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Debugged @ breadboard

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This commit is contained in:
eddyem 2017-06-15 09:14:36 +03:00
parent 7aee7cc1f4
commit 3d145e64dd
10 changed files with 210 additions and 160 deletions
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2
STM8/Makefile
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@ -6,7 +6,7 @@ LDFLAGS= -mstm8 --out-fmt-ihx -lstm8
FLASHFLAGS=-cstlinkv2 -pstm8s105?4 FLASHFLAGS=-cstlinkv2 -pstm8s105?4
SRC=$(wildcard *.c) SRC=$(wildcard *.c)
DEFS = -DEBUG #DEFS = -DEBUG
OBJ=$(SRC:%.c=%.rel) OBJ=$(SRC:%.c=%.rel)
TRASH=$(OBJ) $(SRC:%.c=%.rst) $(SRC:%.c=%.asm) $(SRC:%.c=%.lst) TRASH=$(OBJ) $(SRC:%.c=%.rst) $(SRC:%.c=%.asm) $(SRC:%.c=%.lst)

46
STM8/Readme.md
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@ -5,11 +5,41 @@ SCORPIO platform controller
PINS description PINS description
* D6 - USART Rx * D6 -- USART Rx
* D5 - USART Tx * D5 -- USART Tx
* D0..D2 - select motors pair * D0..D2 -- select motors pair
* D3, D4 - select motor from pair * D3, D4 -- select motor from pair
* C1..C3 - LED1..LED3 * C1..C3 -- LED1..LED3
* B0..B3 - stepper motors' outputs * B0..B3 -- stepper motors' outputs
* B4, B5, F4 - relays (shutter, neon, flat) * B4, B5, F4 -- relays (shutter, neon, flat)
* A1, A2 - end-switches ("-" and "+") * A1, A2 -- end-switches ("-" and "+")
* C5..C7 -- end-switch address (C5 is LSB)
### Commands protocol
All commands should be in **square brackets with '\n'** after closing bracket. Spaces between parts
inside command ignored.
As heritage, The device have number "2", so it would parse only commands with format **"[2 Xxx]\n"**.
List of commands:
* **[2 ?]** -- *(debug)* tell amount of steps leave.
* **[2 0]** -- *(new behaviour, old was "restart")* -- stop all motors and turn off all relays, due
to working watchdog there's no need to make full system restart.
* **[2 N xxx]**, where **N** is number from 1 to 6, **xxx** is number from -32767 to 32767 -- run
stepper motor number **N** for given amount of steps; if stepper is at end-switch and can't go further,
the answer would be **[2 N St=x]**, where **x** is 1 or 2 (depending on end-switch number);
when all steps wuold be over (or motor will come to end-switch), controller will answer a status:
**[2 N St=x]**, if x==3 the stepper isn't at any end-switch.
* **[2 N x]**, where **N** is number from 7 to 9 -- turn on/off or get status of relays (7 -- Shutter,
8 -- Neon, 9 -- Flat); if x==1 the relay would be turned on, if x==0 -- off, if x=='-' the status would
be answered (format: **[2 N St=x]**, x==0 if power down, 1 if power up).
* **[2 a xxx]**, where **xxx** if a number from -8 to 32767 -- change motor speed;
new speed is 0xffff / (xxx + 10) * 0.125 steps per second.
* **[2 N xxx], where **N** from 'b' to 'd', **xxx** from 0 to 255 -- change LEDx brightness, ('b' -- LED1,
'c' -- LED2, 'd' -- LED3); brightness 0 is minimum and 255 is maximum.

14
STM8/interrupts.c
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@ -91,12 +91,13 @@ INTERRUPT_HANDLER(TIM2_UPD_OVF_BRK_IRQHandler, 13){ // generate pulses for stepp
U8 sw; U8 sw;
if(TIM2_SR1 & TIM_SR1_UIF){ if(TIM2_SR1 & TIM_SR1_UIF){
TIM2_SR1 &= ~TIM_SR1_UIF; // take off flag TIM2_SR1 &= ~TIM_SR1_UIF; // take off flag
tmp = PORT(STP_PORT, ODR) & ~STP_PINS;
PORT(STP_PORT, ODR) = tmp | usteps[Ustep];
if(Steps_left == 0){ if(Steps_left == 0){
stop_motor(); stop_motor();
return; return;
} }
tmp = PORT(STP_PORT, ODR) & ~STP_PINS;
PORT(STP_PORT, ODR) = tmp | usteps[Ustep];
sw = check_endsw(); sw = check_endsw();
if(Dir){ if(Dir){
@ -109,13 +110,14 @@ INTERRUPT_HANDLER(TIM2_UPD_OVF_BRK_IRQHandler, 13){ // generate pulses for stepp
} }
} }
}else{ }else{
if(++Ustep > 7){ if(Ustep == 0 && sw == 2){ // check end-switches only @ full steps
Ustep = 0;
--Steps_left;
if(sw == 2){
stop_motor(); stop_motor();
return; return;
} }
if(++Ustep > 7){
Ustep = 0;
--Steps_left;
} }
} }
} }

16
STM8/main.c
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@ -114,21 +114,27 @@ int main() {
setup_stepper_pins(); setup_stepper_pins();
RELAY_SETUP(); RELAY_SETUP();
// setup endswitch selection pins
PORT(ESW_SEL_PORT, DDR) |= ESW_SEL_PINS;
PORT(ESW_SEL_PORT, CR1) |= ESW_SEL_PINS;
// Pullup to esw inputs
PORT(ESW_PORT, CR1) |= ESW_PINS;
// enable all interrupts // enable all interrupts
enableInterrupts(); enableInterrupts();
/*
// Setup watchdog // Setup watchdog
IWDG_KR = KEY_ENABLE; // start watchdog
IWDG_KR = KEY_ACCESS; // enable access to protected registers IWDG_KR = KEY_ACCESS; // enable access to protected registers
IWDG_PR = 6; // /256 IWDG_PR = 6; // /256
IWDG_RLR = 0xff; // max time for watchdog (1.02s) IWDG_RLR = 0xff; // max time for watchdog (1.02s)
IWDG_KR = KEY_ENABLE; // start watchdog
*/
// Loop // Loop
uart_write("Scorpio platform ready\n");
if(RST_SR) RST_SR = 0x1f; // clear reset flags writing 1
do{ do{
//if(RST_SR) RST_SR = 0x1f; // clear reset flags writing 1 IWDG_KR = KEY_REFRESH; // refresh watchdog
//IWDG_KR = KEY_REFRESH; // refresh watchdog
if(uart_rdy){ if(uart_rdy){
process_string(); process_string();
} }

6
STM8/ports_definition.h
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@ -64,6 +64,11 @@
#define STP_PORT PB #define STP_PORT PB
#define STP_PINS 0x0f #define STP_PINS 0x0f
// PC5-PC7 - endswitch address (through multiplexer)
#define ESW_SEL_PORT PC
#define ESW_SEL_PINS 0xe0
#define ESW_SELECT(NUM) do{register U8 C=PC_ODR & ~ESW_SEL_PINS; C |= ((NUM-1)<<5); PC_ODR = C;}while(0)
// PD0..PD4 - select pair 0..2 & stepper // PD0..PD4 - select pair 0..2 & stepper
#define STP_SEL_PORT PD #define STP_SEL_PORT PD
#define STP_SEL_PINS 0x1f #define STP_SEL_PINS 0x1f
@ -71,6 +76,7 @@
#define STPRS_OFF() do{PORT(STP_PORT, ODR) &= ~STP_PINS; PORT(STP_SEL_PORT, ODR) &= ~0x07; PORT(STP_SEL_PORT, ODR) |= 0x18; }while(0) #define STPRS_OFF() do{PORT(STP_PORT, ODR) &= ~STP_PINS; PORT(STP_SEL_PORT, ODR) &= ~0x07; PORT(STP_SEL_PORT, ODR) |= 0x18; }while(0)
#define ESW_PORT PA #define ESW_PORT PA
#define ESW_PINS 0x06
// PA1 - "-", PA2 - "+" // PA1 - "-", PA2 - "+"
#define ESW_PLUS 0x02 #define ESW_PLUS 0x02
#define ESW_MINUS 0x04 #define ESW_MINUS 0x04

25
STM8/proto.c
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@ -34,7 +34,8 @@
U8 move_motor(char *cmd){ U8 move_motor(char *cmd){
U8 N = (U8)*cmd - '0'; U8 N = (U8)*cmd - '0';
int steps; int steps;
if(N < 1 || N > 6) return 0; if(N < 1 || N > 6 || Steps_left) return 0;
IWDG_KR = KEY_REFRESH; // refresh watchdog
cmd = omit_whitespace(cmd+1); cmd = omit_whitespace(cmd+1);
if(!readInt(cmd, &steps)) return 0; if(!readInt(cmd, &steps)) return 0;
#ifdef EBUG #ifdef EBUG
@ -47,7 +48,8 @@ U8 move_motor(char *cmd){
if(steps) return stepper_move(N, steps); if(steps) return stepper_move(N, steps);
else{ // steps == 0 - just check endswitches else{ // steps == 0 - just check endswitches
stepper_get_esw(N); cur_motor = N;
chk_esw = 1;
return 0; return 0;
} }
} }
@ -59,6 +61,7 @@ U8 move_motor(char *cmd){
*/ */
U8 relay(char *cmd, char N){ U8 relay(char *cmd, char N){
U8 on = 0; U8 on = 0;
IWDG_KR = KEY_REFRESH; // refresh watchdog
if(*cmd == '-'){ // just check if(*cmd == '-'){ // just check
char ans[] = "[2 N St=1]\n"; char ans[] = "[2 N St=1]\n";
ans[3] = N; ans[3] = N;
@ -77,7 +80,7 @@ U8 relay(char *cmd, char N){
} }
if(!on) ans[8] = '0'; // off if(!on) ans[8] = '0'; // off
uart_write(ans); uart_write(ans);
return 1; return 0; // not echo previous command
} }
if(*cmd == '0'){ // turn OFF if(*cmd == '0'){ // turn OFF
switch (N){ switch (N){
@ -141,6 +144,7 @@ void LEDshine(char *cmd, U8 N){
*/ */
U8 process_commands(char *cmd){ U8 process_commands(char *cmd){
char s; char s;
IWDG_KR = KEY_REFRESH; // refresh watchdog
cmd = omit_whitespace(cmd + 1); cmd = omit_whitespace(cmd + 1);
if(*cmd > '0' && *cmd < '7') if(*cmd > '0' && *cmd < '7')
return move_motor(cmd); return move_motor(cmd);
@ -151,6 +155,7 @@ U8 process_commands(char *cmd){
uart_write("Steps_left="); uart_write("Steps_left=");
print_long((long) Steps_left); print_long((long) Steps_left);
uart_write("\n"); uart_write("\n");
return 0;
break; break;
case '0': // stop motors case '0': // stop motors
DBG("restart"); DBG("restart");
@ -159,15 +164,15 @@ U8 process_commands(char *cmd){
break; break;
case '7': case '7':
DBG("Shutter"); DBG("Shutter");
relay(cmd, '7'); return relay(cmd, '7');
break; break;
case '8': case '8':
DBG("Neon"); DBG("Neon");
relay(cmd, '8'); return relay(cmd, '8');
break; break;
case '9': case '9':
DBG("Flat"); DBG("Flat");
relay(cmd, '9'); return relay(cmd, '9');
break; break;
case 'a': case 'a':
return stepper_ch_speed(cmd); return stepper_ch_speed(cmd);
@ -192,7 +197,8 @@ U8 process_commands(char *cmd){
} }
void process_string(){ void process_string(){
U8 rbs, noerr=1; U8 rbs, noerr=1, ctr;
char buf[UART_BUF_LEN+1];
char *cmd; char *cmd;
if(uart_rdy == 0) return; if(uart_rdy == 0) return;
uart_rdy = 0; uart_rdy = 0;
@ -208,10 +214,11 @@ void process_string(){
UART_rx[rx_idx] = 0; UART_rx[rx_idx] = 0;
cmd = omit_whitespace(&UART_rx[1]); cmd = omit_whitespace(&UART_rx[1]);
if(*cmd != '2') return; if(*cmd != '2') return;
for(ctr = 0; ctr <= rx_idx; ++ctr) buf[ctr] = UART_rx[ctr];
rbs = rx_idx; rbs = rx_idx;
rx_idx = 0; rx_idx = 0;
uart_write(UART_rx);
UART_rx[rbs - 2] = 0; UART_rx[rbs - 2] = 0;
process_commands(cmd); if(process_commands(cmd))
uart_write(buf);
} }
} }

233
STM8/sco_platform.ihx
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@ -1,122 +1,117 @@
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:00000001FF :00000001FF

22
STM8/stepper.c
View File

@ -102,6 +102,7 @@ U8 check_endsw(){
U8 stepper_move(U8 Nmotor, int Nsteps){ U8 stepper_move(U8 Nmotor, int Nsteps){
U8 c; U8 c;
if(!Nmotor || Nmotor > 6 || !Nsteps || Steps_left) return 0; if(!Nmotor || Nmotor > 6 || !Nsteps || Steps_left) return 0;
IWDG_KR = KEY_REFRESH; // refresh watchdog
if(Nsteps < 0){ if(Nsteps < 0){
Dir = 1; Dir = 1;
@ -109,11 +110,12 @@ U8 stepper_move(U8 Nmotor, int Nsteps){
}else }else
Dir = 0; Dir = 0;
Steps_left = Nsteps; Steps_left = Nsteps;
// select endswitch
ESW_SELECT(Nmotor);
// turn all motors OFF
STPRS_OFF(); STPRS_OFF();
// turn all OFF
// turn on the motor we need // turn on the motor we need
PORT(STP_SEL_PORT, ODR) |= (1 << (Nmotor/2)); PORT(STP_SEL_PORT, ODR) |= (1 << ((Nmotor-1)/2));
if(Nmotor & 1) PORT(STP_SEL_PORT, ODR) &= ~GPIO_PIN3; if(Nmotor & 1) PORT(STP_SEL_PORT, ODR) &= ~GPIO_PIN3;
else PORT(STP_SEL_PORT, ODR) &= ~GPIO_PIN4; else PORT(STP_SEL_PORT, ODR) &= ~GPIO_PIN4;
c = check_endsw(); c = check_endsw();
@ -133,6 +135,9 @@ U8 stepper_move(U8 Nmotor, int Nsteps){
void stop_motor(){ void stop_motor(){
TIM2_CR1 &= ~TIM_CR1_CEN; // Turn off timer TIM2_CR1 &= ~TIM_CR1_CEN; // Turn off timer
// turn all motors OFF
STPRS_OFF();
Ustep = 0;
Steps_left = 0; Steps_left = 0;
chk_esw = 1; chk_esw = 1;
DBG("stop\n"); DBG("stop\n");
@ -156,16 +161,13 @@ U8 chk_stpr_cmd(char N){
void stepper_get_esw(U8 Nmotor){ void stepper_get_esw(U8 Nmotor){
U8 sw; U8 sw;
char str[] = "[2 0 St=0]\n"; // 3 - motor number, 5 - endswitch (3 if none) char str[] = "[2 0 St=0]\n"; // 3 - motor number, 5 - endswitch (3 if none)
if(Nmotor == 0 || Nmotor > 7) return; // no running motor IWDG_KR = KEY_REFRESH; // refresh watchdog
STPRS_OFF(); if(Nmotor == 0 || Nmotor > 6) return; // no running motor
PORT(STP_SEL_PORT, ODR) |= (1 << (Nmotor/2)); ESW_SELECT(Nmotor);
if(Nmotor & 1) PORT(STP_SEL_PORT, ODR) |= 1<<4;
else PORT(STP_SEL_PORT, ODR) |= 1<<5;
str[3] = Nmotor + '0'; str[3] = Nmotor + '0';
sw = check_endsw(); sw = check_endsw();
if(sw == 0) sw = 3; if(sw == 0) sw = 3;
str[8] = sw + '0'; str[8] = sw + '0';
uart_write(str); uart_write(str);
STPRS_OFF(); cur_motor = 0;
cur_motor = 7;
} }

1
STM8/stepper.h
View File

@ -27,6 +27,7 @@
#define MIN_STEP_LENGTH 125 // max speed == 1/(125us*16) = 500 steps per second #define MIN_STEP_LENGTH 125 // max speed == 1/(125us*16) = 500 steps per second
extern volatile char Ustep;
extern volatile U8 chk_esw; extern volatile U8 chk_esw;
extern U8 cur_motor; extern U8 cur_motor;

5
STM8/uart.c
View File

@ -40,7 +40,7 @@ void UART_send_byte(U8 byte){
}*/ }*/
void uart_write(char *str){ void uart_write(char *str){
while(tx_len); while(tx_len) {IWDG_KR = KEY_REFRESH;}
UART2_CR2 &= ~UART_CR2_TIEN; UART2_CR2 &= ~UART_CR2_TIEN;
tx_idx = 0; tx_idx = 0;
do{ do{
@ -117,6 +117,7 @@ void print_long(long Number){
U8 readInt(char *buff, int *val){ U8 readInt(char *buff, int *val){
U8 sign = 0, rb, bad = 1; U8 sign = 0, rb, bad = 1;
long R = 0; long R = 0;
IWDG_KR = KEY_REFRESH; // refresh watchdog
//usart_send("readInt, buff="); //usart_send("readInt, buff=");
//usart_send(buff); //usart_send(buff);
if(*buff == '-'){ if(*buff == '-'){
@ -128,7 +129,7 @@ U8 readInt(char *buff, int *val){
if(rb < '0' || rb > '9') break; if(rb < '0' || rb > '9') break;
bad = 0; bad = 0;
R = R * 10L + rb - '0'; R = R * 10L + rb - '0';
if(R > 0x7fff){ // bad value if(R > 0x7ffe){ // bad value
bad = 1; bad = 1;
break; break;
} }