int main( void )
{
mInit();
mUSBInit();
mBusInit();
// Set up usb interface
bQueue in_q;
bQueue out_q;
usbIface usb( &in_q, &out_q );
// picker_setup();
stepper_setup();
// set_timer5 (60000,30000,1200);
setMode( STEP_8TH);
setSpeedLimits( 65, 500 );
set_speed(m_speed_min);
setAccelerationLimit(100); //5000 is good
uint8_t cmd;
uint16_t pos = 0;
while(1)
{
usb.readBytes();
// Handle bytes
if (!in_q.isempty() ) {
mBlueTOGGLE;
in_q.dequeue(&cmd);
if ( cmd == 'l' ) {
pos += 10;
} else if ( cmd == 'h' ) {
pos -= 10;
}
}
update(pos);
}
return(0);
}
int main (void)
{
mInit();
mBusInit();
mUSBInit();
mWhiteOFF;
mRedOFF;
mGreenON;
for (uint8_t i = 0; i < COMMAND_SIZE + 1; i++)
command_buffer[i] = '\0'; // initialize command buffer
bool sd_initialized = false;
reconnect:
while (bDeviceState != CONFIGURED);
sd_initialized = m_sd_init();
mWaitms (1000);
welcome_screen();
if (!sd_initialized)
printf ("ERROR: Could not initialize microSD card\r\n");
printf ("> ");
for (;;)
{
if (bDeviceState != CONFIGURED)
{
goto reconnect;
}
const int rchar = getchar();
if (rchar < 0)
continue;
const char c = (char)rchar;
if (c == '\n' || c == '\r')
{ // received 'enter'
printf ("\r\n");
if (sd_initialized)
{
process_command();
if (fatal_error)
sd_initialized = false;
}
else
{
if (m_sd_init())
{
fatal_error = false;
sd_initialized = true;
process_command();
if (fatal_error)
sd_initialized = false;
}
else
{
printf ("ERROR: Could not initialize microSD card: error code %d\r\n", m_sd_error_code);
}
}
command_ptr = command_buffer; // reset the current command length to 0
printf ("> ");
}
else if (c == 8 || c == 127)
{ // received backspace (or delete)
if (command_ptr > command_buffer)
{
command_ptr--;
putchar (27); // escape
printf ("[1D"); // move the cursor back 1 character
putchar (27);
printf ("[K"); // erase from the cursor position to the end of the line
}
}
else if (c >= 32 && c < 127)
{ // received a printable character or escape
if (command_ptr < command_buffer + COMMAND_SIZE)
{
*command_ptr = c;
command_ptr++;
putchar (c);
}
else
{ // out of command space: send bell
putchar (7);
}
}
}
return 0;
}
void mBusRestart(uint8_t i2cNum)
{
mBusInit(i2cNum);
}
void mBusRestart(void)
{
mBusInit();
}
