inital commit
This commit is contained in:
commit
bf8de5b729
9
build.sh
Executable file
9
build.sh
Executable file
|
|
@ -0,0 +1,9 @@
|
|||
#!/bin/sh
|
||||
|
||||
halcompile --userspace cncextension.comp
|
||||
mv cncextension.c build/
|
||||
|
||||
gcc -Os -g -I. -I/usr/realtime-2.6.32-122-rtai/include -I. -I/usr/realtime-2.6.32-122-rtai/include -D_FORTIFY_SOURCE=0 \
|
||||
-mhard-float -DRTAI=3 -fno-fast-math -mieee-fp -fno-unsafe-math-optimizations -DRTAPI -std=c99 -D_GNU_SOURCE -Drealtime \
|
||||
-D_FORTIFY_SOURCE=0 -D__MODULE__ -I/usr/include/linuxcnc -Wframe-larger-than=2560 -URTAPI -U__MODULE__ -DULAPI -Os \
|
||||
-o build/cncextension build/cncextension.c -Wl,-rpath,/lib -L/lib -llinuxcnchal
|
||||
283
cncextension.comp
Normal file
283
cncextension.comp
Normal file
|
|
@ -0,0 +1,283 @@
|
|||
//CNCExtension Hal Component
|
||||
|
||||
component cncextension "Comunication with the CNCextension board";
|
||||
|
||||
pin in bit ch0;
|
||||
pin in bit ch1;
|
||||
pin in bit ch2;
|
||||
|
||||
pin in bit wr0;
|
||||
pin in bit wr1;
|
||||
pin in bit wr2;
|
||||
pin in bit wr3;
|
||||
|
||||
pin in bit opt;
|
||||
|
||||
pin in signed pwm;
|
||||
pin in bit pwmPrime;
|
||||
|
||||
pin out bit button2;
|
||||
pin out signed encoder;
|
||||
|
||||
pin in bit enableMpg = 0;
|
||||
|
||||
pin out bit xEnable = 1;
|
||||
pin out bit yEnable = 0;
|
||||
pin out bit zEnable = 0;
|
||||
|
||||
option singleton yes; // makes no sense to have more than one of these components running
|
||||
option userspace yes;
|
||||
|
||||
license "GPL";
|
||||
;;
|
||||
|
||||
#include <stdio.h> /* Standard input/output definitions */
|
||||
#include <stdlib.h>
|
||||
#include <stdint.h> /* Standard types */
|
||||
#include <string.h> /* String function definitions */
|
||||
#include <unistd.h> /* UNIX standard function definitions */
|
||||
#include <fcntl.h> /* File control definitions */
|
||||
#include <errno.h> /* Error number definitions */
|
||||
#include <termios.h> /* POSIX terminal control definitions */
|
||||
#include <sys/ioctl.h>
|
||||
#include <hal.h>
|
||||
#include <sys/types.h> // For data types
|
||||
#include <sys/socket.h> // For socket(), connect(), send(), and recv()
|
||||
#include <arpa/inet.h> // For inet_addr()
|
||||
#include <netinet/in.h> // For sockaddr_in
|
||||
#include <netinet/tcp.h> // TCP_KEEPCNT
|
||||
#include <netdb.h>
|
||||
|
||||
#define _POSIX_SOURCE 1 /* POSIX compliant source */
|
||||
|
||||
static bool stop = false;
|
||||
|
||||
typedef struct MicroState
|
||||
{
|
||||
hal_bit_t ch0state;
|
||||
hal_bit_t ch1state;
|
||||
hal_bit_t ch2state;
|
||||
|
||||
hal_bit_t wr0state;
|
||||
hal_bit_t wr1state;
|
||||
hal_bit_t wr2state;
|
||||
hal_bit_t wr3state;
|
||||
|
||||
hal_bit_t optState;
|
||||
|
||||
hal_bit_t mpgState;
|
||||
|
||||
}MicroState;
|
||||
|
||||
int btRead(int fd, char* buffer, int readnum, int useconds)
|
||||
{
|
||||
struct timeval timeout;
|
||||
timeout.tv_sec = 0;
|
||||
timeout.tv_usec = useconds;
|
||||
|
||||
fd_set set;
|
||||
FD_ZERO(&set);
|
||||
FD_SET(fd, &set);
|
||||
|
||||
int rv = select(fd + 1, &set, NULL, NULL, &timeout);
|
||||
|
||||
if(rv > 0) return read(fd, buffer, readnum);
|
||||
else return -1;
|
||||
}
|
||||
|
||||
bool isOk( int serial )
|
||||
{
|
||||
usleep(5000);
|
||||
char inBuffer[16] = "FN0000000000000\0";
|
||||
if(btRead(serial, inBuffer, 15, 1000) > 2 && strstr(inBuffer, "OK") != NULL)
|
||||
{
|
||||
printf("got OK\n");
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("failed OK: got: %s\n", inBuffer);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
void updatePins( MicroState* state, int serial, struct __comp_state *__comp_inst )
|
||||
{
|
||||
char buffer[8];
|
||||
bzero(buffer, 8);
|
||||
|
||||
|
||||
tcflush(serial, TCIOFLUSH);
|
||||
|
||||
if(state->ch0state != ch0)
|
||||
{
|
||||
sprintf(buffer, "\nCH0_%d\n", ch0);
|
||||
write(serial, buffer, strlen(buffer));
|
||||
if(isOk(serial))state->ch0state = ch0;
|
||||
}
|
||||
else if( ch1 != state->ch1state)
|
||||
{
|
||||
sprintf(buffer, "\nCH1_%d\n", ch1);
|
||||
write(serial, buffer, strlen(buffer));
|
||||
if(isOk(serial))state->ch1state = ch1;
|
||||
}
|
||||
else if( ch2 != state->ch2state)
|
||||
{
|
||||
sprintf(buffer, "\nCH2_%d\n", ch2);
|
||||
write(serial, buffer, strlen(buffer));
|
||||
if(isOk(serial))state->ch2state = ch2;
|
||||
|
||||
}
|
||||
else if( wr0 != state->wr0state)
|
||||
{
|
||||
sprintf(buffer, "\nWR0_%d\n", wr0);
|
||||
write(serial, buffer, strlen(buffer));
|
||||
/*if(isOk(serial))*/ state->wr0state = wr0;
|
||||
}
|
||||
else if( wr1 != state->wr1state)
|
||||
{
|
||||
sprintf(buffer, "\nWR1_%d\n", wr1);
|
||||
write(serial, buffer, strlen(buffer));
|
||||
/*if(isOk(serial))*/ state->wr1state = wr1;
|
||||
}
|
||||
else if( wr2 != state->wr2state)
|
||||
{
|
||||
sprintf(buffer, "\nWR2_%d\n", wr2);
|
||||
write(serial, buffer, strlen(buffer));
|
||||
/*if(isOk(serial))*/ state->wr2state = wr2;
|
||||
}
|
||||
else if( wr3 != state->wr3state)
|
||||
{
|
||||
sprintf(buffer, "\nWR3_%d\n", wr3);
|
||||
write(serial, buffer, strlen(buffer));
|
||||
/*if(isOk(serial))*/ state->wr3state = wr3;
|
||||
}
|
||||
else if( opt != state->optState)
|
||||
{
|
||||
sprintf(buffer, "\nOPT_%d\n", opt);
|
||||
write(serial, buffer, strlen(buffer));
|
||||
if(isOk(serial)) state->optState = opt;
|
||||
}
|
||||
else if(enableMpg != state->mpgState)
|
||||
{
|
||||
if(enableMpg) write(serial, "\nST_ON\n", strlen("\nST_ON\n"));
|
||||
else
|
||||
{
|
||||
write(serial, "\nST_OFF\n", strlen("\nST_OFF\n"));
|
||||
xEnable = 0;
|
||||
yEnable = 0;
|
||||
zEnable = 0;
|
||||
encoder = 0;
|
||||
}
|
||||
state->mpgState = enableMpg;
|
||||
}
|
||||
}
|
||||
|
||||
void mpg(int serial, struct __comp_state *__comp_inst)
|
||||
{
|
||||
char buffer[64]="DND RE";
|
||||
if(btRead(serial, buffer, 64, 100) >= 7 && strncmp(buffer, "MPG_", 3) == 0)
|
||||
{
|
||||
if( buffer[4] == '0' )
|
||||
{
|
||||
xEnable = 1;
|
||||
yEnable = 0;
|
||||
zEnable = 0;
|
||||
}
|
||||
else if( buffer[4] == '1' )
|
||||
{
|
||||
xEnable = 0;
|
||||
yEnable = 1;
|
||||
zEnable = 0;
|
||||
}
|
||||
else if( buffer[4] == '2' )
|
||||
{
|
||||
xEnable = 0;
|
||||
yEnable = 0;
|
||||
zEnable = 1;
|
||||
}
|
||||
button2 = buffer[5] == '1';
|
||||
encoder = atoi(buffer+6);
|
||||
}
|
||||
}
|
||||
|
||||
static int fillAddr(const char address[], unsigned short port, struct sockaddr_in *addr)
|
||||
{
|
||||
memset(addr, 0, sizeof(addr));
|
||||
addr->sin_family = AF_INET; // Internet address
|
||||
|
||||
struct hostent *host; // Resolve name
|
||||
if ((host = gethostbyname(address)) == NULL)
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
addr->sin_addr.s_addr = *((unsigned long *) host->h_addr_list[0]);
|
||||
|
||||
addr->sin_port = htons(port); // Assign port in network byte order
|
||||
return 0;
|
||||
}
|
||||
|
||||
void pwmFunc(int fd, struct __comp_state *__comp_inst)
|
||||
{
|
||||
static unsigned i = 0;
|
||||
static bool pwmPrimeLast = false;
|
||||
static bool on = false;
|
||||
++i;
|
||||
if(i >= 1000) i = 0;
|
||||
if(i == 0 && pwm > 0 || (pwmPrime && !pwmPrimeLast))
|
||||
{
|
||||
char mesg[] = "\nPWM_05\n";
|
||||
do
|
||||
{
|
||||
write(fd, mesg, sizeof(mesg));
|
||||
} while(!isOk(fd));
|
||||
pwmPrimeLast = pwmPrime;
|
||||
on = true;
|
||||
}
|
||||
else if(!pwmPrime && on && (i == pwm*10 || pwmPrimeLast || pwm == 0))
|
||||
{
|
||||
char mesg[] = "\nPWM_00\n";
|
||||
do
|
||||
{
|
||||
write(fd, mesg, sizeof(mesg));
|
||||
} while(!isOk(fd));
|
||||
pwmPrimeLast = pwmPrime;
|
||||
on = false;
|
||||
}
|
||||
}
|
||||
|
||||
void user_mainloop(void)
|
||||
{
|
||||
MicroState state;
|
||||
memset(&state, 0, sizeof(state));
|
||||
FOR_ALL_INSTS() //needed for resaons
|
||||
{
|
||||
int tcpsocket = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
|
||||
|
||||
struct sockaddr_in destAddr;
|
||||
fillAddr("localhost", 6856, &destAddr);
|
||||
|
||||
// Try to connect to serial multiplexer
|
||||
if (connect(tcpsocket, (struct sockaddr*) &destAddr, sizeof(destAddr)) < 0)
|
||||
{
|
||||
printf("can not connect to server\n");
|
||||
tcpsocket = -1;
|
||||
}
|
||||
|
||||
write(tcpsocket, "\nST_OFF\n", strlen("\nST_OFF\n"));
|
||||
|
||||
while(tcpsocket != -1)
|
||||
{
|
||||
usleep(5000);
|
||||
updatePins(&state, tcpsocket, __comp_inst);
|
||||
mpg(tcpsocket, __comp_inst);
|
||||
pwmFunc(tcpsocket, __comp_inst);
|
||||
}
|
||||
close(tcpsocket);
|
||||
}
|
||||
exit(0);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in a new issue