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Temporary system with STM8

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eddyem 2017-06-13 21:43:39 +03:00
parent 3c1b544489
commit 7aee7cc1f4
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30
STM8/Makefile Normal file
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NAME=sco_platform
SDCC=sdcc
CCFLAGS=-DSTM8S105 -I../ -I/usr/share/sdcc/include -mstm8 --out-fmt-ihx
LDFLAGS= -mstm8 --out-fmt-ihx -lstm8
FLASHFLAGS=-cstlinkv2 -pstm8s105?4
SRC=$(wildcard *.c)
DEFS = -DEBUG
OBJ=$(SRC:%.c=%.rel)
TRASH=$(OBJ) $(SRC:%.c=%.rst) $(SRC:%.c=%.asm) $(SRC:%.c=%.lst)
TRASH+=$(SRC:%.c=%.sym) $(NAME).lk $(NAME).map $(NAME).cdb
INDEPENDENT_HEADERS=stm8l.h ports_definition.h Makefile
all: $(NAME).ihx
clean:
rm -f $(TRASH)
load: $(NAME).ihx
stm8flash $(FLASHFLAGS) -w $(NAME).ihx
%.rel: %.c
$(SDCC) $(CCFLAGS) $(DEFS) -c $<
$(NAME).ihx: $(OBJ)
$(SDCC) $(LDFLAGS) $(OBJ) -o $(NAME).ihx
.PHONY: all

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SCORPIO platform controller
============================
### Based on STM8
PINS description
* D6 - USART Rx
* D5 - USART Tx
* D0..D2 - select motors pair
* D3, D4 - select motor from pair
* C1..C3 - LED1..LED3
* B0..B3 - stepper motors' outputs
* B4, B5, F4 - relays (shutter, neon, flat)
* A1, A2 - end-switches ("-" and "+")

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/*
* interrupts.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 "stepper.h"
#include "uart.h"
// Top Level Interrupt
INTERRUPT_HANDLER(TLI_IRQHandler, 0){}
// Auto Wake Up Interrupt
INTERRUPT_HANDLER(AWU_IRQHandler, 1){}
// Clock Controller Interrupt
INTERRUPT_HANDLER(CLK_IRQHandler, 2){}
// External Interrupt PORTA
INTERRUPT_HANDLER(EXTI_PORTA_IRQHandler, 3){}
// External Interrupt PORTB
INTERRUPT_HANDLER(EXTI_PORTB_IRQHandler, 4){}
// External Interrupt PORTC
INTERRUPT_HANDLER(EXTI_PORTC_IRQHandler, 5){}
// External Interrupt PORTD
INTERRUPT_HANDLER(EXTI_PORTD_IRQHandler, 6){
}
// External Interrupt PORTE
INTERRUPT_HANDLER(EXTI_PORTE_IRQHandler, 7){}
#ifdef STM8S903
// External Interrupt PORTF
INTERRUPT_HANDLER(EXTI_PORTF_IRQHandler, 8){}
#endif // STM8S903
#if defined (STM8S208) || defined (STM8AF52Ax)
// CAN RX Interrupt routine.
INTERRUPT_HANDLER(CAN_RX_IRQHandler, 8){}
// CAN TX Interrupt routine.
INTERRUPT_HANDLER(CAN_TX_IRQHandler, 9){}
#endif // STM8S208 || STM8AF52Ax
// SPI Interrupt routine.
INTERRUPT_HANDLER(SPI_IRQHandler, 10){}
// Timer1 Update/Overflow/Trigger/Break Interrupt
INTERRUPT_HANDLER(TIM1_UPD_OVF_TRG_BRK_IRQHandler, 11){
if(TIM1_SR1 & TIM_SR1_UIF){ // update interrupt
// Global_time++; // increase timer
}
TIM1_SR1 = 0; // clear all interrupt flags
}
// Timer1 Capture/Compare Interrupt routine.
INTERRUPT_HANDLER(TIM1_CAP_COM_IRQHandler, 12){}
#ifdef STM8S903
// Timer5 Update/Overflow/Break/Trigger Interrupt
INTERRUPT_HANDLER(TIM5_UPD_OVF_BRK_TRG_IRQHandler, 13){}
// Timer5 Capture/Compare Interrupt
INTERRUPT_HANDLER(TIM5_CAP_COM_IRQHandler, 14){}
#else // STM8S208, STM8S207, STM8S105 or STM8S103 or STM8AF62Ax or STM8AF52Ax or STM8AF626x
volatile char Ustep = 0;
// Timer2 Update/Overflow/Break Interrupt
INTERRUPT_HANDLER(TIM2_UPD_OVF_BRK_IRQHandler, 13){ // generate pulses for stepper CLK
char tmp;
U8 sw;
if(TIM2_SR1 & TIM_SR1_UIF){
TIM2_SR1 &= ~TIM_SR1_UIF; // take off flag
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){
if(--Ustep < 0){
Ustep = 7;
--Steps_left;
if(sw == 1){
stop_motor();
return;
}
}
}else{
if(++Ustep > 7){
Ustep = 0;
--Steps_left;
if(sw == 2){
stop_motor();
return;
}
}
}
}
}
// Timer2 Capture/Compare Interrupt
INTERRUPT_HANDLER(TIM2_CAP_COM_IRQHandler, 14){
}
#endif // STM8S903
#if defined (STM8S208) || defined(STM8S207) || defined(STM8S007) || defined(STM8S105) || \
defined(STM8S005) || defined (STM8AF62Ax) || defined (STM8AF52Ax) || defined (STM8AF626x)
// Timer3 Update/Overflow/Break Interrupt
INTERRUPT_HANDLER(TIM3_UPD_OVF_BRK_IRQHandler, 15){}
// Timer3 Capture/Compare Interrupt
INTERRUPT_HANDLER(TIM3_CAP_COM_IRQHandler, 16){}
#endif // STM8S208, STM8S207 or STM8S105 or STM8AF62Ax or STM8AF52Ax or STM8AF626x
#if defined (STM8S208) || defined(STM8S207) || defined(STM8S007) || defined(STM8S103) || \
defined(STM8S003) || defined (STM8AF62Ax) || defined (STM8AF52Ax) || defined (STM8S903)
// UART1 TX Interrupt
INTERRUPT_HANDLER(UART1_TX_IRQHandler, 17){}
// UART1 RX Interrupt
INTERRUPT_HANDLER(UART1_RX_IRQHandler, 18){}
#endif // STM8S208 or STM8S207 or STM8S103 or STM8S903 or STM8AF62Ax or STM8AF52Ax
// I2C Interrupt
INTERRUPT_HANDLER(I2C_IRQHandler, 19){}
#if defined(STM8S105) || defined(STM8S005) || defined (STM8AF626x)
// UART2 TX interrupt
INTERRUPT_HANDLER(UART2_TX_IRQHandler, 20){
if(UART2_SR & UART_SR_TXE){
if(tx_len == 0){
UART2_CR2 &= ~UART_CR2_TIEN; // disable TXE interrupt
tx_idx = 0;
return;
}
if(tx_idx < tx_len){
UART2_DR = UART_tx[tx_idx++];
}else{
UART2_CR2 &= ~UART_CR2_TIEN;
tx_idx = 0;
tx_len = 0;
return;
}
}
}
// UART2 RX interrupt
INTERRUPT_HANDLER(UART2_RX_IRQHandler, 21){
U8 rb;
if(UART2_SR & UART_SR_RXNE){ // data received
rb = UART2_DR; // read received byte & clear RXNE flag
//while(!(UART2_SR & UART_SR_TXE));
UART_rx[rx_idx++] = rb; // put received byte into cycled buffer
//UART2_DR = rb;
if(rx_idx == UART_BUF_LEN && rb != '\n'){ // Oops: buffer overflow! Just forget old data
rx_idx = 0;
return;
}
if(rb == '\n'){
uart_rdy = 1;
UART_rx[rx_idx] = 0;
}
}
}
#endif // STM8S105 or STM8AF626x
#if defined(STM8S207) || defined(STM8S007) || defined(STM8S208) || defined (STM8AF52Ax) || defined (STM8AF62Ax)
// UART3 TX interrupt
INTERRUPT_HANDLER(UART3_TX_IRQHandler, 20){}
// UART3 RX interrupt
INTERRUPT_HANDLER(UART3_RX_IRQHandler, 21){}
#endif // STM8S208 or STM8S207 or STM8AF52Ax or STM8AF62Ax
#if defined(STM8S207) || defined(STM8S007) || defined(STM8S208) || defined (STM8AF52Ax) || defined (STM8AF62Ax)
// ADC2 interrupt
INTERRUPT_HANDLER(ADC2_IRQHandler, 22){}
#else
// ADC1 interrupt
INTERRUPT_HANDLER(ADC1_IRQHandler, 22){
}
#endif // STM8S208 or STM8S207 or STM8AF52Ax or STM8AF62Ax
#ifdef STM8S903
// Timer6 Update/Overflow/Trigger Interrupt
INTERRUPT_HANDLER(TIM6_UPD_OVF_TRG_IRQHandler, 23){}
#else // STM8S208, STM8S207, STM8S105 or STM8S103 or STM8AF52Ax or STM8AF62Ax or STM8AF626x
// Timer4 Update/Overflow Interrupt
INTERRUPT_HANDLER(TIM4_UPD_OVF_IRQHandler, 23){}
#endif // STM8S903
// Eeprom EEC Interrupt
INTERRUPT_HANDLER(EEPROM_EEC_IRQHandler, 24){}

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/*
* interrupts.h
*
* 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.
*/
#pragma once
#ifndef __INTERRUPTS_H__
#define __INTERRUPTS_H__
#include "stm8l.h"
// Top Level Interrupt
INTERRUPT_DEFINITION(TLI_IRQHandler, 0);
// Auto Wake Up Interrupt
INTERRUPT_DEFINITION(AWU_IRQHandler, 1);
// Clock Controller Interrupt
INTERRUPT_DEFINITION(CLK_IRQHandler, 2);
// External Interrupt PORTA
INTERRUPT_DEFINITION(EXTI_PORTA_IRQHandler, 3);
// External Interrupt PORTB
INTERRUPT_DEFINITION(EXTI_PORTB_IRQHandler, 4);
// External Interrupt PORTC
INTERRUPT_DEFINITION(EXTI_PORTC_IRQHandler, 5);
// External Interrupt PORTD
INTERRUPT_DEFINITION(EXTI_PORTD_IRQHandler, 6);
// External Interrupt PORTE
INTERRUPT_DEFINITION(EXTI_PORTE_IRQHandler, 7);
#ifdef STM8S903
// External Interrupt PORTF
INTERRUPT_DEFINITION(EXTI_PORTF_IRQHandler, 8);
#endif // STM8S903
#if defined (STM8S208) || defined (STM8AF52Ax)
// CAN RX Interrupt routine.
INTERRUPT_DEFINITION(CAN_RX_IRQHandler, 8);
// CAN TX Interrupt routine.
INTERRUPT_DEFINITION(CAN_TX_IRQHandler, 9);
#endif // STM8S208 || STM8AF52Ax
// SPI Interrupt routine.
INTERRUPT_DEFINITION(SPI_IRQHandler, 10);
// Timer1 Update/Overflow/Trigger/Break Interrupt
INTERRUPT_DEFINITION(TIM1_UPD_OVF_TRG_BRK_IRQHandler, 11);
// Timer1 Capture/Compare Interrupt routine.
INTERRUPT_DEFINITION(TIM1_CAP_COM_IRQHandler, 12);
#ifdef STM8S903
// Timer5 Update/Overflow/Break/Trigger Interrupt
INTERRUPT_DEFINITION(TIM5_UPD_OVF_BRK_TRG_IRQHandler, 13);
// Timer5 Capture/Compare Interrupt
INTERRUPT_DEFINITION(TIM5_CAP_COM_IRQHandler, 14);
#else // STM8S208, STM8S207, STM8S105 or STM8S103 or STM8AF62Ax or STM8AF52Ax or STM8AF626x
// Timer2 Update/Overflow/Break Interrupt
INTERRUPT_DEFINITION(TIM2_UPD_OVF_BRK_IRQHandler, 13);
// Timer2 Capture/Compare Interrupt
INTERRUPT_DEFINITION(TIM2_CAP_COM_IRQHandler, 14);
#endif // STM8S903
#if defined (STM8S208) || defined(STM8S207) || defined(STM8S007) || defined(STM8S105) || \
defined(STM8S005) || defined (STM8AF62Ax) || defined (STM8AF52Ax) || defined (STM8AF626x)
// Timer3 Update/Overflow/Break Interrupt
INTERRUPT_DEFINITION(TIM3_UPD_OVF_BRK_IRQHandler, 15);
// Timer3 Capture/Compare Interrupt
INTERRUPT_DEFINITION(TIM3_CAP_COM_IRQHandler, 16);
#endif // STM8S208, STM8S207 or STM8S105 or STM8AF62Ax or STM8AF52Ax or STM8AF626x
#if defined (STM8S208) || defined(STM8S207) || defined(STM8S007) || defined(STM8S103) || \
defined(STM8S003) || defined (STM8AF62Ax) || defined (STM8AF52Ax) || defined (STM8S903)
// UART1 TX Interrupt
INTERRUPT_DEFINITION(UART1_TX_IRQHandler, 17);
// UART1 RX Interrupt
INTERRUPT_DEFINITION(UART1_RX_IRQHandler, 18);
#endif // STM8S208 or STM8S207 or STM8S103 or STM8S903 or STM8AF62Ax or STM8AF52Ax
// I2C Interrupt
INTERRUPT_DEFINITION(I2C_IRQHandler, 19);
#if defined(STM8S105) || defined(STM8S005) || defined (STM8AF626x)
// UART2 TX interrupt
INTERRUPT_DEFINITION(UART2_TX_IRQHandler, 20);
// UART2 RX interrupt
INTERRUPT_DEFINITION(UART2_RX_IRQHandler, 21);
#endif // STM8S105 or STM8AF626x
#if defined(STM8S207) || defined(STM8S007) || defined(STM8S208) || defined (STM8AF52Ax) || defined (STM8AF62Ax)
// UART3 TX interrupt
INTERRUPT_DEFINITION(UART3_TX_IRQHandler, 20);
// UART3 RX interrupt
INTERRUPT_DEFINITION(UART3_RX_IRQHandler, 21);
#endif // STM8S208 or STM8S207 or STM8AF52Ax or STM8AF62Ax
#if defined(STM8S207) || defined(STM8S007) || defined(STM8S208) || defined (STM8AF52Ax) || defined (STM8AF62Ax)
// ADC2 interrupt
INTERRUPT_DEFINITION(ADC2_IRQHandler, 22);
#else // STM8S105, STM8S103 or STM8S903 or STM8AF626x
// ADC1 interrupt
INTERRUPT_DEFINITION(ADC1_IRQHandler, 22);
#endif // STM8S208 or STM8S207 or STM8AF52Ax or STM8AF62Ax
#ifdef STM8S903
// Timer6 Update/Overflow/Trigger Interrupt
INTERRUPT_DEFINITION(TIM6_UPD_OVF_TRG_IRQHandler, 23);
#else // STM8S208, STM8S207, STM8S105 or STM8S103 or STM8AF52Ax or STM8AF62Ax or STM8AF626x
// Timer4 Update/Overflow Interrupt
INTERRUPT_DEFINITION(TIM4_UPD_OVF_IRQHandler, 23);
#endif // STM8S903
// Eeprom EEC Interrupt
INTERRUPT_DEFINITION(EEPROM_EEC_IRQHandler, 24);
#endif // __INTERRUPTS_H__

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/*
* 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 "stepper.h"
#include "uart.h"
#include "proto.h"
//U32 Global_time = 0L; // global time in ms
/*
* 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
//const U8 ustepsUNI[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar
//const U8 ustepsBIP[8] = {8, 10, 2, 6, 4, 5, 1, 9}; // bipolar
// current usteps
//U8 const *usteps = ustepsUNI;
int main() {
//unsigned long T = 0L;
// int Ival;
// U8 rb;
CLK_ICKR |= 8; // enable LSI for watchdog
CFG_GCR |= 1; // disable SWIM
// Configure clocking
CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
PORT(LEDS_PORT, DDR) |= LEDS_PINS;
PORT(LEDS_PORT, CR1) |= LEDS_PINS;
PORT(LEDS_PORT, CR2) |= LEDS_PINS;
// Configure timer 1 - LEDs
// 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 256ticks:
TIM1_ARRH = 0x0;
TIM1_ARRL = 0xFF;
TIM1_CCR1H = 0;
TIM1_CCR1L = 20;
TIM1_CCR2H = 0;
TIM1_CCR2L = 20;
TIM1_CCR3H = 0;
TIM1_CCR3L = 20;
// interrupts: none
// PWM mode 1 - OC1M = 110
TIM1_CCMR1 = 0x60; TIM1_CCMR2 = 0x60; TIM1_CCMR3 = 0x60;
TIM1_CCER1 = 0x11; // CC1E, CC2E
TIM1_CCER2 = 0x01; // CC3E
// auto-reload + enable
TIM1_CR1 = TIM_CR1_APRE | TIM_CR1_CEN;
TIM1_BKR |= 1<<7; // MOE - enable main output
// Configure pins
// PD5 - UART2_TX
PORT(UART_PORT, DDR) |= UART_TX_PIN;
PORT(UART_PORT, CR1) |= UART_TX_PIN;
PORT(UART_PORT, CR2) |= UART_TX_PIN;
// Configure UART
// 8 bit, no parity, 1 stop (UART_CR1/3 = 0 - reset value)
// 9600 on 16MHz: BRR1=0x41, BRR2=0x02
UART2_BRR2 = 0x03; UART2_BRR1 = 0x68;
UART2_CR2 = UART_CR2_TEN | UART_CR2_REN | UART_CR2_RIEN; // Allow RX/TX, generate ints on rx//tx
Stepper_speed = 1000;
// Configure timer 2 to generate signals for CLK
TIM2_PSCR = 4; // 1MHz
TIM2_ARRH = 1000 >> 8; // set speed
TIM2_ARRL = 1000 & 0xff;
TIM2_IER = TIM_IER_UIE; // update interrupt enable
TIM2_CR1 |= TIM_CR1_APRE | TIM_CR1_URS; // auto reload + interrupt on overflow
setup_stepper_pins();
RELAY_SETUP();
// enable all interrupts
enableInterrupts();
/*
// Setup 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
do{
//if(RST_SR) RST_SR = 0x1f; // clear reset flags writing 1
//IWDG_KR = KEY_REFRESH; // refresh watchdog
if(uart_rdy){
process_string();
}
if(chk_esw){
chk_esw = 0;
stepper_get_esw(cur_motor);
}
}while(1);
}

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/*
* ports_definition.h - definition of ports pins & so on
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* 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.
*/
#pragma once
#ifndef __PORTS_DEFINITION_H__
#define __PORTS_DEFINITION_H__
#include "stm8l.h"
#ifdef EBUG
#define DBG(x) uart_write(x)
#else
#define DBG(x)
#endif
// macro for using in port constructions like PORT(LED_PORT, ODR) = xx
#define CONCAT(a, b) a ## _ ## b
#define PORT(a, b) CONCAT(a , b)
// UART2_TX
#define UART_PORT PD
#define UART_TX_PIN GPIO_PIN5
/****** Relays: B4, B5, F4 ******/
#define RELAY_SETUP() do{PB_DDR |= 0x30; PB_CR1 |= 0x30; PF_DDR |= 0x10; PF_CR1 |= 0x10;}while(0)
#define RELAYS_OFF() do{PB_ODR &= ~0x30; PF_ODR |= ~0x10;}while(0)
#define RELAY1_ON() do{PB_ODR |= 0x10;}while(0)
#define RELAY1_OFF() do{PB_ODR &= ~0x10;}while(0)
#define RELAY2_ON() do{PB_ODR |= 0x20;}while(0)
#define RELAY2_OFF() do{PB_ODR &= ~0x20;}while(0)
#define RELAY3_ON() do{PF_ODR |= 0x10;}while(0)
#define RELAY3_OFF() do{PF_ODR &= ~0x10;}while(0)
#define RELAY_1() (PB_ODR & 0x10)
#define RELAY_2() (PB_ODR & 0x20)
#define RELAY_3() (PF_ODR & 0x10)
/***** LEDs (C1..C3) *****/
#define LEDS_PORT PC
#define LEDS_PINS 0x0E
/***** Stepper motor *****/
// Clocking
// PB0..3 -- pins A..D of stepper
#define STP_PORT PB
#define STP_PINS 0x0f
// PD0..PD4 - select pair 0..2 & stepper
#define STP_SEL_PORT PD
#define STP_SEL_PINS 0x1f
#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
// PA1 - "-", PA2 - "+"
#define ESW_PLUS 0x02
#define ESW_MINUS 0x04
#endif // __PORTS_DEFINITION_H__

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/*
* geany_encoding=koi8-r
* proto.c - base protocol definitions
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* 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 "uart.h"
#include "stepper.h"
/**
* Move motor for given amount of steps, cmd should be 'N nnnn any other symbols',
* N - motor number,
* nnnn - steps (-32768...32768)
* @return 1 if all OK
*/
U8 move_motor(char *cmd){
U8 N = (U8)*cmd - '0';
int steps;
if(N < 1 || N > 6) return 0;
cmd = omit_whitespace(cmd+1);
if(!readInt(cmd, &steps)) return 0;
#ifdef EBUG
uart_write("Move motor ");
printUint((U8*)&N, 1);
uart_write(" for ");
print_long((long)steps);
uart_write("steps\n");
#endif
if(steps) return stepper_move(N, steps);
else{ // steps == 0 - just check endswitches
stepper_get_esw(N);
return 0;
}
}
/**
* Switch relay on/off depending on cmd value
* 1 - on, 0 - off
* @param N - second symbol of command ([2 N ...])
*/
U8 relay(char *cmd, char N){
U8 on = 0;
if(*cmd == '-'){ // just check
char ans[] = "[2 N St=1]\n";
ans[3] = N;
switch (N){
case '7':
on = RELAY_1();
break;
case '8':
on = RELAY_2();
break;
case '9':
on = RELAY_3();
break;
default:
return 0;
}
if(!on) ans[8] = '0'; // off
uart_write(ans);
return 1;
}
if(*cmd == '0'){ // turn OFF
switch (N){
case '7':
RELAY1_OFF();
break;
case '8':
RELAY2_OFF();
break;
case '9':
RELAY3_OFF();
break;
default:
return 0;
}
return 1;
}
if(*cmd == '1'){ // turn ON
switch (N){
case '7':
RELAY1_ON();
break;
case '8':
RELAY2_ON();
break;
case '9':
RELAY3_ON();
break;
default:
return 0;
}
return 1;
}
return 0;
}
//extern void print_time();
void LEDshine(char *cmd, U8 N){
int s;
if(!readInt(cmd, &s)) return;
if(s < 0 || s > 255) return;
switch (N){
case 0:
TIM1_CCR1L = s;
break;
case 1:
TIM1_CCR2L = s;
break;
case 2:
TIM1_CCR3L = s;
break;
default:
return;
}
}
/**
* process commands from user buffer
* @return 1 if all OK
*/
U8 process_commands(char *cmd){
char s;
cmd = omit_whitespace(cmd + 1);
if(*cmd > '0' && *cmd < '7')
return move_motor(cmd);
s = *cmd;
cmd = omit_whitespace(cmd + 1);
switch(s){
case '?':
uart_write("Steps_left=");
print_long((long) Steps_left);
uart_write("\n");
break;
case '0': // stop motors
DBG("restart");
stop_motor();
RELAYS_OFF();
break;
case '7':
DBG("Shutter");
relay(cmd, '7');
break;
case '8':
DBG("Neon");
relay(cmd, '8');
break;
case '9':
DBG("Flat");
relay(cmd, '9');
break;
case 'a':
return stepper_ch_speed(cmd);
break;
case 'b':
DBG("LED1");
LEDshine(cmd, 0);
break;
case 'c':
DBG("LED2");
LEDshine(cmd, 1);
break;
case 'd':
DBG("LED3");
LEDshine(cmd, 2);
break;
default:
return 0;
}
DBG("\n");
return 1;
}
void process_string(){
U8 rbs, noerr=1;
char *cmd;
if(uart_rdy == 0) return;
uart_rdy = 0;
if(rx_idx < 3 || UART_rx[0] != '[' || UART_rx[rx_idx - 2] != ']'){
if(!chk_stpr_cmd(UART_rx[0])){
DBG("Enter \"[cmd]\"\n");
}
//if(rx_buffer[0] == 't'){ print_time(); return; }
rx_idx = 0;
noerr = 0;
}
if(noerr){ // echo back given string
UART_rx[rx_idx] = 0;
cmd = omit_whitespace(&UART_rx[1]);
if(*cmd != '2') return;
rbs = rx_idx;
rx_idx = 0;
uart_write(UART_rx);
UART_rx[rbs - 2] = 0;
process_commands(cmd);
}
}

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/*
* stepper.c
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* 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 "uart.h"
#include "stepper.h"
volatile U8 chk_esw = 0; // need 2 check end-switches
static const U8 usteps_matrix[8][8] = {
{0b1000, 0b1100, 0b0100, 0b0110, 0b0010, 0b0011, 0b0001, 0b1001}, // [1234]
{0b0010, 0b0110, 0b0100, 0b1100, 0b1000, 0b1001, 0b0001, 0b0011}, // [3214]
{0b1000, 0b1001, 0b0001, 0b0011, 0b0010, 0b0110, 0b0100, 0b1100}, // [1432]
{0b1000, 0b1010, 0b0010, 0b0110, 0b0100, 0b0101, 0b0001, 0b1001}, // [1324]
// inversion: cat | sed -e 's/0b/x/g' -e 's/0/y/g' -e 's/1/0/g' -e 's/y/1/g' -e s'/x/0b/g'
{0b0111, 0b0011, 0b1011, 0b1001, 0b1101, 0b1100, 0b1110, 0b0110}, // [1234]
{0b1101, 0b1001, 0b1011, 0b0011, 0b0111, 0b0110, 0b1110, 0b1100}, // [3214]
{0b0111, 0b0110, 0b1110, 0b1100, 0b1101, 0b1001, 0b1011, 0b0011}, // [1432]
{0b0111, 0b0101, 0b1101, 0b1001, 0b1011, 0b1010, 0b1110, 0b0110}, // [1324]
};
volatile int Steps_left = 0; // Number of steps
volatile char Dir = 0; // direction of moving: 0/1
U16 Stepper_speed = 0; // length of one MICROstep in us
U8 *usteps = &usteps_matrix[0][0];
U8 cur_motor = 7;
/**
* Setup pins of stepper motor (all - PP out)
*/
void setup_stepper_pins(){
// Push-pull for outputs
// PB0..3
PORT(STP_PORT, DDR) |= STP_PINS;
PORT(STP_PORT, CR1) |= STP_PINS;
PORT(STP_PORT, CR2) |= STP_PINS;
// PD0..4
PORT(STP_SEL_PORT, DDR) |= STP_SEL_PINS;
PORT(STP_SEL_PORT, CR1) |= STP_SEL_PINS;
PORT(STP_SEL_PORT, CR2) |= STP_SEL_PINS;
STPRS_OFF();
}
U8 stepper_ch_speed(char *spd){
int newval;
if(readInt(spd, &newval)){
if(newval > -9 && newval < 0x7fff){
U16 O = 0xffff / (newval + 10);
if(O < MIN_STEP_LENGTH) return 0;
Stepper_speed = O;
// Configure timer 2 to generate signals for CLK
TIM2_PSCR = 4; // 1MHz
TIM2_ARRH = O >> 8; // set speed
TIM2_ARRL = O & 0xff;
TIM2_IER = TIM_IER_UIE; // update interrupt enable
TIM2_CR1 |= TIM_CR1_APRE | TIM_CR1_URS; // auto reload + interrupt on overflow & RUN
#ifdef EBUG
uart_write("Speed changed to ");
printUint((U8*)&O, 2);
uart_write("\n");
#endif
return 1;
}else DBG("Bad speed value\n");
}
return 0;
}
/**
* Check endswitches
* @return 0 if none pressed, 1 if "-", 2 if "+"
*/
U8 check_endsw(){
// A1 - "-", A2 - "+"
U8 pc = PORT(ESW_PORT, IDR);
if(0 == (pc & ESW_MINUS)) return 1;
if(0 == (pc & ESW_PLUS)) return 2;
return 0;
}
/**
* move stepper number Nmotor by Nsteps steps
* @return 1 if all OK, 0 if error occured
*/
U8 stepper_move(U8 Nmotor, int Nsteps){
U8 c;
if(!Nmotor || Nmotor > 6 || !Nsteps || Steps_left) return 0;
if(Nsteps < 0){
Dir = 1;
Nsteps *= -1;
}else
Dir = 0;
Steps_left = Nsteps;
STPRS_OFF();
// turn all OFF
// turn on the motor we need
PORT(STP_SEL_PORT, ODR) |= (1 << (Nmotor/2));
if(Nmotor & 1) PORT(STP_SEL_PORT, ODR) &= ~GPIO_PIN3;
else PORT(STP_SEL_PORT, ODR) &= ~GPIO_PIN4;
c = check_endsw();
cur_motor = Nmotor;
if(c){
if(c == 1){if(!Dir) c = 0;}
else if(Dir) c = 0;
}
if(c){
stop_motor();
return 0; // already at end-switch in given direction
}
DBG("stepper_move\n");
TIM2_CR1 |= TIM_CR1_CEN; // turn on timer
return 1;
}
void stop_motor(){
TIM2_CR1 &= ~TIM_CR1_CEN; // Turn off timer
Steps_left = 0;
chk_esw = 1;
DBG("stop\n");
}
/**
* User can change current stepper phases table
* N - position in table from 'a' (0) to 'h' (7)
* return 1 if all OK
*/
U8 chk_stpr_cmd(char N){
if(N < 'a' || N > 'h') return 0;
usteps = &usteps_matrix[N-'a'][0];
return 1;
}
/**
* get end-switches state for all motors or only Nth
* @param Nmotor - number of given motor
*/
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
STPRS_OFF();
PORT(STP_SEL_PORT, ODR) |= (1 << (Nmotor/2));
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 = 7;
}

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/*
* stepper.h
*
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* 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.
*/
#pragma once
#ifndef __STEPPER_H__
#define __STEPPER_H__
#include "ports_definition.h"
#define MIN_STEP_LENGTH 125 // max speed == 1/(125us*16) = 500 steps per second
extern volatile U8 chk_esw;
extern U8 cur_motor;
extern volatile int Steps_left;
extern U16 Stepper_speed;
extern volatile char Dir;
extern U8 *usteps;
void setup_stepper_pins();
U8 stepper_ch_speed(char *spd);
U8 stepper_move(U8 Nmotor, int Nsteps);
void stop_motor();
U8 check_endsw();
void stepper_get_esw(U8 Nmotor);
U8 chk_stpr_cmd(char N);
#endif // __STEPPER_H__

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/*
* stm8l.h
*
* 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.
*/
#pragma once
#ifndef __STM8L_H__
#define __STM8L_H__
typedef unsigned char U8;
typedef unsigned int U16;
typedef unsigned long U32;
#define NULL (void*)0
/* functions */
#define enableInterrupts() {__asm__("rim\n");} // enable interrupts
#define disableInterrupts() {__asm__("sim\n");} // disable interrupts
#define iret() {__asm__("iret\n");} // Interrupt routine return
#define pop_ccr() {__asm__("pop cc\n");} // Pop CCR from the stack
#define push_ccr() {__asm__("push cc\n");}// Push CCR on the stack
#define rim() {__asm__("rim\n");} // enable interrupts
#define sim() {__asm__("sim\n");} // disable interrupts
#define nop() {__asm__("nop\n");} // No Operation
#define trap() {__asm__("trap\n");} // Trap (soft IT)
#define wfi() {__asm__("wfi\n");} // Wait For Interrupt
#define halt() {__asm__("halt\n");} // Halt
/*
* Registers map is shown in short datasheet, page 26
*/
/* GPIO */
#define PA_ODR *(unsigned char*)0x5000
#define PA_IDR *(unsigned char*)0x5001
#define PA_DDR *(unsigned char*)0x5002
#define PA_CR1 *(unsigned char*)0x5003
#define PA_CR2 *(unsigned char*)0x5004
#define PB_ODR *(unsigned char*)0x5005
#define PB_IDR *(unsigned char*)0x5006
#define PB_DDR *(unsigned char*)0x5007
#define PB_CR1 *(unsigned char*)0x5008
#define PB_CR2 *(unsigned char*)0x5009
#define PC_ODR *(unsigned char*)0x500A
#define PC_IDR *(unsigned char*)0x500B
#define PC_DDR *(unsigned char*)0x500C
#define PC_CR1 *(unsigned char*)0x500D
#define PC_CR2 *(unsigned char*)0x500E
#define PD_ODR *(unsigned char*)0x500F
#define PD_IDR *(unsigned char*)0x5010
#define PD_DDR *(unsigned char*)0x5011
#define PD_CR1 *(unsigned char*)0x5012
#define PD_CR2 *(unsigned char*)0x5013
#define PE_ODR *(unsigned char*)0x5014
#define PE_IDR *(unsigned char*)0x5015
#define PE_DDR *(unsigned char*)0x5016
#define PE_CR1 *(unsigned char*)0x5017
#define PE_CR2 *(unsigned char*)0x5018
#define PF_ODR *(unsigned char*)0x5019
#define PF_IDR *(unsigned char*)0x501A
#define PF_DDR *(unsigned char*)0x501B
#define PF_CR1 *(unsigned char*)0x501C
#define PF_CR2 *(unsigned char*)0x501D
#ifdef STM8S105
#define PG_ODR *(unsigned char*)0x501E
#define PG_IDR *(unsigned char*)0x501F
#define PG_DDR *(unsigned char*)0x5020
#define PG_CR1 *(unsigned char*)0x5021
#define PG_CR2 *(unsigned char*)0x5022
#define PH_ODR *(unsigned char*)0x5023
#define PH_IDR *(unsigned char*)0x5024
#define PH_DDR *(unsigned char*)0x5025
#define PH_CR1 *(unsigned char*)0x5026
#define PH_CR2 *(unsigned char*)0x5027
#define PI_ODR *(unsigned char*)0x5028
#define PI_IDR *(unsigned char*)0x5029
#define PI_DDR *(unsigned char*)0x502A
#define PI_CR1 *(unsigned char*)0x502B
#define PI_CR2 *(unsigned char*)0x502C
#endif // STM8S105
/* GPIO bits */
#define GPIO_PIN0 (1 << 0)
#define GPIO_PIN1 (1 << 1)
#define GPIO_PIN2 (1 << 2)
#define GPIO_PIN3 (1 << 3)
#define GPIO_PIN4 (1 << 4)
#define GPIO_PIN5 (1 << 5)
#define GPIO_PIN6 (1 << 6)
#define GPIO_PIN7 (1 << 7)
/* -------------------- FLASH/EEPROM -------------------- */
#define FLASH_CR1 *(unsigned char*)0x505A
#define FLASH_CR2 *(unsigned char*)0x505B
#define FLASH_NCR2 *(unsigned char*)0x505C
#define FLASH_FPR *(unsigned char*)0x505D
#define FLASH_NFPR *(unsigned char*)0x505E
#define FLASH_IAPSR *(unsigned char*)0x505F
#define FLASH_PUKR *(unsigned char*)0x5062 // progmem unprotection
#define FLASH_DUKR *(unsigned char*)0x5064 // EEPROM unprotection
#define EEPROM_KEY1 0xAE // keys to manage EEPROM's write access
#define EEPROM_KEY2 0x56
#define EEPROM_START_ADDR (unsigned char*)0x4000
/* ------------------- interrupts ------------------- */
#define EXTI_CR1 *(unsigned char*)0x50A0
#define EXTI_CR2 *(unsigned char*)0x50A1
#define INTERRUPT_HANDLER(fn, num) void fn() __interrupt(num)
#define INTERRUPT_DEFINITION(fn, num) extern void fn() __interrupt(num)
// Reset status register
#define RST_SR *(unsigned char*)0x50B3
/* ------------------- CLOCK ------------------- */
#define CLK_ICKR *(unsigned char*)0x50C0
#define CLK_ECKR *(unsigned char*)0x50C1
#define CLK_CMSR *(unsigned char*)0x50C3
#define CLK_SWR *(unsigned char*)0x50C4
#define CLK_SWCR *(unsigned char*)0x50C5
#define CLK_CKDIVR *(unsigned char*)0x50C6
#define CLK_SPCKENR1 *(unsigned char*)0x50C7
#define CLK_CSSR *(unsigned char*)0x50C8
#define CLK_CCOR *(unsigned char*)0x50C9
#define CLK_PCKENR2 *(unsigned char*)0x50CA
#define CLK_HSITRIMR *(unsigned char*)0x50CC
#define CLK_SWIMCCR *(unsigned char*)0x50CD
/* ------------------- Watchdog ------------------ */
#define WWDG_CR *(unsigned char*)0x50D1
#define WWDG_WR *(unsigned char*)0x50D2
#define IWDG_KR *(unsigned char*)0x50E0
#define IWDG_PR *(unsigned char*)0x50E1
#define IWDG_RLR *(unsigned char*)0x50E2
// enable Watchdog
#define KEY_ENABLE (0xCC)
// refresh Watchdog from IWDG_RLR
#define KEY_REFRESH (0xAA)
// modify IWDG_PR and IWDG_RLR
#define KEY_ACCESS (0x55)
/* ------------------- AWU, BEEP ------------------- */
#define AWU_CSR1 *(unsigned char*)0x50F0
#define AWU_APR *(unsigned char*)0x50F1
#define AWU_TBR *(unsigned char*)0x50F2
#define BEEP_CSR *(unsigned char*)0x50F3
/* ------------------- SPI ------------------- */
#define SPI_CR1 *(unsigned char*)0x5200
#define SPI_CR2 *(unsigned char*)0x5201
#define SPI_ICR *(unsigned char*)0x5202
#define SPI_SR *(unsigned char*)0x5203
#define SPI_DR *(unsigned char*)0x5204
#define SPI_CRCPR *(unsigned char*)0x5205
#define SPI_RXCRCR *(unsigned char*)0x5206
#define SPI_TXCRCR *(unsigned char*)0x5207
// SPI_CR1 (page 271): | LSBFIRST | SPE | BR[2:0] | MSTR | CPOL | CPHA |
#define SPI_CR1_LSBFIRST (1<<7)
#define SPI_CR1_SPE (1<<6)
#define SPI_CR1_BRMASK (0x38)
#define SPI_CR1_MSTR (1<<2)
#define SPI_CR1_CPOL (1<<1)
#define SPI_CR1_CPHA (1)
// SPI_CR2 (page 272): | BDM | BDOE | CRCEN | CRCNEXT | - | RXONLY | SSM | SSI |
#define SPI_CR2_BDM (1<<7)
#define SPI_CR2_BDOE (1<<6)
#define SPI_CR2_CRCEN (1<<5)
#define SPI_CR2_CRCNEXT (1<<4)
#define SPI_CR2_RXONLY (1<<2)
#define SPI_CR2_SSM (1<<1)
#define SPI_CR2_SSI (1)
// SPI_ICR (page 273): | TXIE | RXIE | ERRIE | WKIE | - | - | - | - |
#define SPI_ICR_TXIE (1<<7)
#define SPI_ICR_RXIE (1<<6)
#define SPI_ICR_ERRIE (1<<5)
#define SPI_ICR_WKIE (1<<4)
// SPI_SR (page 274): | BSY | OVR | MODF | CRCERR | WKUP | - | TXE | RXNE |
#define SPI_SR_BSY (1<<7)
#define SPI_SR_OVR (1<<6)
#define SPI_SR_MODF (1<<5)
#define SPI_SR_CRCERR (1<<4)
#define SPI_SR_WKUP (1<<3)
#define SPI_SR_TXE (1<<1)
#define SPI_SR_RXNE (1)
/* ------------------- I2C ------------------- */
#define I2C_CR1 *(unsigned char*)0x5210
#define I2C_CR2 *(unsigned char*)0x5211
#define I2C_FREQR *(unsigned char*)0x5212
#define I2C_OARL *(unsigned char*)0x5213
#define I2C_OARH *(unsigned char*)0x5214
#define I2C_DR *(unsigned char*)0x5216
#define I2C_SR1 *(unsigned char*)0x5217
#define I2C_SR2 *(unsigned char*)0x5218
#define I2C_SR3 *(unsigned char*)0x5219
#define I2C_ITR *(unsigned char*)0x521A
#define I2C_CCRL *(unsigned char*)0x521B
#define I2C_CCRH *(unsigned char*)0x521C
#define I2C_TRISER *(unsigned char*)0x521D
#define I2C_PECR *(unsigned char*)0x521E
/* ------------------- UART ------------------- */
#ifdef STM8S003
#define UART1_SR *(unsigned char*)0x5230
#define UART1_DR *(unsigned char*)0x5231
#define UART1_BRR1 *(unsigned char*)0x5232
#define UART1_BRR2 *(unsigned char*)0x5233
#define UART1_CR1 *(unsigned char*)0x5234
#define UART1_CR2 *(unsigned char*)0x5235
#define UART1_CR3 *(unsigned char*)0x5236
#define UART1_CR4 *(unsigned char*)0x5237
#define UART1_CR5 *(unsigned char*)0x5238
#define UART1_GTR *(unsigned char*)0x5239
#define UART1_PSCR *(unsigned char*)0x523A
#endif // STM8S003
#ifdef STM8S105
#define UART2_SR *(unsigned char*)0x5240
#define UART2_DR *(unsigned char*)0x5241
#define UART2_BRR1 *(unsigned char*)0x5242
#define UART2_BRR2 *(unsigned char*)0x5243
#define UART2_CR1 *(unsigned char*)0x5244
#define UART2_CR2 *(unsigned char*)0x5245
#define UART2_CR3 *(unsigned char*)0x5246
#define UART2_CR4 *(unsigned char*)0x5247
#define UART2_CR5 *(unsigned char*)0x5248
#define UART2_CR6 *(unsigned char*)0x5249
#define UART2_GTR *(unsigned char*)0x524A
#define UART2_PSCR *(unsigned char*)0x524B
#endif // STM8S105
/* UART_CR1 bits */
#define UART_CR1_R8 (1 << 7)
#define UART_CR1_T8 (1 << 6)
#define UART_CR1_UARTD (1 << 5)
#define UART_CR1_M (1 << 4)
#define UART_CR1_WAKE (1 << 3)
#define UART_CR1_PCEN (1 << 2)
#define UART_CR1_PS (1 << 1)
#define UART_CR1_PIEN (1 << 0)
/* UART_CR2 bits */
#define UART_CR2_TIEN (1 << 7)
#define UART_CR2_TCIEN (1 << 6)
#define UART_CR2_RIEN (1 << 5)
#define UART_CR2_ILIEN (1 << 4)
#define UART_CR2_TEN (1 << 3)
#define UART_CR2_REN (1 << 2)
#define UART_CR2_RWU (1 << 1)
#define UART_CR2_SBK (1 << 0)
/* USART_CR3 bits */
#define UART_CR3_LINEN (1 << 6)
#define UART_CR3_STOP2 (1 << 5)
#define UART_CR3_STOP1 (1 << 4)
#define UART_CR3_CLKEN (1 << 3)
#define UART_CR3_CPOL (1 << 2)
#define UART_CR3_CPHA (1 << 1)
#define UART_CR3_LBCL (1 << 0)
/* UART_SR bits */
#define UART_SR_TXE (1 << 7)
#define UART_SR_TC (1 << 6)
#define UART_SR_RXNE (1 << 5)
#define UART_SR_IDLE (1 << 4)
#define UART_SR_OR (1 << 3)
#define UART_SR_NF (1 << 2)
#define UART_SR_FE (1 << 1)
#define UART_SR_PE (1 << 0)
/* ------------------- TIMERS ------------------- */
/* TIM1 */
#define TIM1_CR1 *(unsigned char*)0x5250
#define TIM1_CR2 *(unsigned char*)0x5251
#define TIM1_SMCR *(unsigned char*)0x5252
#define TIM1_ETR *(unsigned char*)0x5253
#define TIM1_IER *(unsigned char*)0x5254
#define TIM1_SR1 *(unsigned char*)0x5255
#define TIM1_SR2 *(unsigned char*)0x5256
#define TIM1_EGR *(unsigned char*)0x5257
#define TIM1_CCMR1 *(unsigned char*)0x5258
#define TIM1_CCMR2 *(unsigned char*)0x5259
#define TIM1_CCMR3 *(unsigned char*)0x525A
#define TIM1_CCMR4 *(unsigned char*)0x525B
#define TIM1_CCER1 *(unsigned char*)0x525C
#define TIM1_CCER2 *(unsigned char*)0x525D
#define TIM1_CNTRH *(unsigned char*)0x525E
#define TIM1_CNTRL *(unsigned char*)0x525F
#define TIM1_PSCRH *(unsigned char*)0x5260
#define TIM1_PSCRL *(unsigned char*)0x5261
#define TIM1_ARRH *(unsigned char*)0x5262
#define TIM1_ARRL *(unsigned char*)0x5263
#define TIM1_RCR *(unsigned char*)0x5264
#define TIM1_CCR1H *(unsigned char*)0x5265
#define TIM1_CCR1L *(unsigned char*)0x5266
#define TIM1_CCR2H *(unsigned char*)0x5267
#define TIM1_CCR2L *(unsigned char*)0x5268
#define TIM1_CCR3H *(unsigned char*)0x5269
#define TIM1_CCR3L *(unsigned char*)0x526A
#define TIM1_CCR4H *(unsigned char*)0x526B
#define TIM1_CCR4L *(unsigned char*)0x526C
#define TIM1_BKR *(unsigned char*)0x526D
#define TIM1_DTR *(unsigned char*)0x526E
#define TIM1_OISR *(unsigned char*)0x526F
/* TIM_IER bits */
#define TIM_IER_BIE (1 << 7)
#define TIM_IER_TIE (1 << 6)
#define TIM_IER_COMIE (1 << 5)
#define TIM_IER_CC4IE (1 << 4)
#define TIM_IER_CC3IE (1 << 3)
#define TIM_IER_CC2IE (1 << 2)
#define TIM_IER_CC1IE (1 << 1)
#define TIM_IER_UIE (1 << 0)
/* TIM_CR1 bits */
#define TIM_CR1_APRE (1 << 7)
#define TIM_CR1_CMSH (1 << 6)
#define TIM_CR1_CMSL (1 << 5)
#define TIM_CR1_DIR (1 << 4)
#define TIM_CR1_OPM (1 << 3)
#define TIM_CR1_URS (1 << 2)
#define TIM_CR1_UDIS (1 << 1)
#define TIM_CR1_CEN (1 << 0)
/* TIM_SR1 bits */
#define TIM_SR1_BIF (1 << 7)
#define TIM_SR1_TIF (1 << 6)
#define TIM_SR1_COMIF (1 << 5)
#define TIM_SR1_CC4IF (1 << 4)
#define TIM_SR1_CC3IF (1 << 3)
#define TIM_SR1_CC2IF (1 << 2)
#define TIM_SR1_CC1IF (1 << 1)
#define TIM_SR1_UIF (1 << 0)
/* TIM_EGR bits */
#define TIM_EGR_BG (1 << 7)
#define TIM_EGR_TG (1 << 6)
#define TIM_EGR_COMG (1 << 5)
#define TIM_EGR_CC4G (1 << 4)
#define TIM_EGR_CC3G (1 << 3)
#define TIM_EGR_CC2G (1 << 2)
#define TIM_EGR_CC1G (1 << 1)
#define TIM_EGR_UG (1 << 0)
/* TIM2 */
#define TIM2_CR1 *(unsigned char*)0x5300
#if defined STM8S105 || defined STM8S103
#define TIM2_IER *(unsigned char*)0x5301
#define TIM2_SR1 *(unsigned char*)0x5302
#define TIM2_SR2 *(unsigned char*)0x5303
#define TIM2_EGR *(unsigned char*)0x5304
#define TIM2_CCMR1 *(unsigned char*)0x5305
#define TIM2_CCMR2 *(unsigned char*)0x5306
#define TIM2_CCMR3 *(unsigned char*)0x5307
#define TIM2_CCER1 *(unsigned char*)0x5308
#define TIM2_CCER2 *(unsigned char*)0x5309
#define TIM2_CNTRH *(unsigned char*)0x530A
#define TIM2_CNTRL *(unsigned char*)0x530B
#define TIM2_PSCR *(unsigned char*)0x530C
#define TIM2_ARRH *(unsigned char*)0x530D
#define TIM2_ARRL *(unsigned char*)0x530E
#define TIM2_CCR1H *(unsigned char*)0x530F
#define TIM2_CCR1L *(unsigned char*)0x5310
#define TIM2_CCR2H *(unsigned char*)0x5311
#define TIM2_CCR2L *(unsigned char*)0x5312
#define TIM2_CCR3H *(unsigned char*)0x5313
#define TIM2_CCR3L *(unsigned char*)0x5314
#elif defined STM8S003
#define TIM2_IER *(unsigned char*)0x5303
#define TIM2_SR1 *(unsigned char*)0x5304
#define TIM2_SR2 *(unsigned char*)0x5305
#define TIM2_EGR *(unsigned char*)0x5306
#define TIM2_CCMR1 *(unsigned char*)0x5307
#define TIM2_CCMR2 *(unsigned char*)0x5308
#define TIM2_CCMR3 *(unsigned char*)0x5309
#define TIM2_CCER1 *(unsigned char*)0x530A
#define TIM2_CCER2 *(unsigned char*)0x530B
#define TIM2_CNTRH *(unsigned char*)0x530C
#define TIM2_CNTRL *(unsigned char*)0x530D
#define TIM2_PSCR *(unsigned char*)0x530E
#define TIM2_ARRH *(unsigned char*)0x530F
#define TIM2_ARRL *(unsigned char*)0x5310
#define TIM2_CCR1H *(unsigned char*)0x5311
#define TIM2_CCR1L *(unsigned char*)0x5312
#define TIM2_CCR2H *(unsigned char*)0x5313
#define TIM2_CCR2L *(unsigned char*)0x5314
#define TIM2_CCR3H *(unsigned char*)0x5315
#define TIM2_CCR3L *(unsigned char*)0x5316
#endif
/* TIM3 */
#if defined STM8S105 || defined STM8S103
#define TIM3_CR1 *(unsigned char*)0x5320
#define TIM3_IER *(unsigned char*)0x5321
#define TIM3_SR1 *(unsigned char*)0x5322
#define TIM3_SR2 *(unsigned char*)0x5323
#define TIM3_EGR *(unsigned char*)0x5324
#define TIM3_CCMR1 *(unsigned char*)0x5325
#define TIM3_CCMR2 *(unsigned char*)0x5326
#define TIM3_CCER1 *(unsigned char*)0x5327
#define TIM3_CNTRH *(unsigned char*)0x5328
#define TIM3_CNTRL *(unsigned char*)0x5329
#define TIM3_PSCR *(unsigned char*)0x532A
#define TIM3_ARRH *(unsigned char*)0x532B
#define TIM3_ARRL *(unsigned char*)0x532C
#define TIM3_CCR1H *(unsigned char*)0x532D
#define TIM3_CCR1L *(unsigned char*)0x532E
#define TIM3_CCR2H *(unsigned char*)0x532F
#define TIM3_CCR2L *(unsigned char*)0x5330
#endif
/* TIM4 */
#define TIM4_CR1 *(unsigned char*)0x5340
#if defined STM8S105 || defined STM8S103
#define TIM4_IER *(unsigned char*)0x5341
#define TIM4_SR *(unsigned char*)0x5342
#define TIM4_EGR *(unsigned char*)0x5343
#define TIM4_CNTR *(unsigned char*)0x5344
#define TIM4_PSCR *(unsigned char*)0x5345
#define TIM4_ARR *(unsigned char*)0x5346
#elif defined STM8S003
#define TIM4_IER *(unsigned char*)0x5343
#define TIM4_SR *(unsigned char*)0x5344
#define TIM4_EGR *(unsigned char*)0x5345
#define TIM4_CNTR *(unsigned char*)0x5346
#define TIM4_PSCR *(unsigned char*)0x5347
#define TIM4_ARR *(unsigned char*)0x5348
#endif
/* ------------------- ADC ------------------- */
#define ADC_DB0RH *(unsigned char*)0x53E0
#define ADC_DB0RL *(unsigned char*)0x53E1
#define ADC_DB1RH *(unsigned char*)0x53E2
#define ADC_DB1RL *(unsigned char*)0x53E3
#define ADC_DB2RH *(unsigned char*)0x53E4
#define ADC_DB2RL *(unsigned char*)0x53E5
#define ADC_DB3RH *(unsigned char*)0x53E6
#define ADC_DB3RL *(unsigned char*)0x53E7
#define ADC_DB4RH *(unsigned char*)0x53E8
#define ADC_DB4RL *(unsigned char*)0x53E9
#define ADC_DB5RH *(unsigned char*)0x53EA
#define ADC_DB5RL *(unsigned char*)0x53EB
#define ADC_DB6RH *(unsigned char*)0x53EC
#define ADC_DB6RL *(unsigned char*)0x53ED
#define ADC_DB7RH *(unsigned char*)0x53EE
#define ADC_DB7RL *(unsigned char*)0x53EF
#define ADC_DB8RH *(unsigned char*)0x53F0
#define ADC_DB8RL *(unsigned char*)0x53F1
#define ADC_DB9RH *(unsigned char*)0x53F2
#define ADC_DB9RL *(unsigned char*)0x53F3
#define ADC_CSR *(unsigned char*)0x5400
#define ADC_CR1 *(unsigned char*)0x5401
#define ADC_CR2 *(unsigned char*)0x5402
#define ADC_CR3 *(unsigned char*)0x5403
#define ADC_DRH *(unsigned char*)0x5404
#define ADC_DRL *(unsigned char*)0x5405
#define ADC_TDRH *(unsigned char*)0x5406
#define ADC_TDRL *(unsigned char*)0x5407
#define ADC_HTRH *(unsigned char*)0x5408
#define ADC_HTRL *(unsigned char*)0x5409
#define ADC_LTRH *(unsigned char*)0x540A
#define ADC_LTRL *(unsigned char*)0x540B
#define ADC_AWSRH *(unsigned char*)0x540C
#define ADC_AWSRL *(unsigned char*)0x540D
#define ADC_AWCRH *(unsigned char*)0x540E
#define ADC_AWCRL *(unsigned char*)0x540F
/* ------------------- swim control ------------------- */
#define CFG_GCR *(unsigned char*)0x7F60
#define SWIM_CSR *(unsigned char*)0x7F80
/* ------------------- ITC ------------------- */
#define ITC_SPR1 *(unsigned char*)0x7F70
#define ITC_SPR2 *(unsigned char*)0x7F71
#define ITC_SPR3 *(unsigned char*)0x7F72
#define ITC_SPR4 *(unsigned char*)0x7F73
#define ITC_SPR5 *(unsigned char*)0x7F74
#define ITC_SPR6 *(unsigned char*)0x7F75
#define ITC_SPR7 *(unsigned char*)0x7F76
#define ITC_SPR8 *(unsigned char*)0x7F77
/* -------------------- UNIQUE ID -------------------- */
#if defined STM8S105 || defined STM8S103 // maybe some other MCU have this too???
#define U_ID00 (unsigned char*)0x48CD
#define U_ID01 (unsigned char*)0x48CE
#define U_ID02 (unsigned char*)0x48CF
#define U_ID03 (unsigned char*)0x48D0
#define U_ID04 (unsigned char*)0x48D1
#define U_ID05 (unsigned char*)0x48D2
#define U_ID06 (unsigned char*)0x48D3
#define U_ID07 (unsigned char*)0x48D4
#define U_ID08 (unsigned char*)0x48D5
#define U_ID09 (unsigned char*)0x48D6
#define U_ID10 (unsigned char*)0x48D7
#define U_ID11 (unsigned char*)0x48D8
#endif // defined STM8S105 || defined STM8S103
// CCR REGISTER: bits 3&5 should be 1 if you wanna change EXTI_CRx
#define CCR *(unsigned char*)0x7F0A
/* -------------------- OPTION BYTES -------------------- */
#if defined STM8S105
// readout protection
#define OPT0 *(unsigned char*)0x4800
// user boot code
#define OPT1 *(unsigned char*)0x4801
#define NOPT1 *(unsigned char*)0x4802
// alternate functions remapping
// | AFR7 | ... | AFR0 |
// AFR7 - PD4 = BEEP; AFR6 - PB4/PB5 = I2C; AFR5 - PB0..3 - TIM1
// AFR4 - PD7 = TIM1_CH4; AFR3 - PD0 = TIM1_BKIN
// AFR2 - PD0 = CLK_CCO; AFR1 - PA3 = TIM3_CH1, PD2 = TIM2_CH3
// AFR0 - PD3 = ADC_ETR
#define OPT2 *(unsigned char*)0x4803
#define NOPT2 *(unsigned char*)0x4804
// trim, watchdog
#define OPT3 *(unsigned char*)0x4805
#define NOPT3 *(unsigned char*)0x4806
// extclc, awu
#define OPT4 *(unsigned char*)0x4807
#define NOPT4 *(unsigned char*)0x4808
// HSE stab time
#define OPT5 *(unsigned char*)0x4809
#define NOPT5 *(unsigned char*)0x480a
// none
#define OPT6 *(unsigned char*)0x480b
#define NOPT6 *(unsigned char*)0x480c
// none
#define OPT7 *(unsigned char*)0x480d
#define NOPT7 *(unsigned char*)0x480e
// bootloader opt byte
#define OPTBL *(unsigned char*)0x487e
#define NOPTBL *(unsigned char*)0x487f
#endif
#endif // __STM8L_H__
// #define *(unsigned char*)0x

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/*
* geany_encoding=koi8-r
* uart.c
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* 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 "uart.h"
#include "ports_definition.h"
U8 uart_rdy = 0;
U8 rx_idx = 0, tx_idx = 0, tx_len = 0;
U8 UART_rx[UART_BUF_LEN+1]; // cycle buffer for received data
U8 UART_tx[UART_BUF_LEN+1];
/**
* 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(tx_len);
UART2_CR2 &= ~UART_CR2_TIEN;
tx_idx = 0;
do{
UART_tx[tx_len++] = *str++;
}while(*str && tx_len < UART_BUF_LEN);
UART2_CR2 |= UART_CR2_TIEN; // enable TXE interrupt
}
char *omit_whitespace(char *str){
char c;
for(c = *str; c == ' ' || c == '\t' || c == '\r' || c == '\n'; c = *(++str));
return str;
}
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]);
}
/**
* print signed long onto terminal
* max len = 10 symbols + 1 for "-" + 1 for '\n' + 1 for 0 = 13
*/
void print_long(long Number){
U8 i, L = 0;
U8 ch;
char decimal_buff[12];
decimal_buff[11] = 0;
ch = 11;
if(Number < 0){
Number = -Number;
L = 1;
}
do{
i = Number % 10L;
decimal_buff[--ch] = i + '0';
Number /= 10L;
}while(Number && ch > 0);
if(ch > 0 && L) decimal_buff[--ch] = '-';
uart_write(&decimal_buff[ch]);
}
/**
* read 16 bit integer value from buffer until first non-number
* @param buff (i) - input buffer
* @param (o) - output value
* @return 1 if all OK or 0 if there's none numbers in buffer
*/
U8 readInt(char *buff, int *val){
U8 sign = 0, rb, bad = 1;
long R = 0;
//usart_send("readInt, buff=");
//usart_send(buff);
if(*buff == '-'){
sign = 1;
++buff;
}
do{
rb = *buff++;
if(rb < '0' || rb > '9') break;
bad = 0;
R = R * 10L + rb - '0';
if(R > 0x7fff){ // bad value
bad = 1;
break;
}
}while(1);
//print_long(R);
if(bad) return 0;
if(sign) R = -R;
if(val) *val = (int)R;
return 1;
}

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/*
* geany_encoding=koi8-r
* uart.h
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* 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.
*
*/
#pragma once
#ifndef __UART_H__
#define __UART_H__
#include "ports_definition.h"
#define UART_BUF_LEN 32
extern U8 UART_rx[];
extern U8 UART_tx[];
extern U8 uart_rdy, rx_idx, tx_idx, tx_len;
//extern U32 Global_time; // global time in ms
void uart_write(char *str);
char *omit_whitespace(char *str);
void print_long(long Number);
void printUint(U8 *val, U8 len);
U8 readInt(char *buff, int *val);
#endif // __UART_H__

0
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avr/proto.h Normal file
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/*
* geany_encoding=koi8-r
* proto.h
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* 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.
*
*/
#pragma once
#ifndef __PROTO_H__
#define __PROTO_H__
void process_string();
#endif // __PROTO_H__

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stepper.c → avr/stepper.c
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stepper.h → avr/stepper.h
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uart.h → avr/uart.h
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