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This commit is contained in:
Michael Moon 2010-01-15 18:27:09 +11:00
parent 7d644b934c
commit 73898a186e
1 changed files with 123 additions and 30 deletions
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153
mendel/mendel.c
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@ -1,5 +1,5 @@
#include <stddef.h>
#include <stdio.h>
// #include <stdio.h>
#include <stdint.h>
#include <avr/io.h>
@ -7,47 +7,140 @@
#include "serial.h"
int serial_putc_fdev(char c, FILE *stream)
{
serial_writechar((uint8_t) c);
return 0;
/*
machine variables
*/
#define AXIS_COUNT 5
// steps per rev * mm per tooth * teeth per rev
#define STEPS_PER_MM (3200 * 4.77 * 16)
#define MAX_MM_PER_SEC 40
#define MAX_IMMED_MM_PER_SEC 20
#define ACCEL 10
/*
state machine variables
*/
uint8_t linebuffer[64];
uint8_t state = 0;
#define STATE_WAIT_FOR_COMMAND 0
#define STATE_WAIT_FOR_COMMAND_DIGIT 1
#define STATE_WAIT_FOR_DATA 2
#define STATE_WAIT_FOR_DATA_DIGIT 3
uint8_t command;
uint8_t command_digit;
uint8_t axis;
// volatile uint32_t xpos = 0;
// volatile uint32_t ypos = 0;
// volatile uint32_t zpos = 0;
// volatile uint32_t edelta = 0;
//
// uint32_t xtarget = 0;
// uint32_t ytarget = 0;
// uint32_t ztarget = 0;
//
// uint16_t xspeed = 0;
// uint16_t yspeed = 0;
// uint16_t zspeed = 0;
struct axis {
volatile uint32_t pos;
int32_t target;
uint32_t newtarget_mantissa;
uint8_t newtarget_exp;
uint8_t newtarget_sign;
uint16_t speed;
} axes[AXIS_COUNT];
uint8_t axis_char_to_id(uint8_t c) {
if (c >= 'X')
return c - 'X';
if (c == 'E')
return 3;
if (c == 'T')
return 4;
return 255;
}
int serial_getc_fdev(FILE *stream)
{
for (;serial_rxchars() == 0;);
return (int) serial_popchar();
}
static FILE serio = FDEV_SETUP_STREAM(serial_putc_fdev, serial_getc_fdev, _FDEV_SETUP_RW);
volatile uint32_t xpos;
volatile uint32_t ypos;
volatile uint32_t zpos;
volatile uint32_t edelta;
uint32_t xtarget;
uint32_t ytarget;
uint32_t ztarget;
uint16_t xspeed;
uint16_t yspeed;
uint16_t zspeed;
int main (void)
{
// set up STDIN/OUT/ERR
stdin = &serio;
stdout = &serio;
stderr = &serio;
// stdin = &serio;
// stdout = &serio;
// stderr = &serio;
// set up serial
serial_init();
// enable interrupts
sei();
for (;;)
{
for (;serial_rxchars() == 0;);
uint8_t c = serial_popchar();
if (c >= 'a' && c <= 'z')
c &= ~32;
// preprocess
switch (state) {
case STATE_WAIT_FOR_COMMAND_DIGIT:
if (c == 'G' || c == 'M')
state = STATE_WAIT_FOR_COMMAND;
break;
case STATE_WAIT_FOR_DATA_DIGIT:
if (axis_char_to_id(c) < 255)
state = STATE_WAIT_FOR_DATA;
break;
}
// actuate
switch (state) {
case STATE_WAIT_FOR_COMMAND:
if (c == 'G' || c == 'M') {
command = c;
command_digit = 0;
state = STATE_WAIT_FOR_COMMAND_DIGIT;
}
break;
case STATE_WAIT_FOR_COMMAND_DIGIT:
if (c >= '0' && c <= '9') {
command_digit = (command_digit * 10) + (c - '0');
}
else {
state = STATE_WAIT_FOR_DATA;
}
break;
case STATE_WAIT_FOR_DATA:
if (axis_char_to_id(c) < 255) {
axis = axis_char_to_id(c);
axes[axis].newtarget_mantissa = 0;
axes[axis].newtarget_exp = 0;
state = STATE_WAIT_FOR_DATA_DIGIT;
}
break;
case STATE_WAIT_FOR_DATA_DIGIT:
if (c == '-') {
axes[axis].newtarget_sign = 1;
}
if (c >= '0' && c <= '9') {
axes[axis].newtarget_mantissa = (axes[axis].newtarget_mantissa * 10) + (c - '0');
if (axes[axis].newtarget_exp)
axes[axis].newtarget_exp++;
}
if (c == '.') {
axes[axis].newtarget_exp = 1;
}
break;
}
if (c == 13) {
uint8_t i;
for (i = 0; i < AXIS_COUNT; i++) {
uint32_t n = axes[i].newtarget_mantissa;
}
}
}
}