Initial commit

2017-05-14 23:29:55 +02:00
commit e2e53267c6
9 changed files with 512 additions and 0 deletions
--- a/main.cpp
+++ b/main.cpp
@ -0,0 +1,178 @@
+#include <avr/io.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include "serial.h"
+#include "writepin.h"
+#include "WirelessRelay.h"
+#include "pwm.h"
+#include "encoder.h"
+
+bool serialDispatch(Serial* serial , WirelessRelay* relayOne,  WirelessRelay* relayTow,  WirelessRelay* relayThree,  WirelessRelay* relayFour, Pwm16b* pwm)
+{
+    
+    if(serial->dataIsWaiting())
+    {
+        char buffer[7];
+        const int length = serial->getString(buffer, 7); 
+        if(length == 4 && buffer[0] == 'S' && buffer[1] == 'T' && buffer[2] == 'A' && buffer[3] == 'T' ) return true;
+        else if(length == 5)
+        {
+            if (buffer[0] == 'C' && buffer[1] == 'H' )
+            {
+                switch(buffer[2])
+                {
+                    case '0':
+                        //writePin(&PORTB, PB3, buffer[4] == '1' ? true : false); pin is dead
+                        serial->putString("OK\n");
+                        break;
+                    case '1':
+                        writePin(&PORTB,  PB4, buffer[4] == '1' ? true : false);
+                        serial->putString("OK\n");
+                        break;
+                    case '2':
+                        writePin(&PORTB, PB5, buffer[4] == '1' ? true : false);
+                        serial->putString("OK\n");
+                        break;
+                }
+            }
+           else if (buffer[0] == 'W' && buffer[1] == 'R' )
+            {
+                switch(buffer[2])
+                {
+                    case '0':
+                        serial->putString("OK\n");
+                        buffer[4] == '1' ? relayOne->on() : relayOne->off();
+                    break;
+                    case '1':
+                        serial->putString("OK\n");
+                        buffer[4] == '1' ? relayTow->on() : relayTow->off();
+                    break;
+                    case '2':
+                        serial->putString("OK\n");
+                        buffer[4] == '1' ? relayThree->on() : relayThree->off();
+                    break;
+                }
+            }
+            else if (buffer[0] == 'O' && buffer[1] == 'P' && buffer[2] == 'T')
+            {
+                 writePin(&PORTB, PB0, buffer[4] == '1' ? true : false);
+                 serial->putString("OK\n");
+            }
+        }
+        else if (length == 6 && buffer[0] == 'P' && buffer[1] == 'W' && buffer[2] == 'M')
+        {
+            char inNumber[2];
+            inNumber[0]=buffer[4];
+            inNumber[1]=buffer[5];
+            pwm->setDuty(atoi(inNumber));
+            serial->putString("OK\n");
+        }
+        else if (length == 6 && buffer[0] == 'L' && buffer[1] == 'E' && buffer[2] == 'D')
+        {
+            switch(buffer[3])
+            {
+                case '0':
+                    writePin(&PORTC,  PC4, buffer[5] == '1' ? true : false);
+                    serial->putString("OK\n");
+                break;
+                case '1':
+                    writePin(&PORTC,  PC5, buffer[5] == '1' ? true : false);
+                    serial->putString("OK\n");
+                    break;
+                case '2':
+                    writePin(&PORTD,  PD4, buffer[5] == '1' ? true : false);
+                    serial->putString("OK\n");
+                    break;
+            }
+        }
+    }
+    return false;
+}
+
+void serialOutput(Serial* serial, Encoder* encoder, volatile unsigned char *inPort)
+{
+ serial->putString("VARS_");
+ readPin( inPort, PC1 ) ? serial->putChar('0') : serial->putChar('1');
+ readPin( inPort, PC2 ) ? serial->putChar('0') : serial->putChar('1');
+ int16_t buffer = encoder->getPosition();
+ serial->putString( (char*)&buffer, sizeof(buffer));
+ serial->putChar('\n');
+}
+
+int main() 
+{
+     DDRB   = 0b11111111;
+     DDRD   = 0b11111011;//(1 << PD3) | (1 << PD7) | (1 << PD3);
+     DDRC   = 0x00;
+     PORTC  = 0xFF;
+     
+     writePin(&PORTD, PD7, false);
+     bool StepperEnable = false;
+     
+    sei();
+    
+    Serial serial;
+    
+    Pwm16b pwm;
+    pwm.setDuty(0x0000);
+    pwm.on();
+    
+    
+    WirelessRelay relayOne(&PORTD, PD3,    0b1001110000000000);
+    WirelessRelay relayTow(&PORTD, PD3,    0b1001101000000000);
+    WirelessRelay relayThree(&PORTD, PD3, 0b1001100100000000);
+    WirelessRelay relayFour(&PORTD, PD3,   0b1001100010000000);
+    
+    Encoder encoder(&PINC, PC3, PC4);
+    
+    serial.putString("CNCextension v1.2 starting\n");
+    
+    
+    while(true)
+    {
+        encoder.poll();
+        if (serialDispatch(&serial, &relayOne, &relayTow, &relayThree, &relayFour, &pwm)) serialOutput(&serial, &encoder, &PINC );
+       
+        writePin(&PORTB, PB2, ( PORTB & (1 << PB3) || PORTB & (1 << PB4) || PORTB & (1 << PB5)) );
+        
+        //char buffer[16];
+        //sprintf(buffer, "ENC_%05d\n", encoder.getPosition());
+        //serial.putString(buffer);
+
+        
+        if(!readPin(&PIND, PD2) && StepperEnable == false)
+        {
+            bool abort = false;
+            for (int i = 0; i < 100; i++) 
+            {
+                if(readPin(&PIND, PD2)) abort = true;
+                _delay_ms(10);
+            }
+            if(!abort)
+            {
+                StepperEnable = true;
+                writePin(&PORTD, PD7, true);
+                //serial.putString("Enabeling Steppers\n");
+            }
+        }
+        else if( readPin(&PIND, PD2) && StepperEnable == true  )
+        {
+            bool abort = false;
+            for (int i = 0; i < 10; i++) 
+            {
+                if(!readPin(&PIND, PD2)) abort = true;
+                _delay_ms(5);
+            }
+            if(!abort)
+            {
+                StepperEnable = false;
+                writePin(&PORTD, PD7, false);
+                //serial.putString("Disabeling Steppers\n");
+            }
+        }
+        
+    }
+
+    return 0; //master interupt.
+}