#include #include #include #include #include #include #include #define INTR 0x70 // RTC interrupt vector #define RTC_LATCH 0x70 // RTC latch address #define RTC_DATA 0x71 // RTC data register #define PIE 0x40 // RTC Periodic Interrupt Enable bit #define LPT1 0x00400008 // BIOS printer address entries #define LPT2 0x0040000a #define LPT3 0x0040000c #define LPT4 0x0040000e #define LPT_ONE 0 #define LPT_TWO 1 #define LPT_THREE 2 #define LPT_FOUR 3 #define BADARG 4 #define BAD_COMMAND 5 #define MOTOR_NAME 6 #define STEP_VALUE 7 #define DIRECTION 8 #define STEPRATE 9 #define DELAY 10 #define INPUT1 11 #define INPUT2 12 #define ON_OFF 13 #define LEFT 0x4be0 // Left arrow #define RIGHT 0x4de0 // Right arrow #define UP 0x48e0 // Up arrow #define DOWN 0x50e0 // Down arrow #define ESC 0x011b // Escape key /********************** Function Prototypes ************************/ void get_arg(char ch); void syntax(void); void banner(void); int parse_command(char *command); void error(int err_number); int get_direction(char *parameter); void waitforx(void); void waitfory(void); void waitforxy(void); void help(void); /*******************************************************************/ /********************** Global variables here **********************/ unsigned int port=NULL, // Printer port base address xstep=0, // X Steps to be executed (0=stop) ystep=0, // Y Steps to be executed (0=stop xrate=5, // X motor delay between steps xrate_temp=5, yrate=5, // Y motor delay between steps yrate_temp=5, xindex=0, // Index into X motor drive table yindex=0; // Index into Y motor drive table unsigned char xrun=0, // X motor run(=1)/step flag (=0) xdir=0, // X motor direction flag // 0=clockwise, 1=counter clockwise *xtab_ptr, // Holds address of current drive // table. xbusy=0, // Set during X motor command yrun=0, // Y motor run(=1)/step flag (=0) ydir=0, // Y motor direction flag // 0=clockwise, 1=counter clockwise *ytab_ptr, // Holds address of current drive // table. ybusy=0, // Set during Y motor command // Drive tables wave[8]={0x88,0x44,0x22,0x11,0x88,0x44,0x22,0x11}, two_phase[8]={0xcc,0x66,0x33,0x99,0xcc,0x66,0x33,0x99}, h_step[8]={0x99,0x88,0xcc,0x44,0x66,0x22,0x33,0x11}; /*******************************************************************/ /********* Pointer to current Interrupt 70h handler ****************/ void interrupt (*oldhandler)(void); /***************** New Interrupt 70h handler ***********************/ void interrupt newhandler(void) { disable(); outportb(RTC_LATCH,0x0c); // Access RTC Register C inportb(RTC_DATA); // Clear down interrupt flags switch(xrun) // Motor X { case 1: // Run mode if (--xrate_temp==0) { xrate_temp=xrate; if (xdir) xindex--; else xindex++; xindex&=0x0007; outportb(port,(inportb(port)&0xf0)|(*(xtab_ptr+xindex)&0x0f)); } break; case 0: // Step mode if (xstep) { if (--xrate_temp==0) { xrate_temp=xrate; if (--xstep==0) xbusy=0; if (xdir) xindex--; else xindex++; xindex&=0x0007; outportb(port,(inportb(port)&0xf0)|(*(xtab_ptr+xindex)&0x0f)); } } break; } switch(yrun) // Motor Y { case 1: // Run mode if (--yrate_temp==0) { yrate_temp=yrate; if (ydir) yindex--; else yindex++; yindex&=0x0007; outportb(port,(inportb(port)&0x0f)|(*(ytab_ptr+yindex)&0xf0)); } break; case 0: // Step mode if (ystep) { if (--yrate_temp==0) { yrate_temp=yrate; if (--ystep==0) ybusy=0; if (ydir) yindex--; else yindex++; yindex&=0x0007; outportb(port,(inportb(port)&0x0f)|(*(ytab_ptr+yindex)&0xf0)); } } break; } enable(); oldhandler(); } /*******************************************************************/ int main(int argc, char *argv[]) { unsigned char rtc_rega, // Temp store for RTC register A rtc_regb, // Temp store for RTC register B pic_imr, // Temp store for PIC IMR input_mask, // Input mask byte quit=0; // Quit flag (1=quit) char buffer[80], // Holds current command *buffer1, // Copy of "buffer" *command, // Pointer to command name *parameter1, // Pointer to 1st command parameter *parameter2, // Pointer to 2nd command parameter *parameter3; // Pointer to 3rd command parameter unsigned int far *bios_printer_addr; unsigned int time_delay, // Time delay value temp1, // Temp integer variables temp2; int echo_flag=1, // Command echo flag (1=echo command) manual=0; // Manual mode flag when set switch(argc) { case 1 : // No command line parameters get_arg('1'); // Default to LPT1 break; case 2 : // One command line parameter if (argv[1][0]!='/') { syntax(); exit(1); } if (strlen(argv[1])>2) { error(BADARG); exit(1); } bios_printer_addr=(unsigned int far *)LPT1; port=*(bios_printer_addr); if (port==NULL) { error(LPT_ONE); exit(1); } get_arg(argv[1][1]); // Process parameter break; case 3 : // Two command line parameters if (argv[1][0]!='/') { syntax(); exit(1); } if (strlen(argv[1])>2) { error(BADARG); exit(1); } if (argv[2][0]!='/') { syntax(); exit(1); } if (strlen(argv[2])>2) { error(BADARG); exit(1); } get_arg(argv[1][1]); // Process first parameter get_arg(argv[2][1]); // Process second parameter break; default: // Command line syntax error syntax(); exit(1); } xtab_ptr=(unsigned char*)&two_phase; // Set up default drive formats ytab_ptr=(unsigned char*)&two_phase; outportb(port,*two_phase); // Set Power On Reset state delay(1); disable(); oldhandler=getvect(INTR); // Save existing interrupt handler setvect(INTR,newhandler); // and set new one. pic_imr=inportb(0xa1); // Save existing PIC interrupt mask // register outportb(0xa1,pic_imr&0xfe); // Enable RTC interrupts outportb(RTC_LATCH,0x0a); // Access RTC Register A rtc_rega=inportb(RTC_DATA); // Save original contents outportb(RTC_LATCH,0x0a); // Access RTC Register A again outportb(RTC_DATA,(rtc_rega&0xf0)|0x06); // Setup RTC for 976.5625uS // periodic interrupts outportb(RTC_LATCH,0x0b); // Access RTC Register B rtc_regb=inportb(RTC_DATA); // Save original contents outportb(RTC_LATCH,0x0b); // Access RTC Register B again outportb(RTC_DATA,rtc_regb|PIE); // Enable periodic interrupts outportb(RTC_LATCH,0x0c); // Access RTC Register C inportb(RTC_DATA); // Clear down any flags that are set enable(); strcpy(buffer1+6,"\n"); // Clear out "buffer1" banner(); fputc('\n',stdout); /********************** Main command loop **************************/ while(!quit) { if (echo_flag) fputs("\nCommand: ",stdout); fgets(buffer,80,stdin); if (feof(stdin)) { quit=1; continue; } if (strlen(buffer)==1) continue; // Check for carriage return only strtok(buffer,"\n"); // Remove terminating carriage return strcpy(buffer1,buffer); // Copy "buffer" to "buffer1' strupr(buffer); // Convert command to upper case command=strtok(buffer," "); // Create command string parameter1=strtok(NULL," "); // Create 1st parameter string parameter2=strtok(NULL," "); // Create 2nd parameter string parameter3=strtok(NULL," "); // Create 3rd parameter string if (echo_flag) { fputs(buffer1,stdout); fputc('\n',stdout); } switch(parse_command(command)) { case 0 : // BAD COMMAND error(BAD_COMMAND); break; case 1 : // END waitforxy(); case 2 : // QUIT quit=1; break; case 3 : // SPIN if (strlen(parameter1)!=1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : waitforx(); xstep=0; xbusy=0; xrun=1; break; case '2' : case 'Y' : waitfory(); ystep=0; ybusy=0; yrun=1; break; case 'B' : waitforxy(); xstep=0; ystep=0; xbusy=0; ybusy=0; xrun=1; yrun=1; break; default : error(MOTOR_NAME); break; } break; case 4 : // STOP if (strlen(parameter1)>1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : xrun=0; xstep=0; xbusy=0; break; case '2' : case 'Y' : yrun=0; ystep=0; ybusy=0; break; case 'B' : case NULL: xrun=0; xstep=0; xbusy=0; yrun=0; ystep=0; ybusy=0; break; default : error(MOTOR_NAME); break; } break; case 5 : // STEP if (strlen(parameter1)!=1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : if (parameter2==NULL) { error(STEP_VALUE); break; } waitforx(); sscanf(parameter2,"%d",&temp1); if (temp1>50000) { error(STEP_VALUE); break; } xstep=temp1; xrun=0; break; case '2' : case 'Y' : if (parameter2==NULL) { error(STEP_VALUE); break; } waitfory(); sscanf(parameter2,"%d",&temp1); if (temp1>50000) { error(STEP_VALUE); break; } ystep=temp1; yrun=0; break; case 'B' : if (parameter2==NULL) { error(STEP_VALUE); break; } waitforxy(); sscanf(parameter2,"%d",&temp1); if (parameter3==NULL) temp2=temp1; else sscanf(parameter3,"%d",&temp2); if (temp1>50000 || temp2>50000) { error(STEP_VALUE); break; } xstep=temp1; ystep=temp2; xrun=0; yrun=0; break; default : error(MOTOR_NAME); break; } break; case 6 : // DIR if (strlen(parameter1)!=1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : waitforx(); switch(get_direction(parameter2)) { case 0 : // CW xdir=0; break; case 1 : // CCW xdir=1; break; case 2 : // TOGGLE xdir^=1; break; default: error(DIRECTION); break; } break; case '2' : case 'Y' : waitfory(); switch(get_direction(parameter2)) { case 0 : // CW ydir=0; break; case 1 : // CCW ydir=1; break; case 2 : // TOGGLE ydir^=1; break; default: error(DIRECTION); break; } break; case 'B' : waitforxy(); switch(get_direction(parameter2)) { case 0 : // CW xdir=0; ydir=0; break; case 1 : // CCW xdir=1; ydir=1; break; case 2 : // TOGGLE xdir^=1; ydir^=1; break; default: error(DIRECTION); break; } break; default : error(MOTOR_NAME); break; } break; case 7 : // RATE if (strlen(parameter1)!=1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : if (parameter2==NULL) { error(STEPRATE); break; } waitforx(); sscanf(parameter2,"%d",&temp1); if (temp1<1 || temp1>50000) { error(STEPRATE); break; } xrate=xrate_temp=temp1; break; case '2' : case 'Y' : if (parameter2==NULL) { error(STEPRATE); break; } waitfory(); sscanf(parameter2,"%d",&temp1); if (temp1<1 || temp1>50000) { error(STEPRATE); break; } yrate=yrate_temp=temp1; break; case 'B' : if (parameter2==NULL) { error(STEPRATE); break; } waitforxy(); sscanf(parameter2,"%d",&temp1); if (parameter3==NULL) temp2=temp1; else sscanf(parameter3,"%d",&temp2); if (temp1>50000 || temp2>50000) { error(STEPRATE); break; } xrate=xrate_temp=temp1; yrate=yrate_temp=temp2; break; default : error(MOTOR_NAME); break; } break; case 8 : // VER banner(); break; case 9 : // WAIT if (strlen(parameter1)>1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : if (xstep) xbusy=1; break; case '2' : case 'Y' : if (ystep) ybusy=1; break; case 'B' : if (xstep) xbusy=1; if (ystep) ybusy=1; break; default : error(MOTOR_NAME); break; } break; case 10: // DELAY (milliseconds) if (parameter1==NULL) // Parameter1 is delay value { error(DELAY); break; } sscanf(parameter1,"%d",&time_delay); if (time_delay<1 || time_delay>60000) error(DELAY); else delay(time_delay); break; case 11: // ECHO if (!strcmp(parameter1,"ON")) { echo_flag=1; fputs(buffer1,stdout); fputc('\n',stdout); break; } if (!strcmp(parameter1,"OFF")) { echo_flag=0; fputc('\n',stdout); break; } error(ON_OFF); break; case 12: // LOOPTIL if (parameter1==NULL) // Parameter1 is input name { error(INPUT1); break; } if (!strcmp(parameter1,"INPUT1")) input_mask=0x08; else if (!strcmp(parameter1,"INPUT2")) input_mask=0x40; else if (!strcmp(parameter1,"INPUT3")) input_mask=0x20; else if (!strcmp(parameter1,"INPUT4")) input_mask=0x10; else { error(INPUT1); break; } if(!strcmp(parameter2,"LOW")) { while(1) { while(inportb(port+1)&input_mask); // Wait for low input delay(20); // Debounce if (!(inportb(port+1)&input_mask)) break; // If still low, exit } } else if(!strcmp(parameter2,"HIGH")) { while(1) { while(!inportb(port+1)&input_mask); // Wait for high input delay(20); // Debounce if (inportb(port+1)&input_mask) break; // If still high, exit } } else error(INPUT2); break; case 13: // HSTEP if (strlen(parameter1)!=1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : if (xbusy|xrun) break; xtab_ptr=(unsigned char*)&h_step; break; case '2' : case 'Y' : if (ybusy|yrun) break; ytab_ptr=(unsigned char*)&h_step; break; case 'B' : if (xbusy|ybusy|xrun|yrun) break; xtab_ptr=(unsigned char*)&h_step; ytab_ptr=(unsigned char*)&h_step; break; default : error(MOTOR_NAME); break; } break; case 14: // 2PHASE if (strlen(parameter1)!=1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : if (xbusy|xrun) break; xtab_ptr=(unsigned char*)&two_phase; break; case '2' : case 'Y' : if (ybusy|yrun) break; ytab_ptr=(unsigned char*)&two_phase; break; case 'B' : if (xbusy|ybusy|xrun|yrun) break; xtab_ptr=(unsigned char*)&two_phase; ytab_ptr=(unsigned char*)&two_phase; break; default : error(MOTOR_NAME); break; } break; case 15: // WAVE if (strlen(parameter1)!=1) { error(MOTOR_NAME); break; } switch(*parameter1) { case '1' : case 'X' : if (xbusy|xrun) break; xtab_ptr=(unsigned char*)&wave; break; case '2' : case 'Y' : if (ybusy|yrun) break; ytab_ptr=(unsigned char*)&wave; break; case 'B' : if (xbusy|ybusy|xrun|yrun) break; xtab_ptr=(unsigned char*)&wave; ytab_ptr=(unsigned char*)&wave; break; default : error(MOTOR_NAME); break; } break; case 16: // PRINT fputc('\n',stdout); fputs(buffer1+6,stdout); strcpy(buffer1+6,"\n"); fputc('\n',stdout); break; case 17: // HELP help(); break; case 18: // MANUAL xrun=0; xstep=0; yrun=0; ystep=0; manual=1; fputs("Manual Mode: Up/Down arrow steps X motor\n",stdout); fputs(" Left/Right arrow steps Y motor\n",stdout); fputs(" Escape to exit manual mode ..... ",stdout); do { switch (bioskey(_NKEYBRD_READ)) { case UP : /* Step X motor forward one step */ xdir=0; xstep=1; break; case DOWN : /* Step X motor back one step */ xdir=1; xstep=1; break; case RIGHT : /* Step Y motor forward one step */ ydir=0; ystep=1; break; case LEFT : /* Step Y motor back one step */ ydir=1; ystep=1; break; case ESC : /* Quit manual mode */ manual=0; fputc('\n',stdout); break; } } while (manual); } } /*******************************************************************/ disable(); outportb(RTC_LATCH,0x0a); // Access RTC Register A outportb(RTC_DATA,rtc_rega); // Restore original contents outportb(RTC_LATCH,0x0b); // Access RTC Register B outportb(RTC_DATA,rtc_regb); // Restore original contents outportb(0xa1,pic_imr); // Restore original PIC mask register // contents setvect(INTR,oldhandler); // Restore original interrupt handler enable(); outportb(port,0); // De-energize motors & exit to DOS return(0); } void banner(void) { fputs("\nDual Stepper Motor Controller (Version 1.0)\n",stdout); } int parse_command(char *command) { int x; char commands[][9]= { "END", // 1 "QUIT", // 2 "SPIN", // 3 "STOP", // 4 "STEP", // 5 "DIR", // 6 "RATE", // 7 "VER", // 8 "WAIT", // 9 "DELAY", // 10 "ECHO", // 11 "LOOPTIL", // 12 "HSTEP", // 13 "2PHASE", // 14 "WAVE", // 15 "PRINT", // 16 "HELP", // 17 "MANUAL" // 18 }; for (x=0; x<18; x++) { if (!strcmp(command,commands[x])) return(x+1); } return(0); } void error(int err_number) { char error_messages[][40]= { "LPT1 not detected\n", // LPT_ONE "LPT2 not detected\n", // LPT_TWO "LPT3 not detected\n", // LPT_THREE "LPT4 not detected\n", // LPT_FOUR "Bad command line parameter\n", // BADARG "Bad command", // BAD_COMMAND "Bad or missing motor name", // MOTOR_NAME "Bad or missing step value(s)", // STEP_VALUE "Bad direction setting", // DIRECTION "Bad or missing steprate value(s)", // STEPRATE "Bad or missing delay value", // DELAY "Bad or missing input name", // INPUT1 "Bad or missing input condition", // INPUT2 "Bad or missing ON/OFF value" // ON_OFF }; fputs("ERROR: ",stdout); fputs(error_messages[err_number],stdout); fputc('\n',stdout); } int get_direction(char *parameter2) { if (!strcmp(parameter2,"CW")) return(0); if (!strcmp(parameter2,"CCW")) return(1); if (*parameter2==NULL) return(2); return(4); } void waitforx(void) { while(xbusy) { if (kbhit()) { getch(); break; } } } void waitfory(void) { while(ybusy) { if (kbhit()) { getch(); break; } } } void waitforxy(void) { while(xbusy|ybusy) { if (kbhit()) { getch(); break; } } } void help(void) { char *message= "\n" "HSTEP motor...............Set motor for Half-Step drive sequence.\n" "2PHASE motor...............Set motor for Two-Phase drive sequence.\n" "WAVE motor...............Set motor for Wave drive sequence.\n" "RATE motor val1 ...Set delay rate between steps (in msecs).\n" " Range from 1 to 50000 msec.\n" "DIR motor ......If no direction given then reverse it.\n" "STEP motor val1 ...Step value range from 1 to 50000.\n" "WAIT motor...............Wait for previous motor command to finish.\n" "SPIN motor...............Continuously step motor.\n" "STOP ..............If no motor named then stop both.\n" "MANUAL ....................Manually step motors.\n" "LOOPTIL input(n) HIGH,LOW...goes High or Low. (where n = 1,2,3 or 4)\n" "DELAY milliseconds........Range from 1 to 60000.\n" "ECHO ON or OFF...........If ON (default), all commands echoed to output.\n" "PRINT message.............to output.\n" "VER ....................Print version number.\n" "END ....................Wait for motors to finish then quit.\n" "QUIT ....................Quit program immediately.\n\n" "where motor = 1 or X, 2 or Y, B(oth). Parameters in <> are optional.\n" "Commands and parameters can be in upper or lower case.\n"; banner(); fputs(message,stdout); } void syntax(void) { char *message= "\nCommand syntax: DUALSTEP\n\n" "where port = LPT port number (1,2,3 or 4)\n" "The port number is optional and defaults to LPT1 if not specified.\n\n" "For example: `DUALSTEP /2' uses LPT2.\n"; banner(); fputs(message,stdout); } void get_arg(char ch) { unsigned int far *bios_printer_addr; switch(ch) { case '1' : // LPT1 bios_printer_addr=(unsigned int far *)LPT1; port=*(bios_printer_addr); if (port==NULL) { error(LPT_ONE); exit(1); } break; case '2' : // LPT2 bios_printer_addr=(unsigned int far *)LPT2; port=*(bios_printer_addr); if (port==NULL) { error(LPT_TWO); exit(1); } break; case '3' : // LPT3 bios_printer_addr=(unsigned int far *)LPT3; port=*(bios_printer_addr); if (port==NULL) { error(LPT_THREE); exit(1); } break; case '4' : // LPT4 bios_printer_addr=(unsigned int far *)LPT4; port=*(bios_printer_addr); if (port==NULL) { error(LPT_FOUR); exit(1); } break; case '?' : // Help with command syntax case 'h' : case 'H' : syntax(); exit(0); default : // Bad command line parameter error(BADARG); exit(1); } }