void CommandLine(void)
{
u08 c;
/* Variable to Run or stop program */
Run = TRUE;
/* Clears the screen and sets the cursor under the Title */
vt100ClearScreen();
vt100SetCursorPos(1,0);
rprintfProgStrM("\r\n\t\t\tStepper Motor Driver - Serial Console\r\n");
cmdlineInit();
cmdlineSetOutputFunc(uartSendByte);
cmdlineAddCommand("quit", quitCommandLine);
cmdlineAddCommand("help", helpDisplay);
cmdlineAddCommand("step", runMotor);
cmdlineInputFunc('\r');
while(Run)
{
while( uartReceiveByte(&c) )
cmdlineInputFunc(c);
cmdlineMainLoop();
}
rprintfCRLF();
rprintf("Program halted.");
}
int
main(int argc, char **argv)
{
char ch;
cprintf("Main started\nVersion: ");
cprintf(MAIN_VERSION);
cprintf("\n");
for (ch = 0; ch < 26; ch++) {
osram_write(osram_init[ch]);
};
rs485Init();
steppersInit();
cmdlineInit();
cmdlineAddCommand("help", do_help);
cmdlineAddCommand("?", do_help);
cmdlineAddCommand("dump", do_dump);
cmdlineAddCommand("ls", do_ls);
cmdlineAddCommand("dir", do_ls);
cmdlineAddCommand("mv", do_rename);
cmdlineAddCommand("rename", do_rename);
cmdlineAddCommand("rm", do_rm);
cmdlineAddCommand("delete", do_rm);
cmdlineAddCommand("spi_speed", do_spi_speed);
cmdlineAddCommand("osram", do_osram);
cmdlineAddCommand("flash", do_flash);
cmdlineAddCommand("readmem", do_readmem);
cmdlineAddCommand("rd", do_rd);
cmdlineAddCommand("wr", do_wr);
cmdlineAddCommand("rd32", do_rd32);
cmdlineAddCommand("wr32", do_wr32);
cmdlineAddCommand("step", do_step);
cmdlineAddCommand("build", do_build);
cmdlineAddCommand("sendcmd", do_sendcmd);
cmdlineAddCommand("reset", (void *)0xE000);
cmdlinePrintPrompt();
while (1) {
if (getc_nowait(&ch)) {
cmdlineInputFunc(ch);
};
cmdlineMainLoop();
rs485MainLoop();
steppersMainLoop();
};
cprintf("\ndone\n");
return 0;
}
void setup_menu (void) { // function for setup menu
char cmd; // variable used as buffer for debug USART and debug menu service
menuInit();
printf("\n\rPress CTRL+C if you want to exit menu and continue running program\n\r");
cmdlinePrintPrompt();
while (1) {
cmd=TM_USART_Getc(MENU_USART);
if(cmd==0x03) { // check for CTRL+C keypress send from terminal emulator
printf("\n\rCTRL+C was detected, leaving menu\n\r");
break;
}
cmdlineInputFunc(cmd);
Delay(100);
cmdlineMainLoop();
}
}
/*------------------------------------------------------------------------------------*/
void tkCmd(void * pvParameters)
{
u08 c;
u08 ticks;
( void ) pvParameters;
while ( !startTask )
vTaskDelay( ( TickType_t)( 100 / portTICK_RATE_MS ) );
cmdlineInit();
cmdlineSetOutputFunc(pvFreeRTOS_UART1_writeChar);
cmdlineAddCommand((u08 *)("cls"), cmdClearScreen );
cmdlineAddCommand((u08 *)("help"), cmdHelpFunction);
cmdlineAddCommand((u08 *)("reset"), cmdResetFunction);
cmdlineAddCommand((u08 *)("read"), cmdReadFunction);
cmdlineAddCommand((u08 *)("write"), cmdWriteFunction);
cmdlineAddCommand((u08 *)("redial"), cmdRedialFunction);
cmdlineAddCommand((u08 *)("status"), cmdStatusFunction);
// Espero la notificacion para arrancar
vTaskDelay( ( TickType_t)( 500 / portTICK_RATE_MS ) );
snprintf_P( cmd_printfBuff,sizeof(cmd_printfBuff),PSTR("starting tkCmd..\r\n\0"));
FreeRTOS_write( &pdUART1, cmd_printfBuff, sizeof(cmd_printfBuff) );
ticks = 1;
FreeRTOS_ioctl( &pdUART1,ioctlSET_TIMEOUT, &ticks );
// loop
for( ;; )
{
u_clearWdg(WDG_CMD);
c = '\0'; // Lo borro para que luego del un CR no resetee siempre el timer.
// el read se bloquea 50ms. lo que genera la espera.
while ( FreeRTOS_read( &pdUART1, &c, 1 ) == 1 ) {
cmdlineInputFunc(c);
}
/* run the cmdline execution functions */
cmdlineMainLoop();
}
}
void goCmdline(void)
{
u08 c;
// print welcome message
vt100ClearScreen();
vt100SetCursorPos(1,0);
rprintfProgStrM("\r\nWelcome to the Command Line Test Suite!\r\n");
// initialize cmdline system
cmdlineInit();
// direct cmdline output to uart (serial port)
cmdlineSetOutputFunc(uartSendByte);
// add commands to the command database
cmdlineAddCommand("exit", exitFunction);
cmdlineAddCommand("help", helpFunction);
cmdlineAddCommand("dumpargs1", dumpArgsStr);
cmdlineAddCommand("dumpargs2", dumpArgsInt);
cmdlineAddCommand("dumpargs3", dumpArgsHex);
// send a CR to cmdline input to stimulate a prompt
cmdlineInputFunc('\r');
// set state to run
Run = TRUE;
// main loop
while(Run)
{
// pass characters received on the uart (serial port)
// into the cmdline processor
while(uartReceiveByte(&c)) cmdlineInputFunc(c);
// run the cmdline execution functions
cmdlineMainLoop();
}
rprintfCRLF();
rprintf("Exited program!\r\n");
}
void tkCmd(void * pvParameters)
{
u08 c;
( void ) pvParameters;
// !!! Requiere que este inicializado el FRTOS porque usa semaforos.
MCP_init(); // IO ports for hardware
vTaskDelay( (portTickType)( 1000 / portTICK_RATE_MS ) );
initDebugRtc();
initBlueTooth();
vt100ClearScreen(CMD_UART);
// Inicializo los parametros de trabajo ( leo la internal EE ).
loadSystemParams();
// Inicializo la memoria. Leo el estado de los punteros ( leo la external EE).
BD_init();
//
vTaskDelay( (portTickType)( 100 / portTICK_RATE_MS ) );
snprintf_P( cmd_printfBuff,CHAR128,PSTR("\r\n.INIT EEmem BD: wrPtr=%d, rdPtr=%d, recUsed=%d, recFree=%d\r\n\0"), BD_getWRptr(), BD_getRDptr(), BD_getRcsUsed(), BD_getRcsFree() );
logPrintStr(LOG_NONE, cmd_printfBuff);
switch (mcpDevice) {
case MCP23008:
#ifdef CHANNELS_3
snprintf_P( cmd_printfBuff,CHAR128,PSTR("System: 3 analogIn,2 digitalIn\r\n\0"));
#endif
#ifdef CHANNELS_8
snprintf_P( cmd_printfBuff,CHAR128,PSTR("System: 8 analogIn,2 digitalIn\r\n\0"));
#endif
break;
case MCP23018:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("System: 3 analogIn,2 digitalIn,4 valves\r\n\0"));
break;
default:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("ERROR !! No analog system detected\r\n\0"));
break;
}
logPrintStr(LOG_NONE, cmd_printfBuff);
// Inicializo el sistema de consignas.
initConsignas();
switch (systemVars.consigna.tipo) {
case CONS_NONE:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("Init consignas: none\r\n\0"));
break;
case CONS_DOBLE:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("Init consignas: doble\r\n\0"));
break;
default:
snprintf_P( cmd_printfBuff,CHAR128,PSTR("Init consignas: ERROR\r\n\0"));
break;
}
logPrintStr(LOG_NONE, cmd_printfBuff);
//
// Init Banner.
snprintf_P( cmd_printfBuff,CHAR128,PSTR("\r\nSpymovil %s %s"), SP5K_MODELO, SP5K_VERSION);
logPrintStr(LOG_NONE, cmd_printfBuff);
snprintf_P( cmd_printfBuff,CHAR128,PSTR(" %d-%s-%s"), NRO_CHANNELS, EE_TYPE, FTYPE);
logPrintStr(LOG_NONE, cmd_printfBuff);
snprintf_P( cmd_printfBuff,CHAR128,PSTR(" %s %s\r\n\0"), SP5K_REV, SP5K_DATE );
logPrintStr(LOG_NONE, cmd_printfBuff);
#ifdef MEMINFO
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_Uart0TxQueue=%lu\r\n\0"), HE_Uart0TxQueue );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_Uart1RxQueue=%lu\r\n\0"), HE_Uart1RxQueue );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_Uart1TxQueue=%lu\r\n\0"), HE_Uart1TxQueue );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_I2Cbus=%lu\r\n\0"), HE_I2Cbus );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_CmdUart=%lu\r\n\0"), HE_CmdUart );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_GprsUart=%lu\r\n\0"), HE_GprsUart );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_digitalIn=%lu\r\n\0"), HE_digitalIn );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_systemVars=%lu\r\n\0"), HE_systemVars );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_BD=%lu\r\n\0"), HE_BD );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkCmd=%lu\r\n\0"), HE_tkCmd );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkDigitalIn=%lu\r\n\0"), HE_tkDigitalIn );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkData=%lu\r\n\0"), HE_tkData );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkControl=%lu\r\n\0"), HE_tkControl );
logPrintStr(LOG_NONE, &cmd_printfBuff);
snprintf_P( &cmd_printfBuff,CHAR128,PSTR("HE_tkGprs=%lu\r\n\0"), HE_tkGprs );
logPrintStr(LOG_NONE, &cmd_printfBuff);
#endif
// Habilito al resto del sistema a arrancar
if (xSemaphoreTake( sem_systemVars, MSTOTAKESYSTEMVARSSEMPH ) == pdTRUE ) {
systemVars.initStatus = TRUE;
xSemaphoreGive( sem_systemVars );
}
for( ;; )
{
// Para medir el uso del stack
tkCmd_uxHighWaterMark = uxTaskGetStackHighWaterMark( NULL );
clearWdg(WDG_CMD);
while(xUartGetChar(CMD_UART, &c, (50 / portTICK_RATE_MS ) ) ) {
cmdlineInputFunc(c);
// Cada caracer recibido reinicio el timer.
restartTimerTerminal();
}
/* run the cmdline execution functions */
cmdlineMainLoop();
}
}
int main(void)
{
avr_init();
u08 even;
// u16 i;
//u08 temp;
command = 45;
// actualTemp = 85;
// u16 temp;
for(;;)
{
// Tasks here.
// Command line reception of commands...
// pass characters received on the uart (serial port)
// into the cmdline processor
// while(uartReceiveByte(&c)){
// vt100SetCursorPos(1, 0);
// uartSendByte(c);
// cmdlineInputFunc(c);
//
// }
// bounce the character, keep to the top 3 rows...
// run the cmdline execution functions
vt100SetCursorPos(3, 0);
cmdlineMainLoop();
// Command line reception ends here
if (APP_STATUS_REG & BV(DO_SAMPLE))
{
readMAX6675(&tempData); // get data to tempData variable
CLEAR_SAMPLE_FLAG;
//debug, invert pin
PIND ^= BV(PD5);
//update PID
// output = pid_Controller(command, tempData, &PID_data);
//invert PID
// output = PHASE_ANGLE_LIMIT_HIGH - output;
}
if(APP_STATUS_REG & BV(DO_PID))
{
#ifdef REG_PID
//update PID
output = pid_Controller(command, tempData, &PID_data);
#ifndef CMDLINE
#ifndef RX_DBG
rprintf("PID raw: ");
rprintfNum(10, 6, TRUE, ' ', output); rprintfCRLF();
#endif
//invert & limit PID
if(output > 29700) output = 700;
//output = PHASE_ANGLE_LIMIT_HIGH - output;
#ifndef RX_DBG
rprintf("PID scaled: ");
rprintfNum(10, 6, TRUE, ' ', output); rprintfCRLF();
#endif
#endif
#endif
#ifdef REG_PD
#endif
// actualTemp +=10;
// OCR0A = output;
CLEAR_PID_FLAG;
// }
/*
if((temp = 0xFFFF-output) > 30000)
{ temp = 30000;}
else if (temp < 1000)
{ temp = 1000;}
*/
// Limit to within 1 half-phase:
if((output > PHASE_ANGLE_LIMIT_HIGH) || (output < 0)){
#ifndef CMDLINE
#ifndef RX_DBG
rprintf("Max out");rprintfCRLF();
#endif
#endif
output = PHASE_ANGLE_LIMIT_HIGH; // don't fire the triac at all!
SET_HOLD_FIRE; // set flag to not fire triac
}
else
{
CLEAR_HOLD_FIRE; // set flag to fire triac
}
if ((output < PHASE_ANGLE_LIMIT_LOW)){ // || (output < 0))
#ifndef CMDLINE
#ifndef RX_DBG
rprintf("Min out");rprintfCRLF();
#endif
#endif
output = PHASE_ANGLE_LIMIT_LOW; // fire the triac at zerocrozz to get complete halfwave
}
#ifndef WALK_PHASEANGLE
OCR1A = output;
#endif
//OCR1A = PHASE_ANGLE_LIMIT_LOW;
//OCR1A = PHASE_ANGLE_LIMIT_HIGH;
}
#ifdef DEBUG_SER
// uartPrintfNum(10, 6, TRUE, ' ', 1234); --> " +1234"
// uartPrintfNum(16, 6, FALSE, '.', 0x5AA5); --> "..5AA5"
// rprintfNum(10, 4, FALSE, ' ', tempData);// rprintfCRLF();
#ifndef CMDLINE
#ifndef RX_DBG
if(sensorDisconnected)
{
rprintfProgStrM("Disconnected Probe!\r\n");
}
else
{
rprintf("Process Value: ");
rprintfNum(10, 4, FALSE, ' ', tempData); rprintfCRLF();
rprintf("Target Value: ");
rprintfNum(10, 4, FALSE, ' ', command); rprintfCRLF();
// rprintf("PID Phaselimit: ");
// rprintfNum(10, 6, TRUE, ' ', output); rprintfCRLF();
rprintf("OCR1A: ");
rprintfNum(10, 6, FALSE, ' ', OCR1A); rprintfCRLF();
//-----------
// rprintf("dummy: ");
// rprintfNum(10, 6, TRUE, ' ', _DUMMY); rprintfCRLF();
rprintf("E ");
rprintfNum(10, 4, TRUE, ' ', _ERROR); rprintfCRLF();
rprintf("P ");
rprintfNum(10, 8, TRUE, ' ', _PTERM); rprintfCRLF();
rprintf("I ");
rprintfNum(10, 8, TRUE, ' ', _ITERM); rprintfCRLF();
rprintf("D ");
rprintfNum(10, 8, TRUE, ' ', _DTERM); rprintfCRLF();
//-----------
}
vt100SetCursorPos(3, 0);
if(even++ == 10){
vt100ClearScreen();
vt100SetCursorPos(3,0);
even = 0;
}
#endif //#ifndef RX_DBG
#endif //#ifndef CMDLINE
#endif //#ifdef DEBUG_SER
}
return(0);
}
