mirror of
https://github.com/eddyem/STM8_samples.git
synced 2025-12-06 02:35:21 +03:00
266 lines
6.5 KiB
C
266 lines
6.5 KiB
C
/*
|
|
* blinky.c
|
|
*
|
|
* Copyright 2014 Edward V. Emelianoff <eddy@sao.ru>
|
|
*
|
|
* 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"
|
|
|
|
unsigned long Global_time = 0L; // global time in ms
|
|
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
|
|
*11 1011
|
|
*12 1100
|
|
*13 1101
|
|
*14 1110
|
|
*15 1111
|
|
*/
|
|
// 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 ustepsUNI[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar
|
|
char ustepsBIP[8] = {8, 10, 2, 6, 4, 5, 1, 9}; // bipolar
|
|
// current usteps
|
|
char *usteps = ustepsUNI;
|
|
|
|
/**
|
|
* 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;
|
|
int Ival;
|
|
U8 rb;
|
|
CFG_GCR |= 1; // disable SWIM
|
|
// Configure clocking
|
|
CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
|
|
|
|
// Configure timer 1 - systick
|
|
// prescaler = f_{in}/f_{tim1} - 1
|
|
// set Timer1 to 1MHz: 1/1 - 1 = 15
|
|
TIM1_PSCRH = 0;
|
|
TIM1_PSCRL = 15; // LSB should be written last as it updates prescaler
|
|
// auto-reload each 1ms: TIM_ARR = 1000 = 0x03E8
|
|
TIM1_ARRH = 0x03;
|
|
TIM1_ARRL = 0xE8;
|
|
// interrupts: update
|
|
TIM1_IER = TIM_IER_UIE;
|
|
// auto-reload + interrupt on overflow + enable
|
|
TIM1_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
|
|
|
|
// Configure pins
|
|
// PC2 - PP output (on-board LED)
|
|
PORT(LED_PORT, DDR) |= LED_PIN;
|
|
PORT(LED_PORT, CR1) |= LED_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(1000);
|
|
setup_stepper_pins();
|
|
|
|
// Loop
|
|
do{
|
|
if((Global_time - T > paused_val) || (T > Global_time)){
|
|
T = Global_time;
|
|
PORT(LED_PORT, ODR) ^= LED_PIN; // blink on-board LED
|
|
}
|
|
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"
|
|
"u\tunipolar motor\nb\tbipolar motor\n");
|
|
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 = 500;
|
|
break;
|
|
case 'S': // set stepper speed
|
|
if(readInt(&Ival) && Ival > MIN_STEP_LENGTH)
|
|
set_stepper_speed(Ival);
|
|
else
|
|
error_msg("bad speed");
|
|
break;
|
|
case 's': // get stepper speed
|
|
printUint((U8*)&Stepper_speed, 2);
|
|
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
|
|
pause_resume();
|
|
break;
|
|
case 'a': // add N steps
|
|
if(readInt(&Ival) && Ival){
|
|
add_steps(Ival);
|
|
}else{
|
|
error_msg("bad value");
|
|
}
|
|
break;
|
|
case 'u': // unipolar
|
|
usteps = ustepsUNI;
|
|
break;
|
|
case 'b': // bipolar
|
|
usteps = ustepsBIP;
|
|
break;
|
|
}
|
|
}
|
|
}while(1);
|
|
}
|
|
|
|
|