stepper_controller/arduino/stepper/stepper.qm

   1 <?xml version="1.0" encoding="UTF-8"?>
   2 <model version="1.0.01" framework="qpn">
   3   <package name="Events" stereotype="0x01"/>
   4   <package name="AOs" stereotype="0x02">
   5     <class name="Serial" superclass="../../0/1">
   6       <documentation>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
   7 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
   8 p, li { white-space: pre-wrap; }
   9 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Tahoma'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
  10 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Serial command parser and message transmitter&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</documentation>
  11       <attribute name="attr1" type="" visibility="0x00" properties="0x00"/>
  12       <operation name="ctor" type="void" visibility="0x00" properties="0x01"/>
  13       <statechart>
  14         <state name="Operational">
  15           <entry/>
  16           <exit/>
  17           <initial target="../1">
  18             <action/>
  19           </initial>
  20           <state name="Parsing">
  21             <entry>me-&gt;parser = me-&gt;menu;</entry>
  22             <exit/>
  23             <tran trig="RX_CHAR">
  24               <choice guard="isterm(pa.msg.ch)">
  25                 <action/>
  26                 <choice guard="me-&gt;parser != me-&gt;menu" target="../../../..">
  27                   <action>transmitNACK();
  28 </action>
  29                 </choice>
  30               </choice>
  31               <choice guard="else">
  32                 <action>{
  33     uint8_t ch = (SerialRxMsg *)(&amp;PAR(me))-&gt;ch;
  34
  35     while (me-&gt;menu-&gt;ch) {
  36         if (me-&gt;menu-&gt;ch != ch) {
  37             me-&gt;menu++;
  38             continue;
  39         }
  40         /* match ch in menu */
  41         </action>
  42               </choice>
  43             </tran>
  44           </state>
  45           <state name="TerminatingNACK">
  46             <entry/>
  47             <exit>me-&gt;vidx=0;</exit>
  48             <tran trig="RX_CHAR">
  49               <choice guard="isterm(pa.msg.ch)" target="../../../1">
  50                 <action>transmitNACK();</action>
  51               </choice>
  52             </tran>
  53           </state>
  54           <state name="state1">
  55             <entry/>
  56             <exit/>
  57           </state>
  58         </state>
  59         <state_diagram size="604,381">
  60           <state_glyph ref="0" node="486,309,116,69"/>
  61           <state_glyph ref="0/1" node="543,314,50,19">
  62             <text box="0,2,18,4"/>
  63           </state_glyph>
  64           <state_glyph ref="0/2" node="511,361,25,11">
  65             <text box="0,2,5,2"/>
  66           </state_glyph>
  67           <state_glyph ref="0/3" node="543,343,57,11"/>
  68           <tran_glyph ref="0/1/0" conn="543,322,3,-1,13">
  69             <text box="1,0,9,2"/>
  70           </tran_glyph>
  71           <choice_glyph ref="0/1/0/0" conn="556,322,5,-1,16">
  72             <text box="1,-2,14,2"/>
  73           </choice_glyph>
  74           <choice_glyph ref="0/1/0/0/0" conn="572,322,5,1,30">
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  76           </choice_glyph>
  77           <tran_glyph ref="0/2/0" conn="511,368,3,-1,10">
  78             <text box="1,0,9,2"/>
  79           </tran_glyph>
  80           <choice_glyph ref="0/2/0/0" conn="521,368,5,3,19,-39,3">
  81             <text box="1,0,15,5"/>
  82           </choice_glyph>
  83           <initial_glyph ref="0/0" conn="539,314,4,3,3,4">
  84             <text box="2,-1,6,2"/>
  85           </initial_glyph>
  86           <choice_glyph ref="0/1/0/1" conn="556,322,4,-1,8,16">
  87             <text box="1,1,27,6"/>
  88           </choice_glyph>
  89         </state_diagram>
  90       </statechart>
  91     </class>
  92     <class name="UI" superclass="../../0/1">
  93       <documentation>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
  94 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
  95 p, li { white-space: pre-wrap; }
  96 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Tahoma'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
  97 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2';&quot;&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</documentation>
  98       <attribute name="serialCommand" type="SerialCommand" visibility="0x02" properties="0x00"/>
  99       <attribute name="txBuffer[UI_TX_BUFFER_LENGTH]" type="char" visibility="0x02" properties="0x00"/>
 100       <operation name="ctor" type="void" visibility="0x00" properties="0x01">
 101         <code>QActive_ctor((QActive *)&amp;AO_UI, (QStateHandler)&amp;UI_initial);
 102 SerialCommand_ctor(&amp;AO_UI.serialCommand, (QActive *)&amp;AO_UI, menu, menuSignal, AO_UI.txBuffer, UI_TX_BUFFER_LENGTH, 0, 9600);
 103 </code>
 104       </operation>
 105       <statechart>
 106         <initial target="../1">
 107           <action/>
 108         </initial>
 109         <state name="User">
 110           <entry/>
 111           <exit/>
 112           <tran trig="SERIAL_RX_DATA">
 113             <action>serialDispatch(&amp;me-&gt;serialCommand, SERIAL_RX_DATA_SIG, Q_PAR(me));</action>
 114           </tran>
 115           <tran trig="SERIAL_TX_EMPTY">
 116             <action>serialDispatch(&amp;me-&gt;serialCommand, SERIAL_TX_EMPTY_SIG, Q_PAR(me));</action>
 117           </tran>
 118           <tran trig="COMMAND_FAIL">
 119             <action>serialNACK(&amp;me-&gt;serialCommand, 0);</action>
 120           </tran>
 121           <tran trig="COMMAND_AZIMUTH">
 122             <action>QActive_post((QActive *)&amp;AO_azimuth, SET_BASE_SPEED_SIG, Q_PAR(me));
 123 QActive_post((QActive *)&amp;AO_azimuth, SET_ACCELERATION_SIG,
 124 me-&gt;serialCommand.vargs[1].v.param);
 125 QActive_post((QActive *)&amp;AO_azimuth, SET_SLEW_SPEED_SIG,
 126 me-&gt;serialCommand.vargs[2].v.param);
 127 QActive_post((QActive *)&amp;AO_azimuth, SET_TOTAL_STEPS_SIG,
 128 me-&gt;serialCommand.vargs[3].v.param);
 129 serialReleaseVargs(&amp;me-&gt;serialCommand);
 130 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 131           </tran>
 132           <tran trig="COMMAND_AZIMUTH_BASE">
 133             <action>QActive_post((QActive *)&amp;AO_azimuth, SET_BASE_SPEED_SIG, Q_PAR(me));
 134 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 135           </tran>
 136           <tran trig="COMMAND_AZIMUTH_SLEW">
 137             <action>QActive_post((QActive *)&amp;AO_azimuth, SET_SLEW_SPEED_SIG, Q_PAR(me));
 138 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 139           </tran>
 140           <tran trig="COMMAND_AZIMUTH_ACCELERATION">
 141             <action>QActive_post((QActive *)&amp;AO_azimuth, SET_ACCELERATION_SIG, Q_PAR(me));
 142 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 143           </tran>
 144           <tran trig="COMMAND_AZIMUTH_STEPS">
 145             <action>QActive_post((QActive *)&amp;AO_azimuth, SET_TOTAL_STEPS_SIG, Q_PAR(me));
 146 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 147           </tran>
 148           <tran trig="COMMAND_ELEVATION">
 149             <action>QActive_post((QActive *)&amp;AO_elevation, SET_BASE_SPEED_SIG, Q_PAR(me));
 150 QActive_post((QActive *)&amp;AO_elevation, SET_ACCELERATION_SIG,
 151 me-&gt;serialCommand.vargs[1].v.param);
 152 QActive_post((QActive *)&amp;AO_elevation, SET_SLEW_SPEED_SIG,
 153 me-&gt;serialCommand.vargs[2].v.param);
 154 QActive_post((QActive *)&amp;AO_elevation, SET_TOTAL_STEPS_SIG,
 155 me-&gt;serialCommand.vargs[3].v.param);
 156 serialReleaseVargs(&amp;me-&gt;serialCommand);
 157 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 158           </tran>
 159           <tran trig="COMMAND_ELEVATION_BASE">
 160             <action>QActive_post((QActive *)&amp;AO_elevation, SET_BASE_SPEED_SIG, Q_PAR(me));
 161 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 162           </tran>
 163           <tran trig="COMMAND_ELEVATION_SLEW">
 164             <action>QActive_post((QActive *)&amp;AO_elevation, SET_SLEW_SPEED_SIG, Q_PAR(me));
 165 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 166           </tran>
 167           <tran trig="COMMAND_ELEVATION_ACCELERATION">
 168             <action>QActive_post((QActive *)&amp;AO_elevation, SET_ACCELERATION_SIG, Q_PAR(me));
 169 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 170           </tran>
 171           <tran trig="COMMAND_ELEVATION_STEPS">
 172             <action>QActive_post((QActive *)&amp;AO_elevation, SET_TOTAL_STEPS_SIG, Q_PAR(me));
 173 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 174           </tran>
 175           <tran trig="SERIAL_RX_ERROR">
 176             <action>serialDispatch(&amp;me-&gt;serialCommand, SERIAL_RX_ERROR_SIG, Q_PAR(me));</action>
 177           </tran>
 178           <tran trig="SERIAL_TX_COMPLETE">
 179             <action>serialDispatch(&amp;me-&gt;serialCommand, SERIAL_TX_COMPLETE_SIG, Q_PAR(me));</action>
 180           </tran>
 181           <tran trig="COMMAND_START_AZIMUTH">
 182             <action>QActive_post((QActive *)&amp;AO_azimuth, START_LINEAR_SLEW_SIG, 0);
 183 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 184           </tran>
 185           <tran trig="COMMAND_START_ELEVATION">
 186             <action>QActive_post((QActive *)&amp;AO_elevation, START_LINEAR_SLEW_SIG, 0);
 187 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 188           </tran>
 189           <tran trig="COMMAND_START_AZ_EL">
 190             <action>QActive_post((QActive *)&amp;AO_azimuth, START_LINEAR_SLEW_SIG, 0);
 191 QActive_post((QActive *)&amp;AO_elevation, START_LINEAR_SLEW_SIG, 0);
 192 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 193           </tran>
 194           <tran trig="COMMAND_AZIMUTH_CLOCKWISE">
 195             <action>QActive_post((QActive *)&amp;AO_azimuth, SET_DIRECTION_UP_CW_SIG, 0);
 196 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 197           </tran>
 198           <tran trig="COMMAND_AZIMUTH_CCW">
 199             <action>QActive_post((QActive *)&amp;AO_azimuth, SET_DIRECTION_DOWN_CCW_SIG, 0);
 200 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 201           </tran>
 202           <tran trig="COMMAND_ELEVATION_UP">
 203             <action>QActive_post((QActive *)&amp;AO_elevation, SET_DIRECTION_UP_CW_SIG, 0);
 204 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 205           </tran>
 206           <tran trig="COMMAND_ELEVATION_DOWN">
 207             <action>QActive_post((QActive *)&amp;AO_elevation, SET_DIRECTION_DOWN_CCW_SIG, 0);
 208 serialACK(&amp;me-&gt;serialCommand, 1);</action>
 209           </tran>
 210         </state>
 211         <state_diagram size="174,125">
 212           <state_glyph ref="1" node="6,6,115,115"/>
 213           <initial_glyph ref="0" conn="11,3,5,0,5,3">
 214             <text box="1,0,4,2"/>
 215           </initial_glyph>
 216           <tran_glyph ref="1/2" conn="6,16,3,-1,55">
 217             <text box="1,0,29,4"/>
 218           </tran_glyph>
 219           <tran_glyph ref="1/3" conn="6,22,3,-1,55">
 220             <text box="1,0,55,19"/>
 221           </tran_glyph>
 222           <tran_glyph ref="1/4" conn="6,42,3,-1,55">
 223             <text box="1,0,51,6"/>
 224           </tran_glyph>
 225           <tran_glyph ref="1/5" conn="6,49,3,-1,55">
 226             <text box="1,0,51,6"/>
 227           </tran_glyph>
 228           <tran_glyph ref="1/13" conn="6,102,3,-1,48">
 229             <text box="1,0,48,6"/>
 230           </tran_glyph>
 231           <tran_glyph ref="1/1" conn="6,108,3,-1,48">
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 237           <tran_glyph ref="1/0" conn="6,96,3,-1,48">
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 239           </tran_glyph>
 240           <tran_glyph ref="1/6" conn="6,56,3,-1,55">
 241             <text box="1,0,51,7"/>
 242           </tran_glyph>
 243           <tran_glyph ref="1/7" conn="6,63,3,-1,55">
 244             <text box="1,0,51,6"/>
 245           </tran_glyph>
 246           <tran_glyph ref="1/8" conn="121,22,1,-1,-55">
 247             <text box="-53,0,51,18"/>
 248           </tran_glyph>
 249           <tran_glyph ref="1/9" conn="121,42,1,-1,-55">
 250             <text box="-53,0,51,6"/>
 251           </tran_glyph>
 252           <tran_glyph ref="1/10" conn="121,49,1,-1,-55">
 253             <text box="-53,0,51,6"/>
 254           </tran_glyph>
 255           <tran_glyph ref="1/11" conn="121,56,1,-1,-55">
 256             <text box="-53,0,52,6"/>
 257           </tran_glyph>
 258           <tran_glyph ref="1/12" conn="121,63,1,-1,-55">
 259             <text box="-53,0,52,7"/>
 260           </tran_glyph>
 261           <tran_glyph ref="1/15" conn="6,84,3,-1,55">
 262             <text box="1,0,51,6"/>
 263           </tran_glyph>
 264           <tran_glyph ref="1/16" conn="121,84,1,-1,-55">
 265             <text box="-53,0,51,6"/>
 266           </tran_glyph>
 267           <tran_glyph ref="1/17" conn="121,91,1,-1,-55">
 268             <text box="-53,0,51,7"/>
 269           </tran_glyph>
 270           <tran_glyph ref="1/18" conn="6,70,3,-1,55">
 271             <text box="1,0,54,6"/>
 272           </tran_glyph>
 273           <tran_glyph ref="1/19" conn="6,77,3,-1,55">
 274             <text box="1,0,50,6"/>
 275           </tran_glyph>
 276           <tran_glyph ref="1/20" conn="121,70,1,-1,-55">
 277             <text box="-53,0,53,7"/>
 278           </tran_glyph>
 279           <tran_glyph ref="1/21" conn="121,77,1,-1,-55">
 280             <text box="-53,0,50,6"/>
 281           </tran_glyph>
 282         </state_diagram>
 283       </statechart>
 284     </class>
 285     <class name="Stepper" superclass="../../0/1">
 286       <documentation>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 287 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 288 p, li { white-space: pre-wrap; }
 289 &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Tahoma'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
 290 &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;A common stepper motor HSM for azimuth and elevation motion&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</documentation>
 291       <attribute name="basePeriod" type="double" visibility="0x02" properties="0x00"/>
 292       <attribute name="slewTimer" type="uint32_t" visibility="0x02" properties="0x00"/>
 293       <attribute name="totalSlewSteps" type="uint32_t" visibility="0x02" properties="0x00"/>
 294       <attribute name="accelerationFactor" type="double" visibility="0x02" properties="0x00"/>
 295       <attribute name="stepPeriod" type="double" visibility="0x02" properties="0x00"/>
 296       <attribute name="stepTimer" type="uint32_t" visibility="0x02" properties="0x00"/>
 297       <attribute name="slewStepCount" type="uint32_t" visibility="0x02" properties="0x00"/>
 298       <attribute name="decelerationStep" type="uint32_t" visibility="0x02" properties="0x00"/>
 299       <attribute name="stepPosition" type="int32_t" visibility="0x02" properties="0x00"/>
 300       <attribute name="direction" type="int8_t" visibility="0x02" properties="0x00"/>
 301       <attribute name="queueStepTime" type="FPQueueStepTime" visibility="0x02" properties="0x00"/>
 302       <attribute name="setDirection" type="FPSetDirection" visibility="0x02" properties="0x00"/>
 303       <operation name="ctor" type="void" visibility="0x00" properties="0x01">
 304         <code>/* Configure AO_azimuth Stepper */
 305 AO_azimuth.queueStepTime = BSP_nextStepTimer3;
 306 AO_azimuth.setDirection = BSP_azimuthDirection;
 307 QActive_ctor((QActive *)&amp;AO_azimuth, (QStateHandler)&amp;Stepper_initial);
 308 BSP_initStepTimer3((QActive *)&amp;AO_azimuth);
 309 BSP_initAzimuthFault((QActive *)&amp;AO_azimuth);
 310 /* Configure AO_elevation Stepper */
 311 AO_elevation.queueStepTime = BSP_nextStepTimer4;
 312 AO_elevation.setDirection = BSP_elevationDirection;
 313 QActive_ctor((QActive *)&amp;AO_elevation, (QStateHandler)&amp;Stepper_initial);
 314 BSP_initStepTimer4((QActive *)&amp;AO_elevation);
 315 BSP_initElevationFault((QActive *)&amp;AO_elevation);</code>
 316       </operation>
 317       <statechart>
 318         <initial target="../1">
 319           <action/>
 320         </initial>
 321         <state name="operational">
 322           <entry>initialiseStepperData(me);
 323 </entry>
 324           <exit/>
 325           <initial target="../2">
 326             <action/>
 327           </initial>
 328           <state name="LinearAccelerator">
 329             <entry>setupLinearAccelerator(me);
 330 (*me-&gt;setDirection)(me-&gt;direction);
 331 </entry>
 332             <exit/>
 333             <initial target="../3">
 334               <action/>
 335             </initial>
 336             <tran trig="STEPPER_FAULT" target="../../2"/>
 337             <state name="LinearDecelerate">
 338               <entry>decelerationStepPeriod(me);
 339 (*me-&gt;queueStepTime)(me-&gt;stepTimer);</entry>
 340               <exit/>
 341               <tran trig="NEXT_STEP_TIME">
 342                 <action>me-&gt;slewStepCount++;
 343 me-&gt;stepPosition += me-&gt;direction;</action>
 344                 <choice guard="me-&gt;slewStepCount &lt;  me-&gt;totalSlewSteps">
 345                   <action>decelerationStepPeriod(me);
 346 (*me-&gt;queueStepTime)(me-&gt;stepTimer);</action>
 347                 </choice>
 348                 <choice guard="else" target="../../../../2">
 349                   <action/>
 350                 </choice>
 351               </tran>
 352             </state>
 353             <state name="LinearAccelerate">
 354               <entry>(*me-&gt;queueStepTime)(me-&gt;stepTimer);
 355 accelerationStepPeriod(me);</entry>
 356               <exit/>
 357               <tran trig="NEXT_STEP_TIME">
 358                 <action>me-&gt;slewStepCount++;
 359 me-&gt;stepPosition += me-&gt;direction;</action>
 360                 <choice guard="else" target="../../../2">
 361                   <action/>
 362                 </choice>
 363                 <choice guard="me-&gt;slewStepCount &lt; me-&gt;decelerationStep">
 364                   <action/>
 365                   <choice guard="me-&gt;stepTimer &gt; me-&gt;slewTimer">
 366                     <action>(*me-&gt;queueStepTime)(me-&gt;stepTimer);
 367 accelerationStepPeriod(me);</action>
 368                   </choice>
 369                   <choice guard="else" target="../../../../4">
 370                     <action>me-&gt;stepTimer = me-&gt;slewTimer;
 371 me-&gt;decelerationStep =
 372 me-&gt;totalSlewSteps - me-&gt;slewStepCount;</action>
 373                   </choice>
 374                 </choice>
 375               </tran>
 376             </state>
 377             <state name="LinearConstantSpeed">
 378               <entry>(*me-&gt;queueStepTime)(me-&gt;stepTimer);</entry>
 379               <exit/>
 380               <tran trig="NEXT_STEP_TIME">
 381                 <action>me-&gt;slewStepCount++;
 382 me-&gt;stepPosition += me-&gt;direction;</action>
 383                 <choice guard="me-&gt;slewStepCount &lt;  me-&gt;decelerationStep">
 384                   <action>(*me-&gt;queueStepTime)(me-&gt;stepTimer);</action>
 385                 </choice>
 386                 <choice guard="else" target="../../../2">
 387                   <action/>
 388                 </choice>
 389               </tran>
 390             </state>
 391           </state>
 392           <state name="Stopped">
 393             <entry/>
 394             <exit/>
 395             <tran trig="SET_BASE_SPEED">
 396               <action>/* Calculate and store (double)basePeriod */
 397 UParam p; p.param = Q_PAR(me);
 398 me-&gt;basePeriod =
 399 AZIMUTH_CLOCK_DBL / p.dbl; </action>
 400             </tran>
 401             <tran trig="SET_SLEW_SPEED">
 402               <action>/* Calculate and store (uint32_t)slewPeriod */
 403 UParam p; p.param = Q_PAR(me);
 404 me-&gt;slewTimer = (uint32_t)
 405 (AZIMUTH_CLOCK_DBL / p.dbl);</action>
 406             </tran>
 407             <tran trig="SET_ACCELERATION">
 408               <action>/* Calculate and store derived factor */
 409 UParam p; p.param = Q_PAR(me);
 410 me-&gt;accelerationFactor = p.dbl
 411 / AZIMUTH_CLOCK_DBL
 412 / AZIMUTH_CLOCK_DBL;</action>
 413             </tran>
 414             <tran trig="SET_TOTAL_STEPS">
 415               <action>UParam p; p.param = Q_PAR(me);
 416 me-&gt;totalSlewSteps = p.uint32;</action>
 417             </tran>
 418             <tran trig="START_LINEAR_SLEW">
 419               <choice guard="me-&gt;totalSlewSteps &gt; 0" target="../../../1">
 420                 <action/>
 421               </choice>
 422             </tran>
 423             <tran trig="SET_DIRECTION_UP_CW">
 424               <action>me-&gt;direction = 1;</action>
 425             </tran>
 426             <tran trig="SET_DIRECTION_DOWN_CCW">
 427               <action>me-&gt;direction = -1;</action>
 428             </tran>
 429           </state>
 430         </state>
 431         <state_diagram size="207,143">
 432           <state_glyph ref="1" node="3,6,201,133">
 433             <text box="0,2,30,8"/>
 434           </state_glyph>
 435           <state_glyph ref="1/2" node="6,19,30,54"/>
 436           <state_glyph ref="1/1" node="39,11,70,80">
 437             <text box="0,2,34,6"/>
 438           </state_glyph>
 439           <state_glyph ref="1/1/2" node="45,68,61,19">
 440             <text box="0,2,32,6"/>
 441           </state_glyph>
 442           <state_glyph ref="1/1/3" node="42,19,64,24">
 443             <text box="0,2,36,7"/>
 444           </state_glyph>
 445           <state_glyph ref="1/1/4" node="45,47,61,19">
 446             <text box="0,2,36,8"/>
 447           </state_glyph>
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 450           </initial_glyph>
 451           <tran_glyph ref="1/2/0" conn="6,24,3,-1,28">
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 454           <tran_glyph ref="1/2/1" conn="6,34,3,-1,28">
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 459           </tran_glyph>
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 467             <text box="1,0,6,2"/>
 468           </initial_glyph>
 469           <tran_glyph ref="1/1/3/0" conn="42,28,3,-1,24">
 470             <text box="1,0,23,7"/>
 471           </tran_glyph>
 472           <choice_glyph ref="1/1/3/0/0" conn="66,28,4,3,17,-24,28,3">
 473             <text box="1,7,6,2"/>
 474           </choice_glyph>
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 476             <text box="1,-2,52,2"/>
 477           </choice_glyph>
 478           <tran_glyph ref="1/2/5" conn="6,63,3,-1,28">
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 480           </tran_glyph>
 481           <tran_glyph ref="1/2/6" conn="6,68,3,-1,28">
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 483           </tran_glyph>
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 485             <text box="1,-6,27,6"/>
 486           </choice_glyph>
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 488             <text box="1,1,28,8"/>
 489           </choice_glyph>
 490           <tran_glyph ref="1/1/4/0" conn="45,58,3,-1,26">
 491             <text box="1,0,25,7"/>
 492           </tran_glyph>
 493           <choice_glyph ref="1/1/4/0/0" conn="71,58,5,-1,28">
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 495           </choice_glyph>
 496           <choice_glyph ref="1/1/4/0/1" conn="71,58,4,0,10">
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 498           </choice_glyph>
 499           <tran_glyph ref="1/1/2/0" conn="45,78,3,-1,26">
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 506             <text box="1,4,6,2"/>
 507           </choice_glyph>
 508           <choice_glyph ref="1/2/4/0" conn="17,82,5,3,22">
 509             <text box="1,-3,18,3"/>
 510           </choice_glyph>
 511           <initial_glyph ref="1/0" conn="14,16,5,0,4,3">
 512             <text box="1,0,6,2"/>
 513           </initial_glyph>
 514           <tran_glyph ref="1/1/1" conn="39,86,3,2,-26,-13">
 515             <text box="-21,-2,17,2"/>
 516           </tran_glyph>
 517         </state_diagram>
 518       </statechart>
 519     </class>
 520   </package>
 521   <filesystem path=".">
 522     <directory name="qm_code">
 523       <file name="stepper.h">
 524         <text>//
 525 // Product: Radiotelescope - Stepper Motor Controller
 526 // Version: 0.1
 527 // Date:    25 November 2010
 528 //
 529 //                      +-----------------------+
 530 //                      |   d e c i s i o n s   |
 531 //                      +-----------------------|
 532 //                      | a n d   d e s i g n s |
 533 //                      +-----------------------+
 534 //
 535 // Copyright (C) 2009 Decisions and Designs Pty Ltd. All rights reserved.
 536 //
 537 // This software may be distributed and modified under the terms of the GNU
 538 // General Public License version 2 (GPL) as published by the Free Software
 539 // Foundation and appearing in the file GPL.TXT included in the packaging of
 540 // this file. Please note that GPL Section 2[b] requires that all works based
 541 // on this software must also be made publicly available under the terms of
 542 // the GPL (&quot;Copyleft&quot;).
 543 //
 544 // Contact information:
 545 // Decisions and Designs Web site: http://www.decisions-and-designs.com.au
 546 // e-mail:                         [email protected]
 547 //
 548
 549 #ifndef stepper_h
 550 #define stepper_h
 551
 552 #include &quot;bsp.h&quot; /* for board specific STEP_PERIOD macro */
 553
 554 /* Stepping definitions */
 555 #define SLOW_STEP_PERIOD STEP_PERIOD(500000L)
 556 #define MIN_SETUP_TIME STEP_PERIOD(1000L)
 557 #define MID_SET_TIME   0x8000
 558 #define MAX_SETUP_TIME (0xffff - PULSE_TIME)
 559 #define PULSE_TIME     STEP_PERIOD(100L)
 560
 561 #define STEPPER_SIGS()          \
 562     NEXT_STEP_TIME_SIG,         \
 563     SET_ACCELERATION_SIG,       \
 564     SET_BASE_SPEED_SIG,         \
 565     SET_SLEW_SPEED_SIG,         \
 566     SET_TOTAL_STEPS_SIG,        \
 567     SET_DIRECTION_UP_CW_SIG,    \
 568     SET_DIRECTION_DOWN_CCW_SIG, \
 569     START_LINEAR_SLEW_SIG
 570
 571 #endif                                                         /* stepper_h */
 572 </text>
 573       </file>
 574       <file name="ui.c">
 575         <text>//
 576 // Product: Radiotelescope - Stepper Motor Controller
 577 // Version: 0.1
 578 // Date:    25 November 2010
 579 //
 580 //                      +-----------------------+
 581 //                      |   d e c i s i o n s   |
 582 //                      +-----------------------|
 583 //                      | a n d   d e s i g n s |
 584 //                      +-----------------------+
 585 //
 586 // Copyright (C) 2009 Decisions and Designs Pty Ltd. All rights reserved.
 587 //
 588 // This software may be distributed and modified under the terms of the GNU
 589 // General Public License version 2 (GPL) as published by the Free Software
 590 // Foundation and appearing in the file GPL.TXT included in the packaging of
 591 // this file. Please note that GPL Section 2[b] requires that all works based
 592 // on this software must also be made publicly available under the terms of
 593 // the GPL (&quot;Copyleft&quot;).
 594 //
 595 // Contact information:
 596 // Decisions and Designs Web site: http://www.decisions-and-designs.com.au
 597 // e-mail:                         [email protected]
 598 //
 599
 600 #include &quot;radiotelescope.h&quot;
 601 #include &quot;signals.h&quot;
 602 #include &quot;serial_command.h&quot;
 603 #include &quot;ui.h&quot;
 604
 605 extern Menu menu[];
 606 extern MenuSignal menuSignal[];
 607
 608 #define UI_TX_BUFFER_LENGTH 80
 609
 610 /* encapsulated delcaration of the UI active object ------------------------*/
 611 $declare(AOs::UI)
 612
 613 /* global objects ----------------------------------------------------------*/
 614 UI AO_UI;
 615
 616 /* Active object definition ------------------------------------------------*/
 617 $define(AOs::UI)</text>
 618       </file>
 619       <file name="stepper.c">
 620         <text>//
 621 // Product: Radiotelescope - Stepper Motor Controller
 622 // Version: 0.1
 623 // Date:    25 November 2010
 624 //
 625 //                      +-----------------------+
 626 //                      |   d e c i s i o n s   |
 627 //                      +-----------------------|
 628 //                      | a n d   d e s i g n s |
 629 //                      +-----------------------+
 630 //
 631 // Copyright (C) 2009 Decisions and Designs Pty Ltd. All rights reserved.
 632 //
 633 // This software may be distributed and modified under the terms of the GNU
 634 // General Public License version 2 (GPL) as published by the Free Software
 635 // Foundation and appearing in the file GPL.TXT included in the packaging of
 636 // this file. Please note that GPL Section 2[b] requires that all works based
 637 // on this software must also be made publicly available under the terms of
 638 // the GPL (&quot;Copyleft&quot;).
 639 //
 640 // Contact information:
 641 // Decisions and Designs Web site: http://www.decisions-and-designs.com.au
 642 // e-mail:                         [email protected]
 643 //
 644
 645 #include &quot;radiotelescope.h&quot;
 646 #include &quot;signals.h&quot;
 647 #include &quot;stepper.h&quot;
 648 #include &quot;qpn_port.h&quot;
 649 #include &quot;bsp.h&quot;
 650
 651 /* Typedefs for pointers to (timer and direction) driver functions */
 652 typedef uint8_t (*FPQueueStepTime)(uint32_t);
 653 typedef void (*FPSetDirection)(int8_t);
 654
 655 /* declaration of the Stepper active object --------------------------------*/
 656 $declare(AOs::Stepper)
 657
 658 /* FP for support code */
 659 void initialiseStepperData(Stepper *me);
 660 void setupLinearAccelerator(Stepper *me);
 661 void accelerationStepPeriod(Stepper *me);
 662 void decelerationStepPeriod(Stepper *me);
 663
 664 /* global objects ----------------------------------------------------------*/
 665 Stepper AO_azimuth;
 666 Stepper AO_elevation;
 667
 668 /* Active object definition ------------------------------------------------*/
 669 $define(AOs::Stepper)
 670
 671 /* Support code */
 672 void initialiseStepperData(Stepper *me)
 673 {
 674     me-&gt;basePeriod = (double)SLOW_STEP_PERIOD;
 675     me-&gt;slewTimer = SLOW_STEP_PERIOD;
 676     me-&gt;totalSlewSteps = 0;
 677     me-&gt;accelerationFactor = 0.0;
 678 }
 679
 680 void setupLinearAccelerator(Stepper *me)
 681 {
 682     me-&gt;stepPeriod = me-&gt;basePeriod;
 683     me-&gt;stepTimer = (uint32_t)me-&gt;stepPeriod;
 684     me-&gt;slewStepCount = 0;
 685     me-&gt;decelerationStep = (me-&gt;totalSlewSteps + 1) / 2;
 686 }
 687
 688 void accelerationStepPeriod(Stepper *me)
 689 {
 690     me-&gt;stepPeriod -=   me-&gt;accelerationFactor
 691                       * me-&gt;stepPeriod
 692                       * me-&gt;stepPeriod
 693                       * me-&gt;stepPeriod;
 694     me-&gt;stepTimer = (uint32_t)me-&gt;stepPeriod;
 695 }
 696
 697 void decelerationStepPeriod(Stepper *me)
 698 {
 699     me-&gt;stepPeriod +=   me-&gt;accelerationFactor
 700                       * me-&gt;stepPeriod
 701                       * me-&gt;stepPeriod
 702                       * me-&gt;stepPeriod;
 703     me-&gt;stepTimer = (uint32_t)me-&gt;stepPeriod;
 704 }
 705 </text>
 706       </file>
 707       <file name="ui.h">
 708         <text>//
 709 // Product: Radiotelescope - Stepper Motor Controller
 710 // Version: 0.1
 711 // Date:    25 November 2010
 712 //
 713 //                      +-----------------------+
 714 //                      |   d e c i s i o n s   |
 715 //                      +-----------------------|
 716 //                      | a n d   d e s i g n s |
 717 //                      +-----------------------+
 718 //
 719 // Copyright (C) 2009 Decisions and Designs Pty Ltd. All rights reserved.
 720 //
 721 // This software may be distributed and modified under the terms of the GNU
 722 // General Public License version 2 (GPL) as published by the Free Software
 723 // Foundation and appearing in the file GPL.TXT included in the packaging of
 724 // this file. Please note that GPL Section 2[b] requires that all works based
 725 // on this software must also be made publicly available under the terms of
 726 // the GPL (&quot;Copyleft&quot;).
 727 //
 728 // Contact information:
 729 // Decisions and Designs Web site: http://www.decisions-and-designs.com.au
 730 // e-mail:                         [email protected]
 731 //
 732
 733 #ifndef ui_h
 734 #define ui_h
 735
 736 #endif                                                             /* ui_h */
 737 </text>
 738       </file>
 739       <file name="radiotelescope.h">
 740         <text>//
 741 // Product: Radiotelescope - Stepper Motor Controller
 742 // Version: 0.1
 743 // Date:    25 November 2010
 744 //
 745 //                      +-----------------------+
 746 //                      |   d e c i s i o n s   |
 747 //                      +-----------------------|
 748 //                      | a n d   d e s i g n s |
 749 //                      +-----------------------+
 750 //
 751 // Copyright (C) 2009 Decisions and Designs Pty Ltd. All rights reserved.
 752 //
 753 // This software may be distributed and modified under the terms of the GNU
 754 // General Public License version 2 (GPL) as published by the Free Software
 755 // Foundation and appearing in the file GPL.TXT included in the packaging of
 756 // this file. Please note that GPL Section 2[b] requires that all works based
 757 // on this software must also be made publicly available under the terms of
 758 // the GPL (&quot;Copyleft&quot;).
 759 //
 760 // Contact information:
 761 // Decisions and Designs Web site: http://www.decisions-and-designs.com.au
 762 // e-mail:                         [email protected]
 763 //
 764
 765 #ifndef radiotelescope_h
 766 #define radiotelescope_h
 767
 768 #include &quot;qpn_port.h&quot;
 769
 770 /* active objects ..........................................................*/
 771
 772 $declare(AOs::UI::ctor)
 773 $declare(AOs::Stepper::ctor)
 774
 775 extern struct StepperTag AO_azimuth;
 776 extern struct StepperTag AO_elevation;
 777 extern struct UITag AO_UI;
 778
 779 #endif                                                  /* radiotelescope_h */</text>
 780       </file>
 781     </directory>
 782   </filesystem>
 783 </model>