void mon_putc(char ch)
{
while(U1STAbits.UTXBF); /* wait if the buffer is full */
#ifndef STDOUT_NO_CR_WITH_LF
if (LF == ch)
putcUART1(CR);
#endif
#ifdef STDOUT_NO_CR
if (CR == ch)
return;
#endif
putcUART1(ch);
}
void copyMidgToUart1() {
unsigned char buf[MIDG_CHUNKSIZE];
int i;
unsigned char test[] = MSG_DIV(3,5,2,50);
midgMsgAppendChecksum( test );
printToUart1("test of macros: ");
for ( i = 0; i < 9; i++ ) {
printToUart1("%u ", (unsigned int)test[i]);
}
printToUart1("... that was it.\n");
midgRead(buf);
/*
// add NUL terminator after bytes
buf[buf[0]+1] = 0;
// send the number of bytes read from the buffer
printToUart1("%u:<%s>\r\n\0", buf[0], &buf[1]);
*/
printToUart1("%u:<", buf[0]);
for ( i = 1; i <= buf[0]; i++ ) {
putcUART1(buf[i]);
while(BusyUART1());
}
printToUart1(">\r\n\0");
}
//#-------------------------------------------------------------------------------------------------
void COMM1_Tx(unsigned int d)
{
while( U1STAbits.UTXBF);
putcUART1(d);
}
void process_cmd(void)
{
char goodcmd[] = "- Command Accepted.\n\n\r\0";
char evilcmd[] = "- BAD Command.\n\n\r\0";
char *r = evilcmd;
if (cmdissued == 1)
{
switch(*rbufptr++)
{
/*** STEPPER COMMANDS ***/
case 's':
putcUART1('s');
if(*rbufptr++ == 't'){
putcUART1('t');
switch(*rbufptr++){
case 's':{
putcUART1('s');
putcUART1(' ');
// sts command received (start)
if(*rbufptr++ == ' '){
// sts parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;stepper_enable1=1;
}else if(*rbufptr++ == '2'){
r = goodcmd;stepper_enable2=1;
}
}
}break;
case 'p':{
putcUART1('p');
// stp command received (stop)
if(*rbufptr++ == ' '){
// stp parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;stepper_enable1=0;
}else if(*rbufptr++ == '2'){
r = goodcmd;stepper_enable2=0;
}
}
}break;
case 'd':{
putcUART1('d');
// std command received (disable)
if(*rbufptr == ' '){
*rbufptr++;
// std parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;disable_stepper1();
}else if(*rbufptr++ == '2'){
r = goodcmd;disable_stepper2();
}
}else{
switch(*rbufptr++){
// stdc command received (direction clockwise)
case 'c':{
if(*rbufptr++ == ' '){
// stdc parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;direction1=1;
}else if(*rbufptr++ == '2'){
r = goodcmd;direction2=1;
}
}
}break;
// stdh command received (direction counter clockwise)
case 'h':{
if(*rbufptr++ == ' '){
// stdh parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;direction1=0;
}else if(*rbufptr++ == '2'){
r = goodcmd;direction2=0;
}
}
}break;
}
}
}break;
case 'm':{
putcUART1('m');
switch(*rbufptr++){
// stmf command received (Full Step Mode)
case 'f':{
if(*rbufptr++ == ' '){
// stdc parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;mode_step1=1;
}else if(*rbufptr++ == '2'){
r = goodcmd;mode_step2=1;
}
}
}break;
// stmh command received (Half Step Mode)
case 'h':{
if(*rbufptr++ == ' '){
// stdh parameters [1 or 2]
if(*rbufptr == '1'){
r = goodcmd;mode_step1=0;
}else if(*rbufptr++ == '2'){
r = goodcmd;mode_step2=0;
}
}
}break;
}
}break;
case 'f':{
putcUART1('f');
r = goodcmd;
}break;
// invalid command
default: r = evilcmd;break;
}
}
break;
/*** DC MOTOR COMMANDS ***/
case 'm':
putcUART1('m');
if(*rbufptr++ == 'd'){
putcUART1('d');
if(*rbufptr++ == 'c'){
putcUART1('c');
switch(*rbufptr++){
case 'r':{
putcUART1('r');
// mdcr command received (start)
if(*rbufptr++ == ' '){
// mdcr parameters []
r = goodcmd; SetDCOC1PWM(*rbufptr);
}
}break;
case 'p':{
putcUART1('p');
// mdcp command received (start)
if(*rbufptr++ == ' '){
// mdcp parameters []
}
}break;
case 'i':{
putcUART1('i');
// mdci command received (start)
if(*rbufptr++ == ' '){
// mdci parameters []
}
}break;
case 'd':{
putcUART1('d');
// mdcd command received (start)
if(*rbufptr++ == ' '){
// mdcd parameters []
}
}break;
}
}
}
break;
}
rbufptr = (char*)bufstt;
wbufptr = rbufptr;
putsUART1((unsigned int *)r);
while(BusyUART1());
cmdissued = 0;
}
}
