/* * blinky.c * * Copyright 2014 Edward V. Emelianoff * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, * MA 02110-1301, USA. */ #include "ports_definition.h" #include "interrupts.h" #include "main.h" #include "stepper.h" #include "statemachine.h" unsigned long Global_time = 0L; // global time in ms volatile char exti_event = -1; // flag & counter of EXTI interrupt U16 paused_val = 500; // interval between LED flashing U8 UART_rx[UART_BUF_LEN]; // cycle buffer for received data U8 UART_rx_start_i = 0; // started index of received data (from which reading starts) U8 UART_rx_cur_i = 0; // index of current first byte in rx array (to which data will be written) /* * 0 0000 * 1 0001 * 2 0010 * 3 0011 * 4 0100 * 5 0101 * 6 0110 * 7 0111 * 8 1000 * 9 1001 *10 1010 a *11 1011 b *12 1100 c *13 1101 d *14 1110 e *15 1111 f */ // microsteps: DCBA = 1000, 1100, 0100, 0110, 0010, 0011, 0001, 1001 -- for ULN // what a shit is this > DCBA = 0001, 0010, 0110, 1010, 1001, 1000, 0100, 0000 - bipolar // 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - half-step // 1010, 0110, 0101, 1001 - full step char usteps[8] = #ifdef MOTOR_TYPE_UNIPOLAR {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar #elif defined MOTOR_TYPE_BIPOLAR {8, 10, 2, 6, 4, 5, 1, 9}; // bipolar #else #error Define MOTOR_TYPE_UNIPOLAR or MOTOR_TYPE_BIPOLAR #endif volatile U16 Vpot, Vcap, Vshunt; /** * Send one byte through UART * @param byte - data to send */ void UART_send_byte(U8 byte){ while(!(UART2_SR & UART_SR_TXE)); // wait until previous byte transmitted UART2_DR = byte; } void uart_write(char *str){ while(*str){ while(!(UART2_SR & UART_SR_TXE)); UART2_CR2 |= UART_CR2_TEN; UART2_DR = *str++; } } /** * Read one byte from Rx buffer * @param byte - where to store readed data * @return 1 in case of non-empty buffer */ U8 UART_read_byte(U8 *byte){ if(UART_rx_start_i == UART_rx_cur_i) // buffer is empty return 0; *byte = UART_rx[UART_rx_start_i++]; check_UART_pointer(UART_rx_start_i); return 1; } void printUint(U8 *val, U8 len){ unsigned long Number = 0; U8 i = len; char ch; U8 decimal_buff[12]; // max len of U32 == 10 + \n + \0 if(len > 4 || len == 3 || len == 0) return; for(i = 0; i < 12; i++) decimal_buff[i] = 0; decimal_buff[10] = '\n'; ch = 9; switch(len){ case 1: Number = *((U8*)val); break; case 2: Number = *((U16*)val); break; case 4: Number = *((unsigned long*)val); break; } do{ i = Number % 10L; decimal_buff[ch--] = i + '0'; Number /= 10L; }while(Number && ch > -1); uart_write((char*)&decimal_buff[ch+1]); } U8 readInt(int *val){ unsigned long T = Global_time; unsigned long R = 0; int readed; U8 sign = 0, rb, ret = 0, bad = 0; do{ if(!UART_read_byte(&rb)) continue; if(rb == '-' && R == 0){ // negative number sign = 1; continue; } if(rb < '0' || rb > '9') break; // number ends with any non-digit symbol that will be omitted ret = 1; // there's at least one digit R = R * 10L + rb - '0'; if(R > 0x7fff){ // bad value R = 0; bad = 0; } }while(Global_time - T < 10000); // wait no longer than 10s if(bad || !ret) return 0; readed = (int) R; if(sign) readed *= -1; *val = readed; return 1; } void error_msg(char *msg){ uart_write("\nERROR: "); uart_write(msg); UART_send_byte('\n'); } int main() { unsigned long T = 0L, TT = 0L; int Ival; U8 rb, drlctr = 0; U16 _u16; CFG_GCR |= 1; // disable SWIM // Configure clocking CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz // Timer 4 (8 bit) used as system tick timer // prescaler == 128 (2^7), Tfreq = 125kHz // period = 1ms, so ARR = 125 TIM4_PSCR = 7; TIM4_ARR = 125; // interrupts: update TIM4_IER = TIM_IER_UIE; // auto-reload + interrupt on overflow + enable TIM4_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN; // Timer1 is PWM generator for drill motor: 1MHz -> 10kHz PWM from 0 to 100 TIM1_PSCRH = 0; // this timer have 16 bit prescaler TIM1_PSCRL = 3; // LSB should be written last as it updates prescaler // PWM frequency is 10kHz: 1000/10 = 100 TIM1_ARRH = 0; TIM1_ARRL = 100; TIM1_CCR1H = 0; TIM1_CCR1L = DRILL_LOWSPEED; // default: 10% // channel 1 generates PWM pulses TIM1_CCMR1 = 0x60; // OC1M = 110b - PWM mode 1 ( 1 -> 0) //TIM1_CCMR1 = 0x70; // OC1M = 111b - PWM mode 2 ( 0 -> 1) TIM1_CCER1 = 1; // Channel 1 is on. Active is high //TIM1_CCER1 = 3; // Channel 1 is on. Active is low // interrupts: none for timer 1 TIM1_IER = 0; // auto-reload + interrupt on overflow + enable TIM1_CR1 = TIM_CR1_URS; PC_DDR |= GPIO_PIN1; // setup timer's output // Configure timer 2 to generate signals for CLK TIM2_PSCR = 13; // ~2kHz (16MHz / 8192) (1000 steps per second if ARR=1) TIM2_IER = TIM_IER_UIE; // update interrupt enable TIM2_CR1 |= TIM_CR1_APRE | TIM_CR1_URS; // auto reload + interrupt on overflow // configure ADC // PB5 (AIN5) - Vcap value // PB4 (AIN4) - potentiometer regulated motor speed // select PF4 - Sence (AIN12) & enable interrupt for EOC ADC_CSR = 0x0c; // EOCIE = 0 - no interrupt @ EOC; CH[3:0] = 0x0c (12) ADC_TDRH = 0x10;// disable Schmitt triger for AIN12 ADC_TDRL = 0x30;// disable Schmitt triger for AIN4 & AIN5 // right alignment ADC_CR2 = 0x08; // don't forget: first read ADC_DRL! // f_{ADC} = f/18 & continuous non-buffered conversion & wake it up ADC_CR1 = 0x71; ADC_CR1 = 0x71; // turn on ADC (this needs second write operation) // Configure pins // EXTI BTNS_SETUP(); BTNS_EXTI_ENABLE(); // enable interrupts DRILL_OFF(); // power off motor // tray PORT(TRAY_PORT, DDR) |= TRAY_PINS; PORT(TRAY_PORT, CR1) |= TRAY_PINS; // LEDS, LED2 (signal): PORT(LED_PORT, DDR) |= LED_PIN; PORT(LED_PORT, CR1) |= LED_PIN; // LED0/1 PORT(LED01_PORT, DDR) |= LED0_PIN|LED1_PIN; PORT(LED01_PORT, CR1) |= LED0_PIN|LED1_PIN; // PD5 - UART2_TX PORT(UART_PORT, DDR) |= UART_TX_PIN; PORT(UART_PORT, CR1) |= UART_TX_PIN; // Configure UART // 8 bit, no parity, 1 stop (UART_CR1/3 = 0 - reset value) // 57600 on 16MHz: BRR1=0x11, BRR2=0x06 UART2_BRR1 = 0x11; UART2_BRR2 = 0x06; UART2_CR2 = UART_CR2_TEN | UART_CR2_REN | UART_CR2_RIEN; // Allow RX/TX, generate ints on rx // enable all interrupts enableInterrupts(); set_stepper_speed(95); // 95% of max speed setup_stepper_pins(); // Loop do{ if(Global_time != TT){ // once per 1ms TT = Global_time; // check EXTI counter if(exti_event == ANTICLASH_PAUSE) check_buttons(); // button pressed just now if(exti_event > 0){ // delay for 50us before turn on buttons EXTI --exti_event; }else if(exti_event == 0){ exti_event = -1; BTNS_EXTI_ENABLE(); } // check drill speed & TIM1_CCR1L switch(curstate){ case DRL_ACCEL: // acceleration after power ON if(++drlctr > 9){ drlctr = 0; // acceleration for ~1 second if(drill_maxspeed > TIM1_CCR1L) TIM1_CCR1L = TIM1_CCR1L + 1; else{ curstate = DRL_WORK; } } break; case DRL_WORK: // check if user change drill speed if(drill_maxspeed != TIM1_CCR1L){ TIM1_CCR1L = drill_maxspeed; } break; default: } } if(Global_time - T > paused_val){ T = Global_time; #ifdef EBUG PORT(LED_PORT, ODR) ^= LED_PIN; // blink on-board LED #endif // check changing state for short press if(exti_event == -1) check_buttons(); } if(UART_read_byte(&rb)){ // buffer isn't empty switch(rb){ case 'h': // help case 'H': uart_write("\nPROTO:\n+/-\tLED period\nS/s\tset/get Mspeed\n" "m\tget steps\nx\tstop\np\tpause/resume\nM\tmove motor\na\tadd Nstps\n" "0\tturn drill OFF\n1\tturn drill ON\n" ">\trotate faster\n<\trotate slower\n" "u\ttray up\nd\ttray down\nw\ttray stop\n" "g\tget speed\nAx\tADC chan x\n" "T\tcurrent time\n"); break; case 'T': uart_write("T="); printUint((U8*)&Global_time, 4); break; case '+': paused_val += 100; if(paused_val > 10000) paused_val = 500; // but not more than 10s break; case '-': paused_val -= 100; if(paused_val < 100) // but not less than 0.1s paused_val = 100; break; case 'S': // set stepper speed if(readInt(&Ival) && Ival > -1 && Ival < 101) set_stepper_speed(Ival); else error_msg("bad speed"); break; case 's': // get stepper speed printUint(&Stepper_speed, 1); break; case 'm': // how much steps there is to the end of moving printUint((U8*)&Nsteps, 4); break; case 'M': // move motor if(Nsteps){ error_msg("moving!"); break; } if(readInt(&Ival) && Ival) move_motor(Ival); else{ error_msg("bad Nsteps"); } break; case 'x': // stop stop_motor(); break; case 'p': // pause/resume stp_pause_resume(); break; case 'a': // add N steps if(readInt(&Ival) && Ival){ add_steps(Ival); }else{ error_msg("bad value"); } break; case 'A': // ADC: Vpot, Vcap, Vshunt _u16 = 0xffff; if(readInt(&Ival)){ switch(Ival){ case 0: uart_write("Vpot"); _u16 = Vpot; break; case 1: uart_write("Vcap"); _u16 = Vcap; break; case 2: uart_write("Vshunt"); _u16 = Vshunt; break; default: } } if(_u16 == 0xffff) error_msg("wrong channel"); else{ UART_send_byte('='); printUint((U8*)&_u16, 2); } break; case '0': // turn off drill DRILL_OFF(); break; case '1': // turn on drill DRILL_ON(); break; case '>': // faster DRILL_FASTER(); printUint(&TIM1_CCR1L, 1); break; case '<': // slower DRILL_SLOWER(); printUint(&TIM1_CCR1L, 1); break; case 'u': DRILL_OFF(); TRAY_UP(); break; case 'd': DRILL_OFF(); TRAY_DOWN(); break; case 'w': TRAY_STOP(); break; case 'g': _u16 = (TIM1_CCR1H << 8)| TIM1_CCR1L; printUint((U8*)&_u16, 2); break; } } process_state(); }while(1); }