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Add new MMPP_control - for better scripting & external calls

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eddyem 2019-03-17 13:55:56 +03:00
parent a4144090c2
commit 13467035d6
19 changed files with 1436 additions and 32 deletions
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32
MMPP_control/mmppco.geanypro
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0
MMPP_control/MMPP_control.c.tags → MMPP_control/new/MMPP_control.c.tags
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3
MMPP_control/new/MMPP_control.config Normal file
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// Add predefined macros for your project here. For example:
// #define THE_ANSWER 42
#define BAUD_RATE 9600

1
MMPP_control/new/MMPP_control.creator Normal file
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[General]

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MMPP_control/new/MMPP_control.creator.user Normal file
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10
MMPP_control/new/MMPP_control.files Normal file
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Makefile
Makefile
cmdlnopts.c
cmdlnopts.h
main.c
parseargs.h
tty_procs.c
tty_procs.h
usefull_macros.c
usefull_macros.h

1
MMPP_control/new/MMPP_control.includes Normal file
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.

44
MMPP_control/new/Makefile Normal file
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# run `make DEF=...` to add extra defines
PROGRAM := MMPP_control
LDFLAGS := -fdata-sections -ffunction-sections -Wl,--gc-sections -Wl,--discard-all
LDFLAGS += -lusefull_macros
SRCS := $(wildcard *.c)
DEFINES := $(DEF) -DBAUD_RATE=9600 -D_GNU_SOURCE -D_XOPEN_SOURCE=1111
#DEFINES += -DEBUG
OBJDIR := mk
CFLAGS += -O2 -Wall -Werror -Wextra -Wno-trampolines -std=gnu99
OBJS := $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
DEPS := $(OBJS:.o=.d)
CC = gcc
#CXX = g++
all : $(OBJDIR) $(PROGRAM)
$(PROGRAM) : $(OBJS)
@echo -e "\t\tLD $(PROGRAM)"
$(CC) $(LDFLAGS) $(OBJS) -o $(PROGRAM)
$(OBJDIR):
mkdir $(OBJDIR)
ifneq ($(MAKECMDGOALS),clean)
-include $(DEPS)
endif
$(OBJDIR)/%.o: %.c
@echo -e "\t\tCC $<"
$(CC) -MD -c $(LDFLAGS) $(CFLAGS) $(DEFINES) -o $@ $<
clean:
@echo -e "\t\tCLEAN"
@rm -f $(OBJS) $(DEPS)
@rmdir $(OBJDIR) 2>/dev/null || true
xclean: clean
@rm -f $(PROGRAM)
gentags:
CFLAGS="$(CFLAGS) $(DEFINES)" geany -g $(PROGRAM).c.tags *[hc] 2>/dev/null
.PHONY: gentags clean xclean

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MMPP_control/new/Readme.md Normal file
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Simple CLI control tool allowing bash scripting
===================================
## Command line arguments
-A, --absmove absolute move (without this flag moving is relative)
-E, --reset reset given mcu (may be included several times)
-L, --lin1=arg move polaroid linear stage to N steps
-R, --rot1=arg rotate polaroid to given angle
-S, --stop stop any moving
-a, --sendraw=arg send RAW string to port and read the answer
-b, --baudrate=arg TTY baudrate
-d, --comdev=arg terminal device filename
-h, --help show this help
-l, --lin2=arg move waveplate linear stage to N steps
-p, --pidfile=arg PID-file name
-q, --quiet don't show anything @screen from stdout
-r, --rot2=arg rotate lambda/4 to given angle
-s, --status get device status
-t, --temp show temperature of both MCU
-w, --wait wait while all previous moving ends
-y, --async asynchronous moving - don't wait
## Keywords in *quiet* mode
- - temperature of x'th MCU;
- POLTEMP=35
L4TEMP=32.9
- POLMOTOR0=SLEEP
POLPOS0=0
POLESW00=RLSD
POLESW01=RLSD
POLMOTOR1=SLEEP
POLPOS1=0
POLESW10=RLSD
POLESW11=RLSD
POLSTEPSLEFT0
POLSTEPSLEFT1
L4MOTOR0=SLEEP
L4POS0=-40001
L4ESW00=RLSD
L4ESW01=RLSD
L4MOTOR1=SLEEP
L4POS1=-40001
L4ESW10=RLSD
L4ESW11=RLSD
L4STEPSLEFT0
L4STEPSLEFT1

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/*
* cmdlnopts.c - the only function that parse cmdln args and returns glob parameters
*
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#include "cmdlnopts.h"
#include <assert.h>
#include <limits.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <strings.h>
/*
* here are global parameters initialisation
*/
static int help;
static glob_pars G;
int quiet = 0; // less messages @ stdout
// DEFAULTS
// default global parameters
glob_pars const Gdefault = {
.showtemp = 0
,.comdev = "/dev/ttyUSB0"
,.pidfile = "/tmp/MMPP_control.pid"
,.speed = BAUD_RATE
,.rot1angle = -1000.
,.rot2angle = -1000.
,.l1steps = INT_MAX
,.l2steps = INT_MAX
};
/*
* Define command line options by filling structure:
* name has_arg flag val type argptr help
*/
static myoption cmdlnopts[] = {
{"help", NO_ARGS, NULL, 'h', arg_none, APTR(&help), N_("show this help")},
{"quiet", NO_ARGS, NULL, 'q', arg_none, APTR(&quiet), N_("don't show anything @screen from stdout")},
{"absmove", NO_ARGS, NULL, 'A', arg_none, APTR(&G.absmove), N_("absolute move (without this flag moving is relative)")},
{"temp", NO_ARGS, NULL, 't', arg_none, APTR(&G.showtemp), N_("show temperature of both MCU")},
{"comdev", NEED_ARG, NULL, 'd', arg_string, APTR(&G.comdev), N_("terminal device filename")},
{"sendraw", NEED_ARG, NULL, 'a', arg_string, APTR(&G.sendraw), N_("send RAW string to port and read the answer")},
{"reset", MULT_PAR, NULL, 'E', arg_int, APTR(&G.reset), N_("reset given mcu (may be included several times)")},
{"rot1", NEED_ARG, NULL, 'R', arg_double, APTR(&G.rot1angle), N_("rotate polaroid to given angle")},
{"rot2", NEED_ARG, NULL, 'r', arg_double, APTR(&G.rot2angle), N_("rotate lambda/4 to given angle")},
{"status", NO_ARGS, NULL, 's', arg_none, APTR(&G.getstatus), N_("get device status")},
{"baudrate",NEED_ARG, NULL, 'b', arg_int, APTR(&G.speed), N_("TTY baudrate")},
{"wait", NO_ARGS, NULL, 'w', arg_none, APTR(&G.waitold), N_("wait while all previous moving ends")},
{"async", NO_ARGS, NULL, 'y', arg_none, APTR(&G.dontwait), N_("asynchronous moving - don't wait")},
{"lin1", NEED_ARG, NULL, 'L', arg_int, APTR(&G.l1steps), N_("move polaroid linear stage to N steps")},
{"lin2", NEED_ARG, NULL, 'l', arg_int, APTR(&G.l2steps), N_("move waveplate linear stage to N steps")},
{"pidfile", NEED_ARG, NULL, 'p', arg_string, APTR(&G.pidfile), N_("PID-file name")},
{"stop", NO_ARGS, NULL, 'S', arg_none, APTR(&G.stopall), N_("stop any moving")},
end_option
};
/**
* Parse command line options and return dynamically allocated structure
* to global parameters
* @param argc - copy of argc from main
* @param argv - copy of argv from main
* @return allocated structure with global parameters
*/
glob_pars *parse_args(int argc, char **argv){
void *ptr;
ptr = memcpy(&G, &Gdefault, sizeof(G)); assert(ptr);
// format of help: "Usage: progname [args]\n"
// parse arguments
parseargs(&argc, &argv, cmdlnopts);
if(help) showhelp(-1, cmdlnopts);
if(argc > 0){
WARNX("%d unused parameters:\n", argc);
for(int i = 0; i < argc; ++i)
printf("\t%4d: %s\n", i+1, argv[i]);
}
return &G;
}
/**
* @brief MSG show coloured message if `quiet` not set
* !! This function adds trailing '\n' to message
* @param s1 - green part of message (may be null)
* @param s2 - normal colored part of messate (may be null)
*/
void MSG(const char *s1, const char *s2){
if(quiet) return;
if(s1){
green("%s%s", s1, s2 ? ": " : "\n");
}
if(s2) printf("%s\n", s2);
}

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MMPP_control/new/cmdlnopts.h Normal file
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/*
* cmdlnopts.h - comand line options for parceargs
*
* Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*/
#pragma once
#ifndef CMDLNOPTS_H__
#define CMDLNOPTS_H__
#include <stdint.h>
#include <usefull_macros.h>
/*
* here are some typedef's for global data
*/
typedef struct{
int showtemp; // show temperatures of both MCU
char *comdev; // TTY device
char *sendraw; // send RAW string
char *pidfile; // pid file name
double rot1angle; // rotator 1 angle
double rot2angle; // rotator 2 angle
int speed; // TTY speed
int getstatus; // get both MCU status
int waitold; // wait for previous moving ends
int dontwait; // don't wait for moving end
int l1steps; // move linear stage 1 (polaroid) for N steps
int l2steps; // move linear stage 2 (L/4) for N steps
int absmove; // absolute move (to given position from zero-esw)
int stopall; // stop all moving
int **reset; // reset given MCU's
} glob_pars;
// default & global parameters
extern glob_pars const Gdefault;
extern int quiet;
glob_pars *parse_args(int argc, char **argv);
void MSG(const char *s1, const char *s2);
#endif // CMDLNOPTS_H__

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MMPP_control/new/main.c Normal file
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/*
* geany_encoding=koi8-r
* main.c
*
* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#include "cmdlnopts.h"
#include "signal.h"
#include "tty_procs.h"
#include <stdio.h>
#include <string.h>
#include <usefull_macros.h>
// All return states of main():
enum{
RET_ALLOK = 0,
RET_NOTFOUND, // none of MCU found or didn't found seeking MCU
RET_ONLYONE, // only one MCU found
RET_COMMERR, // communication error
RET_CANTINIT, // can't init motors: error during initiation or some of motors are moving
RET_WAITERR, // error occured during waiting procedure
RET_ERROR = 9, // uncoverable error - from libsnippets
RET_HELPCALL = 255 // user call help (or give wrong parameter[s]) - from libsnippets
};
static glob_pars *G;
/**
* We REDEFINE the default WEAK function of signal processing
*/
void __attribute__((noreturn)) signals(int sig){
if(sig){
signal(sig, SIG_IGN);
DBG("Get signal %d, quit.\n", sig);
}
if(G->pidfile) // remove unnesessary PID file
unlink(G->pidfile);
restore_console();
tty_close();
exit(sig);
}
void __attribute__((noreturn)) iffound_default(pid_t pid){
ERRX("Another copy of this process found, pid=%d. Exit.", pid);
}
static double convangle(double val){
int X = (int)(val / 360.);
val -= 360. * (double)X;
return val;
}
/**
* @return 1 if motor start moving else return 0
*/
static int parsemotans(ttysend_status ans, const char *prefix){
DBG("parse ans: %d (prefix: %s)", ans, prefix);
if(ans == SEND_ALLOK) return 1;
else if(ans == SEND_ERR) WARNX(_("%s moving error!"), prefix);
else if(ans == SEND_ESWITCH) WARNX(_("%s is on end-switch and can't move further"), prefix);
else if(ans == SEND_OTHER) WARNX(_("Can't move %s: bad steps amount or still moving"), prefix);
return 0;
}
/**
* move motor
* @return 0 if motor can't move, else return 1
*/
/**
* @brief movemotor - move motor
* @param mcu - MCU# (controller No, 1 or 2)
* @param motnum - motor# (0 or 1)
* @param steps - steps amount (
* @param name
* @return 0 if motor can't move, else return 1
*/
static int movemotor(int mcu, int motnum, int steps, const char *name){
char buf[32];
int curpos = mot_getpos(mcu, motnum);
if(curpos == INT_MIN){
WARNX(_("Can't get current %s position"), name);
return 0;
}
if(curpos < 0){ // need to init
WARNX(_("Init of %s failed"), name);
return 0;
}
if(G->absmove){
if(steps < 0){
if(motnum == 1){
steps += (mcu == 1) ? STEPSREV1 : STEPSREV2; // convert rotator angle to positive
}else{
WARNX(_("Can't move to negative position"));
return 0;
}
}
steps -= curpos;
}
if(steps == 0){
MSG(name, _("already at position"));
return 0;
}
DBG("try to move motor%d of mcu %d for %d steps", motnum, mcu, steps);
snprintf(buf, 32, "%dM%dM%d", mcu, motnum, steps);
ttysend_status ans = tty_sendcmd(buf);
return parsemotans(ans, name);
}
int main(int argc, char **argv){
// char cmd[32];
int waitforstop = 0;
int rtn_status = RET_ALLOK;
initial_setup();
signal(SIGTERM, signals); // kill (-15)
signal(SIGINT, signals); // ctrl+C
signal(SIGQUIT, SIG_IGN); // ctrl+\ .
signal(SIGTSTP, SIG_IGN); // ctrl+Z
setbuf(stdout, NULL);
G = parse_args(argc, argv);
char *self = strdup(argv[0]);
check4running(self, G->pidfile);
DBG("Try to open serial %s", G->comdev);
if(tty_tryopen(G->comdev, G->speed)){
ERR(_("Can't open %s with speed %d. Exit."), G->comdev, G->speed);
}
if(handshake()) signals(RET_NOTFOUND); // test connection & get all positions
if(G->waitold) if(tty_wait()) signals(RET_WAITERR);
if(G->showtemp){
if(tty_showtemp() != 2) rtn_status = RET_ONLYONE;
}
if(G->stopall){ // stop everything before analyze other commands
if(tty_stopall()) rtn_status = RET_COMMERR;
else MSG(_("All motors stopped"), NULL);
}
if(G->sendraw){
MSG(_("Send raw string"), G->sendraw);
char *got = tty_sendraw(G->sendraw);
if(got){
MSG(_("Receive"), got);
if(quiet) printf("%s", got);
}else WARNX(_("Nothing received"));
}
if(G->rot1angle > -999. || G->rot2angle > -999. || G->l1steps != INT_MAX || G->l2steps != INT_MAX){
// all other commands are tied with moving, so check if motors are inited
if(init_motors()) rtn_status = RET_CANTINIT;
else{
if(G->rot1angle > -999.){
double angle = convangle(G->rot1angle);
int steps = (int)((STEPSREV1/360.) * angle);
waitforstop = movemotor(1, 1, steps, "polaroid");
}
if(G->rot2angle > -999.){
double angle = convangle(G->rot2angle);
int steps = (int)((STEPSREV2/360.) * angle);
waitforstop = movemotor(2, 1, steps, "lambda/4");
}
if(G->l1steps != INT_MAX){
waitforstop = movemotor(1, 0, G->l1steps, "polaroid stage");
}
if(G->l2steps != INT_MAX){
waitforstop = movemotor(2, 0, G->l2steps, "lambda/4 stage");
}
}
}
if((waitforstop && !G->dontwait)) if(tty_wait()) rtn_status = RET_WAITERR;
if(G->getstatus) tty_getstatus();
if(G->reset){
int **N = G->reset;
while(*N){
char cmd[3];
if(**N < 1 || **N > 2){
WARNX(_("Wrong MCU number (%d)"), **N);
}else{
if(!quiet) green("Reset controller #%d\n", **N);
snprintf(cmd, 3, "%dR", **N);
ttysend_status _U_ rt = tty_sendcmd(cmd);
DBG("reset %d, result: %d", **N, rt);
}
++N;
}
}
signals(rtn_status);
}

530
MMPP_control/new/tty_procs.c Normal file
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/*
* geany_encoding=koi8-r
* tty_procs.c
*
* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#include "cmdlnopts.h" // for `verbose`
#include "tty_procs.h"
#include <stdio.h>
#include <string.h>
#include <strings.h>
#include <usefull_macros.h>
// tty Rx static buffer
#define TBUFLEN (1024)
// read timeout (in seconds)
#define TTYTIMEOUT (0.05)
static TTY_descr *dev = NULL;
// two buffers for data
static char buf[TBUFLEN+1];
static char bufo[TBUFLEN+1];
static int motpos[3][2]; // motor's positions, 1 - number of mcu, 2 - number of motor
static int reset[3]; // reset occured
static int endswitches[3][2]; // ESW of motors: 0 - zero esw, 1 - limit esw, -1 - clear
static int alive[3] = {0,0,0}; // ==1 if controller answers, 0 if no
/**
* @brief tty_tryopen - try to open serial device
* @param devnm - path to device
* @param spd - speed (number)
* @return 0 if all OK
*/
int tty_tryopen(char *devnm, int spd){
dev = new_tty(devnm, spd, 256);
if(!tty_open(dev, TRUE)) return 1;
return 0;
}
void tty_close(){
close_tty(&dev);
}
/**
* read data from TTY
* WARNING! Not thread-safe!!!
* @return static buffer with data read or NULL
*/
static char *tty_get(){
char *ptr = buf;
size_t L = 0, l = TBUFLEN;
double t0 = dtime();
*ptr = 0;
while(dtime() - t0 < TTYTIMEOUT && l){
size_t r = read_tty(dev);
if(!r) continue;
t0 = dtime();
if(r > l) r = l;
DBG("got %zd bytes: %s", r, dev->buf);
strncpy(ptr, dev->buf, r);
L += r; l -= r; ptr += r;
}
buf[L] = 0;
if(L){
return buf;
}
DBG("no answer");
return NULL;
}
/**
* copy given string to `buf` & add '\n' if need
* @return 0 if failed
*/
static size_t cpy2buf(char *string){
size_t l = strlen(string);
if(l > TBUFLEN-1){
WARNX(_("String too long! Nothing would be send."));
return 0;
}
strcpy(bufo, string);
if(bufo[l-1] != '\n'){
bufo[l++] = '\n';
bufo[l] = 0;
}
return l;
}
/**
* Send given string command to port
* @return 0 if failed
*/
static int ttysend(char *cmd){
size_t l = cpy2buf(cmd);
if(!l) return 0;
if(write_tty(dev->comfd, bufo, l)) return 0;
return 1;
}
/**
* send RAW string to port device
* @param string - string to send
* @return string received or NULL in case of error
*/
char* tty_sendraw(char *string){
DBG("sendraw %s", string);
if(!ttysend(string)) return NULL;
return tty_get();
}
/**
* Send given string command to port with answer analysis
* @return status
*/
ttysend_status tty_sendcmd(char *cmd){
DBG("SEND: %s", cmd);
if(!ttysend(cmd)) return SEND_ERR;
char *got = tty_get();
if(!got) return SEND_ERR;
DBG("GOT: %s", got);
if(strcmp(got, "ALLOK\n") == 0) return SEND_ALLOK;
if(strcmp(got, "OnEndSwitch\n") == 0) return SEND_ESWITCH;
return SEND_OTHER;
}
/**
* return static buffer - value of `key`
* NOT THREAD SAFE!
*/
static char *keyval(char *key){
//DBG("search %s in\n%s", key, buf);
static char buff[32];
char *got = strstr(buf, key);
if(!got) return NULL;
got = strchr(got, '=');
if(!got) return NULL;
++got;
char *el = strchr(got, '\n');
if(!el) return NULL;
size_t L = (size_t)(el - got);
if(L > 31 || L == 0 || !*got) return NULL;
strncpy(buff, got, L);
buff[L] = 0;
return buff;
}
/**
* parse status with given command `cmd`
* @return:
* 1 if one of motors still moving
* 0 if both are stopped
* -1 if failed
*/
static int parsestatus(char *cmd){
if(!cmd) return 0;
if(!tty_sendraw(cmd)) return -1;
char buff[32], stat[2][5], left[2][7], pos[2][7];
int mvng = 0;
for(int i = 0; i < 2; ++i){
sprintf(buff, "POS%d", i);
char *val = keyval(buff);
if(!val) return -1;
strncpy(pos[i], val, 7);
sprintf(buff, "MOTOR%d", i);
val = keyval(buff);
if(!val) return -1;
if(strcmp(val, "SLEEP") == 0){
strcpy(stat[i], "STOP");
strcpy(left[i], "0");
continue;
}else if(strcmp(val, "UNKNOWN")){
strcpy(stat[i], "MOVE");
mvng = 1;
sprintf(buff, "STEPSLEFT%d", i);
val = keyval(buff);
if(!val) return -1;
strncpy(left[i], val, 7);
}else return -1;
}
snprintf(bufo, TBUFLEN, "%4s %6s %6s - %4s %6s %6s",
stat[0], left[0], pos[0], stat[1], left[1], pos[1]);
if(mvng){
return 1;
} else return 0;
}
/**
* Wait for all motors stop with current data indication
* @return 0 if all OK
*/
int tty_wait(){
FNAME();
int failcount = 0, chk1 = 1, chk2 = 1;
if(!quiet)
green("Pol: M0ST M0LEFT M0POS - M1ST M1LEFT M1POS || L/4: M0ST M0LEFT M0POS - M1ST M1LEFT M1POS \n");
while(failcount < 5 && (chk1 || chk2)){ // 5 tries
if(alive[1]){
chk1 = parsestatus("1GS");
if(!quiet){
printf("Pol: ");
if(chk1 == -1){
chk1 = 1;
++failcount;
printf("%39s", "failed");
}else printf("%s", bufo);
}
}else if(!quiet) printf("%39s", "failed");
if(alive[2]){
chk2 = parsestatus("2GS");
if(!quiet){
printf(" || L/4: ");
if(chk2 == -1){
chk2 = 1;
++failcount;
printf("%39s", "failed");
}else printf("%s", bufo);
printf(" \r");
}
}else if(!quiet) printf("%39s", "failed");
}
if(!quiet) printf("\n\n");
if(failcount > 4){
WARNX(_("Can't get status answer!"));
return 1;
}
return 0;
}
#if 0
MOTOR0=SLEEP
POS0=43
ESW00=RLSD
ESW01=HALL
MOTOR1=MOVE
STEPSLEFT1=6921
POS1=3238
ESW10=HALL
ESW11=RLSD
#endif
// tty_getstatus when `quiet==1`
static void ttystatq(){
char st[4] = "xGS";
char *nm[3] = {NULL, "POL", "L4"};
for(int Nmcu = 1; Nmcu < 3; ++Nmcu){
if(!alive[Nmcu]) continue;
st[0] = '0' + Nmcu;
if(!tty_sendraw(st)) continue;
char *str = strtok(buf, "\n");
while(str){
printf("%s%s\n", nm[Nmcu], str);
str = strtok(NULL, "\n");
}
}
}
// tty_getstatus when `quiet==0`
static void ttystat(){
int chk1 = -1, chk2 = -1;
char buff[TBUFLEN+1];
if(!quiet) green("Pol: M0ST M0LEFT M0POS - M1ST M1LEFT M1POS || L/4: M0ST M0LEFT M0POS - M1ST M1LEFT M1POS \n");
if(alive[1]) chk1 = parsestatus("1GS");
MSG(NULL, "Pol: ");
if(chk1 == -1){
if(!quiet) printf("%39s", "failed");
}else printf("%s", bufo);
char *val = keyval("ESW00");
if(!val) val = " ";
sprintf(buff, "%5s ", val);
val = keyval("ESW01");
if(!val) val = " ";
sprintf(&buff[6], "%5s ", val);
val = keyval("ESW10");
if(!val) val = " ";
sprintf(&buff[12], "%5s ", val);
val = keyval("ESW11");
if(!val) val = " ";
sprintf(&buff[18], "%5s ", val);
if(alive[2]) chk2 = parsestatus("2GS");
printf(" || L/4: ");
if(chk2 == -1){
printf("%39s", "failed");
}else printf("%s", bufo);
printf("\n");
sprintf(&buff[24], "|| ");
val = keyval("ESW00");
DBG("ESW00=%s", val);
if(!val) val = " ";
sprintf(&buff[27], "%5s ", val);
val = keyval("ESW01");
if(!val) val = " ";
sprintf(&buff[33], "%5s ", val);
val = keyval("ESW10");
if(!val) val = " ";
sprintf(&buff[39], "%5s ", val);
val = keyval("ESW11");
if(!val) val = " ";
sprintf(&buff[45], "%5s ", val);
// end-switches
green("ESW00 ESW01 ESW10 ESW11 || ESW00 ESW01 ESW10 ESW11\n");
printf("%s\n", buff);
for(int i = 1; i < 3; ++i){
if(reset[i]) printf("RESET%d=1\n", i);
}
}
void tty_getstatus(){
FNAME();
if(quiet) ttystatq();
else ttystat();
}
/**
* Show temperature of both MCU
* @return amount of successful calls
*/
int tty_showtemp(){
char *val, buff[] = "xGT\n";
const char *nm[3] = {NULL, "POL", "L4"};
int ret = 0;
for(int i = 1; i < 3; ++i){
if(!alive[i]){
DBG("MCU %d didn't respond!", i);
continue;
}
buff[0] = '0' + (char)i;
if(tty_sendraw(buff)){
val = keyval("TEMP");
if(val){
++ret;
double t;
if(str2double(&t, val)){
if(quiet){
printf("%sTEMP=%g\n", nm[i], t/10.);
}else{
green("MCU%d temperature:", i);
printf(" %g degC\n", t/10.);
}
}
}
}
}
return ret;
}
/**
* get current motor position (if move or error return INT_MIN)
*
*/
int mot_getpos(int mcu, int motor){
if(mcu < 1 || mcu > 2){
WARNX(_("Bad MCU number"));
return INT_MIN;
}
if(motor < 0 || motor > 1){
WARNX(_("Bad motor number"));
return INT_MIN;
}
return motpos[mcu][motor];
}
/**
* get motor endswitches status
* @return -1 if error or intermediate position, 0 - on zero's esw, 1 - on end's esw
*/
int mot_getesw(int mcu, int motor){
if(mcu < 1 || mcu > 2){
WARNX(_("Bad MCU number"));
return -1;
}
if(motor < 0 || motor > 1){
WARNX(_("Bad motor number"));
return -1;
}
return endswitches[mcu][motor];
}
/**
* test connection (1,2 -> ALIVE)
* and get positions
* @return 1 if none of MCU found, 0 if at least 1 found
*/
int handshake(){
char buff[32], *val;
int mcu, motor;
FNAME();
for(mcu = 1; mcu < 3; ++ mcu){
// check if MCU alive
sprintf(buff, "%d", mcu);
int notresp = 1;
// make HANDSHAKE_TRIES tries
for(int tr = 0; tr < HANDSHAKE_TRIES; ++tr){
if(tty_sendraw(buff) && 0 == strcmp(buf, "ALIVE\n")){
notresp = 0;
break;
}
}
if(notresp){
WARNX(_("MCU %d not response!"), mcu);
continue;
}
alive[mcu] = 1;
sprintf(buff, "%dGS", mcu);
if(tty_sendraw(buff)){
// check reboot states
if(strstr(buf, "RESET")){
reset[mcu] = 1;
WARNX(_("MCU %d had reset state!"), mcu);
}else
reset[mcu] = 0;
for(motor = 0; motor < 2; ++motor){
/*sprintf(buff, "MOTOR%d", motor);
val = keyval(buff);
if(!val || strcmp(val, "SLEEP")){
motpos[mcu][motor] = INT_MIN;
continue;
}*/
sprintf(buff, "POS%d", motor);
val = keyval(buff);
DBG("----%s=%s", buff, val);
motpos[mcu][motor] = val ? atoi(val) : INT_MIN;
DBG("MOTPOS[%d][%d] = %d", mcu, motor, motpos[mcu][motor]);
// end-switches
sprintf(buff, "ESW%d0", motor);
val = keyval(buff);
if(!val || strcmp(val, "HALL")){
sprintf(buff, "ESW%d1", motor);
val = keyval(buff);
if(!val || strcmp(val, "HALL")){
endswitches[mcu][motor] = -1;
}else
endswitches[mcu][motor] = 1;
}else endswitches[mcu][motor] = 0;
DBG("ENDSWITCHES[%d][%d] = %d", mcu, motor, endswitches[mcu][motor]);
}
}else{
motpos[mcu][0] = INT_MIN;
motpos[mcu][1] = INT_MIN;
}
}
if(alive[1] == 0 && alive[2] == 0) return 1;
return 0;
}
/**
* @brief tty_stopall - send commands to stop all motors
* @return 0 if all OK, else return amount of motors failed to stop
*/
int tty_stopall(){
int ret = 4;
if(alive[1]){
if(SEND_ALLOK == tty_sendcmd("1M0S")) --ret;
if(SEND_ALLOK == tty_sendcmd("1M1S")) --ret;
}
if(alive[2]){
if(SEND_ALLOK == tty_sendcmd("2M0S")) --ret;
if(SEND_ALLOK == tty_sendcmd("2M1S")) --ret;
}
return ret;
}
/**
* @brief init_motors - init all motors simultaneously (if they need to)
* @return 0 if all OK, or Nmcu*10+motnum for problem motor
*/
int init_motors(){
#define RETVAL() (Nmcu*10+motnum)
int Nmcu, motnum, needinit = 0;
for(Nmcu = 1; Nmcu < 3; ++Nmcu){
for(motnum = 0; motnum < 2; ++motnum){
// check position
int pos = motpos[Nmcu][motnum];
if(pos == INT_MIN) continue; // communication error on handshake
if(pos < 0) needinit = 1;
}}
if(!needinit) return 0;
DBG("Need to init, start!");
for(Nmcu = 1; Nmcu < 3; ++Nmcu){
for(motnum = 0; motnum < 2; ++motnum){
int pos = motpos[Nmcu][motnum];
if(pos >= 0) continue;
// check if we are on zero endswitch
int esw = mot_getesw(Nmcu, motnum);
if(esw == 0){ // move a little from zero esw
sprintf(buf, "%dM%dM100", Nmcu, motnum);
if(SEND_ERR == tty_sendcmd(buf)){
WARNX(_("Can't move from endswitch"));
return RETVAL();
}
tty_wait();
}
sprintf(buf, "%dM%dM-40000", Nmcu, motnum);
if(SEND_ALLOK != tty_sendcmd(buf)){
WARNX(_("Can't move to endwsitch 0"));
return RETVAL();
}
}}
tty_wait();
handshake();
for(Nmcu = 1; Nmcu < 3; ++Nmcu){
for(motnum = 0; motnum < 2; ++motnum){
int curpos = mot_getpos(Nmcu, motnum);
if(curpos){
WARNX(_("Can't return to zero"));
return RETVAL();
}
}}
return 0;
#undef RETVAL
}

54
MMPP_control/new/tty_procs.h Normal file
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/*
* tty_procs.h
*
* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#pragma once
#ifndef TTY_PROCS_H__
#define TTY_PROCS_H__
#include <limits.h>
// amount of tries to establish handshake
#define HANDSHAKE_TRIES (10)
// steps per full revolution for both rotation stages (1 - polaroid, 2 - waveplate)
#define STEPSREV1 (36000)
#define STEPSREV2 (28800)
typedef enum{
SEND_ERR,
SEND_ALLOK,
SEND_ESWITCH,
SEND_OTHER
} ttysend_status;
int tty_tryopen(char *dev, int spd);
void tty_close();
char* tty_sendraw(char *string);
int tty_wait();
ttysend_status tty_sendcmd(char *cmd);
int tty_showtemp();
int tty_stopall();
void tty_getstatus();
int handshake();
int mot_getpos(int mcu, int motor);
int mot_getesw(int mcu, int motor);
int init_motors();
#endif // TTY_PROCS_H__

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STM32/steppers/MMPP_steppers.config Normal file
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#define FAMILY F0
#define MCU F030x4
#define STM32F0 1
#define STM32F030x4 1
#define EBUG 1

1
STM32/steppers/MMPP_steppers.creator Normal file
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[General]

178
STM32/steppers/MMPP_steppers.creator.user Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 4.8.0, 2019-02-05T11:22:36. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
<value type="QByteArray">{cf63021e-ef53-49b0-b03b-2f2570cdf3b6}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
<value type="int">0</value>
</data>
<data>
<variable>ProjectExplorer.Project.EditorSettings</variable>
<valuemap type="QVariantMap">
<value type="bool" key="EditorConfiguration.AutoIndent">true</value>
<value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
<value type="bool" key="EditorConfiguration.CamelCaseNavigation">true</value>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
<value type="QString" key="language">Cpp</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">CppGlobal</value>
</valuemap>
</valuemap>
<valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
<value type="QString" key="language">QmlJS</value>
<valuemap type="QVariantMap" key="value">
<value type="QByteArray" key="CurrentPreferences">QmlJSGlobal</value>
</valuemap>
</valuemap>
<value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
<value type="QByteArray" key="EditorConfiguration.Codec">KOI8-R</value>
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13
STM32/steppers/MMPP_steppers.files Normal file
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Makefile
Readme.md
adc.c
adc.h
flash.c
flash.h
main.c
proto.c
proto.h
steppers.c
steppers.h
usart.c
usart.h

3
STM32/steppers/MMPP_steppers.includes Normal file
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.
../inc/F0
../inc/cm