// ----- Function Declarations -----
-void cliFunc_distRead ( char* args );
-void cliFunc_free ( char* args );
-void cliFunc_gaugeHelp ( char* args );
-void cliFunc_single ( char* args );
-void cliFunc_start ( char* args );
-void cliFunc_stop ( char* args );
-void cliFunc_zeroForce ( char* args );
-void cliFunc_zeroPosition( char* args );
-
-char receiveUART0Char();
-
-void transmitUART0String( char* str );
-
-uint32_t readDistanceGauge();
-
// ----- Variables -----
continue;
// Send USB Data
- usb_send();
+ output_send();
// Clear sendKeypresses Flag
sendKeypresses = 0;
// ----- CLI Command Functions -----
-uint32_t readDistanceGauge()
-{
- // Setup distance read parameters for iGaging Distance Scale
- // freq = 9kHz
- // duty_cycle = 20%
- // high_delay = (1/freq) * (duty_cycle/100)
- // low_delay = (1/freq) * ((100-duty_cycle)/100)
- uint8_t bits = 21; // 21 clock pulses, for 21 bits
- uint32_t high_delay = 22; // Clock high time per pulse
- uint32_t low_delay = 89; // Clock low time per pulse
-
- // Data
- uint32_t distInput = 0;
-
- // Make sure clock is low initially
- GPIOC_PCOR |= (1<<2); // Set Clock low
-
- // Scan each of the bits
- for ( uint8_t bit = 0; bit < bits; bit++ )
- {
- // Begin clock pulse
- GPIOC_PSOR |= (1<<2); // Set Clock high
-
- // Delay for duty cycle
- delayMicroseconds( high_delay );
-
- // End clock pulse
- GPIOC_PCOR |= (1<<2); // Set Clock low
-
- // Read Data Bit
- distInput |= GPIOC_PDIR & (1<<1) ? (1 << bit) : 0;
-
- // Delay for duty cycle
- delayMicroseconds( low_delay );
- }
-
- return distInput;
-}
-
-void cliFunc_distRead( char* args )
-{
- // Parse number from argument
- // NOTE: Only first argument is used
- char* arg1Ptr;
- char* arg2Ptr;
- argumentIsolation_cli( args, &arg1Ptr, &arg2Ptr );
-
- // Convert the argument into an int
- int read_count = decToInt( arg1Ptr ) + 1;
-
- // If no argument specified, default to 1 read
- if ( *arg1Ptr == '\0' )
- {
- read_count = 2;
- }
-
- // Repeat reading as many times as specified in the argument
- print( NL );
- while ( --read_count > 0 )
- {
- // Prepare to print output
- info_msg("Distance: ");
-
- // Data
- uint32_t distInput = readDistanceGauge() - distanceOffset;
-
- // Output result
- printInt32( distInput );
-
- // Convert to mm
- // As per http://www.shumatech.com/web/21bit_protocol?page=0,1
- // 21 bits is 2560 CPI (counts per inch) (C/inch)
- // 1 inch is 25.4 mm
- // 2560 / 25.4 = 100.7874016... CPMM (C/mm)
- // Or
- // 1 count is 1/2560 = 0.000390625... inches
- // 1 count is (1/2560) * 25.4 = 0.00992187500000000 mm = 9.92187500000000 um = 9921.87500000000 nm
- // Since there are 21 bits (2 097 152 positions) converting to um is possible by multiplying by 1000
- // which is 2 097 152 000, and within 32 bits (4 294 967 295).
- // However, um is still not convenient, so 64 bits (18 446 744 073 709 551 615) is a more accurate alternative.
- // For each nm there are 2 097 152 000 000 positions.
- // And for shits:
- // mm is 2 097 152 : 0.009 921 875 000 mm : 32 bit
- // um is 2 097 152 000 : 9.921 875 000 um : 32 bit (ideal acc. for 32 bit)
- // nm is 2 097 152 000 000 : 9 921.875 000 nm : 64 bit
- // pm is 2 097 152 000 000 000 : 9 921 875.000 pm : 64 bit (ideal acc. for 64 bit)
-
- // XXX Apparently shumatech was sorta wrong about the 21 bits of usage
- // Yes there are 21 bits, but the values only go from ~338 to ~30681 which is less than 16 bits...
- // This means that the conversion at NM can use 32 bits :D
- // It's been noted that the multiplier should be 100.6 (and that it could vary from scale to scale)
- uint32_t distNM = distInput * 9921;;
- uint32_t distUM = distNM / 1000;
- uint32_t distMM = distUM / 1000;
-
- print(" ");
- printInt32( distMM );
- print(" mm ");
- printInt32( distUM );
- print(" um ");
- printInt32( distNM );
- print(" nm ");
-
- print( NL );
-
- // Only delay if still counting
- if ( read_count > 1 )
- delay( 50 );
- }
-}
-
-
-void cliFunc_free( char* args )
-{
- // Set the forceDistanceRead to 1, which will read until start has passed twice
- forceDistanceRead = 1;
-}
-
-
-void cliFunc_gaugeHelp( char* args )
-{
- print( NL
-"\033[1;32mForce Curve Gauge Help\033[0m" NL
-" \033[1;33mUsage Overview\033[0m" NL
-" TODO" NL
-" \033[1;33mAdditional Command Details\033[0m" NL
-" \033[1;35mdistRead\033[0m" NL
-" Reads the current value from the distance gauge." NL
-" If specified it will N repeated reads with a delay after each read. Useful for testing the distance gauge." NL
-" e.g. \033[35mdistRead 250\033[0m" NL
-" \033[1;35mfree\033[0m" NL
-" Start free scanning force/distance reads." NL
-" Will continue until the [start] distance point has been past twice." NL
-" \033[1;35mimadaComm\033[0m" NL
-" Sends a command to the Imada force gauge." NL
-" e.g. \033[35mimadaComm D\033[0m" NL
-" The commands supported by the gauge depends on the model. Listed below is for the DS2." NL
-" K Select g units (default)" NL
-" N Select N units" NL
-" O Select oz units" NL
-" P Select peak mode" NL
-" T Select real time mode (default)" NL
-" Z Zero out display/reading" NL
-" Q Turn off power" NL
-" E Read high/low set points" NL
-" D Read data from force gauge" NL
-" E\033[35mHHHHLLLL\033[0m" NL
-" Set the high/low setpoints, ignore decimals" NL
-" \033[35mHHHH\033[0m is 4 digit high, \033[35mLLLL\033[0m is 4 digit low" NL
-" Responses from the above commands." NL
-" R Command successful" NL
-" E Error/Invalid Command" NL
-" E\033[35mHHHHLLLL\033[0m" NL
-" Current high/low setpoints" NL
-" \033[35mHHHH\033[0m is 4 digit high, \033[35mLLLL\033[0m is 4 digit low" NL
-" \033[35m[value][units][mode]\033[0m" NL
-" Data read response" NL
-" \033[35m[value]\033[0m is force currently showing on the display (peak or realtime)" NL
-" \033[35m[units]\033[0m is the configured force units" NL
-" \033[35m[mode]\033[0m is the current mode (peak or realtime)" NL
-" \033[1;35mread\033[0m" NL
-" Read the current force/distance value." NL
-" If specified it will N repeated reads with a delay after each read." NL
-" e.g. \033[35mread 125\033[0m" NL
-" \033[1;35mstart\033[0m" NL
-" Distance marker \033[35m[start]\033[0m for the start/end of a force curve measurement." NL
-" While in free running mode, a special message is displayed when reaching the \033[35m[start]\033[0m point." NL
-" \033[35m[start]\033[0m is defined by positioning the distance sensor at the position to start and running this command." NL
- );
-}
-
-
-void cliFunc_read( char* args )
-{
- // Parse number from argument
- // NOTE: Only first argument is used
- char* arg1Ptr;
- char* arg2Ptr;
- argumentIsolation_cli( args, &arg1Ptr, &arg2Ptr );
-
- // Convert the argument into an int
- int read_count = decToInt( arg1Ptr ) + 1;
-
- // If no argument specified, default to 1 read
- if ( *arg1Ptr == '\0' )
- {
- read_count = 2;
- }
-
- // Set the overall read count to read_count
- forceDistanceReadCount = read_count;
-}
-
-
-void cliFunc_start( char* args )
-{
- // Read the current distance and set the new start/end position
- distanceStart = readDistanceGauge();
-
- print( NL );
- info_msg("New start/end position: ");
- printInt32( distanceStart - distanceOffset );
-}
-
-
-void cliFunc_stop( char* args )
-{
- // Reset the forceDistanceRead and forceDistanceReadCount
- forceDistanceRead = 0;
- forceDistanceReadCount = 0;
-}
-
-
-void cliFunc_zeroForce( char* args )
-{
- // Just use the imadaComm command sending the needed argument
- char* commandArg = "Z";
- imadaVerboseRead( commandArg );
-}
-
-
-void cliFunc_zeroPosition( char* args )
-{
- // Read the current distance and set the new offset
- distanceOffset = readDistanceGauge();
-
- print( NL );
- info_msg("New distance offset: ");
- printInt32( distanceOffset );
-}
projects / kiibohd-controller.git / commitdiff