Debugged @ breadboard

STM8/Makefile

@@ -6,7 +6,7 @@ LDFLAGS= -mstm8 --out-fmt-ihx -lstm8
 FLASHFLAGS=-cstlinkv2 -pstm8s105?4
 
 SRC=$(wildcard *.c)
-DEFS = -DEBUG
+#DEFS = -DEBUG
 
 OBJ=$(SRC:%.c=%.rel)
 TRASH=$(OBJ) $(SRC:%.c=%.rst) $(SRC:%.c=%.asm) $(SRC:%.c=%.lst)

STM8/Readme.md

@@ -5,11 +5,41 @@ SCORPIO platform controller
 
 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.

STM8/interrupts.c

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

STM8/main.c

@@ -114,21 +114,27 @@ int main() {
 
     setup_stepper_pins();
     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
     enableInterrupts();
 
-/*
+
     // Setup watchdog
+    IWDG_KR = KEY_ENABLE; // start watchdog
     IWDG_KR = KEY_ACCESS; // enable access to protected registers
     IWDG_PR = 6; // /256
     IWDG_RLR = 0xff; // max time for watchdog (1.02s)
-    IWDG_KR = KEY_ENABLE; // start watchdog
+
-*/
     // Loop
+    uart_write("Scorpio platform ready\n");
+    if(RST_SR) RST_SR = 0x1f; // clear reset flags writing 1
     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){
             process_string();
         }

STM8/ports_definition.h

@@ -64,6 +64,11 @@
 #define STP_PORT        PB
 #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
 #define STP_SEL_PORT  PD
 #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 ESW_PORT    PA
+#define ESW_PINS    0x06
 // PA1 - "-", PA2 - "+"
 #define ESW_PLUS    0x02
 #define ESW_MINUS   0x04

STM8/proto.c

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

STM8/sco_platform.ihx

@@ -1,122 +1,117 @@
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 :00000001FF

STM8/stepper.c

@@ -102,6 +102,7 @@ U8 check_endsw(){
 U8 stepper_move(U8 Nmotor, int Nsteps){
     U8 c;
     if(!Nmotor || Nmotor > 6 || !Nsteps || Steps_left) return 0;
+    IWDG_KR = KEY_REFRESH; // refresh watchdog
 
     if(Nsteps < 0){
         Dir = 1;
@@ -109,11 +110,12 @@ U8 stepper_move(U8 Nmotor, int Nsteps){
     }else
         Dir = 0;
     Steps_left = Nsteps;
+    // select endswitch
+    ESW_SELECT(Nmotor);
+    // turn all motors OFF
     STPRS_OFF();
-
-    // turn all OFF
     // 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;
     else PORT(STP_SEL_PORT, ODR) &= ~GPIO_PIN4;
     c = check_endsw();
@@ -133,6 +135,9 @@ U8 stepper_move(U8 Nmotor, int Nsteps){
 
 void stop_motor(){
     TIM2_CR1 &= ~TIM_CR1_CEN; // Turn off timer
+    // turn all motors OFF
+    STPRS_OFF();
+    Ustep = 0;
     Steps_left = 0;
     chk_esw = 1;
     DBG("stop\n");
@@ -156,16 +161,13 @@ U8 chk_stpr_cmd(char N){
 void stepper_get_esw(U8 Nmotor){
     U8 sw;
     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';
     sw = check_endsw();
     if(sw == 0) sw = 3;
     str[8] = sw + '0';
     uart_write(str);
-    STPRS_OFF();
+    cur_motor = 0;
-    cur_motor = 7;
 }

STM8/stepper.h

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

STM8/uart.c

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