static void rs232_recv(uint8_t byte)
{
// just an echo back dummy.
rs232_send('=');
rs232_send(byte);
cmd_seen = byte;
}
/* Send a serial command frame to the ATMega3290 Processor on Raven
via serial port */
static void
send_frame(uint8_t cmd, uint8_t len, uint8_t *payload)
{
uint8_t i;
rs232_send(0, SOF_CHAR); /* Start of Frame */
rs232_send(0, len);
rs232_send(0, cmd);
for (i=0; i<len; i++)
rs232_send(0,*payload++);
rs232_send(0, EOF_CHAR);
}
int term_phoenix_send(uint8_t * buf, int len)
{
uint8_t *echobuf = NULL;
int res;
assert((echobuf = alloca(len)));
res = rs232_send(fd, buf, len);
if (res < 0)
return res;
else if (res != len)
return -EIO;
// kill the echo!
//printf("echo\n");
res = rs232_read(fd, echobuf, len);
//printf("echo done\n");
if (res < 0)
return res;
else if (res != len)
return -EIO;
// paranoia mode!
if (memcmp(buf, echobuf, len))
return -EIO;
return 0;
}
void sendUSBString(char *s)
{
TOGGLE_IO11();
USBNWrite(TXC2,FLUSH);
while(*s != '\0')
USBNWrite(TXD2,*s++);
rs232_send();
}
static int rs232_putchar(char ch, FILE *fp)
{
if (!rs232_headroom)
{
while (!rs232_headroom)
;
}
return rs232_send((uint8_t)ch);
}
//SIGNAL(SIG_UART_RECV)
void sendUSB(char c)
{
TOGGLE_IO11();
//UARTWrite("tipp");
//fifo_put (toUSBFIFO,UARTGetChar());
USBNWrite(TXC2,FLUSH);
USBNWrite(TXD2,c);
rs232_send();
// USBNWrite(TXC1,FLUSH);
// USBNWrite(TXD1,0x44);
}
int _write(int file, char *ptr, int len) {
int i;
for (i = 0; i < len; i++) {
#if ADD_CARRAGE_RETURNS_TO_SERIAL_OUTPUT
if(*ptr=='\n') {
rs232_send(stdout_rs232_port, '\r');
}
if(*ptr=='\r') {
ptr++;
}
else {
rs232_send(stdout_rs232_port, *ptr++);
}
#else
rs232_send(stdout_rs232_port, *ptr++);
#endif
}
return len;
}
/*---------------------------------------------------------------------------*/
void
rs232_print(char *cptr)
{
/* lock UART for the print operation */
if(uart_lock(UART_MODE_RS232)) {
while(*cptr != 0) {
rs232_send(*cptr);
++cptr;
}
uart_unlock(UART_MODE_RS232);
}
}
int main(void)
{
usbprog.datatogl = 0; // 1MHz
// init fifos
// fifo_init (toRS232FIFO, toRS232Buf, 100);
// fifo_init (toUSBFIFO, toUSBBuf, 100);
USBNCallbackFIFORX1(&USBtoRS232);
//USBNCallbackFIFOTX2Ready(&USBtoRS232);
sei(); // activate global interrupts
// UARTInit(); // only for debugging
// setup usbstack with your descriptors
USBNInit(usbrs232,usbrs232Conf);
USBNInitMC(); // start usb controller
USBNStart(); // start device stack
// sendUSBString("Hello World!");
while(1){
#if 0
// wenn cpu zeit vorhanden fifos weiterverteilen
// usb -> rs232
// rs232 -> usb
if( USBBuf_i>2){
USBNWrite(TXC2,FLUSH);
USBNWrite(TXD2,toUSBBuf[0]);
USBNWrite(TXD2,toUSBBuf[1]);
//USBNWrite(TXD2,0x46);
//send_toggle();
rs232_send();
USBBuf_i=0;
}
_delay_ms(1);
#endif
}
}
int main()
{
static uint16_t pulse_width;
DDRB = 0;
DDRD = 0;
LED_DDR |= LED_BITS; // LED pins out
DDRB |= (1<<PB4); // PWM out
PORTD = (1<<PD2)|(1<<PD3); // pullups for sensors
PORTB = (1<<PB0)|(1<<PB1)|(1<<PB2); // pullups for switches
timer_init();
hall_init();
sei(); // enable interrupts.
uint16_t pwm_stop_val = (PW_MIN+PW_MAX)/2+PW_TUNED_STOP;
OCR1B = pulse_width = pwm_stop_val; // start stopped.
#define BAUD 19200
rs232_init(UBRV(BAUD), &rs232_recv);
uint16_t counter = 0;
uint8_t paused = 0;
uint8_t button_seen = 0;
int16_t incr_counter = 0;
for (;;)
{
if (!button_seen)
{
if ((PINB & (1<<PB0)) || cmd_seen == '+' || cmd_seen == 'l')
{
if (!cmd_seen) button_seen = 1;
if (paused)
{
pulse_width = pwm_stop_val;
incr_counter = 0;
}
incr_counter++;
pulse_width = pwm_stop_val + speedup(incr_counter) * PW_BUT_INCR;
if (pulse_width > PW_MAX) pulse_width = PW_MAX;
paused = 0;
rs232_send('l');
}
if ((PINB & (1<<PB2)) || cmd_seen == '-' || cmd_seen == 'r')
{
if (!cmd_seen) button_seen = 1;
if (paused)
{
pulse_width = pwm_stop_val;
incr_counter = 0;
}
incr_counter--;
pulse_width = pwm_stop_val + speedup(incr_counter) * PW_BUT_INCR;
if (pulse_width < PW_MIN) pulse_width = PW_MIN;
paused = 0;
rs232_send('r');
}
if ((PINB & (1<<PB1)) || cmd_seen == ' ')
{
if (!cmd_seen) button_seen = 1;
if (paused)
{
paused = 0;
rs232_send('g');
}
else
{
paused = 1;
rs232_send('p');
}
}
}
else
{
// disable automatic key repeat
if (!(PINB & ((1<<PB0)|(1<<PB1)|(1<<PB2))))
button_seen = 0; // need a release before press.
if (cmd_seen)
rs232_send('!');
}
if (paused)
OCR1B = pwm_stop_val;
else
OCR1B = pulse_width;
if (cmd_seen)
{
cmd_seen = 0; // very small race
rs232_send_hex(pulse_width>>8);
rs232_send_hex(pulse_width&0xff);
rs232_send(' ');
rs232_send_hex(hall_counter>>8);
rs232_send_hex(hall_counter&0xff);
rs232_send('\r');
rs232_send('\n');
}
if (!(counter++ % 8)) // (1<<(led_what-1))))
{
_delay_ms(10.0);
if (pulse_width > pwm_stop_val)
LED_PORT |= GREEN_LED_BITS; // pull high ...
if (pulse_width < pwm_stop_val)
LED_PORT |= RED_LED_BITS; // pull high ...
_delay_ms(10.0);
if (paused) LED_PORT &= ~(LED_BITS); // pull low ...
_delay_ms(80.0);
if (!paused) LED_PORT &= ~(LED_BITS); // pull low ...
}
else
{
_delay_ms(100.0);
}
}
}
/* central command parser */
void Commands()
{
char c = toRS232Buf[0];
usbprog.datatogl = 0;
int pin,value;
int j;
for(j=0;j<8;j++)
toUSBBuf[j]=0;
if((toRS232Buf[1]>=0x31) && (toRS232Buf[1]<=0x39))
pin=(uint8_t)toRS232Buf[1]-0x30;
if(toRS232Buf[1]=='A')pin=10;
if(toRS232Buf[1]=='B')pin=11;
if(toRS232Buf[2]==0x31)value=1;
else value=0;
toUSBBuf[0]=c;
toUSBBuf[1]=toRS232Buf[2];
USBBuf_i=2;
switch(c) {
/*
case PORT_DIRECTION: //WASTE!!!
set_direction((uint8_t)toRS232Buf[1]);
break;
case PORT_SET: // WASTE!!!
set_port(pin, (uint8_t)toRS232Buf[2]);
break;
*/
case PORT_GET:
USBBuf_i=8;
uint8_t port = PINB;
if((port & BIT(IO1))) toUSBBuf[0] = 0x31; else toUSBBuf[0] = 0x30;
if((port & BIT(IO2))) toUSBBuf[1] = 0x31; else toUSBBuf[1] = 0x30;
if((port & BIT(IO3))) toUSBBuf[2] = 0x31; else toUSBBuf[2] = 0x30;
if((port & BIT(IO4))) toUSBBuf[3] = 0x31; else toUSBBuf[3] = 0x30;
if((port & BIT(IO5))) toUSBBuf[4] = 0x31; else toUSBBuf[4] = 0x30;
if((port & BIT(IO6))) toUSBBuf[5] = 0x31; else toUSBBuf[5] = 0x30;
if((port & BIT(IO7))) toUSBBuf[6] = 0x31; else toUSBBuf[6] = 0x30;
if((port & BIT(IO8))) toUSBBuf[7] = 0x31; else toUSBBuf[7] = 0x30;
break;
case PORT_SETPIN:
set_pin(pin,value);
USBBuf_i=0;
break;
case PORT_SETPINDIR:
set_pin_dir(pin,value);
USBBuf_i=0;
break;
case PORT_GETPIN:
if(get_pin(pin)==1)
toUSBBuf[1] = 0x31;
else
toUSBBuf[1] = 0x30;
break;
default:
// unkown command
toUSBBuf[0]='x';
USBBuf_i=0;
}
//USBNWrite(TXC2,FLUSH);
for(j=0;j<USBBuf_i;j++){
USBNWrite(TXD2,toUSBBuf[j]);
}
rs232_send();
USBBuf_i = 0;
}
void
slip_arch_writeb(unsigned char c)
{
rs232_send(c);
}