256];
int r, i;
WORD texp;
Open_Com(COM2, 9600, Data8Bit, NonParity, OneStopBit);
// cmd = "#02\r";
cmd = "$022\r";
// cmd = "%0202080600\r"; /* non-check-sum */
// cmd = "%0202080640\r"; /* check-sum */
Send_Cmd(COM2, cmd, 0);
Receive_Cmd(COM2, rbuf, 40, 0);
printf("response: %s\n", rbuf);
Close_Com(COM2);
}
main (int argc, char *argv[])
{
int done;
int status;
char buffer[256];
char responce[256];
char *bptr;
char *cmdline;
int buflen = 1;
int firstentry = 1;
int chars;
char cmdchar;
if (argc < 2)
{
fprintf(stdout,"usage: %s <devicename> (i.e. /dev/term/b)\n", argv[0]);
exit(1);
}
verbose = 0;
/* initialize Serial port to Gilson */
Portfd = initPort(argv[1],PATIENT_TABLE);
/* need this info for isocenter calcualtions */
SoftLimits();
if (argc > 2)
{
cmdchar = argv[2][0];
/* printf("2nd arg: '%s'\n",argv[2]); */
if (cmdchar != '-')
{
status = 0;
switch( toupper(cmdchar) )
{
case 'M':
MoveAxis(&(argv[2][1]));
/* get status and clear up error bits */
Send_Cmd(statusCmd, responce);
XYPos(X_AXIS);
XYPos(Y_AXIS);
break;
case 'X':
XYPos(X_AXIS);
break;
case 'Y':
XYPos(Y_AXIS);
break;
case 'S':
Status();
break;
default:
status = -1;
break;
}
fflush(stdout);
return(status);
}
else if (strcmp(argv[2],"-debug") == 0)
{
verbose = 1;
}
}
if (verbose)
fprintf(stdout,"Init Device: %s\n",argv[1]);
if (verbose)
PrintSet();
/*
fprintf(stdout,"%lf %lf %lf %lf %lf %lf %lf %lf \n",xyMinMax[0],xyMinMax[1],
xyMinMax[2],xyMinMax[3],xyMinMax[4],xyMinMax[5],
MaxXYSpeed[0],MaxXYSpeed[1]);
*/
fflush(stdout);
done = 1;
while (done)
{
if (verbose)
{
fprintf(stdout,"M)ove Axis (MX+100,MY-100), S)tatus \n");
fprintf(stdout,"\nCmds: ");
}
else if (buflen)
{
if (!firstentry)
fprintf(stdout,"Cmds:\n"); /* The GUI expects this prompt, verbatim */
else
firstentry = 0;
}
/**********/
fflush(stdout);
bptr = gets(buffer);
buflen = strlen(buffer);
if (bptr == NULL)
break;
switch( toupper(buffer[0]) )
{
case 'M':
MoveAxis(&buffer[1]);
break;
case 'S':
Status();
break;
case 'X':
XYPos(X_AXIS);
break;
case 'Y':
XYPos(Y_AXIS);
break;
case 'Q':
done = 0;
return;
break;
}
}
}
void LCD_Second_Line(void)
{
Send_Cmd(DD_RAM_ADDR2);
}
void LCD_First_Line(void)
{
Send_Cmd(DD_RAM_ADDR);
}
void LCD_Clear(void)
{
Send_Cmd(CLR_DISP);
Delayx100us(10);
}
