U8 readInt(int *val){
unsigned long T = Global_time;
unsigned long R = 0;
int readed;
U8 sign = 0, rb, ret = 0, bad = 0;
do{
if(!UART_read_byte(&rb)) continue;
if(rb == '-' && R == 0){ // negative number
sign = 1;
continue;
}
if(rb < '0' || rb > '9') break; // number ends with any non-digit symbol that will be omitted
ret = 1; // there's at least one digit
R = R * 10L + rb - '0';
if(R > 0x7fff){ // bad value
R = 0;
bad = 0;
}
}while(Global_time - T < 10000); // wait no longer than 10s
if(bad || !ret) return 0;
readed = (int) R;
if(sign) readed *= -1;
*val = readed;
return 1;
}
/*****************************************************************************
main()
No introduction needed ...
****************************************************************************/
void main(void) {
Init_hardware();
Init_UART();
while (1) {
uint8_t b;
b = UART_read_byte();
b = filter(b);
UART_send(b);
}
}
int main() {
unsigned long T = 0L;
int Ival;
U8 rb, Num;
CFG_GCR |= 1; // disable SWIM
// Configure clocking
CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
// Timer 4 (8 bit) used as system tick timer
// prescaler == 128 (2^7), Tfreq = 125kHz
// period = 1ms, so ARR = 125
TIM4_PSCR = 7;
TIM4_ARR = 125;
// interrupts: update
TIM4_IER = TIM_IER_UIE;
// auto-reload + interrupt on overflow + enable
TIM4_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
// Configure pins
// PC2 - PP output (on-board LED)
PORT(LED_PORT, DDR) |= LED_PIN;
PORT(LED_PORT, CR1) |= LED_PIN;
// PD5 - UART2_TX -- pseudo open-drain output; don't forget an pullup resistor!
PORT(UART_PORT, DDR) |= UART_TX_PIN;
PORT(UART_PORT, ODR) |= UART_TX_PIN; // torn off N push-down ???
//PORT(UART_PORT, CR1) |= UART_TX_PIN;
// Configure UART
// 9 bit, no parity, 1 stop (UART_CR3 = 0 - reset value)
// 57600 on 16MHz: BRR1=0x11, BRR2=0x06
UART2_BRR1 = 0x11; UART2_BRR2 = 0x06;
UART2_CR1 = UART_CR1_M; // M = 1 -- 9bits
UART2_CR2 = UART_CR2_REN | UART_CR2_RIEN; // Allow RX, generate ints on rx
setup_stepper_pins();
// enable all interrupts
enableInterrupts();
// Loop
do{
if((Global_time - T > paused_val) || (T > Global_time)){
T = Global_time;
PORT(LED_PORT, ODR) ^= LED_PIN; // blink on-board LED
}
if(UART_read_byte(&rb)){ // buffer isn't empty
switch(rb){
case 'h': // help
case 'H':
uart_write("\nPROTO:\n"
"+/-\tLED period\n"
"Ex/ex\tset/get end-switches stored\n"
"p\tget HW end-switches\n"
"Mx\tstop on end-switch\n"
"Sx/sx\tset/get Mspeed\n"
"mx\tget steps\n"
"Px\tpause/resume\n"
"Xx\tstop\n"
"0..2N\tmove xth motor for N steps\n"
"=\tinfinity moving (after 0..2)"
"U/u\tset/get U-stepping\n"
"I\tget serial ID\n"
"N\tchange HW number\n"
"n\tshow HW number\n"
);
break;
case 'I': // get serial id
show_uid();
break;
case '+':
paused_val += 100;
if(paused_val > 10000)
paused_val = 500; // but not more than 10s
break;
case '-':
paused_val -= 100;
if(paused_val < 100) // but not less than 0.1s
paused_val = 500;
break;
case 'E': // set end-switches value
if(get_motor_number(&Num)){
if(readInt(&Ival) && (Ival == (Ival & 0x1f))){
if(Num)
EPs[Num] = Ival & 0x0f; // 4 bits in motors 1&2
else
EPs[0] = Ival; // all 5 bits in motor 0
}else
error_msg("bad EP");
}
break;
case 'e': // get stored end-switches value
if(get_motor_number(&Num)){
printUint(&EPs[Num], 1);
}
break;
case 'p': // get hardware end-switches value
if(get_motor_number(&Num)){
Num = get_ep_value(Num);
printUint(&Num, 1);
}
break;
case 'S': // set stepper speed
if(get_motor_number(&Num)){
if(readInt(&Ival) && Ival > MIN_STEP_LENGTH)
set_stepper_speed(Num, Ival);
else
error_msg("bad speed");
}
break;
case 's': // get stepper speed
if(get_motor_number(&Num))
printUint((U8*)&Stepper_speed[Num], 2);
break;
case 'M': // move till EP, you can call it before starting motor
if(get_motor_number(&Num))
Stop_on_EP[Num] = 1;
break;
case 'm': // how much steps there is to the end of moving
if(get_motor_number(&Num))
printUint((U8*)&Nsteps[Num], 2);
break;
case 'X': // stop
if(get_motor_number(&Num))
stop_motor(Num);
break;
case 'P': // pause/resume
if(get_motor_number(&Num))
pause_resume(Num);
break;
case 'N':
if(readInt(&Ival) && Ival > 0 && Ival < 256)
if(!change_progmem_value(&UART_devNUM, (unsigned int) Ival))
error_msg("can't change val");
break;
case 'n': // show HW num
printUint(&UART_devNUM, 1);
break;
case 'u': // show UStepping
printUint(&USteps, 1);
break;
case 'U': // set UStepping
if(readInt(&Ival) && Ival > 0 && Ival < 256)
USteps = Ival;
break;
case '=': // infinity moving: just don't decrement steps
StepperInfty = 1;
break;
default:
if(rb >= '0' && rb <= '2'){ // run motor
Num = rb - '0';
if(readInt(&Ival) && Ival)
move_motor(Num, Ival);
else{
error_msg("bad Nsteps");
}
}
}
}
}while(1);
}
int main() {
unsigned long T = 0L;
U8 rb, waitfor = 0;
U8 *outbuf = "Hello, world";
U8 inbuf[13] = {0};
U8 inoutbuf[] = {'G','o','o','d','b','y','e',0};
CFG_GCR |= 1; // disable SWIM
// Configure clocking
CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
// Timer 4 (8 bit) used as system tick timer
// prescaler == 128 (2^7), Tfreq = 125kHz
// period = 1ms, so ARR = 125
TIM4_PSCR = 7;
TIM4_ARR = 125;
// interrupts: update
TIM4_IER = TIM_IER_UIE;
// auto-reload + interrupt on overflow + enable
TIM4_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
// PC2 - PP output (on-board LED)
PORT(LED_PORT, DDR) |= LED_PIN;
PORT(LED_PORT, CR1) |= LED_PIN;
uart_init();
spi_init();
// enable all interrupts
enableInterrupts();
// Loop
do{
if((Global_time - T > paused_val) || (T > Global_time)){
T = Global_time;
PORT(LED_PORT, ODR) ^= LED_PIN; // blink on-board LED
}
if(waitfor && spi_buf_sent()){
if(waitfor == 1)
uart_write(inbuf);
else
uart_write(inoutbuf);
waitfor = 0;
}
if(UART_read_byte(&rb)){ // buffer isn't empty
switch(rb){
case 'h': // help
case 'H':
UART_send_byte(rb);
uart_write("\nPROTO:\n+/-\tLED period\n"
);
break;
case '+':
UART_send_byte(rb);
paused_val += 100;
if(paused_val > 10000)
paused_val = 500; // but not more than 10s
break;
case '-':
UART_send_byte(rb);
paused_val -= 100;
if(paused_val < 500) // but not less than 0.5s
paused_val = 500;
break;
case 's':
spi_init();
break;
case 'b':
printUHEX(SPI_SR);
break;
case '1':
spi_send_buffer(outbuf, 12, inbuf);
waitfor = 1;
break;
case '2':
spi_send_buffer(inoutbuf, 7, inoutbuf);
waitfor = 2;
break;
default:
UART_send_byte(spi_send_byte(rb)); // send received byte to SPI & write ans to UART
}
}
}while(1);
}
int main() {
unsigned long T = 0L;
int Ival;
U8 rb;
CFG_GCR |= 1; // disable SWIM
// Configure clocking
CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
// Configure timer 1 - systick
// prescaler = f_{in}/f_{tim1} - 1
// set Timer1 to 1MHz: 1/1 - 1 = 15
TIM1_PSCRH = 0;
TIM1_PSCRL = 15; // LSB should be written last as it updates prescaler
// auto-reload each 1ms: TIM_ARR = 1000 = 0x03E8
TIM1_ARRH = 0x03;
TIM1_ARRL = 0xE8;
// interrupts: update
TIM1_IER = TIM_IER_UIE;
// auto-reload + interrupt on overflow + enable
TIM1_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
// Configure pins
// PC2 - PP output (on-board LED)
PORT(LED_PORT, DDR) |= LED_PIN;
PORT(LED_PORT, CR1) |= LED_PIN;
// PD5 - UART2_TX
PORT(UART_PORT, DDR) |= UART_TX_PIN;
PORT(UART_PORT, CR1) |= UART_TX_PIN;
// Configure UART
// 8 bit, no parity, 1 stop (UART_CR1/3 = 0 - reset value)
// 57600 on 16MHz: BRR1=0x11, BRR2=0x06
UART2_BRR1 = 0x11; UART2_BRR2 = 0x06;
UART2_CR2 = UART_CR2_TEN | UART_CR2_REN | UART_CR2_RIEN; // Allow RX/TX, generate ints on rx
// enable all interrupts
enableInterrupts();
set_stepper_speed(1000);
setup_stepper_pins();
// Loop
do{
if((Global_time - T > paused_val) || (T > Global_time)){
T = Global_time;
PORT(LED_PORT, ODR) ^= LED_PIN; // blink on-board LED
}
if(UART_read_byte(&rb)){ // buffer isn't empty
switch(rb){
case 'h': // help
case 'H':
uart_write("\nPROTO:\n+/-\tLED period\nS/s\tset/get Mspeed\n"
"m\tget steps\nx\tstop\np\tpause/resume\nM\tmove motor\na\tadd Nstps\n"
"u\tunipolar motor\nb\tbipolar motor\n");
break;
case '+':
paused_val += 100;
if(paused_val > 10000)
paused_val = 500; // but not more than 10s
break;
case '-':
paused_val -= 100;
if(paused_val < 100) // but not less than 0.1s
paused_val = 500;
break;
case 'S': // set stepper speed
if(readInt(&Ival) && Ival > MIN_STEP_LENGTH)
set_stepper_speed(Ival);
else
error_msg("bad speed");
break;
case 's': // get stepper speed
printUint((U8*)&Stepper_speed, 2);
break;
case 'm': // how much steps there is to the end of moving
printUint((U8*)&Nsteps, 4);
break;
case 'M': // move motor
if(Nsteps){
error_msg("moving!");
break;
}
if(readInt(&Ival) && Ival)
move_motor(Ival);
else{
error_msg("bad Nsteps");
}
break;
case 'x': // stop
stop_motor();
break;
case 'p': // pause/resume
pause_resume();
break;
case 'a': // add N steps
if(readInt(&Ival) && Ival){
add_steps(Ival);
}else{
error_msg("bad value");
}
break;
case 'u': // unipolar
usteps = ustepsUNI;
break;
case 'b': // bipolar
usteps = ustepsBIP;
break;
}
}
}while(1);
}
