#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "step.h"
int main ()
{
printf ("Hello World");
int arr[2][10] = {
{10, 11, 12, 13, 14, 15, 16, 17, 18, 19},
{20, 10, 10, 10, 22, 22, 22, 22, 22, 30}
};
int *ptr = &arr[0][0];
return 0;
}
void FillSmoothPointSection (int *temperature, int *currentStep)
{
// Smooth-point array handling
int index;
int iLastTemperature;
int iPercent;
if (Scanner.SmoothPoints.iSizeLastMaxSamples == 0 &&
Scanner.SmoothPoints.iSizeSectionSamples == 0)
{
// initial write to first cell of max array
WriteToScannerSamplesArray (temperature, currentStep);
return;
}
// Check scanner step and temperature sample consistency
index = Scanner.SmoothPoints.iSizeLastMaxSamples + Scanner.SmoothPoints.iSizeSectionSamples - 1; // index last value
if (index >= STEP_MOTOR_MAX_POSITION)
{
// Error index - out of the scanning range
return;
}
// temperature last value
iLastTemperature = Scanner.SmoothPoints.SmoothPoints[index].iTemperature;
iPercent = (iLastTemperature / 100); // default 1
if (abs (temperature - iLastTemperature) < iPercent)
{
WriteToScannerSamplesArray (temperature, currentStep);
if (Scanner.SmoothPoints.iSizeLastMaxSamples != 0 &&
Scanner.SmoothPoints.iSizeSectionSamples >
Scanner.SmoothPoints.iSizeLastMaxSamples)
{
// overwrite a max section with a new long one
for (index = 0; index < Scanner.SmoothPoints.iSizeSectionSamples;
index++)
{
// overwrite to start array
Scanner.SmoothPoints.SmoothPoints[index].iTemperature =
Scanner.SmoothPoints.SmoothPoints[Scanner.SmoothPoints.
iSizeLastMaxSamples +
index].iTemperature;
Scanner.SmoothPoints.SmoothPoints[index].iNumberStep =
Scanner.SmoothPoints.SmoothPoints[Scanner.SmoothPoints.
iSizeLastMaxSamples +
index].iNumberStep;
}
Scanner.SmoothPoints.iSizeLastMaxSamples = 0;
}
return;
}
}
void WriteToScannerSamplesArray(int temperature, int currentStep)
{
int index = Scanner.SmoothPoints.iSizeLastMaxSamples + Scanner.SmoothPoints.iSizeSectionSamples;
Scanner.SmoothPoints.SmoothPoints[index].iTemperature = temperature;
Scanner.SmoothPoints.SmoothPoints[index].iNumberStep = currentStep;
Scanner.SmoothPoints.iSizeSectionSamples++;
}
#ifndef STEPMOTOR_H_
#define STEPMOTOR_H_
// ECCTL1 ( ECAP Control Reg 1)
//==========================
// CAPxPOL bits
#define EC_RISING 0x0
#define EC_FALLING 0x1
// CTRRSTx bits
#define EC_ABS_MODE 0x0
#define EC_DELTA_MODE 0x1
// PRESCALE bits #define EC_BYPASS 0x0 #define EC_DIV1 0x0
#define EC_DIV2 0x1
#define EC_DIV4 0x2
#define EC_DIV6 0x3
#define EC_DIV8 0x4
#define EC_DIV10 0x5
// ECCTL2 ( ECAP Control Reg 2)
//==========================
// CONT/ONESHOT bit #define EC_CONTINUOUS 0x0
#define EC_ONESHOT 0x1
// STOPVALUE bit
#define EC_EVENT1 0x0
#define EC_EVENT2 0x1
#define EC_EVENT3 0x2
#define EC_EVENT4 0x3
// RE-ARM bit
#define EC_ARM 0x1
// TSCTRSTOP bit
#define EC_FREEZE 0x0
#define EC_RUN 0x1
// SYNCO_SEL bit
#define EC_SYNCIN 0x0
#define EC_CTR_PRD 0x1
#define EC_SYNCO_DIS 0x2
// CAP/APWM mode bit
#define EC_CAP_MODE 0x0
#define EC_APWM_MODE 0x1
// APWMPOL bit
#define EC_ACTV_HI 0x0
#define EC_ACTV_LO 0x1
// Generic
#define EC_DISABLE 0x0
#define EC_ENABLE 0x1
#define EC_FORCE 0x1
#define STEP_MOTOR_RUN_TO_LS 1
#define STEP_MOTOR_RUN_FROM_LS 0
#define STEP_MOTOR_MAX_STEPS_INIT 6400
#define STEP_MOTOR_MAX_POSITION 800
#define STEP_MOTOR_BASE_POSITION 400 // STEP_MOTOR_MAX_POSITION / 2
#define STEP_MOTOR_NONE_POSITION 0
#define STEP_MOTOR_VELOCITY_10HZ 9000000 // f(cpu) = 90 MHz
#define STEP_MOTOR_VELOCITY_20HZ 4500000 // f(cpu) = 90 MHz
#define STEP_MOTOR_VELOCITY_50HZ 1800000 // f(cpu) = 90 MHz
#define STEP_MOTOR_VELOCITY_100HZ 900000 // f(cpu) = 90 MHz
#define STEP_MOTOR_VELOCITY_200HZ 450000 // f(cpu) = 90 MHz
#define STEP_MOTOR_VELOCITY_400HZ 225000 // f(cpu) = 90 MHz
#define STEP_MOTOR_PULSE_1MS 45000
#define STEP_MOTOR_MIN_SECTION_SIZE 5
#define MAX_PROGRAM_POINTERS 30
#define SCANNER_START_INIT TRUE
#define SCANNER_START_WORK FALSE
#define SCANNER_DELAY_ON_OFF_LASER 50000
enum STEP_MOTOR_MODE
{
STEP_MOTOR_WAIT_COMMAND,
STEP_MOTOR_START_INIT,
STEP_MOTOR_TO_LS,
STEP_MOTOR_EXIT_FROM_LS,
STEP_MOTOR_TO_BASE,
STEP_MOTOR_TO_PROXIMATE,
STEP_MOTOR_TO_ABSOLUT,
STEP_MOTOR_TO_MAX
};
enum SCANNER_COMMAND
{
SCANNER_COMMAND_IDLE,
SCANNER_COMMAND_INIT,
SCANNER_COMMAND_HOT_POINT,
SCANNER_COMMAND_PENDULUM,
SCANNER_COMMAND_ONE_SHOT,
SCANNER_COMMAND_PROGRAM_POINT
};
// Command from PULT
enum SCANNER_USER_COMMAND
{
SCANNER_USER_COMMAND_WAIT,
SCANNER_USER_COMMAND_STEPER_MOTOR,
SCANNER_USER_COMMAND_SET_VIRTUAL_POINT,
SCANNER_USER_COMMAND_START_SCANNING,
SCANNER_USER_COMMAND_BLINK_LASER,
SCANNER_USER_COMMAND_ON_LASER
};
enum SCANNER_STATE_MACHINE
{
SCANNER_STATE_MACHINE_IDLE,
SCANNER_STATE_MACHINE_STOP,
// for INIT
SCANNER_STATE_MACHINE_INIT,
SCANNER_STATE_MACHINE_INIT_RUN_TO_LEFT,
SCANNER_STATE_MACHINE_INIT_WAIT_TO_LEFT,
SCANNER_STATE_MACHINE_INIT_RUN_TO_MAX,
SCANNER_STATE_MACHINE_INIT_WAIT_TO_MAX,
SCANNER_STATE_MACHINE_INIT_RUN_TO_BASE,
SCANNER_STATE_MACHINE_INIT_WAIT_TO_BASE,
// for Blink Laser
SCANNER_STATE_MACHINE_BLINK_LASER_START,
SCANNER_STATE_MACHINE_BLINK_LASER_OFF,
SCANNER_STATE_MACHINE_BLINK_LASER_DELAY,
SCANNER_STATE_MACHINE_BLINK_LASER_ON,
// for HOT_POINT
SCANNER_STATE_MACHINE_HOT_POINT_START,
SCANNER_STATE_MACHINE_HOT_POINT_CHANGE_PARAMETERS,
SCANNER_STATE_MACHINE_HOT_POINT_DALAY_START,
SCANNER_STATE_MACHINE_HOT_POINT_RUN_TO_FIRST_POINT,
SCANNER_STATE_MACHINE_HOT_POINT_WAIT_FIRST_POSITION,
SCANNER_STATE_MACHINE_HOT_POINT_RUN_SCANNING,
SCANNER_STATE_MACHINE_HOT_POINT_WAIT_STOP_SCANNING,
SCANNER_STATE_MACHINE_HOT_POINT_SEARCH_POINTER,
SCANNER_STATE_MACHINE_HOT_POINT_WAIT_TO_POINTER,
SCANNER_STATE_MACHINE_HOT_POINT_END,
// for Repeat HOT_POINT
SCANNER_STATE_MACHINE_REPEAT_HOT_POINT_CHECK_OUT_OF_RANGE,
SCANNER_STATE_MACHINE_REPEAT_HOT_POINT_WAIT_LEFT_POINT,
SCANNER_STATE_MACHINE_REPEAT_HOT_POINT_RUN_SCANNING,
SCANNER_STATE_MACHINE_REPEAT_HOT_POINT_WAIT_STOP_SCANNING,
SCANNER_STATE_MACHINE_REPEAT_HOT_POINT_SEARCH_POINTER,
SCANNER_STATE_MACHINE_REPEAT_HOT_POINT_WAIT_TO_POINTER,
// for PENDULUM
SCANNER_STATE_MACHINE_PENDULUM_START,
SCANNER_STATE_MACHINE_PENDULUM_RUN_TO_LEFT,
SCANNER_STATE_MACHINE_PENDULUM_WAIT_TO_LEFT,
SCANNER_STATE_MACHINE_PENDULUM_DELAY_TO_LOOP,
SCANNER_STATE_MACHINE_PENDULUM_NEW_POSITION,
SCANNER_STATE_MACHINE_PENDULUM_WAIT_STOP_SCANNING,
SCANNER_STATE_MACHINE_PENDULUM_WAITE_PAUSE,
SCANNER_STATE_MACHINE_PENDULUM_END,
// for ONE_SHOT
SCANNER_STATE_MACHINE_ONE_SHOT_START,
SCANNER_STATE_MACHINE_ONE_SHOT_RUN_TO_LEFT,
SCANNER_STATE_MACHINE_ONE_SHOT_WAIT_TO_LEFT,
SCANNER_STATE_MACHINE_ONE_SHOT_NEW_POSITION,
SCANNER_STATE_MACHINE_ONE_SHOT_WAIT_STOP_STEP,
SCANNER_STATE_MACHINE_ONE_SHOT_WAIT_PAUSE,
SCANNER_STATE_MACHINE_ONE_SHOT_RETURN_TO_LEFT,
SCANNER_STATE_MACHINE_ONE_SHOT_END,
// for PROGRAM_POINT
SCANNER_STATE_MACHINE_PROGRAM_POINT_START,
SCANNER_STATE_MACHINE_PROGRAM_POINT_RUN_TO_LEFT,
SCANNER_STATE_MACHINE_PROGRAM_POINT_WAIT_TO_LEFT,
SCANNER_STATE_MACHINE_PROGRAM_POINT_NEW_POSITION,
SCANNER_STATE_MACHINE_PROGRAM_POINT_WAIT_STOP_STEP,
SCANNER_STATE_MACHINE_PROGRAM_POINT_WAIT_POUSE,
SCANNER_STATE_MACHINE_PROGRAM_POINT_RETURN_TO_LEFT,
SCANNER_STATE_MACHINE_PROGRAM_POINT_END
};
struct STEP_MOTION_CONTROL_BITS
{
int CHANGE_PARAMETERS :1;
int START :1;
int DIR :1;
int LOOP_MEASUREMENT :1;
int START_SCANNING :1;
int START_DRY_CONTACT :1;
int START_PC :1;
int START_SWITCH :1;
int START_FIRST :1;
int START_TO_ROGHT :1;
int START_REQUEST_COM1:1;
int SCANNING_MODE :4;
int rsvd :1;
};
union STEP_MOTOR_CONTROL
{
int all;
struct STEP_MOTION_CONTROL_BITS bit;
};
struct STEP_MOTION_STATUS_BITS
{
int READY :1;
int RUN :1;
int INIT :1;
int ERROR :1;
int START_FIRST :1;
// for Pendulum mode
int OUT_OF_RANGE :1;
int TEMPERATURE :1;
int FULL_CYCLE_PENDULUM :1;
int COUNTER_OUT_OF_RANGE :4;
int COUNTER_TEMPERATURE :4;
};
union STEP_MOTOR_STATUS
{
int all;
struct STEP_MOTION_STATUS_BITS bit;
};
struct STEP_MOTOR
{
int uiCommand;
int uiCommandUser;
int uiDelayOnOffLaser;
int uiTempLeftPointer;
int uiTempRigthPointer;
int iCurrentPosition;
int iLimitSwitchPosition;
int iMaxPosition;
int iBasePosition;
int iTargetPosition;
int iSmoothPointer;
int uiCounterStepToLS;
union STEP_MOTOR_CONTROL Control;
union STEP_MOTOR_STATUS StatusCommand;
union STEP_MOTOR_STATUS Status;
};
struct SCANNER_PROGRAM_POINT_BITS
{
int START :1;
int READY :1;
int BREAK :1;
int RUN_TO_LEFT :1;
int NEW_POINTS :1;
int COUNTER_INSTANCE :11;
};
union SCANNER_PROGRAM_POINT_STATUS
{
int all;
struct SCANNER_PROGRAM_POINT_BITS bit;
};
struct SCANNER_SMOOTH_POINTERS_SAMPLES
{
int iTemperature;
int iNumberStep;
};
struct SCANNER_SMOOTH_POINTERS
{
int iSizeSectionSamples;
int iSizeLastMaxSamples;
struct SCANNER_SMOOTH_POINTERS_SAMPLES SmoothPoints[STEP_MOTOR_MAX_POSITION];
};
struct REAPID_HOT_POINT
{
int CurentPoint;
int NewLeftPoint;
int NewRoghtPoint;
int CounterOutOfRange;
};
struct SCANNER
{
// New parametrs for HOT POINT mode
int MeasuretmentStatus;
int uiCodeTauHotPoint;
int iSigmaHotPoint;
unsigned char ucMoveShiftHotPoint;
union STEP_MOTOR_CONTROL Control;
struct SCANNER_SMOOTH_POINTERS_SAMPLES PointerMax;
/* Array of measurements for each position. */
union SCANNER_PROGRAM_POINT_STATUS ProgramPointStatus;
struct SCANNER_SMOOTH_POINTERS SmoothPoints;
struct REAPID_HOT_POINT ReapidHotPoint;
};
extern struct STEP_MOTOR StepMotor;
extern struct SCANNER Scanner;
#endif /* STEPMOTOR_H_ */
