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CNCDrill.c
682 lines (628 loc) · 18.1 KB
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CNCDrill.c
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/*
* CNCDrill.c
*
* Created: 04.07.2015 17:04:38
* Author: Admin
*/
#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "CNCDrill.h"
#include "ComandList.h"
#include "EERTOS.h"
#include "usart.h"
FINISH_CMD XFinish = NULL, YFinish = NULL, ZFinish = NULL; //Ôóíêöèè âûïîëíÿåìûå ïî îêîí÷àíèè ïåðåìåùåíèÿ îñè
#define MEASURE_NUM 3 //Êîëè÷åñòâî èçìåðåíèé
#define MEASURE_MAX (2*MEASURE_NUM)
tMeasure Measure[MEASURE_MAX];
u08 MeasureCount = 0; //Íîìåð òåêóùåãî èçìåðåíèÿ
#define IsDigit(symbol) ((symbol >= '0') && (symbol <= '9'))
//------ N/C Drill
volatile u08 LanguageFlags = 0; //Ôëàãè îáñëóæèâàíèÿ èíòåðïðåòàòîðà ÿçûêà
#define SCRIPT_STATED 0 //Áûëà êîìàíäà íà÷àëà ïðîãðàììû
#define SCRIPT_HEADER_END 1 //Çàãîëîâîê ïðîãðàììû ïîëíîñòüþ ïðî÷èòàí
//2
//3
//4
//5
//6
//7
#define CmdHeaderSet() SetBit(LanguageFlags, SCRIPT_HEADER_END)
#define CmdHeaderClear() ClearBit(LanguageFlags, SCRIPT_HEADER_END)
#define CmdHeaderIsSet() BitIsSet(LanguageFlags, SCRIPT_HEADER_END)
#define CmdHeaderIsClear() BitIsClear(LanguageFlags, SCRIPT_HEADER_END)
#define CmdStartSet() SetBit(LanguageFlags, SCRIPT_STATED)
#define CmdStartClear() do{ClearBit(LanguageFlags, SCRIPT_STATED); CmdHeaderClear();}while(0)
#define CmdStartIsSet() BitIsSet(LanguageFlags, SCRIPT_STATED)
#define CmdStartIsClear() BitIsClear(LanguageFlags, SCRIPT_STATED)
char *ErrorText = NULL; //Òåêñò îøèáêè
const char PROGMEM //Òåêñòû îøèáîê
err_metric[] = "Command METRIC is bad",
err_metric_unexp[] = "Unexpected METRIC comand",
err_metric_undef[] = "Not specified Accuracy",
err_start_unexp[] = "Unexpected start comand",
err_header_unexp[] = "Unexpected header end comand",
err_tool_unexp[] = "Unexpected T comand",
err_tool[] = "Comand T syntax error",
err_tool_more[] = "description tools more 5",
err_tool_repeat[] = "Repeated description of the tool",
err_tool_undesc[] = "Tool undescribed",
err_cmd_mem[] = "Out of emeory",
err_cmd_unknown[] = "Unknown command";
u08 ZeroCountBefor = 0, ZeroCountAfter = 0; //Ôîðìàò ÷èñëà êîîðäèíàòû Before - êîëè÷åñòâî öèôð â öåëîé ÷àñòè, After - â äðîáíîé
#define TOOL_DESCR_MAX 5 //Ìàêñèìàëüíîå êîëè÷åñòâî îïèñàíèé èíñòðóìåíòà
char ToolsDescription[TOOL_DESCR_MAX][4]; //Îïèñàíèÿ èíñòðóìåíòà ìç êîìàíäû TXXCXX.X
u08 StartHead(u08 *val); //Íà÷àëî ïðîãðàììû
u08 Metric(u08 *val); //Ðàìåðíîñòü â ìèëèììåòðàõ
u08 ChangeAndStop(u08 *val); //Ñìåíèòü èíñòðóìåíò èëè T0 - îñòàíîâèòü âñå èíñòðóìåíòû
u08 Position(u08 *val); //Ïåðåìåñòèòü èíñòðóìåíòà íà óêàçàííóþ êîîðäèíàòó. Êîîðäèíàòà îòñ÷èòûâàåòñÿ îò îòíîñèòåëüíîãî íîëÿ
u08 EndProgeam(u08 *val); //Êîíåö ïðîãðàììû
u08 EndHeader(u08 *val); //Êîíåö îïèñàòåëüíîãî çàãîëîâêà
//------ Service
u08 ForwardX(u08 *val); //Ìîòîð X âïåðåä
u08 RewindX(u08 *val); //Ìîòîð X íàçàä
u08 ShiftSetX(u08 *val);
u08 ForwardY(u08 *val); //Y
u08 RewindY(u08 *val);
u08 DownZ(u08 *val); //Z
u08 UpZ(u08 *val);
u08 ShiftSetZ(u08 *val);
u08 GetEncoders(u08 *val);
u08 ForwardDrill(u08 *val); //Drill
u08 RewindDrill(u08 *val);
u08 StopDrill(u08 *val);
u08 EncoderReset(u08 *val);
const pCmdElement PROGMEM ListCmd[CMD_NUM_MAX] = {
//Code Func
{CMD_NC_HEAD, StartHead}, //Íà÷àëî ïðîãðàììû
{CMD_NC_METRIC, Metric}, //Ðàìåðíîñòü â ìèëèììåòðàõ
{CMD_NC_CHANGE_TOOL, ChangeAndStop}, //Ñìåíèòü èíñòðóìåíò èëè T0 - îñòàíîâèòü âñå èíñòðóìåíòû
{CMD_NC_POS, Position}, //Ïåðåìåñòèòü èíñòðóìåíòà íà óêàçàííóþ êîîðäèíàòó. Êîîðäèíàòà îòñ÷èòûâàåòñÿ îò îòíîñèòåëüíîãî íîëÿ
{CMD_NC_END, EndProgeam}, //Êîíåö ïðîãðàììû
{CMD_NC_END_HEADER, EndHeader}, //Êîíåö îïèñàòåëüíîãî çàãîëîâêà
{CMD_FORWARD_X, ForwardX}, //Ñåðâèñ êîìàíäà - ìîòîð X âïåðåä
{CMD_REWIND_X, RewindX}, //Íàçàä
{CMD_SHIFT_X, ShiftSetX},
{CMD_FORWARD_Y, ForwardY},
{CMD_REWIND_Y, RewindY},
{CMD_DOWN_Z, DownZ},
{CMD_UP_Z, UpZ},
{CMD_SHIFT_Z, ShiftSetZ},
{CMD_GET_ENCODER, GetEncoders},
{CMD_FORWARD_DRILL, ForwardDrill},
{CMD_REWIND_DRILL, RewindDrill},
{CMD_STOP_DRILL, StopDrill}, //Îñòàíîâèòü âðàùåíèå ñâåðëà
{CMD_ENCODE_RESET, EncoderReset},
};
#define CmdExec(id) *((VOID_CMD*)pgm_read_word(&ListCmd[id].Func))
//Îøèáêà â êîäå êîìàíäû
void CmdError(void){
usart_putstr(CMD_ANSWER_ERR);
if (ErrorText != NULL){
usart_putstr(ErrorText);
free(ErrorText);
ErrorText = NULL;
}
}
//Ñîçäàòü òåêñò îøèáêè
void CreateError(const char *str_P){
u08 len = strlen_P(str_P);
ErrorText = malloc(len+1);
if (ErrorText != NULL){
strcpy_P(ErrorText, str_P);
}
CmdStartClear();
}
//Ïðåîáðàçóåò ñòðîêó öèôð â ÷èñëî äî ïåðâîãî íåöèôðîâîãî ñèìâîëà
s32 strToLong(char *str){
u08 i = 0, flag = 0;
s32 Ret = 0;
for (;i<strlen((char*)str);i++){ //Åñòü êàêîå-òî ÷èñëî
if (*(str+i) != '0'){
flag++;
}
}
if (flag){
Ret = strtol((char*)str, NULL, 10);
}
return Ret;
}
//Âñå ñèìâîëû â ñòðîêå äîëæíû áûòü öèôðàìè. Ïåðâûé ñèìâîë äîëæåí áûòü ëèáî ìèíóñ ëèáî ïëþñ
u08 StrDigitTest(char *str){
u08 Ret = RET_ERR, i = (strlen((str)+1));
if ((cmdByte(str, 0) == '+') || (cmdByte(str, 0) == '-')){
for (;i;i--){
if ((*(str+i) < '0') || (*(str+i) > '0')) break;
}
if (i == 0) Ret = RET_OK;
}
return Ret;
}
//================================================================ Êîìàíäû ÿçûêà "N/C Drill"
//Íà÷àëî ïðîãðàììû
u08 StartHead(u08 *val){
u08 Ret = RET_ERR, i;
if CmdStartIsClear(){ //Íà÷àëà ïðîãðàììû åùå íå áûëî
if ((strlen((char*)val) == 3)){ //Ïðàâèëüíàÿ äëèíà êîìàíäû
CmdStartSet();
ZeroCountBefor = 0;
ZeroCountAfter = 0;
for (i=0;i<TOOL_DESCR_MAX; i++){
ToolsDescription[i][0] = 0;
}
Ret = RET_OK;
}
else{
CreateError(err_cmd_unknown);
}
}
else{
CreateError(err_start_unexp);
}
return Ret;
}
//Ðàìåðíîñòü â ìèëèììåòðàõ (METRIC,0000.00)
u08 Metric(u08 *val){
u08 Ret = RET_ERR, Fl = 0;
if (CmdStartIsSet() && CmdHeaderIsClear()){ //Íà÷àëî ïðîãðàììû áûëî è çàãîëîâîê åùå ÷èòàåòñÿ
char *i = strchr((char*)val, ',');
//Èùåì çàïÿòóþ
if (i != NULL){
while ((*i == '0') || (*i == '.')){
if (*i == '.'){ //Ðàçäåëèòåëü äåñÿòêîâ
Fl++;
if (Fl == 2){ //Óæå áûë îäèí ðàçäåëèòåëü, îøèáêà â êîìàíäå
break;
}
}
else{
if (Fl){ //Áûë äåñÿòè÷íûé ðàçäåëèòåëü
ZeroCountAfter++;
}
else{
ZeroCountBefor++;
}
}
}
if ((*i != 0) //Íåïðàâèëüíûé ñèìâîë
|| (Fl == 2) //Äâîéíîé ðàçäåëèòåëü
|| (ZeroCountBefor = 0) //Íåò íè îäíîãî çíàêà
|| (ZeroCountAfter>2)){ //Ñëèøêîì ìíîãî çàíêîâ ïîñëå çàïÿòîé
CreateError(err_metric);
}
else{
Ret = RET_OK;
}
}
}
else{
CreateError(err_metric_unexp);
}
return Ret;
}
//Êîíåö îïèñàòåëüíîãî çàãîëîâêà
u08 EndHeader(u08 *val){
u08 Ret = RET_ERR, i=0, ToolsSeting = 0;
if (CmdStartIsSet() && CmdHeaderIsClear()){ //Íà÷àëî ïðîãðàììû áûëî è çàãîëîâîê åùå ÷èòàåòñÿ
if (cmdByte(val, 1) == 0){ //Êîìàíäà ñîñòîèò èç 1 ñèìâîëà
//Ïðîâåðèòü êîëè÷åñòâî îïèñàííûõ èíñòðóìåíòîâ
for (;i<TOOL_DESCR_MAX;i++){
if (*ToolsDescription[i]){
ToolsSeting++;
break;
}
}
if (ToolsSeting == 0){ //Íåò íè îäíîãî îïèñàíèÿ èíñòðóìåíòà
CreateError(err_tool_undesc);
}
else{
if (ZeroCountBefor == 0){ //Íå óêàçàíà òî÷íî÷òü
CreateError(err_metric_undef);
}
else{
CmdHeaderSet(); //Çàãîëîâîê ïðî÷èòàí
Ret = RET_OK;
}
}
}
else{
CreateError(err_cmd_unknown);
}
}
else{
CreateError(err_header_unexp);
}
return Ret;
}
//Ñìåíèòü èíñòðóìåíò èëè T00 - îñòàíîâèòü âñå èíñòðóìåíòû èëè "T01C0,1" îïèñàòü èíñòðóìåíò
u08 ChangeAndStop(u08 *val){
u08 Ret = RET_ERR;
char *SecondPart;
const char* ErrTxt = NULL;
if CmdStartIsClear() ErrTxt = err_tool_unexp; //Íå áûëî ñòàðòà ïðîãðàììû
if ((ErrTxt == NULL) &&
(!(IsDigit(cmdByte(val, 1)) && IsDigit(cmdByte(val, 2)))) //Äîëæíû áûòü äâå öèôðû
){
ErrTxt = err_tool;
}
if ((ErrTxt == NULL) &&
(!((cmdByte(val, 1) == '0') && ((cmdByte(val, 1) & 0xf)<TOOL_DESCR_MAX))) //Íå áîëüøå TOOL_DESCR_MAX
){
ErrTxt = err_tool_more;
}
if (ErrTxt == NULL){
//------ Çàãîëîâîê åùå íå çàêîí÷åí, äîëæíû áûòü êîìàíäà âèäà TXXCXX.X
u08 NumTool = (cmdByte(val, 2) & 0xf);
if (CmdHeaderIsClear()){
SecondPart = strchr((char*)val, (int)CMD_T_SUFFIX_TOOL);
if (SecondPart == NULL){ //Íå íàéäåíà áóêâà C
ErrTxt = err_tool;
}
else{
if (*ToolsDescription[NumTool] != 0){ //Òàêîé íîìåð èíñòðóìåíòà óæå îïèñàí
ErrTxt = err_tool_repeat;
}
else{
strcpy(ToolsDescription[NumTool], SecondPart); //Çàïèñàòü îïèñàíèå èíñòðóìåíòà â ìàññèâ
}
}
}
//------ Èäåò òåëî êîìàíäû, äîëæíà áûòü êîìàíäà TXX èëè T00
else{
if (NumTool == 0){ //Îñòàíîâèòü èíñòðóìåíò
//Ïîäíÿòü
//Ïî îêîí÷àíèè ïîäúåìà âûêëþ÷èòü
}
else if (*ToolsDescription[NumTool] != 0){ //Ñìåíèòü èíñòðóìåíò
//Ïîäíÿòü èíñòóðìåíò
//Îñòàíîâèòü ñâåðëî
//Âûâåñòè â òî÷êó ñìåíû èíñòðóìåíòà
//Äîæäàòñÿ îòâåòà îïåðàòîðà î ãîòîâíîñòè
//Ïðîäîëæèòü èñïîëíåíèå ñêðèïòà
}
else{
ErrTxt = err_tool_undesc;
}
}
}
if (ErrTxt == NULL)
CreateError(ErrTxt);
return Ret;
}
//Ïåðåìåñòèòü èíñòðóìåíò íà óêàçàííóþ êîîðäèíàòó. Êîîðäèíàòà îòñ÷èòûâàåòñÿ îò îòíîñèòåëüíîãî íóëÿ óñòàíàâëèâàåìîãî ïåðåä çàïóñêîì ñêðèïòà
u08 Position(u08 *val){
u08 Ret = RET_ERR;
const char* ErrTxt = NULL;
char *NumericX = NULL, *NumericY = NULL;
s16 XNeed = 0, YNeed = 0;
if (CmdStartIsSet() && CmdHeaderIsSet()){ //Íà÷àëî ïðîãðàììû áûëî è çàãîëîâîê ïðî÷èòàí
if (cmdByte(val, (ZeroCountBefor+ZeroCountAfter+1)) != CMD_X_SUFFIX_TOOL) //Ïîñëå êîîðäèíàò X äîëæåí áûòü ñóôôèêñ êîìàíäû Y
ErrTxt = err_cmd_unknown;
if (ErrTxt == NULL){
NumericX = malloc(ZeroCountBefor+ZeroCountAfter+2); //2 - äëÿ íóëÿ è çíàêà
NumericY = malloc(ZeroCountBefor+ZeroCountAfter+2); //2 - äëÿ íóëÿ è çíàêà
if ((NumericX != NULL) && (NumericY != NULL)){
memcpy(NumericX, val+1, ZeroCountBefor+ZeroCountAfter+1);//Âûòàùèòü ÷èñëî ïî X âìåñòå ñî çíàêîì ÷èñëà
*(NumericX+ZeroCountBefor+ZeroCountAfter+2) = 0; //Çàâåðøàþùèé 0 â ñòðîêå
memcpy(NumericY, val+ZeroCountBefor+ZeroCountAfter+2, ZeroCountBefor+ZeroCountAfter+1);
*(NumericY+ZeroCountBefor+ZeroCountAfter+2) = 0;
if ((StrDigitTest(NumericX) == RET_ERR) || (StrDigitTest(NumericY) == RET_ERR))
ErrTxt = err_cmd_unknown;
if (ErrTxt == NULL){
XNeed = strToLong(NumericX);
YNeed = strToLong(NumericY);
}
}
else{
ErrTxt = err_cmd_mem;
}
}
}
if (NumericX != NULL)
free(NumericX);
if (NumericY != NULL)
free(NumericY);
if (ErrTxt == NULL)
CreateError(ErrTxt);
return Ret;
}
//Êîíåö ïðîãðàììû
u08 EndProgeam(u08 *val){
u08 Ret = RET_ERR;
CmdStartClear();
return Ret;
}
//Ïðîâåðêà äëèíû ñåðâèñíîé êîìàíäû è ïîëó÷åíèå àðãóìåíòà, åñëè 0 òî îøèáêà â êîìàíäå èëè àðãóìåíòå
u16 GetArgService(u08 *str){
u16 Ret = RET_ERR;
char Value[5];
s32 Arg32s;
if (CmdStartIsClear()){ //Ðàáî÷èé ñêðèïò íå âûïîëíÿåòñÿ
if ((strlen((char*)str) == 6)){ //Ïðàâèëüíàÿ äëèíà êîìàíäû
memcpy(Value, str+2, 4); //Ïîëó÷èòü àðãóìåíò
Value[4] = 0;
Arg32s = strToLong(Value);
if (Arg32s>0){
Ret = (u16) Arg32s;
}
}
}
return Ret;
}
//Ïðîâåðêà è ðàçáîð ñåðâèñíûõ êîìàíä
//--- X
u08 ForwardX(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
enum StepSizeType sz = STEP_SIZE_FULL;
if (Power != RET_ERR){
if ((Power >= 1) && (Power <=4))
sz = (enum StepSizeType) (Power-1);
#ifdef DEBUG
Encoder.X1 = 0;
Encoder.X2 = 0;
#endif
EncoderNeed.X2 = ENCODER_OFF; //Îòêëþ÷èòü êîíòðîëü ïîëîæåíèÿ
ProcessStart(AXIS_X);
#ifdef DEBUG
usart_putstr("X Go/n/r");
#endif
DriveSteppingOn(AXIS_X, DIR_AXIS_TO_MAX, sz);
Ret = RET_OK;
}
return Ret;
}
u08 RewindX(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
EncoderNeed.X2 = ENCODER_OFF; //Îòêëþ÷èòü êîíòðîëü ïîëîæåíèÿ
ProcessStart(AXIS_X);
DriveSteppingOn(AXIS_X, DIR_AXIS_TO_MIN, STEP_SIZE_FULL);
Ret = RET_OK;
}
return Ret;
}
u16 XAxisNeed;
void XAxisNeedGo(void){
XFinish = NULL;
EncoderNeed.X2 = XAxisNeed; //Âîçâðàùàåìñÿ ê íóæíîé êîîðäèíàòå
}
#define X_SHIFT_ADDED 50 //Ìåíüøå ýòîãî êîëè÷åñòâà êëèêîâ ïîòðàë äîïîëíèòåëüíî ñíà÷àëà ñäâèãàåòñÿ â ñòîðîíó, à ïîòîì âîçâðàùàåòñÿ íà íóæíóþ êîîðäèíàòó
u08 ShiftSetX(u08 *val){
u08 Ret = RET_ERR;
u16 Shift = GetArgService(val), Ab;
if ((Shift != RET_ERR) && (Shift != Encoder.X2)){
ProcessStart(AXIS_X); //Çàíÿòü îñü
if (EncoderNeed.X2>Encoder.X2)
Ab = EncoderNeed.X2-Encoder.X2;
else
Ab = Encoder.X2-EncoderNeed.X2;
if (Ab<X_SHIFT_ADDED){ //Êîîðäèíòà ñëèøêîì áëèçêî äðóã ê äðóãó, îòîäâèãàåì ïîäàëüøå, à ïîòîì âåðíåì
XAxisNeed = Shift;
XFinish = XAxisNeedGo;
if (Encoder.X2+(X_SHIFT_ADDED*3)>X_AXIS_MAX)
EncoderNeed.X2 = Encoder.X2-(X_SHIFT_ADDED*3);
else
EncoderNeed.X2 = Encoder.X2+(X_SHIFT_ADDED*3);
}
else
EncoderNeed.X2 = Shift;
Ret = RET_OK;
}
return Ret;
}
//--- Y
u08 ForwardY(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
DriveSteppingOn(AXIS_Y, DIR_AXIS_TO_MAX, STEP_SIZE_FULL);
Ret = RET_OK;
}
return Ret;
}
u08 RewindY(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
DriveSteppingOn(AXIS_Y, DIR_AXIS_TO_MIN, STEP_SIZE_FULL);
Ret = RET_OK;
}
return Ret;
}
//--- Z
u08 DownZ(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
DriveDCOn(AXIS_Z, DIR_Z_DOWN, Power);
Ret = RET_OK;
}
return Ret;
}
u08 UpZ(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
DriveDCOn(AXIS_Z, DIR_Z_UP, Power);
Ret = RET_OK;
}
return Ret;
}
u08 ShiftSetZ(u08 *val){
u08 Ret = RET_ERR;
u16 Shift = GetArgService(val);
if (Shift != RET_ERR){
if (Shift<=Z_AXIS_MAX){
EncoderNeed.Z = Shift;
if (Encoder.Z > EncoderNeed.Z){ //Íóæíî ïîäíÿòü
DriveDCOn(AXIS_Z, DIR_Z_UP, 720);
}
else if(Encoder.Z == EncoderNeed.Z){ //Óæå â íóæíîé ïîçèöèè, ïðîñòî îñòàíîâèòü ìîòîð íà âñÿêèé ñëó÷àé
ZAxisOff();
}
else{ //Íóæíî îïóñòèòü
DriveDCOn(AXIS_Z, DIR_Z_DOWN, 650);
}
Ret = RET_OK;
}
}
return Ret;
}
u08 GetEncoders(u08 *val){
u08 Ret = RET_ERR;
u16 Shift = GetArgService(val);
if (Shift != RET_ERR){
#ifdef DEBUG
usart_putstr("Enc curr X1 X2=");
usart_hex((u08)((u16)(Encoder.X1)>>8));
usart_hex((u08)(Encoder.X1));
usart_putchar(' ');
usart_hex((u08)((u16)(Encoder.X2)>>8));
usart_hex((u08)(Encoder.X2));
usart_putchar(0xd);
usart_putchar(0xa);
usart_putstr("Y1 Y2=");
usart_hex((u08)((u16)(Encoder.Y1)>>8));
usart_hex((u08)(Encoder.Y1));
usart_putchar(' ');
usart_hex((u08)((u16)(Encoder.Y2)>>8));
usart_hex((u08)(Encoder.Y2));
usart_putchar(0xd);
usart_putchar(0xa);
usart_putstr("Z=");
usart_hex((u08)((u16)(Encoder.Z)>>8));
usart_hex((u08)(Encoder.Z));
usart_putchar(0xd);
usart_putchar(0xa);
#endif
Ret = RET_OK;
}
return Ret;
}
//--- DRILL
u08 ForwardDrill(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
DriveDCOn(AXIS_DRILL, DIR_DRILL_CLOCKWISE, Power);
Ret = RET_OK;
}
return Ret;
}
u08 RewindDrill(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
DriveDCOn(AXIS_DRILL, DIR_DRILL_ANTICLOCKWISE, Power);
Ret = RET_OK;
}
return Ret;
}
u08 StopDrill(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
DrillOff();
Ret = RET_OK;
}
return Ret;
}
u08 EncoderReset(u08 *val){
u08 Ret = RET_ERR;
u16 Power = GetArgService(val);
if (Power != RET_ERR){
Encoder.X1 = 0;
Encoder.X2 = 0;
Encoder.Y1 = 0;
Encoder.Y2 = 0;
Encoder.Z = 0;
Ret = RET_OK;
}
return Ret;
}
//Ðàçáîð áóôåðà ïðèåìà uart è èñïîëíåíèå êîìàíäû
void ParseCmd(void){
u08 *cmd, i=0, flag = 0;
SetTimerTask(ParseCmd, 100);
if (ProcessIsFree() && (!FIFO_IS_EMPTY(CmdBuf))){ //Ñòàíîê ñâîáîäåí, æäåò êîìàíäó è êîìàíäû åñòü â î÷åðåäè
cmd = FIFO_FRONT(CmdBuf);
FIFO_POP(CmdBuf);
for (;i<CMD_NUM_MAX;i++){
if (strncmp_P((char*)cmd, ListCmd[i].Code, strlen_P(ListCmd[i].Code))==0){
if (((VOID_CMD)&CmdExec(i))(cmd) == RET_OK){
flag = 1;
break;
}
}
}
if (flag == 0){
CmdError();
}
free((void*)cmd); //Îñâîáîäèòü ïàìÿòü îò îòðàáîòàíîé êîìàíäû
}
}
#define PID_X_PERIOD 25 //Ïåðèîä ðåãóëèðîâàíèÿ, âûáðàí ïî ðåçóëüòàòàì èçìåðíåèÿ âûáåãà ïîðòàëà ïîñëå âûêëþ÷åíèÿ ìîòîðà - 15-18 ìñ äëÿ ñòàáèëèçàöèè íàäî
#define REST_COUNT 4 //Åñëè â òå÷åíèèè ýòîãî êîëè÷åñòâà ïåðèîäîâ äâèæåíèå îñè íå áûëî, òî ñ÷èòàòåñÿ, ÷òî öåëü äîñòãíóòà
void AxisXPID(void){
enum DirType Dir = DIR_AXIS_TO_MAX;
static u08 CountRestCycle = REST_COUNT;
if BitIsClear(CommonFlags, KEY_STOP_DOWN){ //Áûëà íàæàòà êíîïêà ÑÒÎÏ, çàïóñê íå âîçìîæåí
if (EncoderNeed.X2 != ENCODER_OFF){ //Åñòü íåîáõîäèìîñòü â ïåðåìåùåíèè ïî îñè X
if (EncoderNeed.X2 < Encoder.X2){
Dir = DIR_AXIS_TO_MIN;
// if ((Encoder.X2 - EncoderNeed.X2)<30)
// Power = 600;
}
else{
// if ((EncoderNeed.X2-Encoder.X2)<30)
// Power = 600;
}
if (EncoderNeed.X2 != Encoder.X2){
CountRestCycle = REST_COUNT;
DriveSteppingOn(AXIS_X, Dir, STEP_SIZE_FULL);
}
else{
CountRestCycle--;
if ((CountRestCycle == 0) && ProcessAxisIsGo(AXIS_X)){ //Íå áûëî äâèæåíèÿ ïî îñè X çàäàííîå êîëè÷åñòâî ïåðèîäîâ, ñ÷èòàåì êîìàíäó âûïîëíåííîé
ProcessEnd(AXIS_X);
if (XFinish != NULL){
XFinish();
}
}
}
}
}
SetTimerTask(AxisXPID, PID_X_PERIOD);
}
int main(void)
{
FIFO_FLUSH(CmdBuf);
SerilalIni();
//Ñòàðò RTOS
InitRTOS();
RunRTOS();
InitHAL();
usart_putstr("R\r\n");
ParseCmd();
KeyLedFlashOn(); //Ìèãàåì â çíàê íà÷àëà èíèöèàëèçàöèè
//Óñòàíîâêà 0
//------ Îñü X
if (SensorIsAlarmDirect(X_MIN_SENS_IN, X_MIN_SENS_PIN)){//Êàðåòêà ñòîèò â ìèíèìàëüíîì ïîëîæåíèè
usart_putchar('M');
DriveSteppingOn(AXIS_X, DIR_AXIS_TO_MAX, STEP_SIZE_FULL);
usart_putchar('F');
EncoderNeed.X2 = 200;
while(Encoder.X2 != EncoderNeed.X2)
TaskManager();
}
usart_putchar('G');
DriveSteppingOn(AXIS_X, DIR_AXIS_TO_MIN, STEP_SIZE_FULL); //Îáðàòíî äî ñðàáàòûâàíèÿ îïòðîíà - ýòî áóäåò íîëü.
Encoder.X2 = 0;
while(1){
TaskManager();
}
}