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https://github.com/eddyem/scorpio.git
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143 lines
3.9 KiB
C
143 lines
3.9 KiB
C
/*
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* blinky.c
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*
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* Copyright 2014 Edward V. Emelianoff <eddy@sao.ru>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*/
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#include "ports_definition.h"
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#include "interrupts.h"
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#include "stepper.h"
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#include "uart.h"
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#include "proto.h"
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//U32 Global_time = 0L; // global time in ms
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/*
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* 0 0000
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* 1 0001
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* 2 0010
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* 3 0011
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* 4 0100
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* 5 0101
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* 6 0110
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* 7 0111
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* 8 1000
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* 9 1001
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*10 1010
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*11 1011
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*12 1100
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*13 1101
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*14 1110
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*15 1111
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*/
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// microsteps: DCBA = 1000, 1100, 0100, 0110, 0010, 0011, 0001, 1001 -- for ULN
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// what a shit is this > DCBA = 0001, 0010, 0110, 1010, 1001, 1000, 0100, 0000 - bipolar
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// 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - half-step
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// 1010, 0110, 0101, 1001 - full step
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//const U8 ustepsUNI[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar
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//const U8 ustepsBIP[8] = {8, 10, 2, 6, 4, 5, 1, 9}; // bipolar
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// current usteps
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//U8 const *usteps = ustepsUNI;
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int main() {
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//unsigned long T = 0L;
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// int Ival;
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// U8 rb;
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CLK_ICKR |= 8; // enable LSI for watchdog
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CFG_GCR |= 1; // disable SWIM
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// Configure clocking
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CLK_CKDIVR = 0; // F_HSI = 16MHz, f_CPU = 16MHz
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PORT(LEDS_PORT, DDR) |= LEDS_PINS;
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PORT(LEDS_PORT, CR1) |= LEDS_PINS;
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PORT(LEDS_PORT, CR2) |= LEDS_PINS;
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// Configure timer 1 - LEDs
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// prescaler = f_{in}/f_{tim1} - 1
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// set Timer1 to 1MHz: 1/1 - 1 = 15
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TIM1_PSCRH = 0;
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TIM1_PSCRL = 15; // LSB should be written last as it updates prescaler
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// auto-reload each 256ticks:
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TIM1_ARRH = 0x0;
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TIM1_ARRL = 0xFF;
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TIM1_CCR1H = 0;
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TIM1_CCR1L = 20;
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TIM1_CCR2H = 0;
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TIM1_CCR2L = 20;
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TIM1_CCR3H = 0;
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TIM1_CCR3L = 20;
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// interrupts: none
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// PWM mode 1 - OC1M = 110
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TIM1_CCMR1 = 0x60; TIM1_CCMR2 = 0x60; TIM1_CCMR3 = 0x60;
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TIM1_CCER1 = 0x11; // CC1E, CC2E
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TIM1_CCER2 = 0x01; // CC3E
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// auto-reload + enable
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TIM1_CR1 = TIM_CR1_APRE | TIM_CR1_CEN;
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TIM1_BKR |= 1<<7; // MOE - enable main output
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// Configure pins
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// PD5 - UART2_TX
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PORT(UART_PORT, DDR) |= UART_TX_PIN;
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PORT(UART_PORT, CR1) |= UART_TX_PIN;
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PORT(UART_PORT, CR2) |= UART_TX_PIN;
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// Configure UART
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// 8 bit, no parity, 1 stop (UART_CR1/3 = 0 - reset value)
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// 9600 on 16MHz: BRR1=0x41, BRR2=0x02
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UART2_BRR2 = 0x03; UART2_BRR1 = 0x68;
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UART2_CR2 = UART_CR2_TEN | UART_CR2_REN | UART_CR2_RIEN; // Allow RX/TX, generate ints on rx//tx
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Stepper_speed = 1000;
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// Configure timer 2 to generate signals for CLK
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TIM2_PSCR = 4; // 1MHz
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TIM2_ARRH = 1000 >> 8; // set speed
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TIM2_ARRL = 1000 & 0xff;
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TIM2_IER = TIM_IER_UIE; // update interrupt enable
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TIM2_CR1 |= TIM_CR1_APRE | TIM_CR1_URS; // auto reload + interrupt on overflow
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setup_stepper_pins();
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RELAY_SETUP();
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// enable all interrupts
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enableInterrupts();
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/*
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// Setup watchdog
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IWDG_KR = KEY_ACCESS; // enable access to protected registers
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IWDG_PR = 6; // /256
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IWDG_RLR = 0xff; // max time for watchdog (1.02s)
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IWDG_KR = KEY_ENABLE; // start watchdog
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*/
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// Loop
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do{
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//if(RST_SR) RST_SR = 0x1f; // clear reset flags writing 1
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//IWDG_KR = KEY_REFRESH; // refresh watchdog
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if(uart_rdy){
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process_string();
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}
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if(chk_esw){
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chk_esw = 0;
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stepper_get_esw(cur_motor);
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}
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}while(1);
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}
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