/*
Function name : stepper_move
return : void
parameters : long int steps :- variable to hold the value of the number of steps needed to be move, if +ve the motion is in a direction, if -ve the motion is in reverse
unsigned long int time_bet_steps_stepper :- time between each step, this is the value that determines the speed of motion
Method of operation : its a non blocking function, used to move the stepper motor when it has permission i.e.(stepper_permission == 1),
it sets the values of the global variables direction and stepper_steps, and sends the parameters needed to the timer setup function
*/
void ext_stepper_3d::stepper_move (long int steps, unsigned long int time_bet_steps_stepper )
{
if (permission == 1) //if you have permission, execute
{
permission = 0; //permission is used for one time only, this line expires it, to execute again a new permission must be granted
status_var = MOVE; //setting status to currently moving
if (steps > 0)
{
direction = clockwise;
stepper_steps = steps;
}
else if (steps < 0)
{
direction = anticlockwise;
stepper_steps = steps * (-1);
}
else if(steps == 0)
{
stepper_steps = 0; //for safety and anti user stupidity
}
timer5_setup ( timer5_value_lookup_table , time_bet_steps_stepper); //make the timer do its magic
}
}
static void handle_data(void){
#ifdef USE_STTERM
unsigned char tmp_c;
#endif
uint32_t tmp=0;
char crc=0;
#ifdef USE_STTERM
if(stlinky_rx_ready()){
scanf("%c", &tmp_c);
INPUT[k] = tmp_c;
gpio_toggle(GPIOD, GPIO15);
#else
if(usart_has_data()){
INPUT[k] = usart_read();
#endif
k++;
if(k==1 && INPUT[0]!=0x53){ // 'S'
#ifdef DEBUG
printf("ERROR AT START-BYTE %d\r\n",INPUT[0]);
#endif
k=0;
}
if(k==10 && INPUT[9]!=0x45){ // 'E'
#ifdef DEBUG
printf("ERROR AT END-BYTE %d\r\n",INPUT[8]);
#endif
k=0;
}
if(k==11){
#ifdef DEBUG
printf("Package: ");
for(tmp=0;tmp<10;tmp++) printf("%d ",INPUT[tmp]);
printf("\n");
#endif
for(tmp=0;tmp<8;tmp++) KEYS[tmp] = INPUT[tmp+1];
crc = getCRC(KEYS,8);
if(crc==INPUT[10]){
#ifdef DEBUG
printf("INPUT OK!\r\n");
#endif
if(usb_ready == 3) usb_send_packet(KEYS, 8);
}else{
#ifdef DEBUG
printf("ERROR AT CRC-BYTE %d vs %d\r\n",INPUT[10],crc);
#endif
}
k=0;
}
}
}
void tim3_isr(void){
if(timer_get_flag(TIM3, TIM_SR_UIF)){
handle_data();
timer_clear_flag(TIM3, TIM_SR_UIF);
}
}
void tim4_isr(void){
if(timer_get_flag(TIM4, TIM_SR_UIF)){
if(usb_ready==3){
gpio_toggle(GPIOD,GPIO14);
KEYS[0]=0;
KEYS[1]=0;
KEYS[3]=0;
KEYS[4]=0;
KEYS[5]=0;
KEYS[6]=0;
KEYS[7]=0;
KEYS[2]=0x04;
usb_send_packet(KEYS, 8);
KEYS[2]=0x00;
usb_send_packet(KEYS, 8);
KEYS[2]=0x05;
usb_send_packet(KEYS, 8);
KEYS[2]=0x00;
usb_send_packet(KEYS, 8);
}
timer_clear_flag(TIM4, TIM_SR_UIF);
}
}
void tim5_isr(void){
if(timer_get_flag(TIM5, TIM_SR_UIF)){
gpio_toggle(GPIOD, GPIO15);
timer_clear_flag(TIM5, TIM_SR_UIF);
}
}
int main(void) {
iwdg_reset();
iwdg_set_period_ms(5);
iwdg_start();
rcc_clock_setup_hse_3v3(&hse_8mhz_3v3[CLOCK_3V3_168MHZ]);
rcc_periph_clock_enable(RCC_GPIOD);
systick_setup();
gpio_mode_setup(GPIOD, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO12 | GPIO13 | GPIO14 | GPIO15);
gpio_clear(GPIOD, GPIO12 | GPIO13 | GPIO14 | GPIO15);
iwdg_set_period_ms(500);
iwdg_reset();
msleep(400);
iwdg_set_period_ms(5);
iwdg_reset();
gpio_set(GPIOD, GPIO15);
// msleep(100000); /* SLEEEEEEEEEEEEEEEEEEEEEEP */
#ifdef USE_STTERM
stlinky_init();
#else
usart_setup();
#endif
timer2_setup(100);
usb_setup();
//timer4_setup(1);
timer3_setup(100);
timer5_setup(2);
// gpio_set(GPIOD, GPIO12 | GPIO13 | GPIO14 | GPIO15);
while(1) {
iwdg_reset();
}
return 0;
}
