/* Start heartbeat timer */
void start_heartbeat(void) {
TC_OC(TC_HEARTBEAT);
SET_OC_ACTION(TC_HEARTBEAT,OC_OFF);
TC(TC_HEARTBEAT) = TCNT + HEARTBEAT; // Preset OC channel
TC_INT_ENABLE(TC_HEARTBEAT); // Enable timer channel interrupt
}
/* Initialize stepper motor control */
void stepper_init(void) {
// Set initial delay time and step type
stepper_delay = STEPPER_DELAY_INIT;
stepper_step_type = STEPPER_STEP_INIT;
// Enable timer module if not already enabled
if(!(TSCR1 & TSCR1_TEN_MASK)) EnableTimer;
TC_OC(TC_STEPPER); // Channel set to output compare
SET_OC_ACTION(TC_STEPPER,OC_OFF); // Do not change output line after output compare triggered, this is controlled manually
TC(TC_STEPPER) = TCNT + TIMER_DELTA(stepper_delay); // Preset OC channel
TC_INT_ENABLE(TC_STEPPER); // Enable timer channel interrupts
SET_BITS(STEPPER_PORT_DDR,STEPPER_COIL_BITS); // Set stepper coil lines as outputs
SET_BITS(STEPPER_LIMIT_INPUT_EN,STEPPER_LIMIT_INPUT_EN_MASK); // Set limit switch ports as inputs
}
/***********************cmdparser*******************************
*
* Purpose: Parse the command string to call the correct function.
*
* Input: char *cmdtype: input command string.
*
* Output: int result: Resulting integer value.
*
***************************************************************/
void cmdparser(char *buffer) {
char cmdtype[CMD_LEN+1] = {0};
int numchars = 0;
static int numcmd = 0; // Count of number of commands parsed
static byte tog = 0; // Laser toggle bit
char motor1_pct, motor2_pct;
cmdtype[0] = buffer[numchars];
cmdtype[1] = buffer[numchars+1];
cmdtype[2] = buffer[numchars+2];
cmdtype[CMD_LEN] = '\0'; // Terminate input command after three bytes, leaving just the command type
switch(cmdconv(cmdtype)) {
case 0: // If no command found, go to next character.
seekcmd(buffer, &numchars);
break;
case PNG: // ping
SCIprintf("png%05d",numcmd); // echo command confirmation with stamp.
//LCDclear(); LCDputs("Ping!");
numcmd++;
numchars += SCI_CMDSIZ;
break;
case ABT: // STOP THE PRESS!
SCIprintf("abt%05d",numcmd);
LCDclear(); LCDputs("Abort!\nAbort!");
stop_motion();
numcmd++;
numchars += SCI_CMDSIZ;
break;
case RES: // Resume operation
SCIprintf("res%05d",numcmd);
LCDclear(); LCDputs("Resuming...");
start_motion();
LCDclear(); LCDputs("Resumed");
numcmd++;
numchars += SCI_CMDSIZ;
break;
case MOV: // Set motor speed (0% - 100%)
SCIprintf("mov%05d", numcmd);
if(buffer[numchars+3] == '2') {
// Both motors selected
TC_INT_DISABLE(TC_MOTOR); // Disable motor control law
motor_set_speed(MOTOR1C, (char)atoi(&buffer[numchars+4]));
motor_set_speed(MOTOR2C, (char)atoi(&buffer[numchars+4]));
TC_INT_ENABLE(TC_MOTOR); // Re-enable motor control law
//LCDclear(); LCDprintf("\rM%c: %3d M%c: %3d", MOTOR1C, atoi(&buffer[numchars+4]), MOTOR2C, atoi(&buffer[numchars+4]));
}
else {
motor_set_speed(buffer[numchars+3], (char)atoi(&buffer[numchars+4]));
//LCDclear(); LCDprintf("\rMotor %c: %3d", buffer[numchars+3], atoi(&buffer[numchars+4]));
}
numcmd++;
numchars += SCI_CMDSIZ;
break;
case DST: // Set motor distance (+speed)
SCIprintf("dst%05d", numcmd);
switch(buffer[numchars+4]) {
case '0': // Setting a speed
motor1_pct = motor_convert(MOTOR1C, (int)atoi(&buffer[numchars+5]));
motor2_pct = motor_convert(MOTOR2C, (int)atoi(&buffer[numchars+5]));
// Set speed to both motors if 4th char is a '2'
if(buffer[numchars+3] == '2') {
TC_INT_DISABLE(TC_MOTOR); // Disable motor control law
motor_set_speed(MOTOR1C, motor1_pct);
motor_set_speed(MOTOR2C, motor2_pct);
TC_INT_ENABLE(TC_MOTOR); // Re-enable motor control law
} else
motor_set_speed(buffer[numchars+3],
motor_convert(buffer[numchars+3], (int)atoi(&buffer[numchars+5]))
);
//LCDclear(); LCDprintf("\rM1: %3d M2: %3d", motor1_pct, motor2_pct);
//LCDprintf("\nS1: %3d S2: %3d", atoi(&buffer[numchars+5]), atoi(&buffer[numchars+5]));
break;
case '1': // Setting a distance
// Set speed to both motors if 4th char is a '2'
if(buffer[numchars+3] == '2') {
motor_set_distance(MOTOR1C, (word)atoi(&buffer[numchars+5]));
motor_set_distance(MOTOR2C, (word)atoi(&buffer[numchars+5]));
//LCDclear(); LCDprintf("\nD%c: %3d D%c: %3d", MOTOR1C, atoi(&buffer[numchars+5]), MOTOR2C, atoi(&buffer[numchars+5]));
}
else {
motor_set_distance(buffer[numchars+3], (word)atoi(&buffer[numchars+5]));
//LCDclear(); LCDprintf("\rDist %c: %3d", buffer[numchars+3], atoi(&buffer[numchars+5]));
}
break;
}
numcmd++;
numchars += SCI_CMDSIZ;
break;
case SPN: // Spin in place
SCIprintf("spn%05d", numcmd);
DisableInterrupts;
motor_set_speed(MOTOR1C, -50);
motor_set_speed(MOTOR2C, 50);
motor_set_distance(MOTOR1C, (word)atoi(&buffer[numchars+3]));
motor_set_distance(MOTOR2C, (word)atoi(&buffer[numchars+3]));
EnableInterrupts;
SCIprintf("Dist: %3d\n", atoi(&buffer[numchars+3]));
numcmd++;
numchars += SCI_CMDSIZ;
break;
case AIM: // Toggle laser pointer
SCIprintf("aim%05d",numcmd);
tog = (tog) ? 0 : 1;
PTP_PTP0 = (tog) ? 1 : 0;
numcmd++;
numchars += SCI_CMDSIZ;
break;
case STP: // Force stop; set motor PWM to zero to stop the high frequency ringing!
SCIprintf("stp%05d",numcmd);
TC_INT_DISABLE(TC_MOTOR); // Disable motor control law
motor_set_duty(MOTOR1C, 0);
motor_set_duty(MOTOR2C, 0);
TC_INT_ENABLE(TC_MOTOR); // Re-enable motor control law
numcmd++;
numchars += SCI_CMDSIZ;
break;
}
}
/* Start up motion again */
void start_motion(void) {
TC_INT_ENABLE(TC_MOTOR); // Re-enable motor control law
}
