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Eddy
396
stepper/main.c
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396
stepper/main.c
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/*
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* blinky.c
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*
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* Copyright 2014 Edward V. Emelianoff <eddy@sao.ru>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*/
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#include "ports_definition.h"
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#include "interrupts.h"
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#include "main.h"
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#include "stepper.h"
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/*
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* 0 0000
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* 1 0001
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* 2 0010
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* 3 0011
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* 4 0100
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* 5 0101
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* 6 0110
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* 7 0111
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* 8 1000
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* 9 1001
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* a 1010
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* b 1011
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* c 1100
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* d 1101
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* e 1110
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* f 1111
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*/
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/*
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********************* Internal timer (HSI) ********************
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* on startup: HSI = 2MHz (16/8)
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* HSI divisor: CLK_CKDIVR: bits 4,3: f_{HSI}/2^x; bits2..0: f_{CPU}=f/2^x (page 93)
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* CLK_PCKENR1/2 - enable periph clocking (page 94,95) reset value: all enabled
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*/
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/*
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********************* Timer1 ********************
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* prescaler: TIM1_PSCRH/L, f = f_{in}/(TIM1_PSCR + 1)
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* other registers:
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* TIM1_CR1 (page 185): | ARPE | CMS[1:0] | DIR | OPM | URS | UDIS | CEN |
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* ARPE - Auto-reload preload enable (for TIM1_ARR)
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* CMS[1:0]: Center-aligned mode selection (0 - simple counter up/down)
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* DIR: Direction (0 - up, 1 - down)
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* OPM: One-pulse mode (1 - opm enabled)
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* URS: Update request source (When enabled by the UDIS bit, 1 - interrupt only on counter overflow/underflow)
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* UDIS: Update disable (1 - disable update int)
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* CEN: Counter enable (1 - enable)
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* TIM1_CR2 (page 187): | - | MMS [2:0] | - | COMS | - | CCPS |
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* MMS[2:0]: Master mode selection (for ADC or other timers)
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* COMS: Capture/compare control update selection
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* CCPC: Capture/compare preloaded control
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* TIM1_IER (page 191): | BIE | TIE | COMIE | CC4IE | CC3IE | CC2IE | CC1IE | UIE |
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* B - break; T - trigger; COM - commutation; CC - comp/capt; U - update <--
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* TIM1_SR1 (page 192): similar (but instead of IE -> IF)
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* interrupt flags
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* TIM1_CNTRH, TIM1_CNTRL - counter value (automatical)
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* TIM1_PSCRH, TIM1_PSCRL - prescaler value
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* TIM1_ARRH, TIM1_ARRL - auto-reload value (while zero, timer is stopped) (page 206)
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*/
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/*
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********************* External interrupts (page 69) ********************
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* EXTI_CR1: | PDIS[1:0] | PCIS[1:0] | PBIS[1:0] | PAIS[1:0] |
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* per-port sensivity bits:
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* 00: Falling edge and low level
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* 01: Rising edge only
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* 10: Falling edge only
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* 11: Rising and falling edge
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* EXTI_CR2: | -reserved[7:3]- | TLIS | PEIS[1:0] |
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* TLIS: Top level interrupt sensitivity (0: Falling edge, 1 - Rising)
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* PEIS[1:0]: Port E external interrupt sensitivity bits
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* after config run enableInterrupts()
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* ports:
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* 5 lines on Port A: PA[6:2]
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* 8 lines on Port B: PB[7:0]
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* 8 lines on Port C: PC[7:0]
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* 7 lines on Port D: PD[6:0]
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* 8 lines on Port E: PE[7:0]
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* PD7 is the Top Level Interrupt source (TLI), except for 20-pin packages
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* on which the Top Level Interrupt source (TLI) can be available on the
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* PC3 pin using an alternate function remapping option bit
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*/
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/*
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********************* GPIO (page 111) ********************
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* Px_ODR - Output data register bits
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* Px_IDR - Pin input values
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* Px_DDR - Data direction bits (1 - output)
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* Px_CR1 - DDR=0: 0 - floating, 1 - pull-up input; DDR=1: 0 - pseudo-open-drain, 1 - push-pull output [not for "T"]
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* Px_CR2 - DDR=0: 0/1 - EXTI disabled/enabled; DDR=1: 0/1 - 2/10MHz
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*
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*/
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/*
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********************* UART ********************
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* ALGO:
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* 1. Program the M bit in UART_CR1 to define the word length [M=0, PCEN=0 - 8bit without parity]
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* 2. Program the number of stop bits in UART_CR3
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* 3. Select the desired baud rate (UART_BRR1/2) [57600 on 16MHz: BRR1=0x11, BRR2=0x06]
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* 4. Set the TEN bit in UART_CR2 to enable transmitter mode
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* 5. Write the data to send in the UART_DR register (this clears the TXE bit)
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* 6. Once the last data is written to the UART_DR register, wait until TC is set to ‘1’, which indicates that the last data transmission is complete
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* baud rate: regs UART_BRR1/2 !!!VERY STUPID!!!
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* f_{UART} = f_{master} / UART_DIV
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* if UART_DIV = 0xABCD then
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* UART_BRR1 = UART_DIV[11:4] = 0xBC;
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* UART_BRR2 = UART_DIV[15:12|3:0] = 0xAD
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* registers
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* UART_SR: | TXE | TC | RXNE | IDLE | OR/LHE | NF | FE | PE |
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* TXE: Transmit data register empty
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* TC: Transmission complete
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* RXNE: Read data register not empty
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* IDLE: IDLE line detected
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* OR: Overrun error / LHE: LIN Header Error (LIN slave mode)
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* NF: Noise flag
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* FE: Framing error
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* PE: Parity error
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* UART_DR: data register (when readed returns coming byte, when writed fills output shift register)
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* UART_BRR1 / UART_BRR2 - see upper
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* UART_CR1: | R8 | T8 | UARTD | M | WAKE | PCEN | PS | PIEN |
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* R8, T8 - ninth bit (in 9-bit mode)
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* UARTD: UART Disable (for low power consumption)
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* M: word length (0 - 8bits, 1 - 9bits)
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* WAKE: Wakeup method
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* PCEN: Parity control enable
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* PS: Parity selection (0 - even)
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* PIEN: Parity interrupt enable
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* UART_CR2: | TIEN | TCEN | RIEN | ILIEN | TEN | REN | RWU | SBK |
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* TIEN: Transmitter interrupt enable
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* TCIEN: Transmission complete interrupt enable
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* RIEN: Receiver interrupt enable
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* ILIEN: IDLE Line interrupt enable
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* TEN: Transmitter enable <----------------------------------------
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* REN: Receiver enable <----------------------------------------
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* RWU: Receiver wakeup
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* SBK: Send break
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* UART_CR3: | - | LINEN | STOP[1:0] | CLCEN | CPOL | CPHA | LBCL |
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* LINEN: LIN mode enable
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* STOP: STOP bits
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* CLKEN: Clock enable (CLC pin)
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* CPOL: Clock polarity
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* CPHA: Clock phase
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* LBCL: Last bit clock pulse
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*/
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/*
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********************* ADC (page 413) ********************
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* ADC_DBxRH / ADC_DRH: 9:2 data bits in left-aligned or 9:8 bits in right-aligned mode
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* ADC_DBxRL / ADC_DRL: 1:0 data bits in left-aligned or 7:0 bits in right-aligned mode
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* ADC_CSR: | EOC | AWD | EOCIE | AWDIE | CH[3:0] |
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* EOC: End of conversion
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* AWD: Analog Watchdog flag
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* EOCIE: Interrupt enable for EOC
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* AWDIE: Analog watchdog interrupt enable
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* CH[3:0]: Channel selection bits (0..15)
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* ADC_CR1: | - | SPSEL[2:0] | - | - | CONT | ADON |
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* SPSEL[2:0]: Prescaler selection
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* CONT: Continuous conversion (0 for single)
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* ADON: A/D Converter on/off <----------------------------------------
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* ADC_CR2: | - | EXTTRIG | EXTSEL[1:0] | ALIGN | - | SCAN | - |
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* EXTTRIG: External trigger enable
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* EXTSEL[1:0]: External event selection
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* ALIGN: Data alignment (1 - right alignment, first read ADC_DRL)
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* SCAN: Scan mode enable
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* ADC_CR3: | DBUF | OVR | reserved[5:0] |
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* DBUF: Data buffer enable (on buffered mode data stored not in ADC_DBhl but in ADC_DBxRhl)
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* OVR: Overrun flag
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* ADC_TDRH/L - trigger shmidt disable (1 - disable)
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*/
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unsigned long Global_time = 0L; // global time in ms
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U16 paused_val = 500; // interval between LED flashing
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U8 UART_rx[UART_BUF_LEN]; // cycle buffer for received data
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U8 UART_rx_start_i = 0; // started index of received data (from which reading starts)
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U8 UART_rx_cur_i = 0; // index of current first byte in rx array (to which data will be written)
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/**
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* Send one byte through UART
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* @param byte - data to send
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*/
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void UART_send_byte(U8 byte){
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while(!(UART2_SR & UART_SR_TXE)); // wait until previous byte transmitted
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UART2_DR = byte;
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}
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void uart_write(char *str){
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while(*str){
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while(!(UART2_SR & UART_SR_TXE));
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UART2_CR2 |= UART_CR2_TEN;
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UART2_DR = *str++;
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}
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}
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/**
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* Read one byte from Rx buffer
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* @param byte - where to store readed data
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* @return 1 in case of non-empty buffer
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*/
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U8 UART_read_byte(U8 *byte){
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if(UART_rx_start_i == UART_rx_cur_i) // buffer is empty
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return 0;
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*byte = UART_rx[UART_rx_start_i++];
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check_UART_pointer(UART_rx_start_i);
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return 1;
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}
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void printUint(U8 *val, U8 len){
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unsigned long Number = 0;
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U8 i = len;
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char ch;
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U8 decimal_buff[12]; // max len of U32 == 10 + \n + \0
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if(len > 4 || len == 3 || len == 0) return;
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for(i = 0; i < 12; i++)
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decimal_buff[i] = 0;
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decimal_buff[10] = '\n';
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ch = 9;
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switch(len){
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case 1:
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Number = *((U8*)val);
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break;
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case 2:
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Number = *((U16*)val);
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break;
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case 4:
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Number = *((unsigned long*)val);
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break;
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}
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do{
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i = Number % 10L;
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decimal_buff[ch--] = i + '0';
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Number /= 10L;
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}while(Number && ch > -1);
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uart_write((char*)&decimal_buff[ch+1]);
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}
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U8 readInt(int *val){
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unsigned long T = Global_time;
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unsigned long R = 0;
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int readed;
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U8 sign = 0, rb, ret = 0, bad = 0;
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do{
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if(!UART_read_byte(&rb)) continue;
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if(rb == '-' && R == 0){ // negative number
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sign = 1;
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continue;
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}
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if(rb < '0' || rb > '9') break; // number ends with any non-digit symbol that will be omitted
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ret = 1; // there's at least one digit
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R = R * 10L + rb - '0';
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if(R > 0x7fff){ // bad value
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R = 0;
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bad = 0;
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}
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}while(Global_time - T < 10000); // wait no longer than 10s
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if(bad || !ret) return 0;
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readed = (int) R;
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if(sign) readed *= -1;
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*val = readed;
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return 1;
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}
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void error_msg(char *msg){
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uart_write("\nERROR: ");
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uart_write(msg);
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UART_send_byte('\n');
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}
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int main() {
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unsigned long T = 0L;
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int Ival;
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U8 rb;
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CFG_GCR |= 1; // disable SWIM
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// Configure clocking
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CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
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// Configure timer 1 - systick
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// prescaler = f_{in}/f_{tim1} - 1
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// set Timer1 to 1MHz: 1/1 - 1 = 15
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TIM1_PSCRH = 0;
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TIM1_PSCRL = 15; // LSB should be written last as it updates prescaler
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// auto-reload each 1ms: TIM_ARR = 1000 = 0x03E8
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TIM1_ARRH = 0x03;
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TIM1_ARRL = 0xE8;
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// interrupts: update
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TIM1_IER = TIM_IER_UIE;
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// auto-reload + interrupt on overflow + enable
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TIM1_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
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// Configure pins
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// PC2 - PP output (on-board LED)
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PORT(LED_PORT, DDR) |= LED_PIN;
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PORT(LED_PORT, CR1) |= LED_PIN;
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// PD5 - UART2_TX
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PORT(UART_PORT, DDR) |= UART_TX_PIN;
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PORT(UART_PORT, CR1) |= UART_TX_PIN;
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// Configure UART
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// 8 bit, no parity, 1 stop (UART_CR1/3 = 0 - reset value)
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// 57600 on 16MHz: BRR1=0x11, BRR2=0x06
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UART2_BRR1 = 0x11; UART2_BRR2 = 0x06;
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UART2_CR2 = UART_CR2_TEN | UART_CR2_REN | UART_CR2_RIEN; // Allow RX/TX, generate ints on rx
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// enable all interrupts
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enableInterrupts();
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set_stepper_speed(1000);
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setup_stepper_pins();
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// Loop
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do{
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if((Global_time - T > paused_val) || (T > Global_time)){
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T = Global_time;
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PORT(LED_PORT, ODR) ^= LED_PIN; // blink on-board LED
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}
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if(UART_read_byte(&rb)){ // buffer isn't empty
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switch(rb){
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case 'h': // help
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case 'H':
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uart_write("\nPROTO:\n+/-\tLED period\nS/s\tset/get Mspeed\nm\tget steps\nx\tstop\np\tpause/resume\n0..4\tmove xth motor\na\tadd Nstps\n");
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break;
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case '+':
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paused_val += 100;
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if(paused_val > 10000)
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paused_val = 500; // but not more than 10s
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break;
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case '-':
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paused_val -= 100;
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if(paused_val < 100) // but not less than 0.1s
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paused_val = 500;
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break;
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case 'S': // set stepper speed
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if(readInt(&Ival) && Ival > MIN_STEP_LENGTH)
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set_stepper_speed(Ival);
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else
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error_msg("bad speed");
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break;
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case 's': // get stepper speed
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printUint((U8*)&Stepper_speed, 2);
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break;
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case 'm': // how much steps there is to the end of moving
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Ival = Nsteps >> Ustepping;
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printUint((U8*)&Ival, 2);
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break;
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case 'x': // stop
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stop_motor();
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break;
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case 'p': // pause/resume
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pause_resume();
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break;
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case 'a': // add N steps
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if(readInt(&Ival) && Ival){
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add_steps(Ival);
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}else{
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error_msg("bad value");
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}
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break;
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default:
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if(rb >= '0' && rb <= '4'){ // motor
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if(Motor_number != 5){
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error_msg("moving!");
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break;
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}
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Motor_number = rb - '0';
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if(readInt(&Ival) && Ival)
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move_motor(Ival);
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else{
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error_msg("bad Nsteps");
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Motor_number = 5;
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}
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}
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}
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}
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}while(1);
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}
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