void ModbusSpindleControl::on_module_loaded()
{
spindle_on = false;
PinName rx_pin;
PinName tx_pin;
PinName dir_pin;
// preparing PinName objects from the config string
{
Pin *smoothie_pin = new Pin();
smoothie_pin->from_string(THEKERNEL->config->value(spindle_checksum, spindle_rx_pin_checksum)->by_default("nc")->as_string());
smoothie_pin->as_input();
rx_pin = port_pin((PortName)smoothie_pin->port_number, smoothie_pin->pin);
smoothie_pin->from_string(THEKERNEL->config->value(spindle_checksum, spindle_tx_pin_checksum)->by_default("nc")->as_string());
smoothie_pin->as_input();
tx_pin = port_pin((PortName)smoothie_pin->port_number, smoothie_pin->pin);
smoothie_pin->from_string(THEKERNEL->config->value(spindle_checksum, spindle_dir_pin_checksum)->by_default("nc")->as_string());
smoothie_pin->as_input();
dir_pin = port_pin((PortName)smoothie_pin->port_number, smoothie_pin->pin);
delete smoothie_pin;
}
// setup the Modbus interface
modbus = new Modbus(tx_pin, rx_pin, dir_pin);
// register for events
register_for_event(ON_GCODE_RECEIVED);
}
void HD_reset () {
// LCD Reset
port_pin(0,0, disable, high);// reset=1;
delay(10);
port_pin(0,0, disable, low);// reset=0;
delay(100);
port_pin(0,0, disable, high);// reset=1;
delay(120);
}
void write_command(uint8_t hexa)
{
port_pin(4,9, disable, low);//cs=0
port_pin(4,10, disable, low);//dc=0
xf_setup.length = sizeof(hexa);
xf_setup.rx_data = Rx_Buf;
xf_setup.rx_cnt = xf_setup.tx_cnt = 0;
xf_setup.tx_data= hexa;
Chip_SSP_Enable(LPC_SSP);
Chip_SSP_RWFrames_Blocking(LPC_SSP, &xf_setup);
port_pin(4,9, disable, high);//cs=1
}
void port_dir(port_t *obj, PinDirection dir) {
uint32_t i;
obj->direction = dir;
for (i = 0; i < 16; i++) { // Process all pins
if (obj->mask & (1 << i)) { // If the pin is used
if (dir == PIN_OUTPUT) {
pin_function(port_pin(obj->port, i), STM_PIN_DATA(GPIO_Mode_OUT, GPIO_OType_PP, GPIO_PuPd_NOPULL, 0xFF));
} else { // PIN_INPUT
pin_function(port_pin(obj->port, i), STM_PIN_DATA(GPIO_Mode_IN, 0, GPIO_PuPd_NOPULL, 0xFF));
}
}
}
}
void port_mode(port_t *obj, PinMode mode) {
uint32_t i;
for (i = 0; i < 16; i++) { // Process all pins
if (obj->mask & (1 << i)) { // If the pin is used
pin_mode(port_pin(obj->port, i), mode);
}
}
}
void rele_off(uint8_t rele_n)
{
switch(rele_n)
{
case DOUT0:
port_pin(4,4, disable, low);
break;
case DOUT1:
port_pin(4,5, disable, low);
break;
case DOUT2:
port_pin(4,6, disable, low);
break;
case DOUT3:
port_pin(2,1, disable, low);
break;
}
}
void open_drain_off(uint8_t drain_n)
{
switch(drain_n)
{
case DOUT4:
port_pin(4,8, disable, high);
break;
case DOUT5:
port_pin(4,9, disable, high);
break;
case DOUT6:
port_pin(4,10, disable,high);
break;
case DOUT7:
port_pin(1,5, disable,high);
break;
}
}
void port_mode(port_t *obj, PinMode mode) {
uint32_t i;
// The mode is set per pin: reuse pinmap logic
for (i=0; i<32; i++) {
if (obj->mask & (1<<i)) {
pin_mode(port_pin(obj->port, i), mode);
}
}
}
void port_dir(port_t *obj, PinDirection dir)
{
uint32_t i;
// The mode is set per pin: reuse gpio logic
for (i=0; i<32; i++) {
if (obj->mask & (1<<i)) {
pin_dir(port_pin(obj->port, i), dir);
}
}
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir)
{
obj->port = port;
obj->mask = mask;
obj->reg_out = &MXC_GPIO->out_val[port];
obj->reg_in = &MXC_GPIO->in_val[port];
/* Ensure that the GPIO clock is enabled */
MXC_CLKMAN->sys_clk_ctrl_6_gpio = MXC_S_CLKMAN_CLK_SCALE_DIV_1;
uint32_t i;
// The function is set per pin: reuse gpio logic
for (i=0; i<32; i++) {
if (obj->mask & (1<<i)) {
gpio_set(port_pin(obj->port, i));
pin_dir(port_pin(obj->port, i), dir);
}
}
}
void port_mode(port_t *obj, PinMode mode)
{
/* Set mode for pins given by mask */
uint32_t pin;
for (pin = 0; pin < PORT_NUM_PINS; pin++) {
if (obj->mask & (1 << pin)) {
pin_mode(port_pin(obj->port, pin), mode);
}
}
}
void port_mode(port_t *obj, PinMode mode)
{
uint32_t i;
for (i = 0; i < GPIO_PIN_MAX; i++) {
if (obj->mask & (1 << i)) {
pin_mode(port_pin(obj->port, i), mode);
}
}
}
void rele_init(void)
{
/*Inicializo salidas a relé*/
port_pin(4,4, MD_PUP,init_out);
port_pin(4,5, MD_PUP,init_out);
port_pin(4,6, MD_PUP,init_out);
port_pin(2,1,MD_PUP,init_out);
/*desenergizo las bobinas de los relés*/
port_pin(4,4, disable, low);
port_pin(4,5, disable, low);
port_pin(4,6, disable, low);
port_pin(2,1,disable, low);
}
void open_drain_init(void)
{
/*inicializo salidas open drain*/
port_pin(4,8, MD_PUP,init_out);
port_pin(4,9, MD_PUP,init_out);
port_pin(4,10, MD_PUP,init_out);
port_pin(1,5,MD_PUP,init_out);
/*salidas open drain OFF*/
port_pin(4,8, disable, high);
port_pin(4,9, disable, high);
port_pin(4,10, disable,high);
port_pin(1,5,disable, high);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir)
{
obj->port = port;
obj->mask = mask;
// The function is set per pin: reuse gpio logic
for (uint32_t i = 0; i < 32; i++) {
if (obj->mask & (1 << i)) {
gpio_set(port_pin(obj->port, i));
}
}
port_dir(obj, dir);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir)
{
obj->port = port;
obj->mask = mask;
obj->direction = dir;
uint32_t i;
obj->direction = dir;
for (i = 0; i < GPIO_PIN_MAX; i++) {
if (obj->mask & (1 << i)) {
gpio_set(port_pin(port, i));
}
}
port_dir(obj, dir);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir) {
obj->port = port;
obj->mask = mask;
LPC_GPIO_TypeDef *port_reg = ((LPC_GPIO_TypeDef *) (LPC_GPIO0_BASE + (port * 0x10000)));
obj->reg_data = &port_reg->DATA;
obj->reg_dir = &port_reg->DIR;
uint32_t i;
// The function is set per pin: reuse gpio logic
for (i=0; i<12; i++) {
if (obj->mask & (1<<i)) {
gpio_set(port_pin(obj->port, i));
}
}
port_dir(obj, dir);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir) {
obj->port = port;
obj->mask = mask;
LPC_GPIO->MASK[port] = ~mask;
obj->reg_mpin = &LPC_GPIO->MPIN[port];
obj->reg_dir = &LPC_GPIO->DIR[port];
uint32_t i;
// The function is set per pin: reuse gpio logic
for (i=0; i<32; i++) {
if (obj->mask & (1<<i)) {
gpio_set(port_pin(obj->port, i));
}
}
port_dir(obj, dir);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir) {
obj->port = port;
obj->mask = mask;
GPIO_Type *reg = (GPIO_Type *)(PTA_BASE + port * 0x40);
obj->reg_out = ®->PDOR;
obj->reg_in = ®->PDIR;
obj->reg_dir = ®->PDDR;
uint32_t i;
// The function is set per pin: reuse gpio logic
for (i=0; i<32; i++) {
if (obj->mask & (1<<i)) {
gpio_set(port_pin(obj->port, i));
}
}
port_dir(obj, dir);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir) {
obj->port = port;
obj->mask = mask;
CMSDK_GPIO_TypeDef *port_reg =
(CMSDK_GPIO_TypeDef *)(CMSDK_GPIO0_BASE + ((int)port * 0x10));
obj->reg_in = &port_reg->DATAOUT;
obj->reg_dir = &port_reg->OUTENABLESET;
obj->reg_dirclr = &port_reg->OUTENABLECLR;
uint32_t i;
// The function is set per pin: reuse gpio logic
for (i=0; i<16; i++) {
if (obj->mask & (1<<i)) {
gpio_set(port_pin(obj->port, i));
}
}
port_dir(obj, dir);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir) {
obj->port = port;
obj->mask = mask;
LPC_GPIO_TypeDef *port_reg = (LPC_GPIO_TypeDef *)(LPC_GPIO0_BASE + ((int)port * 0x20));
port_reg->MASK = ~mask;
obj->reg_out = &port_reg->PIN;
obj->reg_in = &port_reg->PIN;
obj->reg_dir = &port_reg->DIR;
uint32_t i;
// The function is set per pin: reuse gpio logic
for (i=0; i<32; i++) {
if (obj->mask & (1<<i)) {
gpio_set(port_pin(obj->port, i));
}
}
port_dir(obj, dir);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir) {
obj->port = port;
obj->mask = mask;
LPC_GPIO_T *port_reg = (LPC_GPIO_T *)(LPC_GPIO_PORT_BASE);
// Do not use masking, because it prevents the use of the unmasked pins
// port_reg->MASK[port] = ~mask;
obj->reg_out = &port_reg->PIN[port];
obj->reg_in = &port_reg->PIN[port];
obj->reg_dir = &port_reg->DIR[port];
uint32_t i;
// The function is set per pin: reuse gpio logic
for (i=0; i<32; i++) {
if (obj->mask & (1<<i)) {
gpio_set(port_pin(obj->port, i));
}
}
port_dir(obj, dir);
}
void port_init(port_t *obj, PortName port, int mask, PinDirection dir) {
obj->port = port;
obj->mask = mask;
LPC_GPIO_TypeDef *port_reg = (LPC_GPIO_TypeDef *)(LPC_GPIO0_BASE + ((int)port * 0x20));
// Do not use masking, because it prevents the use of the unmasked pins
// port_reg->FIOMASK = ~mask;
obj->reg_out = &port_reg->FIOPIN;
obj->reg_in = &port_reg->FIOPIN;
obj->reg_dir = &port_reg->FIODIR;
uint32_t i;
// The function is set per pin: reuse gpio logic
for (i=0; i<32; i++) {
if (obj->mask & (1<<i)) {
gpio_set(port_pin(obj->port, i));
}
}
port_dir(obj, dir);
}
void led_off(uint8_t led_n)
{
switch(led_n)
{
case LED1 : port_pin(2,10, disable, low);
break;
case LED2 : port_pin(2,11, disable, low);
break;
case LED3 : port_pin(2,12, disable, low);
break;
case LED_RGB_R : port_pin(2,0, disable, low);
break;
case LED_RGB_G : port_pin(2,1, disable, low);
break;
case LED_RGB_B : port_pin(2,2, disable, low);
break;
}
}
void wr_com16(uint8_t hexa1,uint8_t hexa2)
{
port_pin(4,9, disable, low);//cs=0
port_pin(4,10, disable, high);//dc=1
xf_setup.length = sizeof(hexa1);
xf_setup.rx_data = Rx_Buf;
xf_setup.rx_cnt = xf_setup.tx_cnt = 0;
xf_setup.tx_data = hexa1;
Chip_SSP_RWFrames_Blocking(LPC_SSP, &xf_setup);
port_pin(4,9, disable, high);//cs=0
port_pin(4,9, disable, low);//cs=1
port_pin(4,10, disable, high);//dc=1
xf_setup.length = sizeof(hexa2);
xf_setup.rx_data = Rx_Buf;
xf_setup.rx_cnt = xf_setup.tx_cnt = 0;
xf_setup.tx_data= hexa2;
Chip_SSP_RWFrames_Blocking(LPC_SSP, &xf_setup);
port_pin(4,9, disable, high);//cs=1
}
int main(void)
{
// NOTA: El siguiente código se programó sin la capa de abstracción: leds.c y
// pulsadores.c para mostrar un ejemplo de la forma de acceso a un pin de un
// puerto con la función puerto_pin(...);
port_pin(2,0, MD_PUP,init_out);
port_pin(2,1, MD_PUP,init_out);
port_pin(2,2, MD_PUP,init_out);
port_pin(2,10,MD_PUP,init_out);
port_pin(2,11,MD_PUP,init_out);
port_pin(2,12,MD_PUP,init_out);
port_pin(2,0, disable, low);
port_pin(2,1, disable, low);
port_pin(2,2, disable, low);
port_pin(2,10,disable, low);
port_pin(2,11,disable, low);
port_pin(2,12,disable, low);
port_pin(1,0, MD_PUP|MD_EZI|MD_ZI,init_in);
port_pin(1,1, MD_PUP|MD_EZI|MD_ZI,init_in);
port_pin(1,2, MD_PUP|MD_EZI|MD_ZI,init_in);
port_pin(1,6, MD_PUP|MD_EZI|MD_ZI,init_in);
while(1){
if(!port_pin(1,0,disable,state_in))
{ port_pin(2,0, disable, high);
port_pin(2,1, disable, high);
port_pin(2,2, disable, high);
}
else{port_pin(2,0, disable, low);
port_pin(2,1, disable, low);
port_pin(2,2, disable, low);
}
if(!port_pin(1,1,disable,state_in))
{
port_pin(2,10, disable, high);
}
else{port_pin(2,10, disable, low);
}
if(!port_pin(1,2,disable,state_in))
{
port_pin(2,11, disable, high);
}
else{port_pin(2,11, disable, low);
}
if(!port_pin(1,6,disable,state_in))
{
port_pin(2,12, disable, high);
}
else{
port_pin(2,12, disable, low);
}
}
return 0;
}
void Spindle::on_module_loaded()
{
last_time = 0;
last_edge = 0;
current_rpm = 0;
current_I_value = 0;
current_pwm_value = 0;
time_since_update = 0;
spindle_on = true;
if (!THEKERNEL->config->value(spindle_enable_checksum)->by_default(false)->as_bool()) {
delete this; // Spindle control module is disabled
return;
}
pulses_per_rev = THEKERNEL->config->value(spindle_pulses_per_rev_checksum)->by_default(1.0f)->as_number();
target_rpm = THEKERNEL->config->value(spindle_default_rpm_checksum)->by_default(5000.0f)->as_number();
control_P_term = THEKERNEL->config->value(spindle_control_P_checksum)->by_default(0.0001f)->as_number();
control_I_term = THEKERNEL->config->value(spindle_control_I_checksum)->by_default(0.0001f)->as_number();
control_D_term = THEKERNEL->config->value(spindle_control_D_checksum)->by_default(0.0001f)->as_number();
// Smoothing value is low pass filter time constant in seconds.
float smoothing_time = THEKERNEL->config->value(spindle_control_smoothing_checksum)->by_default(0.1f)->as_number();
if (smoothing_time * UPDATE_FREQ < 1.0f)
smoothing_decay = 1.0f;
else
smoothing_decay = 1.0f / (UPDATE_FREQ * smoothing_time);
// Get the pin for hardware pwm
{
Pin *smoothie_pin = new Pin();
smoothie_pin->from_string(THEKERNEL->config->value(spindle_pwm_pin_checksum)->by_default("nc")->as_string());
spindle_pin = smoothie_pin->as_output()->hardware_pwm();
output_inverted = smoothie_pin->is_inverting();
delete smoothie_pin;
}
if (spindle_pin == NULL) {
THEKERNEL->streams->printf("Error: Spindle PWM pin must be P2.0-2.5 or other PWM pin\n");
delete this;
return;
}
int period = THEKERNEL->config->value(spindle_pwm_period_checksum)->by_default(1000)->as_int();
spindle_pin->period_us(period);
spindle_pin->write(output_inverted ? 1 : 0);
// Get the pin for interrupt
{
Pin *smoothie_pin = new Pin();
smoothie_pin->from_string(THEKERNEL->config->value(spindle_feedback_pin_checksum)->by_default("nc")->as_string());
smoothie_pin->as_input();
if (smoothie_pin->port_number == 0 || smoothie_pin->port_number == 2) {
PinName pinname = port_pin((PortName)smoothie_pin->port_number, smoothie_pin->pin);
feedback_pin = new mbed::InterruptIn(pinname);
feedback_pin->rise(this, &Spindle::on_pin_rise);
NVIC_SetPriority(EINT3_IRQn, 16);
} else {
THEKERNEL->streams->printf("Error: Spindle feedback pin has to be on P0 or P2.\n");
delete this;
return;
}
delete smoothie_pin;
}
THEKERNEL->slow_ticker->attach(UPDATE_FREQ, this, &Spindle::on_update_speed);
register_for_event(ON_GCODE_RECEIVED);
}
void leds_init(void){
/*inicializo leds*/
port_pin(2,0, MD_PUP,init_out);
port_pin(2,1, MD_PUP,init_out);
port_pin(2,2, MD_PUP,init_out);
port_pin(2,10,MD_PUP,init_out);
port_pin(2,11,MD_PUP,init_out);
port_pin(2,12,MD_PUP,init_out);
/*los apago*/
port_pin(2,0, disable, low);
port_pin(2,1, disable, low);
port_pin(2,2, disable, low);
port_pin(2,10,disable, low);
port_pin(2,11,disable, low);
port_pin(2,12,disable, low);
}
main()
{
leds_init();
// delay(500);
port_pin(4,10, SCU_MODE_INACT ,init_out);
port_pin(4,9, SCU_MODE_INACT ,init_out);
port_pin(0,0, SCU_MODE_INACT ,init_out);
//////////////////////////////////////////////////////////////////////////////////////////////////////
// Board_SSP_Init();
//Chip_SSP_Init(LPC_SSP);
// ssp_format.frameFormat = SSP_FRAMEFORMAT_SPI;
//ssp_format.bits = SSP_DATA_BITS;
//ssp_format.clockMode = SSP_CLOCK_CPHA0_CPOL0 ;
// Chip_SSP_SetFormat(LPC_SSP,ssp_format.frameFormat, ssp_format.bits, ssp_format.clockMode);
// Chip_SSP_SetMaster(LPC_SSP, SSP_MODE_TEST);
// Chip_SSP_Enable(LPC_SSP);
// Buffer_Init();
//////////////////////////////////////////////////////////////////////////////////////////////////////
Board_SSP_Init();
Board_SSP_config(SSP_DATA_BITS,SSP_CLOCK_CPHA0_CPOL0 ,800000 );
HD_reset ();
Delay_ms (50) ;// delay 50ms
lcd_initial_adafruitIIL9341();//lcd_initial();//////////Initial_ILI9340C();
Delay_ms (300);
// Test to enter / exit sleep
//LCD_Sleep_ILI9340C ();
//Delay_ms (300);
//LCD_ExitSleep_ILI9340C ();
//Display a black screen
LCD_TEST_SingleColor (0xFF,0xE0);
led_on(LED1);
delay(50);
dsp_single_colour(0xF8,0x1F);//rosa
led_on(LED2);
delay(50);
while(1)
{
// Disp_gradscal(); //»Ò½×
delay(5);
LCD_Sleep_ILI9340C();
delay(500);
LCD_ExitSleep_ILI9340C();
//# define Red 0xf800
//LCD_TEST_SingleColor (Red);
write_command(0x2C);
dsp_single_colour(0x07,0xE0);//verde
delay(50);
dsp_single_colour(0xF8,0x00);//rojo
delay(50);
dsp_single_colour(0x07,0xE0);//verde
dsp_single_colour(0x00,0x1F);//azul
delay(50);
}
}
