/**
* Gets the X, Y and Z values of the accelerometer in the KL25Z board and
* sends the data to the UART peripheral if debug mode is active.
*************************************************************************** */
void accelerometer_readXYZ(void) {
uint8 registerRead = MMA8451_OUT_X_MSB;
int8 xyz[3] = {0, 1, 2};
GI2C1_ReadAddress(MMA8451_I2C_ADDRESS, ®isterRead, 1, (uint8_t*)&xyz, 3);
#ifdef DEBUGFLAG
uart_SendString("X: ");
uart_SendByte(xyz[0]);
uart_SendString("; Y: ");
uart_SendByte(xyz[1]);
uart_SendString("; Z: ");
uart_SendByte(xyz[2]);
uart_SendStringLn(";");
#endif
}
/*! \brief Sends out data.
*
* Outputs the values of the data you can control by serial interface
* and the current position of the stepper motor.
*
* \param acceleration Accelration setting.
* \param deceleration Deceleration setting.
* \param speed Speed setting.
* \param steps Position of the stepper motor.
*/
void ShowData(int position, int acceleration, int deceleration, int speed, int steps)
{
uart_SendString("\n\r Motor pos: ");
uart_SendInt(position);
uart_SendString(" a:");
uart_SendInt(acceleration);
uart_SendString(" d:");
uart_SendInt(deceleration);
uart_SendString(" s:");
uart_SendInt(speed);
uart_SendString(" m:");
uart_SendInt(steps);
uart_SendString("\n\r> ");
}
int main(void)
{
USART_Init(MYUBBR); //initialise UART0
uart_SendString("Set Up...\n\r");
speed_cntr_Init_Timer1();
sm_driver_Init_IO();
XLocation = 0;
YLocation = 0;
ZLocation = 0;
sei();
DDRA = 0xFF;//set port c to outputs
PORTA = 0x00;
DDRB = 0xFF;
PORTB = 0x00;
DDRC = 0xFF;
PORTC = 0x00;
DDRD = 0xFF;
PORTD = 0x00;
int Step;
unsigned int accel, decel, speed;
Step = 100;
accel = 71;
speed = 12;
decel = 71;
//int point = 0;
uart_SendString("Ready!\n\r");
while(1)
{
if(COMMANDRECEIVED == TRUE)
{
switch(Received[0])
{
case 'G':
switch(Received[1])
{
case '0':
switch(Received[2])
{
case '0':
G00();
break;
default:
uart_SendString("Unsupported G Code");
break;
}
break;
default:
uart_SendString("Unsupported G Code");
break;
}
break;
case 'g': //start all set up motors.
StartMotors();
break;
case 'X': //Set up the X motor with current settings
speed_cntr_SetupX(Step, accel, decel, speed);
break;
case 'Y': //set up the Y motor with current settings
speed_cntr_SetupY(Step, accel, decel, speed);
break;
case 'Z': //set up the Z motor with current settings
speed_cntr_SetupZ(Step, accel, decel, speed);
break;
case 'S'://set the Step variable
Step = atoi((char const *)Received+2);
break;
case 'a'://set the Accel Variable
accel = atoi((char const *)Received+2);
break;
case 'd'://set up the deceleration variable
decel = atoi((char const *)Received+2);
break;
case 's'://set the steps variable
speed = atoi((char const *)Received+2);
//speed_cntr1_Setup1(Step, accel, decel, speed);
if (speed > MAXSPEED)
{
uart_SendString("WARNING: EXCEEDED MAXIMUM SPEED");
}
break;
case 'I'://show all variable information
uart_SendString("\n\rSteps: ");
uart_SendInt(Step);
uart_SendString("\n\rAccel: ");
uart_SendInt(accel);
uart_SendString("\n\rSpeed: ");
uart_SendInt(speed);
uart_SendString("\n\rDecel: ");
uart_SendInt(decel);
break;
case 'L'://show current locations of device
USART_Transmit('X');
USART_Transmit('=');
uart_SendInt(XLocation);
USART_Transmit('\r');
USART_Transmit('\n');
USART_Transmit('Y');
USART_Transmit('=');
uart_SendInt(YLocation);
USART_Transmit('\r');
USART_Transmit('\n');
USART_Transmit('Z');
USART_Transmit('=');
uart_SendInt(ZLocation);
USART_Transmit('\r');
USART_Transmit('\n');
break;
case '0'://Zero all Variables.
XLocation = 0;
YLocation = 0;
ZLocation = 0;
break;
default://unsupported command
uart_SendString("Incorrect Command");
break;
}
COMMANDRECEIVED = FALSE;
FlushBuffer();
uart_SendString("\n\r>");
}
else
{
PORTA = PORTA;
}
}
}
/*! \brief Demo of linear speed controller.
*
* Serial interface frontend to test linear speed controller.
*/
void main(void)
{
// Number of steps to move.
int steps = 1000;
// Accelration to use.
int acceleration = 100;
// Deceleration to use.
int deceleration = 100;
// Speed to use.
int speed = 800;
// Tells if the received string was a valid command.
char okCmd = FALSE;
Init();
// Outputs help screen.
uart_SendString("\n\r");
ShowHelp();
ShowData(stepPosition, acceleration, deceleration, speed, steps);
while(1) {
// If a command is received, check the command and act on it.
if(status.cmd == TRUE){
if(UART_RxBuffer[0] == 'm'){
// Move with...
if(UART_RxBuffer[1] == ' '){
// ...number of steps given.
steps = atoi((char const *)UART_RxBuffer+2);
speed_cntr_Move(steps, acceleration, deceleration, speed);
okCmd = TRUE;
uart_SendString("\n\r ");
}
else if(UART_RxBuffer[1] == 'o'){
if(UART_RxBuffer[2] == 'v'){
if(UART_RxBuffer[3] == 'e'){
// ...all parameters given
if(UART_RxBuffer[4] == ' '){
int i = 6;
steps = atoi((char const *)UART_RxBuffer+5);
while((UART_RxBuffer[i] != ' ') && (UART_RxBuffer[i] != 13)) i++;
i++;
acceleration = atoi((char const *)UART_RxBuffer+i);
while((UART_RxBuffer[i] != ' ') && (UART_RxBuffer[i] != 13)) i++;
i++;
deceleration = atoi((char const *)UART_RxBuffer+i);
while((UART_RxBuffer[i] != ' ') && (UART_RxBuffer[i] != 13)) i++;
i++;
speed = atoi((char const *)UART_RxBuffer+i);
speed_cntr_Move(steps, acceleration, deceleration, speed);
okCmd = TRUE;
uart_SendString("\n\r ");
}
}
}
}
}
else if(UART_RxBuffer[0] == 'a'){
// Set acceleration.
if(UART_RxBuffer[1] == ' '){
acceleration = atoi((char const *)UART_RxBuffer+2);
okCmd = TRUE;
}
}
else if(UART_RxBuffer[0] == 'd'){
// Set deceleration.
if(UART_RxBuffer[1] == ' '){
deceleration = atoi((char const *)UART_RxBuffer+2);
okCmd = TRUE;
}
}
else if(UART_RxBuffer[0] == 's'){
if(UART_RxBuffer[1] == ' '){
speed = atoi((char const *)UART_RxBuffer+2);
okCmd = TRUE;
}
}
else if(UART_RxBuffer[0] == 13){
speed_cntr_Move(steps, acceleration, deceleration, speed);
okCmd = TRUE;
}
else if(UART_RxBuffer[0] == '?'){
ShowHelp();
okCmd = TRUE;
}
// Send help if invalid command is received.
if(okCmd != TRUE)
ShowHelp();
// Clear RXbuffer.
status.cmd = FALSE;
uart_FlushRxBuffer();
if(status.running == TRUE){
uart_SendString("Running...");
while(status.running == TRUE);
uart_SendString("OK\n\r");
}
ShowData(stepPosition, acceleration, deceleration, speed, steps);
}//end if(cmd)
}//end while(1)
}
