mirror of
https://github.com/eddyem/scorpio.git
synced 2025-12-06 10:45:15 +03:00
alpha version
This commit is contained in:
eddyem
parent
5e208b37bf
commit
7de4c0f78f
3
Makefile
3
Makefile
@ -1,12 +1,13 @@
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### https://habrahabr.ru/post/247663/
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NAME = scorpio2
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NAME = scorpio
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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CC = avr-gcc
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OPTIMIZE= -Os
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DEFS = -DBAUD=9600
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DEFS += -DEBUG
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LIBS =
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SRC=$(wildcard *.c)
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32
includes.h
32
includes.h
@ -36,5 +36,37 @@
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#include "uart.h"
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#include "stepper.h"
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#ifdef EBUG
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#define DBG(x) usart_send(x)
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#else
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#define DBG(x)
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#endif
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// #define () do{}while(0)
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#if defined (__AVR_ATmega8535__)
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// original MCU
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#define STPRS_OFF() do{PORTD |= 0xfc; PORTC |= 0x0f;}while(0)
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#define DDRAB DDRA
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#define PORTAB PORTA
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#define LED1_PIN (_BV(0))
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#define LED2_PIN (_BV(1))
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#define LED3_PIN (_BV(2))
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#define FLAT_PIN (_BV(5))
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#define NEON_PIN (_BV(6))
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#define SHTR_PIN (_BV(7))
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#else
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// arduino devboard with stepper
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#define STPRS_OFF() do{PORTD |= 0xfc; PORTC &= 0xf0;}while(0)
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#define DDRAB DDRB
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#define PORTAB PORTB
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#define FLAT_PIN (_BV(0))
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#define NEON_PIN (_BV(1))
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#define SHTR_PIN (_BV(2))
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#define LED1_PIN (_BV(3))
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#define LED2_PIN (_BV(4))
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#define LED3_PIN (_BV(5))
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#endif
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#define PORTAB_PINS (FLAT_PIN | NEON_PIN | SHTR_PIN | LED1_PIN | LED2_PIN | LED3_PIN)
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#endif // __INCLUDES_H__
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55
main.c
55
main.c
@ -22,10 +22,7 @@
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*/
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#include "includes.h"
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#define LED_PIN (_BV(5))
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/*
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volatile uint16_t Milliseconds = 0, Seconds = 0, days = 0;
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void print_time(){
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@ -35,21 +32,16 @@ void print_time(){
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usart_send("s");
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printUint((uint8_t*)&Milliseconds, 2);
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usart_send("ms\n");
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}
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}*/
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int main() {
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// LED for debug
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DDRB |= LED_PIN;
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/** setup all other pins **/
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PORTD |= 0xfc; // turn off steppers before configuring to output
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STPRS_OFF(); // turn off steppers before configuring to output
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DDRD = 0xfc; // steppers
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PORTD |= 0x0f;
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DDRC = 0x0f; // steppers diagram
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// 328p have no port A
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#if defined (__AVR_ATmega8535__)
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DDRA = 0xe0; // flat, neon, shutter
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#endif
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PORTAB |= FLAT_PIN | NEON_PIN | SHTR_PIN; // turn all off
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DDRAB = PORTAB_PINS;
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/** USART config **/
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// set baudrate (using macros from util/setbaud.h)
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@ -65,11 +57,13 @@ int main() {
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UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0); // Enable RX and TX, enable RX interrupt
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/** setup timer 0 - system timer **/
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// set prescaler to 64 and start the timer
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// set prescaler to 8 and start the timer (2MHz*256 = 0.128ms period)
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#if defined (__AVR_ATmega8535__)
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TCCR0 |= _BV(CS01) | _BV(CS00);
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//TCCR0 |= _BV(CS01) | _BV(CS00); // /64
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TCCR0 |= _BV(CS01);
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#else
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TCCR0B |= _BV(CS01) | _BV(CS00);
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//TCCR0B |= _BV(CS01) | _BV(CS00);
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TCCR0B |= _BV(CS01);
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#endif
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TIMSK0 |= _BV(TOIE0);
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@ -81,22 +75,33 @@ int main() {
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while(1){
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wdt_reset();
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if(stepper_pulse) stepper_process();
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// testing blinking - remove later
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if(Milliseconds == 500) PORTB |= LED_PIN;
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else if(Milliseconds == 0) PORTB &= ~LED_PIN;
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if(usart_flags & U_RX_COMPLETE)
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process_string();
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}
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return 0;
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}
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uint8_t LEDs[3] = {20,20,20}; // LEDs shining time
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ISR(TIMER0_OVF_vect){
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TCNT0 += 6;
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if(++Milliseconds == 1000){
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Milliseconds = 0;
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if(++Seconds == 86400){
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Seconds = 0;
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++days;
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static uint8_t shi_counter = 0;/* tick_ctr = 0;
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TCNT0 += 6; // 0.125ms period
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if(++tick_ctr == 8){
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tick_ctr = 0;
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if(++Milliseconds == 1000){
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Milliseconds = 0;
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if(++Seconds == 86400){
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Seconds = 0;
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++days;
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}
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}
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}*/
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if(shi_counter == 0){ // turn all LEDs on
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PORTAB |= LED1_PIN | LED2_PIN | LED3_PIN;
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}
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// now check which LEDs we need to turn off
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if(shi_counter == LEDs[0]) PORTAB &= ~LED1_PIN;
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if(shi_counter == LEDs[1]) PORTAB &= ~LED2_PIN;
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if(shi_counter == LEDs[2]) PORTAB &= ~LED3_PIN;
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++shi_counter;
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}
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96
proto.c
96
proto.c
@ -35,65 +35,100 @@ uint8_t move_motor(char *cmd){
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cmd = omit_whitespace(cmd+1);
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int16_t steps;
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if(!readInt(cmd, &steps)) return 0;
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#ifdef EBUG
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usart_send("Move motor ");
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printUint((uint8_t*)&N, 1);
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usart_send(" for ");
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print_long((uint32_t)steps);
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usart_send("steps\n");
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return stepper_move(N, steps);
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#endif
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if(steps) return stepper_move(N, steps);
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else{ // steps == 0 - just check endswitches
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stepper_get_esw(N);
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return 0;
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}
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}
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extern void print_time();
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/**
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* Switch relay on/off depending on cmd value
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* 1 - on, 0 - off
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* @param pin - pin to change
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* @param N - second symbol of command ([2 N ...])
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*/
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uint8_t relay(char *cmd, uint8_t pin, char N){
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if(*cmd == '-'){ // just check
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char ans[] = "[2 N St=1]\n";
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ans[3] = N;
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if(PORTAB & pin) ans[8] = '0'; // off
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usart_send(ans);
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return 1;
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}
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if(*cmd == '0'){ // turn OFF
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PORTAB |= pin;
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return 1;
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}
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if(*cmd == '1'){ // turn ON
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PORTAB &= ~pin;
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return 1;
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}
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return 0;
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}
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//extern void print_time();
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extern uint8_t LEDs[3]; // LEDs shining time
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void LEDshine(char *cmd, uint8_t N){
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int16_t s;
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if(!readInt(cmd, &s)) return;
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if(s < 0 || s > 255) return;
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LEDs[N] = (uint8_t)s;
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}
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/**
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* process commands from user buffer
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* @return 1 if all OK
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*/
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uint8_t process_commands(){
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char *cmd = omit_whitespace(&rx_buffer[1]);
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switch(*cmd){
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case 't':
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print_time();
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return 1;
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break;
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case '2':
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cmd = omit_whitespace(cmd + 1);
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break;
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default:
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return 0;
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}
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uint8_t process_commands(char *cmd){
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cmd = omit_whitespace(cmd + 1);
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if(*cmd > '0' && *cmd < '7')
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return move_motor(cmd);
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switch(*cmd){
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char s = *cmd;
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cmd = omit_whitespace(cmd + 1);
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switch(s){
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case '0':
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usart_send("restart");
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DBG("restart");
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break;
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case '7':
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usart_send("Shutter");
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DBG("Shutter");
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relay(cmd, SHTR_PIN, '7');
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break;
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case '8':
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usart_send("Neon");
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DBG("Neon");
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relay(cmd, NEON_PIN, '8');
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break;
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case '9':
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usart_send("Flat");
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DBG("Flat");
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relay(cmd, FLAT_PIN, '9');
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break;
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case 'a':
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cmd = omit_whitespace(cmd + 1);
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return stepper_ch_speed(cmd);
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break;
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case 'b':
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usart_send("LED1");
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DBG("LED1");
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LEDshine(cmd, 0);
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break;
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case 'c':
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usart_send("LED2");
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DBG("LED2");
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LEDshine(cmd, 1);
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break;
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case 'd':
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usart_send("LED3");
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DBG("LED3");
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LEDshine(cmd, 2);
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break;
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default:
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return 0;
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}
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usart_send("\n");
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DBG("\n");
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return 1;
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}
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@ -102,24 +137,27 @@ void process_string(){
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uint8_t noerr = 1, oldflags = usart_flags;
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usart_flags &= ~(U_RX_COMPLETE | U_RX_OVERFL | U_RX_ERROR);
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if(oldflags & U_RX_OVERFL){
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usart_send("Input buffer overflow\n");
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DBG("Input buffer overflow\n");
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noerr = 0;
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}
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if(oldflags & U_RX_ERROR){
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usart_send("Rx error\n");
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DBG("Rx error\n");
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noerr = 0;
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}
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if(rx_bufsize < 3 || rx_buffer[0] != '[' || rx_buffer[rx_bufsize - 2] != ']'){
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//if(rx_buffer[0] == 't'){ print_time(); return; }
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rx_bufsize = 0;
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usart_send("Enter \"[cmd]\"\n");
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DBG("Enter \"[cmd]\"\n");
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noerr = 0;
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}
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if(noerr){ // echo back given string
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rx_buffer[rx_bufsize] = 0;
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char *cmd = omit_whitespace(&rx_buffer[1]);
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if(*cmd != '2') return;
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uint8_t rbs = rx_bufsize;
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rx_bufsize = 0;
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usart_send(rx_buffer);
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||||
rx_buffer[rbs - 2] = 0;
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process_commands();
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process_commands(cmd);
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}
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}
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|
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@ -8,6 +8,7 @@ AVR_STATUS_REG
|
||||
BADISR_vectÌ65536Ö0
|
||||
BAUDÌ65536Ö0
|
||||
BAUD_TOLÌ65536Ö0
|
||||
DBGÌ131072Í(x)Ö0
|
||||
DD0Ì65536Ö0
|
||||
DD1Ì65536Ö0
|
||||
DD2Ì65536Ö0
|
||||
@ -16,36 +17,28 @@ DD4
|
||||
DD5Ì65536Ö0
|
||||
DD6Ì65536Ö0
|
||||
DD7Ì65536Ö0
|
||||
DDRABÌ65536Ö0
|
||||
EBUGÌ65536Ö0
|
||||
EMPTY_INTERRUPTÌ131072Í(vector)Ö0
|
||||
FLAT_PINÌ65536Ö0
|
||||
FUSEMEMÌ65536Ö0
|
||||
FUSESÌ65536Ö0
|
||||
F_CPUÌ65536Ö0
|
||||
INFINITYÌ65536Ö0
|
||||
ISRÌ131072Í(vector,...)Ö0
|
||||
ISR_ALIASÌ131072Í(vector,tgt)Ö0
|
||||
ISR_ALIASOFÌ131072Í(v)Ö0
|
||||
ISR_BLOCKÌ65536Ö0
|
||||
ISR_NAKEDÌ65536Ö0
|
||||
ISR_NOBLOCKÌ65536Ö0
|
||||
LED_PINÌ65536Ö0
|
||||
LED1_PINÌ65536Ö0
|
||||
LED2_PINÌ65536Ö0
|
||||
LED3_PINÌ65536Ö0
|
||||
LEDsÌ16384Ö0Ïuint8_t
|
||||
LEDsÌ32768Ö0Ïuint8_t
|
||||
LEDshineÌ16Í(char *cmd, uint8_t N)Ö0Ïvoid
|
||||
LOCKBITSÌ65536Ö0
|
||||
LOCKBITS_DEFAULTÌ65536Ö0
|
||||
LOCKMEMÌ65536Ö0
|
||||
M_1_PIÌ65536Ö0
|
||||
M_2_PIÌ65536Ö0
|
||||
M_2_SQRTPIÌ65536Ö0
|
||||
M_EÌ65536Ö0
|
||||
M_LN10Ì65536Ö0
|
||||
M_LN2Ì65536Ö0
|
||||
M_LOG10EÌ65536Ö0
|
||||
M_LOG2EÌ65536Ö0
|
||||
M_PIÌ65536Ö0
|
||||
M_PI_2Ì65536Ö0
|
||||
M_PI_4Ì65536Ö0
|
||||
M_SQRT1_2Ì65536Ö0
|
||||
M_SQRT2Ì65536Ö0
|
||||
MillisecondsÌ16384Ö0Ïvolatile uint16_t
|
||||
NANÌ65536Ö0
|
||||
NEON_PINÌ65536Ö0
|
||||
PIN0Ì65536Ö0
|
||||
PIN1Ì65536Ö0
|
||||
PIN2Ì65536Ö0
|
||||
@ -62,7 +55,10 @@ PORT4
|
||||
PORT5Ì65536Ö0
|
||||
PORT6Ì65536Ö0
|
||||
PORT7Ì65536Ö0
|
||||
PORTABÌ65536Ö0
|
||||
PORTAB_PINSÌ65536Ö0
|
||||
RX_BUFFER_SIZEÌ65536Ö0
|
||||
SHTR_PINÌ65536Ö0
|
||||
SIGNALÌ131072Í(vector)Ö0
|
||||
SPÌ65536Ö0
|
||||
SPLÌ65536Ö0
|
||||
@ -75,9 +71,13 @@ SREG_S
|
||||
SREG_TÌ65536Ö0
|
||||
SREG_VÌ65536Ö0
|
||||
SREG_ZÌ65536Ö0
|
||||
SecondsÌ16384Ö0Ïuint16_t
|
||||
STPRS_OFFÌ131072Í()Ö0
|
||||
Steps_leftÌ16384Ö0Ïuint16_t
|
||||
Steps_leftÌ32768Ö0Ïuint16_t
|
||||
TIMER0_OVF_vectÌ16Í(void)Ö0Ïvoid
|
||||
TIMER0_OVF_vectÌ1024Í(void)Ö0ÏÓ void
|
||||
TIMER1_COMPA_vectÌ16Í(void)Ö0Ïvoid
|
||||
TIMER1_COMPA_vectÌ1024Í(void)Ö0ÏÓ void
|
||||
TX_BUFFER_SIZEÌ65536Ö0
|
||||
UBRRH_VALUEÌ65536Ö0
|
||||
UBRRL_VALUEÌ65536Ö0
|
||||
@ -92,6 +92,7 @@ U_RX_ERROR
|
||||
U_RX_OVERFLÌ65536Ö0
|
||||
U_TX_COMPLETEÌ65536Ö0
|
||||
U_TX_ERRORÌ65536Ö0
|
||||
UstepÌ16384Ö0Ïint8_t
|
||||
WDTO_120MSÌ65536Ö0
|
||||
WDTO_15MSÌ65536Ö0
|
||||
WDTO_1SÌ65536Ö0
|
||||
@ -136,8 +137,6 @@ _SFR_MEM8
|
||||
_SFR_MEM_ADDRÌ131072Í(sfr)Ö0
|
||||
_SFR_WORDÌ131072Í(sfr)Ö0
|
||||
_STDC_PREDEF_HÌ65536Ö0
|
||||
_UTIL_DELAY_BASIC_H_Ì65536Ö0
|
||||
_UTIL_DELAY_H_Ì65536Ö0
|
||||
_VECTORÌ131072Í(N)Ö0
|
||||
_WD_CHANGE_BITÌ65536Ö0
|
||||
_WD_CONTROL_REGÌ65536Ö0
|
||||
@ -150,7 +149,6 @@ __ATOMIC_HLE_RELEASE
|
||||
__ATOMIC_RELAXEDÌ65536Ö0
|
||||
__ATOMIC_RELEASEÌ65536Ö0
|
||||
__ATOMIC_SEQ_CSTÌ65536Ö0
|
||||
__ATTR_CONST__Ì65536Ö0
|
||||
__AVR_LIBC_DATE_Ì65536Ö0
|
||||
__AVR_LIBC_DATE_STRING__Ì65536Ö0
|
||||
__AVR_LIBC_MAJOR__Ì65536Ö0
|
||||
@ -253,7 +251,7 @@ __GNUG__
|
||||
__GXX_ABI_VERSIONÌ65536Ö0
|
||||
__GXX_RTTIÌ65536Ö0
|
||||
__GXX_WEAK__Ì65536Ö0
|
||||
__HAS_DELAY_CYCLESÌ65536Ö0
|
||||
__INCLUDES_H__Ì65536Ö0
|
||||
__INT16_CÌ131072Í(c)Ö0
|
||||
__INT16_MAX__Ì65536Ö0
|
||||
__INT16_TYPE__Ì65536Ö0
|
||||
@ -306,7 +304,6 @@ __LDBL_MIN__
|
||||
__LONG_LONG_MAX__Ì65536Ö0
|
||||
__LONG_MAX__Ì65536Ö0
|
||||
__LP64__Ì65536Ö0
|
||||
__MATH_HÌ65536Ö0
|
||||
__MMX__Ì65536Ö0
|
||||
__OPTIMIZE_SIZE__Ì65536Ö0
|
||||
__OPTIMIZE__Ì65536Ö0
|
||||
@ -353,6 +350,7 @@ __STDC_ISO_10646__
|
||||
__STDC_NO_THREADS__Ì65536Ö0
|
||||
__STDC__Ì65536Ö0
|
||||
__STDINT_H_Ì65536Ö0
|
||||
__STEPPER_H__Ì65536Ö0
|
||||
__STRINGIFYÌ131072Í(x)Ö0
|
||||
__UART_H__Ì65536Ö0
|
||||
__UINT16_CÌ131072Í(c)Ö0
|
||||
@ -416,37 +414,12 @@ __unix
|
||||
__unix__Ì65536Ö0
|
||||
__x86_64Ì65536Ö0
|
||||
__x86_64__Ì65536Ö0
|
||||
_delay_loop_1Ì16Í(uint8_t __count)Ö0Ïvoid
|
||||
_delay_loop_1Ì1024Í(uint8_t __count)Ö0Ïinline void
|
||||
_delay_loop_2Ì16Í(uint16_t __count)Ö0Ïvoid
|
||||
_delay_loop_2Ì1024Í(uint16_t __count)Ö0Ïinline void
|
||||
_delay_msÌ16Í(double __ms)Ö0Ïvoid
|
||||
_delay_msÌ1024Í(double __ms)Ö0Ïinline void
|
||||
_delay_usÌ16Í(double __us)Ö0Ïvoid
|
||||
_delay_usÌ1024Í(double __us)Ö0Ïinline void
|
||||
acosfÌ65536Ö0
|
||||
asinfÌ65536Ö0
|
||||
atan2fÌ65536Ö0
|
||||
atanfÌ65536Ö0
|
||||
bit_is_clearÌ131072Í(sfr,bit)Ö0
|
||||
bit_is_setÌ131072Í(sfr,bit)Ö0
|
||||
cbrtfÌ65536Ö0
|
||||
ceilfÌ65536Ö0
|
||||
check_endswÌ16Í()Ö0Ïuint8_t
|
||||
cliÌ131072Í()Ö0
|
||||
copysignfÌ65536Ö0
|
||||
cosfÌ65536Ö0
|
||||
coshfÌ65536Ö0
|
||||
daysÌ16384Ö0Ïuint16_t
|
||||
expfÌ65536Ö0
|
||||
fabsfÌ65536Ö0
|
||||
fdimfÌ65536Ö0
|
||||
floorfÌ65536Ö0
|
||||
fmafÌ65536Ö0
|
||||
fmaxfÌ65536Ö0
|
||||
fminfÌ65536Ö0
|
||||
fmodfÌ65536Ö0
|
||||
frexpfÌ65536Ö0
|
||||
hypotfÌ65536Ö0
|
||||
cur_motorÌ16384Ö0Ïuint8_t
|
||||
directionÌ16384Ö0Ïuint8_t
|
||||
int16_tÌ4096Ö0Ïsigned int
|
||||
int32_tÌ4096Ö0Ïsigned int
|
||||
int64_tÌ4096Ö0Ïsigned int
|
||||
@ -462,48 +435,43 @@ int_least64_t
|
||||
int_least8_tÌ4096Ö0Ïint8_t
|
||||
intmax_tÌ4096Ö0Ïint64_t
|
||||
intptr_tÌ4096Ö0Ïint16_t
|
||||
isfinitefÌ65536Ö0
|
||||
isinffÌ65536Ö0
|
||||
isnanfÌ65536Ö0
|
||||
ldexpfÌ65536Ö0
|
||||
linuxÌ65536Ö0
|
||||
log10fÌ65536Ö0
|
||||
logfÌ65536Ö0
|
||||
loop_until_bit_is_clearÌ131072Í(sfr,bit)Ö0
|
||||
loop_until_bit_is_setÌ131072Í(sfr,bit)Ö0
|
||||
lrintfÌ65536Ö0
|
||||
lroundfÌ65536Ö0
|
||||
mainÌ16Í()Ö0Ïint
|
||||
move_motorÌ16Í(char *cmd)Ö0Ïuint8_t
|
||||
omit_watespaceÌ16Í(char *str)Ö0Ïchar *
|
||||
omit_watespaceÌ1024Í(char *str)Ö0Ïchar *
|
||||
powfÌ65536Ö0
|
||||
omit_whitespaceÌ16Í(char *str)Ö0Ïchar *
|
||||
omit_whitespaceÌ1024Í(char *str)Ö0Ïchar *
|
||||
printUintÌ16Í(uint8_t *val, uint8_t len)Ö0Ïvoid
|
||||
printUintÌ1024Í(uint8_t *val, uint8_t len)Ö0Ïvoid
|
||||
print_longÌ16Í(int32_t Number)Ö0Ïvoid
|
||||
print_longÌ1024Í(int32_t Number)Ö0Ïvoid
|
||||
print_timeÌ16Í()Ö0Ïvoid
|
||||
print_timeÌ1024Í()Ö0Ïvoid
|
||||
process_commandsÌ16Í()Ö0Ïuint8_t
|
||||
process_commandsÌ16Í(char *cmd)Ö0Ïuint8_t
|
||||
process_stringÌ16Í()Ö0Ïvoid
|
||||
process_stringÌ1024Í()Ö0Ïvoid
|
||||
readIntÌ16Í(char *buff, int16_t *val)Ö0Ïuint8_t
|
||||
readIntÌ1024Í(char *buff, int16_t *val)Ö0Ïuint8_t
|
||||
relayÌ16Í(char *cmd, uint8_t pin, char N)Ö0Ïuint8_t
|
||||
retiÌ131072Í()Ö0
|
||||
roundfÌ65536Ö0
|
||||
rx_bufferÌ16384Ö0Ïchar
|
||||
rx_bufferÌ32768Ö0Ïchar
|
||||
rx_bufsizeÌ16384Ö0Ïvolatile uint8_t
|
||||
rx_bufsizeÌ32768Ö0Ïvolatile uint8_t
|
||||
seiÌ131072Í()Ö0
|
||||
signbitfÌ65536Ö0
|
||||
sinfÌ65536Ö0
|
||||
sinhfÌ65536Ö0
|
||||
sqrtfÌ65536Ö0
|
||||
squarefÌ65536Ö0
|
||||
tanfÌ65536Ö0
|
||||
tanhfÌ65536Ö0
|
||||
truncfÌ65536Ö0
|
||||
stepper_ch_speedÌ16Í(char *spd)Ö0Ïuint8_t
|
||||
stepper_ch_speedÌ1024Í(char *spd)Ö0Ïuint8_t
|
||||
stepper_get_eswÌ16Í(uint8_t Nmotor)Ö0Ïvoid
|
||||
stepper_get_eswÌ1024Í(uint8_t Nmotor)Ö0Ïvoid
|
||||
stepper_moveÌ16Í(uint8_t Nmotor, int16_t Nsteps)Ö0Ïuint8_t
|
||||
stepper_moveÌ1024Í(uint8_t Nmotor, int16_t Nsteps)Ö0Ïuint8_t
|
||||
stepper_processÌ16Í()Ö0Ïvoid
|
||||
stepper_processÌ1024Í()Ö0Ïvoid
|
||||
stepper_pulseÌ16384Ö0Ïvolatile uint8_t
|
||||
stepper_pulseÌ32768Ö0Ïvolatile uint8_t
|
||||
stepper_setupÌ16Í()Ö0Ïvoid
|
||||
stepper_setupÌ1024Í()Ö0Ïvoid
|
||||
stop_motorsÌ16Í()Ö0Ïvoid
|
||||
stop_motorsÌ1024Í()Ö0Ïvoid
|
||||
tx_bufferÌ16384Ö0Ïchar
|
||||
tx_bufsizeÌ16384Ö0Ïvolatile uint8_t
|
||||
tx_idxÌ16384Ö0Ïuint8_t
|
||||
@ -527,6 +495,7 @@ usart_flags
|
||||
usart_flagsÌ32768Ö0Ïvolatile uint8_t
|
||||
usart_sendÌ16Í(char *Str)Ö0Ïint
|
||||
usart_sendÌ1024Í(char *Str)Ö0Ïint
|
||||
ustepsÌ16384Ö0Ïconst uint8_t
|
||||
wdt_disableÌ131072Í()Ö0
|
||||
wdt_enableÌ131072Í(value)Ö0
|
||||
wdt_resetÌ131072Í()Ö0
|
||||
201
scorpio.hex
Normal file
201
scorpio.hex
Normal file
@ -0,0 +1,201 @@
|
||||
:100000000C9434000C9451000C9451000C94510049
|
||||
:100010000C9451000C9451000C9451000C9451001C
|
||||
:100020000C9451000C9451000C9451000C94B601A6
|
||||
:100030000C9451000C9451000C9451000C945100FC
|
||||
:100040000C9498030C9451000C942D030C946203AF
|
||||
:100050000C9451000C9451000C9451000C945100DC
|
||||
:100060000C9451000C94510011241FBECFEFD8E026
|
||||
:10007000DEBFCDBF11E0A0E0B1E0E8EBFBE002C0E5
|
||||
:1000800005900D92AA3BB107D9F722E0AAEBB1E0A7
|
||||
:1000900001C01D92A530B207E1F70E942A050C9419
|
||||
:1000A000DA050C94000086B184FF04C085FF04C00B
|
||||
:1000B00080E0089581E0089582E00895E1E8F0E0AD
|
||||
:1000C00080818860808380ED97E0909389008093A1
|
||||
:1000D0008800808182608083EFE6F0E0808182602A
|
||||
:1000E000808388B1806388B90895CF93DF9300D06F
|
||||
:1000F00000D0CDB7DEB7BE016D5F7F4F0E94E60234
|
||||
:100100008823B1F16B817C81683F8FEF780764F1C0
|
||||
:100110006F3F8FE7780741F1665F7F4F8FEF9FEF6B
|
||||
:100120000E946B057A83698380916F008D7F809335
|
||||
:100130006F0089819A819093890080938800109242
|
||||
:1001400085001092840080916F00826080936F0020
|
||||
:100150008CE091E00E94C50162E0CE0101960E9410
|
||||
:10016000660287EB91E002C08EE191E00E94C5013A
|
||||
:1001700080E00F900F900F900F90DF91CF91089536
|
||||
:10018000CF93DF93CDB7DEB72C970FB6F894DEBFD1
|
||||
:100190000FBECDBF9FEF980F973020F59BB19C6F9E
|
||||
:1001A0009BB99BB122E030E0082E01C0220F0A94D7
|
||||
:1001B000EAF7209529232BB99CE0EFE2F1E0DE017C
|
||||
:1001C000119601900D929A95E1F7805D8C830E94C3
|
||||
:1001D0005300811101C083E0805D8987CE010196C3
|
||||
:1001E0000E94C5012C960FB6F894DEBF0FBECDBF9E
|
||||
:1001F000DF91CF9108958091BB010E94C0008BB127
|
||||
:100200008C6F8BB988B1807F88B9EFE6F0E0808190
|
||||
:100210008D7F80831092BA011092E3011092E20167
|
||||
:100220001092BD011092BB0108951F93CF93DF93ED
|
||||
:10023000182FEB018FEF810F863008F04AC020970E
|
||||
:1002400009F447C08091E2019091E301892B09F004
|
||||
:1002500040C080916F008D7F80936F008BB18C6F59
|
||||
:100260008BB988B1807F88B92BB182E090E0012EF4
|
||||
:1002700001C0880F0A94EAF7809582238BB90E9407
|
||||
:1002800053001093BB01882379F0813021F41C16B0
|
||||
:100290001D0664F01CC0D7FF1AC0D195C195D109C5
|
||||
:1002A00081E08093BC0104C0D7FDF7CF1092BC0160
|
||||
:1002B000D093E301C093E201109285001092840074
|
||||
:1002C00080916F00826080936F0081E003C00E9484
|
||||
:1002D000FB0080E0DF91CF911F9108951092BA0149
|
||||
:1002E00088B1E091BD010E2E000CFF0BEC5FFE4FBC
|
||||
:1002F000807F9081892B88B90E9453002091BC0196
|
||||
:100300009091BD012223B9F0915097FD03C09093C5
|
||||
:10031000BD010DC097E09093BD012091E2013091A5
|
||||
:10032000E301215031093093E3012093E201813050
|
||||
:10033000B1F40C94FB009F5F98301CF49093BD01C6
|
||||
:100340000CC01092BD012091E2013091E3012150D7
|
||||
:1003500031093093E3012093E201823051F380911F
|
||||
:10036000E2019091E301892B21F308951F920F92EE
|
||||
:100370000FB60F9211248F9381E08093BA018F9171
|
||||
:100380000F900FBE0F901F9018952091000120FF35
|
||||
:10039000FCCF209100012A7F209300011092BE0122
|
||||
:1003A0001092BF01DC018091BF01803278F48D9101
|
||||
:1003B000882361F0E091BF01F0E0EF53FE4F8083AE
|
||||
:1003C0008091BF018F5F8093BF01EDCF8091BF010E
|
||||
:1003D000803251F41092BF018091000181608093BE
|
||||
:1003E000000181E090E008958091C10080628093D7
|
||||
:1003F000C10080E090E008958F929F92AF92BF92EB
|
||||
:10040000DF92EF92FF920F931F93CF93DF93CDB7BD
|
||||
:10041000DEB72C970FB6F894DEBF0FBECDBF1C869B
|
||||
:1004200097FF0AC090958095709561957F4F8F4F8B
|
||||
:100430009F4FDD24D39401C0D12C0BE03AE0832EF2
|
||||
:10044000912CA12CB12C1FEF100FEE24E394F12C72
|
||||
:10045000EC0EFD1EE10EF11CA50194010E94A10508
|
||||
:10046000605DF7016083B901CA01611571058105FD
|
||||
:10047000910521F0012F1111E6CF0EC0112361F07B
|
||||
:10048000DD2051F01EEF100FE1E0F0E0EC0FFD1F5A
|
||||
:10049000E10FF11D8DE2808381E090E08C0F9D1FC4
|
||||
:1004A000810F911D0E94C5012C960FB6F894DEBFF6
|
||||
:1004B0000FBECDBFDF91CF911F910F91FF90EF90B5
|
||||
:1004C000DF90BF90AF909F908F9008958F929F92F2
|
||||
:1004D000AF92BF92CF92DF92FF920F931F93CF9371
|
||||
:1004E000DF93CDB7DEB72B970FB6F894DEBF0FBE04
|
||||
:1004F000CDBFDC01633009F44AC08FEF860F843032
|
||||
:1005000008F045C0FE013196CE010C968F01119284
|
||||
:100510008E179F07E1F7623039F0643051F0613097
|
||||
:1005200069F46C9170E002C06D917C9180E090E084
|
||||
:1005300008C06D917D918D919C9103C060E070E049
|
||||
:10054000CB016E012BE0C20ED11C29E0F22E3AE065
|
||||
:10055000832E912CA12CB12CFA94A50194010E9418
|
||||
:100560007F05605DF60162936F01B901CA016115F3
|
||||
:1005700071058105910519F0FFEFFF12EDCF8F2D69
|
||||
:10058000FF0C990B0196800F911F0E94C5012B96BD
|
||||
:100590000FB6F894DEBF0FBECDBFDF91CF911F9194
|
||||
:1005A0000F91FF90DF90CF90BF90AF909F908F9072
|
||||
:1005B0000895FC012081203211F40196FACF37EF23
|
||||
:1005C000320F3230D0F32D30C1F308950F931F93C3
|
||||
:1005D000CF93DF93EB01FC0120812D3219F40196BA
|
||||
:1005E00011E001C010E0FC0120E030E0A90181E051
|
||||
:1005F000019190ED900F9A30C0F4AAE0B0E00E9413
|
||||
:10060000C005DC01CB01800F911DA11DB11D9C0116
|
||||
:10061000AD01205331094109510980E0211590E8CD
|
||||
:1006200039074105510524F310C081110EC0112373
|
||||
:1006300039F050954095309521953F4F4F4F5F4F82
|
||||
:10064000209729F03983288302C080E001C081E02F
|
||||
:10065000DF91CF911F910F9108951F920F920FB6C6
|
||||
:100660000F9211248F939F93EF93FF939091C60065
|
||||
:100670008091C0008C71C1F4E091C00181E08E0FC7
|
||||
:100680008093C001F0E0EC51FE4F90839A3021F44A
|
||||
:100690008091000182600BC08091C001803249F4DA
|
||||
:1006A00080910001826103C0809100018A60809383
|
||||
:1006B0000001FF91EF919F918F910F900FBE0F90CE
|
||||
:1006C0001F9018951F920F920FB60F9211248F93BF
|
||||
:1006D0009F93EF93FF938091BF018823B1F0E09146
|
||||
:1006E000BE0181E08E0F8093BE01F0E0EF53FE4F1C
|
||||
:1006F00080818093C6009091BE018091BF019813C4
|
||||
:100700000EC01092BE011092BF018091C1008F7D7A
|
||||
:100710008093C10080910001816080930001FF916E
|
||||
:10072000EF919F918F910F900FBE0F901F90189592
|
||||
:100730001F920F920FB60F9211248F939F93809167
|
||||
:10074000E101811103C085B1886385B990910101F0
|
||||
:100750008091E101981301C02B9890910201809142
|
||||
:10076000E101981301C02C98909103018091E1015F
|
||||
:10077000981301C02D988091E1018F5F8093E10172
|
||||
:100780009F918F910F900FBE0F901F901895CF9350
|
||||
:10079000DF9300D01F92CDB7DEB7FC01908180EDD2
|
||||
:1007A000890F8B839153963078F5CF0101960E9483
|
||||
:1007B000D902BE016F5F7F4F0E94E602882321F1BC
|
||||
:1007C0008BE391E00E94C50161E0CE0103960E9497
|
||||
:1007D000660287E491E00E94C50169817A81072E53
|
||||
:1007E000000C880B990B0E94FC018DE491E00E94A3
|
||||
:1007F000C50169817A818B816115710519F00E94AB
|
||||
:10080000150103C00E94C00080E00F900F900F9070
|
||||
:10081000DF91CF910895CF93DF93CDB7DEB72C97BB
|
||||
:100820000FB6F894DEBF0FBECDBFFC0180818D32C4
|
||||
:10083000A1F48CE0E4E5F1E0DE01119601900D9267
|
||||
:100840008A95E1F74C8385B1682311F080E38987AD
|
||||
:10085000CE0101960E94C5010BC0803319F485B109
|
||||
:10086000682B05C0813331F485B16095682365B983
|
||||
:1008700081E001C080E02C960FB6F894DEBF0FBE79
|
||||
:10088000CDBFDF91CF9108951F93CF93DF9300D019
|
||||
:10089000CDB7DEB7162FBE016F5F7F4F0E94E60215
|
||||
:1008A000882359F089819A818F3F910509F028F4B6
|
||||
:1008B000E12FF0E0EF5FFE4F80830F900F90DF910C
|
||||
:1008C000CF911F9108950F931F93CF9301960E948C
|
||||
:1008D000D902FC01C0812FEC2C0F263028F4CF91D7
|
||||
:1008E0001F910F910C94C70301960E94D9028C01AD
|
||||
:1008F000C93389F15CF4C733E9F01CF5C03309F062
|
||||
:1009000045C080E691E00E94C5013AC0C23651F16F
|
||||
:100910003CF4C136D9F5CF911F910F910C9475001D
|
||||
:10092000C33631F1C43691F584E891E00E94C501E7
|
||||
:1009300062E023C088E691E00E94C50147E364E0DD
|
||||
:1009400006C080E791E00E94C50148E362E0C8016B
|
||||
:100950000E940B0415C085E791E00E94C50149E3A0
|
||||
:1009600061E0F5CF8AE791E00E94C50160E005C033
|
||||
:100970008FE791E00E94C50161E0C8010E94440434
|
||||
:1009800087EB91E00E94C50181E001C080E0CF913A
|
||||
:100990001F910F9108950F931F93CF9380910001A2
|
||||
:1009A00081FF54C0C091000180910001857E809339
|
||||
:1009B0000001C4FF06C089E891E00E94C50180E003
|
||||
:1009C00001C081E0C3FF05C080EA91E00E94C5013B
|
||||
:1009D00080E09091C001933060F09091E4019B35EC
|
||||
:1009E00041F4E091C001F0E0EE51FE4F90819D3561
|
||||
:1009F00049F01092C0018AEA91E0CF911F910F91C6
|
||||
:100A00000C94C501882311F1E091C001F0E0EC5194
|
||||
:100A1000FE4F108285EE91E00E94D9028C01FC010C
|
||||
:100A20008081823399F4C091C0011092C00184EE9C
|
||||
:100A300091E00E94C501EC2FF0E0EE51FE4F1082D4
|
||||
:100A4000C801CF911F910F910C946304CF911F9116
|
||||
:100A50000F9108958BB18C6F8BB988B1807F88B965
|
||||
:100A60008CEF8AB9CFE0C7B985B1876085B98FE3CC
|
||||
:100A700084B91092C50087E68093C4008091C000BD
|
||||
:100A80008D7F8093C00086E08093C20088E98093C8
|
||||
:100A9000C10085B5826085BD80916E0081608093C4
|
||||
:100AA0006E000E945E00789488E190E00FB6F894A2
|
||||
:100AB000A895809360000FBEC0936000A8958091B8
|
||||
:100AC000BA0181110E946E018091000181FFF6CF71
|
||||
:100AD0000E94CB04F3CFAA1BBB1B51E107C0AA1F86
|
||||
:100AE000BB1FA617B70710F0A61BB70B881F991FCF
|
||||
:100AF0005A95A9F780959095BC01CD010895A1E282
|
||||
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|
||||
:100B1000FF1FA217B307E407F50720F0A21BB30BD2
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
:0A0C6800225B636D645D220A000048
|
||||
:00000001FF
|
||||
158
scorpio2.hex
158
scorpio2.hex
@ -1,158 +0,0 @@
|
||||
:100000000C9434000C9451000C9451000C94510049
|
||||
:100010000C9451000C9451000C9451000C9451001C
|
||||
:100020000C9451000C9451000C9451000C94D0008D
|
||||
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|
||||
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|
||||
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|
||||
:100060000C9451000C94510011241FBECFEFD8E026
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
:10059000800188E291E00C94DF001F920F920FB669
|
||||
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|
||||
:1005B0008091C7019091C80101969093C8018093E2
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
:00000001FF
|
||||
134
stepper.c
134
stepper.c
@ -24,6 +24,17 @@
|
||||
#include "includes.h"
|
||||
|
||||
/*
|
||||
* Half-step mode:
|
||||
* D |----|----| | | | | |----|
|
||||
* D | | |----|----|----|----|----| |
|
||||
* C | |----|----|----| | | | |
|
||||
* C |----| | | |----|----|----|----|
|
||||
* B | | | |----|----|----| | |
|
||||
* B |----|----|----| | | |----|----|
|
||||
* A | | | | | |----|----|----|
|
||||
* A |----|----|----|----|----| | | |
|
||||
*
|
||||
* In full-step mode pulse rises sequentally: D->C->B->A
|
||||
* 0 0000
|
||||
* 1 0001
|
||||
* 2 0010
|
||||
@ -41,26 +52,36 @@
|
||||
*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
|
||||
// winding1: [13], winding2: [24]
|
||||
// microsteps: [1234] = 1000, 1100, 0100, 0110, 0010, 0011, 0001, 1001 -- for ULN
|
||||
// [1324] = 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - bipolar
|
||||
// 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - half-step
|
||||
// 1010, 0110, 0101, 1001 - full step
|
||||
static const uint8_t usteps[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar
|
||||
static volatile char Ustep = 0; // current microstep count
|
||||
static const uint8_t usteps[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar, active 1
|
||||
//static const uint8_t usteps[8] = {7, 3, 11, 9, 13, 12, 14, 6}; // unipolar, active is 0
|
||||
|
||||
uint8_t stepper_pulse = 0;
|
||||
static int8_t Ustep = 0; // current microstep count
|
||||
uint16_t Steps_left; // steps left to proceed (absolute value)
|
||||
static uint8_t direction = 0; // ==1 if rotate CCW
|
||||
static uint8_t cur_motor = 0; // current motor number
|
||||
|
||||
volatile uint8_t stepper_pulse = 0; // interrupt flag, used in main.c
|
||||
|
||||
static void stop_motors();
|
||||
|
||||
void stepper_setup(){
|
||||
TCCR1B |= _BV(WGM12); // configure timer1 for CTC mode, TOP is OCR1A
|
||||
OCR1A = 1000; // set the CTC compare value - 2kHz (means 1kHz)
|
||||
OCR1A = 2000; // set the CTC compare value - 1kHz
|
||||
TCCR1B |= _BV(CS11); // start the timer at 16MHz/8 = 2MHz
|
||||
//TCCR1B |= _BV(CS12) | _BV(CS10); // /1024 == 15625Hz
|
||||
//OCR1A = 15625;
|
||||
TIMSK1 |= _BV(OCIE1A); // enable the CTC interrupt
|
||||
PORTC |= _BV(4) | _BV(5); // enable pullup
|
||||
}
|
||||
|
||||
/**
|
||||
* Change TIM1 speed
|
||||
* Period = 4 * 65535/(spd + 10) microseconds
|
||||
*/
|
||||
uint8_t stepper_ch_speed(char *spd){
|
||||
int16_t newval;
|
||||
@ -71,10 +92,12 @@ uint8_t stepper_ch_speed(char *spd){
|
||||
OCR1A = O;
|
||||
TCNT1 = 0; // reset counter
|
||||
TIMSK1 |= _BV(OCIE1A);
|
||||
#ifdef EBUG
|
||||
usart_send("Speed changed to ");
|
||||
printUint((uint8_t*)&O, 2);
|
||||
usart_send("\n");
|
||||
}else usart_send("Bad speed value\n");
|
||||
#endif
|
||||
}else DBG("Bad speed value\n");
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@ -84,39 +107,53 @@ uint8_t stepper_ch_speed(char *spd){
|
||||
* @return 0 if none pressed, 1 if "-", 2 if "+"
|
||||
*/
|
||||
static uint8_t check_endsw(){
|
||||
// PC4 - "-", PC5 - "+"
|
||||
uint8_t pc = PINC;
|
||||
if(0 == (pc & _BV(4))) return 1;
|
||||
if(0 == (pc & _BV(5))) return 2;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* move stepper number Nmotor by Nsteps steps
|
||||
* @return 0 if all OK
|
||||
* 1 if Nmotor or Nsteps are bad values
|
||||
* 2 if motor already on endswitch in given direction
|
||||
* @return 1 if all OK, 0 if error occured
|
||||
*/
|
||||
uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps){
|
||||
if(!Nmotor || Nmotor > 6 || !Nsteps) return 1;
|
||||
if(!Nmotor || Nmotor > 6 || !Nsteps || Steps_left) return 0;
|
||||
TIMSK1 &= ~_BV(OCIE1A); // disable timer interrupt
|
||||
// turn all OFF
|
||||
PORTD |= 0xfc;
|
||||
PORTC |= 0x0f;
|
||||
STPRS_OFF();
|
||||
// turn on the motor we need
|
||||
PORTD &= 2 << Nmotor;
|
||||
PORTD &= ~(2 << Nmotor);
|
||||
uint8_t c = check_endsw();
|
||||
cur_motor = Nmotor;
|
||||
if(c){
|
||||
if(c == 1){if(Nsteps > 0) c = 0;}
|
||||
else if(Nsteps < 0) c = 0;
|
||||
}
|
||||
if(c){
|
||||
PORTD |= 0xfc;
|
||||
return 2; // already at end-switch in given direction
|
||||
stop_motors();
|
||||
return 0; // already at end-switch in given direction
|
||||
}
|
||||
return 0;
|
||||
if(Nsteps < 0){ // CCW
|
||||
Nsteps = -Nsteps;
|
||||
direction = 1;
|
||||
}else direction = 0; // CW
|
||||
Steps_left = Nsteps;
|
||||
TCNT1 = 0; // reset counter
|
||||
TIMSK1 |= _BV(OCIE1A);
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
static void stop_motor(uint8_t Nmotor){
|
||||
static void stop_motors(){
|
||||
stepper_get_esw(cur_motor);
|
||||
// turn off all pulses to place motor in free state & prevent undesirable behaviour
|
||||
PORTD |= 0xfc;
|
||||
PORTC |= 0x0f;
|
||||
STPRS_OFF();
|
||||
TIMSK1 &= ~_BV(OCIE1A); // disable timer interrupt
|
||||
stepper_pulse = 0;
|
||||
Steps_left = 0;
|
||||
Ustep = 0;
|
||||
cur_motor = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
@ -124,26 +161,45 @@ static void stop_motor(uint8_t Nmotor){
|
||||
*/
|
||||
void stepper_process(){
|
||||
stepper_pulse = 0;
|
||||
// change steps
|
||||
/*if(TIM2_SR1 & TIM_SR1_UIF){
|
||||
TIM2_SR1 &= ~TIM_SR1_UIF; // take off flag
|
||||
tmp = PORT(STP_PORT, ODR) & 0xf0;
|
||||
PORT(STP_PORT, ODR) = tmp | usteps[Ustep];
|
||||
if(Dir){
|
||||
if(++Ustep > 7){
|
||||
Ustep = 0;
|
||||
--Nsteps;
|
||||
}
|
||||
}else{
|
||||
if(--Ustep < 0){
|
||||
Ustep = 7;
|
||||
--Nsteps;
|
||||
}
|
||||
uint8_t port = PORTC & 0xf0; // save old port state & clear clocking
|
||||
PORTC = port | usteps[Ustep];
|
||||
uint8_t sw = check_endsw(); // 1 - "-", 2 - "+", 0 - none
|
||||
if(direction){ // CCW
|
||||
if(--Ustep < 0){
|
||||
Ustep = 7;
|
||||
--Steps_left;
|
||||
}
|
||||
if(Nsteps == 0){
|
||||
stop_motor();
|
||||
if(sw == 1){
|
||||
stop_motors();
|
||||
return;
|
||||
}
|
||||
}*/
|
||||
}else{ // CW
|
||||
if(++Ustep > 7){
|
||||
Ustep = 0;
|
||||
--Steps_left;
|
||||
}
|
||||
if(sw == 2){
|
||||
stop_motors();
|
||||
return;
|
||||
}
|
||||
}
|
||||
if(Steps_left == 0) stop_motors();
|
||||
}
|
||||
|
||||
/**
|
||||
* get end-switches state for all motors or only Nth
|
||||
* @param Nmotor - number of given motor
|
||||
*/
|
||||
void stepper_get_esw(uint8_t Nmotor){
|
||||
if(Nmotor == 0 || Nmotor > 7) return; // no running motor
|
||||
PORTD |= 0xfc;
|
||||
PORTD &= ~(2 << Nmotor); // [2 1 St=2]
|
||||
char str[] = "[2 0 St=0]\n"; // 3 - motor number, 5 - endswitch (3 if none)
|
||||
str[3] = Nmotor + '0';
|
||||
uint8_t sw = check_endsw();
|
||||
if(sw == 0) sw = 3;
|
||||
str[8] = sw + '0';
|
||||
usart_send(str);
|
||||
}
|
||||
|
||||
/**
|
||||
|
||||
@ -27,14 +27,16 @@
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
extern uint8_t stepper_pulse;
|
||||
extern volatile uint8_t stepper_pulse;
|
||||
extern uint16_t Steps_left;
|
||||
|
||||
// setup timer
|
||||
void stepper_setup();
|
||||
void stepper_process();
|
||||
|
||||
uint8_t stepper_ch_speed(char *spd);
|
||||
|
||||
uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps);
|
||||
|
||||
void stepper_get_esw(uint8_t Nmotor);
|
||||
|
||||
#endif // __STEPPER_H__
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user