mirror of
https://github.com/eddyem/STM8_samples.git
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338 lines
8.6 KiB
C
338 lines
8.6 KiB
C
/*
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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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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 drill_works = 0; // flag of working motor
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U8 auto_speed = 0;
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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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* 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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*10 1010
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*11 1011
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*12 1100
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*13 1101
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*14 1110
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*15 1111
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*/
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// microsteps: DCBA = 1000, 1100, 0100, 0110, 0010, 0011, 0001, 1001 -- for ULN
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// what a shit is this > DCBA = 0001, 0010, 0110, 1010, 1001, 1000, 0100, 0000 - bipolar
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// 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - half-step
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// 1010, 0110, 0101, 1001 - full step
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char usteps[8] =
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#ifdef MOTOR_TYPE_UNIPOLAR
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{8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar
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#elif defined MOTOR_TYPE_BIPOLAR
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{8, 10, 2, 6, 4, 5, 1, 9}; // bipolar
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#else
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#error Define MOTOR_TYPE_UNIPOLAR or MOTOR_TYPE_BIPOLAR
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#endif
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U16 ADC_value = 0; // value of last ADC measurement
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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, v;
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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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// Timer 4 (8 bit) used as system tick timer
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// prescaler == 128 (2^7), Tfreq = 125kHz
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// period = 1ms, so ARR = 125
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TIM4_PSCR = 7;
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TIM4_ARR = 125;
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// interrupts: update
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TIM4_IER = TIM_IER_UIE;
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// auto-reload + interrupt on overflow + enable
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TIM4_CR1 = TIM_CR1_APRE | TIM_CR1_URS | TIM_CR1_CEN;
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// Timer1 is PWM generator for drill motor: 1MHz -> 10kHz PWM from 0 to 100
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TIM1_PSCRH = 0; // this timer have 16 bit prescaler
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TIM1_PSCRL = 3; // LSB should be written last as it updates prescaler
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// PWM frequency is 10kHz: 1000/10 = 100
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TIM1_ARRH = 0;
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TIM1_ARRL = 100;
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TIM1_CCR1H = 0; TIM1_CCR1L = 10; // default: 10%
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// channel 1 generates PWM pulses
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TIM1_CCMR1 = 0x60; // OC1M = 110b - PWM mode 1 ( 1 -> 0)
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//TIM1_CCMR1 = 0x70; // OC1M = 111b - PWM mode 2 ( 0 -> 1)
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TIM1_CCER1 = 1; // Channel 1 is on. Active is high
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//TIM1_CCER1 = 3; // Channel 1 is on. Active is low
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// interrupts: none for timer 1
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TIM1_IER = 0;
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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 ADC
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// select PF4 - Sence (AIN12) & enable interrupt for EOC
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ADC_CSR = 0x2c; // EOCIE = 1; CH[3:0] = 0x0c (12)
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ADC_TDRH = 0x10;// disable Schmitt triger for AIN12
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// right alignment
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ADC_CR2 = 0x08; // don't forget: first read ADC_DRL!
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// f_{ADC} = f/18 & continuous non-buffered conversion & wake it up
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ADC_CR1 = 0x73;
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ADC_CR1 = 0x73; // turn on ADC (this needs second write operation)
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// Configure pins
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// EXTI
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EXTI_CR1 = 0x30; // PCIS[1:0] = 11b -> rising/falling
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PC_CR1 = 0x1c; // PC2, PC3 and PC4 are switches with pull-up
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PC_CR2 = 0x1c; // enable interrupts
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// other
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PC_DDR |= GPIO_PIN1; // setup timer's output
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DRILL_OFF(); // set PC1 to zero - power off motor
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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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U8 i;
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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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//ADC_value = 0;
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//for(i = 0; i < 10; i++) ADC_value += ADC_values[i];
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//ADC_value /= 10;
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printUint((U8*)&ADC_value, 2); // & print out ADC value
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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\n"
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"m\tget steps\nx\tstop\np\tpause/resume\nM\tmove motor\na\tadd Nstps\n"
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"0\tturn drill OFF\n1\tturn drill ON\n"
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">\trotate faster\n<\trotate slower\n"
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"u\ttray up\nd\ttray down\n"
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"c\tauto speed off\nz\tauto speed on\n"
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"g\tget speed\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 = 100;
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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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printUint((U8*)&Nsteps, 4);
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break;
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case 'M': // move motor
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if(Nsteps){
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error_msg("moving!");
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break;
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}
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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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}
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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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case '0': // turn off drill
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DRILL_OFF();
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break;
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case '1': // turn on drill
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DRILL_ON();
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break;
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case '>': // faster
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DRILL_FASTER();
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break;
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case '<': // slower
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DRILL_SLOWER();
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break;
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case 'u':
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TRAY_UP();
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break;
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case 'd':
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TRAY_DOWN();
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break;
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case 'c':
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auto_speed = 0;
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break;
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case 'z':
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auto_speed = 1;
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break;
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case 'g':
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v = TIM1_CCR1L;
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printUint(&v, 1);
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break;
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}
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}
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}while(1);
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}
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