main.c

CNC.rar

//*****************************************************************************
//
// main.c - Main application for the main CNC microcontroller.
//
// Copyright (c) 2006-2007 Luminary Micro, Inc.  All rights reserved.
//
// Software License Agreement
//
// Luminary Micro, Inc. (LMI) is supplying this software for use solely and
// exclusively on LMI's microcontroller products.
//
// The software is owned by LMI and/or its suppliers, and is protected under
// applicable copyright laws.  All rights are reserved.  Any use in violation
// of the foregoing restrictions may subject the user to criminal sanctions
// under applicable laws, as well as to civil liability for the breach of the
// terms and conditions of this license.
//
// THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
// LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
// CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
//
// This is part of revision 220 of sw01246.
//
//*****************************************************************************

#include <hw_memmap.h>
#include <hw_types.h>
#include <gpio.h>
#include <sysctl.h>
#include <systick.h>
#include "demo.h"
#include "draw.h"
#include "i2c_slave.h"
#include "images.h"
#include "main.h"
#include "stepper.h"
#include "switches.h"
#include "table.h"
#include "tool.h"
#include "virtualtimer.h"

//*****************************************************************************
//
//! \page main_main_intro Introduction
//!
//! This is the main application entry point for the main microcontroller
//! application.  It is responsible for system level configuration of the
//! LM3S615 microcontroller, calling the initialization routines for the
//! various drivers and interfaces, and handling the top-level main control
//! loop.
//!
//! The top-level main control loop is responsible for waiting until the CNC
//! machine has been instructed to run and performing the requested action.  It
//! can either start one of the six demos or moving the machine into the
//! shipping position.  Once the requested action has been performed, it will
//! simply wait for the next action request.  The main control loop will also
//! perform table homing operations when required; this will occur right before
//! a requested action is performed when the table is in need of a homing
//! operation (i.e. after the panic switch has been pressed and released).
//!
//! The code for the main application entry point is contained in
//! <tt>main_micro/main.c</tt>, with <tt>main_micro/main.h</tt> containing the
//! API definitions for use by the remainder of the application.
//
//*****************************************************************************

//*****************************************************************************
//
//! \defgroup main_main_api Definitions
//! @{
//
//*****************************************************************************
系统
//*****************************************************************************
//
//! The system clock rate.  This value might not be something "clean" like系统时钟频率。
//! 50,000,000 since a combination of the input crystal frequency along with
//! the PLL multiplier and divider might make it impossible to get to an exact
//! value, though it will be real close.  For the case of the 6 MHz crystal on
//! the CNC machine circuit board, it will be precisely 50,000,000.
//
//*****************************************************************************
unsigned long g_ulSysClock;

//*****************************************************************************
//
//! The demo mode that has been selected.
//
//*****************************************************************************
unsigned long g_ulDemoMode;

//*****************************************************************************
//
//! The name string that was sent over the I2C interface.
//
//*****************************************************************************
char g_pcNameString[256];

//*****************************************************************************
//
//! The set of icons that were selected.
//
//*****************************************************************************
unsigned long g_ulIcons;

//*****************************************************************************
//
//! The tool that has been selected.
//
//*****************************************************************************
unsigned long g_ulTool;

//*****************************************************************************
//
//! A set of flags providing overall control of the machine; contains the
//! #MAIN_FLAG_RUN and #MAIN_FLAG_SHIP flags.
//
//*****************************************************************************
unsigned long g_ulFlags;

//*****************************************************************************
//
//! The error routine that is called if the driver library encounters an error.
//
//*****************************************************************************
#ifdef DEBUG
void
__error__(char *pcFilename, unsigned long ulLine)
{
}
#endif

//*****************************************************************************
//
//! Handles setup of the application on the main CNC microcontroller.
//!
//! This is the main application entry point for the main CNC microcontroller.
//! It is responsible for basic system configuration, initialization of the
//! various application drivers and peripherals, and the main application loop.
//!
//! \return Never returns.
//
//*****************************************************************************
int
main(void)
{
    //
    // Configure the processor to run at 50MHz.
    //
    SysCtlClockSet(SYSCTL_SYSDIV_4 | SYSCTL_USE_PLL | SYSCTL_XTAL_6MHZ |
                   SYSCTL_OSC_MAIN | SYSCTL_INT_OSC_DIS);
    g_ulSysClock = SysCtlClockGet();

    //
    // Enable the peripherals used by the application.
    //
    SysCtlPeripheralEnable(SYSCTL_PERIPH_I2C);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER1);
    SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER2);

    //
    // Enable the weak pull-downs instead of the weak pull-ups.
    //
    GPIOPadConfigSet(GPIO_PORTA_BASE,
                     (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 |
                      GPIO_PIN_4 | GPIO_PIN_5), GPIO_STRENGTH_2MA,
                     GPIO_PIN_TYPE_STD_WPD);
    GPIOPadConfigSet(GPIO_PORTB_BASE,
                     (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 |
                      GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7),
                     GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
    GPIOPadConfigSet(GPIO_PORTC_BASE,
                     (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 |
                      GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7),
                     GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
    GPIOPadConfigSet(GPIO_PORTD_BASE,
                     (GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 |
                      GPIO_PIN_4 | GPIO_PIN_5 | GPIO_PIN_6 | GPIO_PIN_7),
                     GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);
    GPIOPadConfigSet(GPIO_PORTE_BASE,
                     GPIO_PIN_0 | GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3,
                     GPIO_STRENGTH_2MA, GPIO_PIN_TYPE_STD_WPD);

    //
    // Initialize the virtual timers.
    //
    VirtualTimerInit();

    //
    // Initialize the switches.
    //
    SwitchesInit();

    //
    // Initialize the stepper motors.
    //
    StepperInit();

    //
    // Initialize the drawing routines.
    //
    DrawInit();

    //
    // Initialize the tool control.
    //
    ToolInit();

    //
    // Initialize the I2C slave interface.
    //
    I2CInit();

    //
    // Find the home position so that the table is in a known position.
    //
    TableHome();

    //
    // Uncomment the following line to enable manual mode control of the
    // machine.
    //
    //ManualMode();

    //
    // Loop forever.
    //
    while(1)
    {
        //
        // Wait until the machine has been told to start running.
        //
        while(HWREGBITW(&g_ulFlags, MAIN_FLAG_RUN) == 0)
        {
        }

        //
        // See if the table requires homing.
        //
        if(TableNeedsHoming() == true)
        {
            //
            // Return the table to the home position.
            //
            TableHome();
        }

        //
        // See if the machine should be put into the shipping position.
        //
        if(HWREGBITW(&g_ulFlags, MAIN_FLAG_SHIP) == 0)
        {
            //
            // Determine which demo to run.
            //
            switch(g_ulDemoMode)
            {
                //
                // The first demo; a logo and text on a business card.
                //
                case 1:
                {
                    //
                    // Run the first demo.
                    //
                    Demo1();

                    //
                    // This demo is complete.
                    //
                    break;
                }

                //
                // The second demo; a logo and text in a box.
                //
                case 2:
                {
                    //
                    // Run the second demo.
                    //
                    Demo2();

                    //
                    // This demo is complete.
                    //
                    break;
                }

                //
                // The third demo; a steer head.
                //
                case 3:
                {
                    //
                    // Run the third demo.
                    //
                    Demo3();

                    //
                    // This demo is complete.
                    //
                    break;
                }

                //
                // The fourth demo; a printed circuit board.
                //
                case 4:
                {
                    //
                    // Run the fourth demo.
                    //
                    Demo4();

                    //
                    // This demo is complete.
                    //
                    break;
                }

                //
                // The firth demo; the United States flag.
                //
                case 5:
                {
                    //
                    // Run the fifth demo.
                    //
                    Demo5();

                    //
                    // This demo is complete.
                    //
                    break;
                }

                //
                // The sixth demo; the map of the world.
                //
                case 6:
                {
                    //
                    // Run the sixth demo.
                    //
                    Demo6();

                    //
                    // This demo is complete.
                    //
                    break;
                }
            }
        }
        else
        {
            //
            // Move the machine to the shipping position.
            //
            DemoShip();

            //
            // Indicate that the machine no longer needs to be moved to the
            // shipping position.
            //
            HWREGBITW(&g_ulFlags, MAIN_FLAG_SHIP) = 0;
        }

        //
        // Indicate that the machine has finished running.
        //
        HWREGBITW(&g_ulFlags, MAIN_FLAG_RUN) = 0;
    }

    //
    // The following code is unreachable; it is provided in the unlikely event
    // that the above loop is broken out of (via programmer error).  Turn off
    // warnings that may be produced by some tool chains about this unreachable
    // code.
    //
#if defined(ewarm)
#pragma diag_suppress=Pe111
#endif
#if defined(rvmdk) || defined(__ARMCC_VERSION)
#pragma diag_suppress 111
#endif

    //
    // This should never be executed, but just in case, do a full system reset.
    //
    SysCtlReset();

    //
    // Turn the warnings back on for the remainder of the file.
    //
#if defined(ewarm)
#pragma diag_warning=Pe111
#endif
#if defined(rvmdk) || defined(__ARMCC_VERSION)
#pragma diag_warning 111
#endif
}

//*****************************************************************************
//
// Close the Doxygen group.
//! @}
//
//*****************************************************************************