app.cpp File Reference

Contains application functions. More...

#include <stdlib.h>
#include <avr/sleep.h>
#include <avr/wdt.h>
#include <avr/interrupt.h>
#include <avr/pgmspace.h>
#include "CBitio.h"
#include "CEvent.h"
#include "CEepromVar.h"
#include "CStepper.h"
#include "forth.h"
#include "CTask.h"
#include "CTimer1.h"
#include "CTimer3.h"
#include "CNullTimer.h"
#include "CProfile.h"
#include "Timers.h"
#include "CUsbSerial.h"
#include "CLmd18245.h"
#include "CPulseMotor.h"
#include "CCurrentLimit.h"
#include "CSlaveInterface.h"
#include "usb_serial.h"
#include "CApp.h"
#include "app.h"

Functions
	CBit (F, 5, WO) directionLed
	Direction indicator.
	CBit (F, 6, WO) stepLed
	Step indicator.
	ISR (TIMER1_COMPA_vect)
	Primary axis counter TOP interrupt.
	ISR (TIMER1_OVF_vect)
	Primary axis counter BOTTOM interrupt.
	ISR (TIMER3_COMPA_vect)
	Secondary axis counter TOP interrupt.
	ISR (TIMER3_COMPB_vect)
	Secondary axis counter TOP interrupt.
	ISR (TIMER3_OVF_vect)
void	initApp (void)
	Initialize the dual-stepper application.
void	doStepEvents (void)
	Poll and process step events for the master board.
void	checkSlaveStep (void)
	Poll and process motion, step, and brake inputs for the slave board.
void	resetWatchdog (void)
	Reset the hardware watchdog.
void	axis (void)
	Select the active axis for subsequent console commands.
void	doHomeOffset (void)
	Not supported in this release of software.
void	prof (void)
	Set the motion profile for the active axis.
void	save (void)
	Write the configuration for the active axis to non-volatile memory.
void	show (void)
	Write the configuration for the active axis to the console.
void	step (void)
	Relative move.
void	stepTo (void)
	Absolute move.
void	on (void)
	Turn on stepper motor for the active axis in specified direction.
void	off (void)
	Turn off stepper motor for the active axis.
void	autoHome (void)
void	changeSpeed (void)
void	brakeOn (void)
	Turn on the brake for the active axis.
void	brakeOff (void)
	Turn off the brake for the active axis.
void	primaryBrakeOff (void)
	Turn off the brake for the primary axis.
void	secondaryBrakeOff (void)
	Turn off the brake for the secondary axis.
void	pos (void)
	Write the current position of the active axis to the console.
void	wtPos (void)
	Set the position of the active axis (not a motion command)
void	state (void)
	Write motion state of the active axis to the console.
void	writeCurrentLimit (void)
	Write current limit to onboard non-volatile digital potentiometer.
void	readCurrentLimit (void)
	Write the board current limit setting to the console.
void	master (void)
	Set the master/slave property for the board.
void	nonBlocking (void)
	Set the command type for the active axis motion commands.
void	units (void)
	Set the units for the active axis.
void	accel (void)
	Set the magnitude of the motion profile acceleration slope for the active axis.
void	maxSpeed (void)
	Set the maximum speed of the motion profile for the active axis.
void	decel (void)
	Set the magnitude of the motion profile deceleration slope for the active axis.
void	msSettle (void)
	Set a settling delay in milliseconds for the active axis. This delay follows any motion command and allows mechanical vibrations in the rotator to dampen.
void	noLimits (void)
	Enable/disable travel limits for the active axis.
void	lowTravelLimit (void)
	Set the minimum allowable position for the active axis.
void	highTravelLimit (void)
	Set the maximum allowable position for the active axis.
void	microSteps (void)
	Set stepper motor microstepping for the active axis.
void	stepsPayload360 (void)
	Set the number of steps for a 360 degree revolution of the payload for the active axis.
void	brakeType (void)
	Set the brake type for the active axis.
void	reverse (void)
	Set the rotation convention for the active axis.
void	currentLimit (void)
	Set the on-board current limiting hardware.
void	home (void)
	Move the active axis to home position.
void	homeAll (void)
	Move the both axes to home position.
int	continuePrompt (void)
void	demo (void)
	Perform a motion sequence suitable for driving a 1 or 2 axis test.
Variables
CUsbSerial	port
	USB serial port.
uint8_t primaryShadow[sizeof(CProfile)]	EEMEM
	Horizontal axis configuration shadow.
CLmd18245	primaryMotor
	Motor driver for horizontal axis.
CTimer1	primaryStepTimer
	Horizontal axis step timer.
CStepper	primaryAxis
	Horizontal axis control object.
CPulseMotor	secondaryMotor
	Slave interface pulse generator.
CTimer3	secondaryStepTimer
	Vertical axis step timer.
CStepper	secondaryAxis
	Vertical axis control object.
CLmd18245	slaveMotor
	Motor driver for vertical axis.
CNullTimer	slaveTimer
	No step timer for slave interface.
CStepper	slaveAxis
	Vertical slave axis control object.
CStepper *	pAxis
	Pointer to the active axis control object.
char	activeAxis
	Active axis numerical ID.
CSlaveInterface	slaveInterface
	Hardware definitions for vertical slave interface.
CEepromVar< char > _master &	masterShadow
	Board master/slave variable.
CEvent	outputCompare1A
	Primary output compare A event.
CEvent	overflow1
	Primary overflow event.
CEvent	outputCompare3A
	Secondary output compare A event.
CEvent	overflow3
	Secondary overflow event.

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Detailed Description

Contains application functions.

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Function Documentation

void checkSlaveStep

(

void

)

Poll and process motion, step, and brake inputs for the slave board.

When motion input goes active, disables global interrupts and does steps. Leaves step loop when motion input goes inactive. Does not support watchdog or task switching.

Parameters:

[in]

none

Returns:

none

void doHomeOffset

(

void

)

Not supported in this release of software.

void doStepEvents

(

void

)

Poll and process step events for the master board.

• Does nothing for the slave board.

Parameters:

[in]

none

Returns:

none

void initApp

(

void

)

Initialize the dual-stepper application.

Set up the axis objects and the board current limit.

Parameters:

[in]

none

Returns:

none

void primaryBrakeOff

(

void

)

Turn off the brake for the primary axis.

• Used by the automatic brake timer after a motion command

void resetWatchdog

(

void

)

Reset the hardware watchdog.

Parameters:

[in]

none

Returns:

none

void secondaryBrakeOff

(

void

)

Turn off the brake for the secondary axis.

• Used by the automatic brake timer after a motion command

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Variable Documentation

char masterShadow EEMEM

Horizontal axis configuration shadow.

Board master/slave flag shadow.

Slave axis configuration shadow.

Vertical axis configuration shadow.