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First approach to websocket WEB-GUI

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eddyem
2014-10-15 22:22:55 +04:00
parent 1a63497f04
commit b53a659d40
4 changed files with 452 additions and 87 deletions
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42
Trinamic/client/client.c
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@@ -38,7 +38,7 @@ double t0; // start time
uint32_t motor_speed = 10; // motor speed
FILE *fout = NULL; // file for messages duplicating
char *comdev = "/dev/ttyUSB0";
char *comdev = "/dev/ttyUSB1";
int BAUD_RATE = B115200;
struct termio oldtty, tty; // TTY flags
struct termios oldt, newt; // terminal flags
@@ -209,11 +209,12 @@ void help(){
"R/L\tRotate motor 1 right/left\n"
"r/l\tRotate motor 2 right/left\n"
"S/s\tStop 1st or 2nd motor\n"
"W/w\tSet ustepping to 1/16\n"
"D/d\tSet ustepping to 1/16\n"
"E/e\tSet ustepping to 1/4\n"
"Z/z\tSet to zero current position\n"
"G/g\tGet current position\n"
"A/a\tGet ALL information about\n"
"W/w\tWait until position reached\n"
"q\tQuit\n"
);
}
@@ -351,7 +352,7 @@ void con_sig(int rb){
case 's': // stop motor
*cmd = 3; // STP
break;
case 'w': // 1/16
case 'd': // 1/16
*cmd = 5; // SAP
command[2] = 140; // ustep resolution
value = 4;
@@ -386,6 +387,12 @@ void con_sig(int rb){
}
tcsetattr(STDIN_FILENO, TCSANOW, &newt); // omit echo
break;
case 'w': // wait till reached
*cmd = 138; // WAIT DIRECT
// set motor bit mask:
value = 5; // both motors
//value = 1 << command[3];
break;
}
if(*cmd){
// copy param to buffer
@@ -447,6 +454,16 @@ void copy_buf_to_file(uint8_t *buffer, int *cmd){
free(buff);
}
static inline uint32_t log_2(const uint32_t x) {
uint32_t y;
asm ( "\tbsr %1, %0\n"
: "=r"(y)
: "r" (x)
);
return y;
}
#define log2(x) ((int)log_2((uint32_t)x))
int main(int argc, char *argv[]){
int rb, oldcmd = -1;
@@ -478,14 +495,19 @@ int main(int argc, char *argv[]){
uint8_t *ptr = buff;
int ii;
int32_t val = get_integer(buff);
printf("value = %d (full answer: ", val);
for(ii = L - 1; ii > 0; ii--){
uint8_t C = *ptr++;
printf("%u", C);
//if(C > 31) printf("(%c)", C);
printf(",");
const uint8_t pattern[] = {2,1,128,138,0,0,0};
if(memcmp((void*)buff, (void*)pattern, sizeof(pattern)) == 0){ // motor has reached position
printf("Motor %d has reached position!\n", log2(val));
}else{
printf("value = %d (full answer: ", val);
for(ii = L - 1; ii > 0; ii--){
uint8_t C = *ptr++;
printf("%u", C);
//if(C > 31) printf("(%c)", C);
printf(",");
}
printf("%u\n", *ptr);
}
printf("%u)\n", *ptr);
if(fout){
copy_buf_to_file(buff, &oldcmd);
}