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3 servos management in development

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eddyem 2019-05-25 17:16:04 +03:00
parent 39fd5b4912
commit 3d59c76f65
15 changed files with 626 additions and 168 deletions
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6
.gitignore vendored
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@ -16,3 +16,9 @@
*.sublime-workspace *.sublime-workspace
F1/client-term/client F1/client-term/client
*.bk *.bk
*.config
*.creator
*.creator.user*
*.files
*.includes

13
F0-nolib/Servo/Readme.md
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@ -2,22 +2,13 @@ Servo motors SG-90 management
============================= =============================
## GPIO ## GPIO
- PA0..PA3 - 4 ADC inputs
- PA0 - (ADC_IN0) - Servo1 control,
- PA1 - (ADC_IN1) - Servo2 control,
- PA2 - (ADC_IN2) - Servo3 control,
- PA3 - (ADC_IN3) - external analogue signal,
- PA4 - (PullUp in) - ext. input 0,
- PA5 - (PullUp in) - ext. input 1,
- PA6 - (TIM3_CH1) - Servo1, - PA6 - (TIM3_CH1) - Servo1,
- PA7 - (TIM3_CH2) - Servo2, - PA7 - (TIM3_CH2) - Servo2,
- PA9 - (USART_Tx) - TX, - PA9 - (USART_Tx) - TX,
- PA10 - (USART_Rx) - RX, - PA10 - (USART_Rx) - RX,
- PA13 - (PullUp in) - Jumper 0,
- PA14 - (PullUp in) - Jumper 1,
- PB1 - (TIM3_CH4) - Servo3, - PB1 - (TIM3_CH4) - Servo3,
- PF0 - (OpenDrain) - Buzzer, - PF1 - (OpenDrain) - external LED or laser (0 - active)
- PF1 - (OpenDrain) - External LED (or weak laser module).
## UART ## UART
115200N1, not more than 100ms between data bytes in command. 115200N1, not more than 100ms between data bytes in command.

20
F0-nolib/Servo/Servo.creator.user
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4
F0-nolib/Servo/Servo.files
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@ -1,11 +1,11 @@
Makefile Makefile
adc.c adc.c
adc.h adc.h
effects.c
effects.h
hardware.c hardware.c
hardware.h hardware.h
main.c main.c
mainloop.c
mainloop.h
protocol.c protocol.c
protocol.h protocol.h
usart.c usart.c

2
F0-nolib/Servo/adc.c
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@ -20,7 +20,7 @@
/** /**
* @brief ADC_array - array for ADC channels with median filtering: * @brief ADC_array - array for ADC channels with median filtering:
* 0..3 - external NTC * 0..3 - external channels
* 4 - internal Tsens * 4 - internal Tsens
* 5 - Vref * 5 - Vref
*/ */

111
F0-nolib/Servo/effects.c Normal file
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@ -0,0 +1,111 @@
/*
* This file is part of the Servo project.
* Copyright 2019 Edward Emelianov <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 3 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, see <http://www.gnu.org/licenses/>.
*/
#include "effects.h"
#include "hardware.h"
#include "usart.h"
static effect_t current_ef[3] = {EFF_NONE, EFF_NONE, EFF_NONE};
#define SPD_STP (25)
static void eff_madwipe(int n){
static uint32_t speed[3] = {SPD_STP, SPD_STP, SPD_STP};
if(onposition(n)){ // move back
if((speed[n]+=SPD_STP) > SG90_STEP) speed[n] = SPD_STP;
int val = 0;
if(getPWM(n) < SG90_MIDPULSE) val = 1;
setPWM(n, val, speed[n]);
}
}
static void eff_wipe(int n){
static uint8_t cntr = 0;
if(onposition(n)){ // move back
int val = 0;
if(getPWM(n) < SG90_MIDPULSE) val = 1;
if(++cntr < 4){ // stay a little in outermost positions
setPWM(n, getPWM(n), SG90_STEP/2);
}else{
cntr = 0;
setPWM(n, val, SG90_STEP/2);
}
}
}
static void eff_pendulum(int n){
const uint16_t steps[41] = {0, 10, 21, 33, 47, 62, 79, 97, 117, 140, 165, 193, 224, 258, 295, 337, 383, 434,
490, 552, 621, 697, 766, 828, 884, 935, 981, 1023, 1060, 1094, 1125, 1153, 1178,
1201, 1221, 1239, 1256, 1271, 1285, 1297, 1308};
static int8_t cntr = 0, dir = 1;
if(onposition(n)){
setPWM(n, SG90_MINPULSE + steps[cntr], SG90_STEP);
cntr += dir;
if(cntr == -1){ // min position
dir = 1;
cntr = 0; // repeat zero position one time
}else if(cntr == 41){ // max position
dir = -1;
cntr = 40; // and this position needs to repeat too
}
}
}
static void eff_pendsm(int n){
const uint16_t steps[19] = {0, 6, 10, 15, 22, 30, 40, 52, 66, 82, 101, 123, 148, 177, 210, 247, 289, 336, 389};
static int8_t cntr = 0, dir = 1;
if(onposition(n)){
setPWM(n, SG90_MINPULSE + steps[cntr], SG90_STEP);
cntr += dir;
if(cntr == -1){ // min position
dir = 1;
cntr = 1;
}else if(cntr == 19){ // max position
dir = -1;
cntr = 18;
}
}
}
void proc_effect(){
for(int i = 0; i < 3; ++i){
switch(current_ef[i]){
case EFF_WIPE:
eff_wipe(i);
break;
case EFF_MADWIPE:
eff_madwipe(i);
break;
case EFF_PENDULUM:
eff_pendulum(i);
break;
case EFF_SMPENDULUM:
eff_pendsm(i);
break;
case EFF_NONE:
default:
break;
}
}
}
effect_t set_effect(int n, effect_t eff){
if(n < 0 || n > 3) return EFF_NONE;
current_ef[n] = eff;
return eff;
}

36
F0-nolib/Servo/effects.h Normal file
View File

@ -0,0 +1,36 @@
/*
* This file is part of the Servo project.
* Copyright 2019 Edward Emelianov <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 3 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, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#ifndef EFFECTS_H__
#define EFFECTS_H__
#include "stm32f0.h"
typedef enum{
EFF_NONE,
EFF_WIPE,
EFF_MADWIPE,
EFF_PENDULUM,
EFF_SMPENDULUM
} effect_t;
void proc_effect();
effect_t set_effect(int n, effect_t eff);
#endif // EFFECTS_H__

175
F0-nolib/Servo/hardware.c
View File

@ -15,9 +15,13 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include "adc.h"
#include "effects.h"
#include "hardware.h" #include "hardware.h"
#include "usart.h" #include "usart.h"
#include "adc.h"
uint32_t sg90step = SG90DEFSTEP;
static inline void iwdg_setup(){ static inline void iwdg_setup(){
/* Enable the peripheral clock RTC */ /* Enable the peripheral clock RTC */
@ -99,13 +103,10 @@ static inline void adc_setup(){
/** /**
* @brief gpio_setup - setup GPIOs for external IO * @brief gpio_setup - setup GPIOs for external IO
* GPIO pinout: * GPIO pinout:
* PA5 - floating input - Ef of TLE5205 * PF1 - open drain - ext. LED/laser
* PA13 - open drain - IN1 of TLE5205
* PA14 - open drain - IN2 of TLE5205
* PF0 - floating input - water level alert
* PF1 - push-pull - external alarm
* PA0..PA3 - ADC_IN0..3 * PA0..PA3 - ADC_IN0..3
* PA4, PA6, PA7 - PWM outputs * PA4 - open drain - onboard LED (always ON when board works)
* PB1, PA6, PA7 - Alt. F. - PWM outputs
* Registers * Registers
* MODER - input/output/alternate/analog (2 bit) * MODER - input/output/alternate/analog (2 bit)
* OTYPER - 0 pushpull, 1 opendrain * OTYPER - 0 pushpull, 1 opendrain
@ -120,67 +121,54 @@ static inline void adc_setup(){
static inline void gpio_setup(){ static inline void gpio_setup(){
// Enable clocks to the GPIO subsystems // Enable clocks to the GPIO subsystems
RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOFEN; RCC->AHBENR |= RCC_AHBENR_GPIOAEN | RCC_AHBENR_GPIOBEN | RCC_AHBENR_GPIOFEN;
GPIOA->MODER = // PA6/7 - AF; PB1 - AF
GPIO_MODER_MODER13_O | GPIO_MODER_MODER14_O | GPIOA->MODER = GPIO_MODER_MODER6_AF | GPIO_MODER_MODER7_AF |
GPIO_MODER_MODER4_AF | GPIO_MODER_MODER6_AF |
GPIO_MODER_MODER7_AF |
GPIO_MODER_MODER0_AI | GPIO_MODER_MODER1_AI | GPIO_MODER_MODER0_AI | GPIO_MODER_MODER1_AI |
GPIO_MODER_MODER2_AI | GPIO_MODER_MODER3_AI; GPIO_MODER_MODER2_AI | GPIO_MODER_MODER3_AI |
RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable syscfg clock for EXTI GPIO_MODER_MODER4_O;
GPIOA->OTYPER = 3 << 13; // 13/14 opendrain GPIOA->OTYPER = GPIO_OTYPER_OT_4;
GPIOB->MODER = GPIO_MODER_MODER1_AF;
//RCC->APB2ENR |= RCC_APB2ENR_SYSCFGEN; // enable syscfg clock for EXTI
GPIOF->ODR = 1<<1;
GPIOF->MODER = GPIO_MODER_MODER1_O; GPIOF->MODER = GPIO_MODER_MODER1_O;
// PB1 - interrupt input GPIOF->OTYPER = GPIO_OTYPER_OT_1;
/* (2) Select Port B for pin 1 external interrupt by writing 0001 in EXTI1*/
/* (3) Configure the corresponding mask bit in the EXTI_IMR register */
/* (4) Configure the Trigger Selection bits of the Interrupt line on rising edge*/
/* (5) Configure the Trigger Selection bits of the Interrupt line on falling edge*/
SYSCFG->EXTICR[0] = SYSCFG_EXTICR1_EXTI1_PB; /* (2) */
EXTI->IMR = EXTI_IMR_MR1; /* (3) */
//EXTI->RTSR = 0x0000; /* (4) */
EXTI->FTSR = EXTI_FTSR_TR1; /* (5) */
/* (6) Enable Interrupt on EXTI0_1 */
/* (7) Set priority for EXTI0_1 */
NVIC_EnableIRQ(EXTI0_1_IRQn); /* (6) */
NVIC_SetPriority(EXTI0_1_IRQn, 3); /* (7) */
// alternate functions: // alternate functions:
// PA4 - TIM14_CH1 (AF4) // PA6 - TIM3_CH1, PA7 - TIM3_CH2, PB1 - TIM3_CH4 (all - AF1)
// PA6 - TIM16_CH1 (AF5), PA7 - TIM17_CH1 (AF5) GPIOA->AFR[0] = (GPIOA->AFR[0] &~ (GPIO_AFRL_AFRL6 | GPIO_AFRL_AFRL7)) \
GPIOA->AFR[0] = (GPIOA->AFR[0] &~ (GPIO_AFRL_AFRL4 | GPIO_AFRL_AFRL6 | GPIO_AFRL_AFRL7)) \ | (1 << (6 * 4)) | (1 << (7 * 4));
| (4 << (4 * 4)) | (5 << (6 * 4)) | (5 << (7 * 4)); GPIOB->AFR[0] = (GPIOB->AFR[0] &~ (GPIO_AFRL_AFRL1)) \
| (1 << (1 * 4)) ;
}
// change period of PWM
// MAX freq - 200Hz!!!
void setTIM3T(uint32_t T){
if(T < 1000 || T > 65536) return;
TIM3->ARR = T - 1;
// step = ampl / freq(Hz) * 3
sg90step = SG90_AMPL * T;
sg90step >>= 18; // /262144
} }
static inline void timers_setup(){ static inline void timers_setup(){
// timer 14 ch1 - cooler PWM // timer 3 ch1, 2, 4 PWM for three servos
// timer 16 ch1 - heater PWM RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;
// timer 17 ch1 - pump PWM // PWM mode 1 (active -> inactive) on all three channels
RCC->APB1ENR |= RCC_APB1ENR_TIM3EN | RCC_APB1ENR_TIM14EN; // enable clocking for timers 3 and 14 TIM3->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1 |
RCC->APB2ENR |= RCC_APB2ENR_TIM16EN | RCC_APB2ENR_TIM17EN; // & timers 16/17 TIM_CCMR1_OC2M_2 | TIM_CCMR1_OC2M_1;
// PWM mode 1 (active -> inactive) TIM3->CCMR2 = TIM_CCMR2_OC4M_2 | TIM_CCMR2_OC4M_1;
TIM14->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
TIM16->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
TIM17->CCMR1 = TIM_CCMR1_OC1M_2 | TIM_CCMR1_OC1M_1;
// frequency // frequency
TIM14->PSC = 59; // 0.8MHz for 3kHz PWM TIM3->PSC = 47; // 1MHz -> 1us per tick
TIM16->PSC = 18749; // 2.56kHz for 10Hz PWM
TIM17->PSC = 5; // 8MHz for 31kHz PWM
// ARR for 8-bit PWM // ARR for 8-bit PWM
TIM14->ARR = 254; TIM3->ARR = 19999; // 50Hz
TIM16->ARR = 254;
TIM17->ARR = 254;
// start in OFF state
// TIM14->CCR1 = 0; and so on
// enable main output // enable main output
TIM14->BDTR |= TIM_BDTR_MOE; TIM3->BDTR |= TIM_BDTR_MOE;
TIM16->BDTR |= TIM_BDTR_MOE;
TIM17->BDTR |= TIM_BDTR_MOE;
// enable PWM output // enable PWM output
TIM14->CCER = TIM_CCER_CC1E; TIM3->CCER = TIM_CCER_CC1E | TIM_CCER_CC2E | TIM_CCER_CC4E;
TIM16->CCER = TIM_CCER_CC1E; TIM3->DIER = TIM_DIER_UIE; //TIM_DIER_CC1IE | TIM_DIER_CC2IE | TIM_DIER_CC4IE;
TIM17->CCER = TIM_CCER_CC1E; // enable timer & ARR buffering
// enable timers TIM3->CR1 |= TIM_CR1_CEN | TIM_CR1_ARPE;
TIM14->CR1 |= TIM_CR1_CEN; NVIC_EnableIRQ(TIM3_IRQn);
TIM16->CR1 |= TIM_CR1_CEN;
TIM17->CR1 |= TIM_CR1_CEN;
} }
void hw_setup(){ void hw_setup(){
@ -192,10 +180,79 @@ void hw_setup(){
iwdg_setup(); iwdg_setup();
} }
static uint32_t target_Val[3] = {SG90_MIDPULSE, SG90_MIDPULSE, SG90_MIDPULSE};
static uint32_t target_Speed[3] = {SG90DEFSTEP, SG90DEFSTEP, SG90DEFSTEP};
static uint8_t onpos[3] = {0,0,0};
volatile uint32_t *addr[3] = {&TIM3->CCR1, &TIM3->CCR2, &TIM3->CCR4};
int32_t getPWM(int nch){
return *addr[nch];
}
// return current value
int32_t setPWM(int nch, uint32_t val, uint32_t speed){
if(nch < 0 || nch > 2) return 0;
if(speed > 0){
if(speed > SG90_STEP) speed = SG90_STEP;
target_Speed[nch] = speed;
}
uint8_t ch = 1;
if(val >= SG90_MINPULSE && val <= SG90_MAXPULSE) target_Val[nch] = val;
else if(val == 0) target_Val[nch] = SG90_MINPULSE;
else if(val == 1) target_Val[nch] = SG90_MAXPULSE;
else if(val == 2) target_Val[nch] = SG90_MIDPULSE;
else ch = 0;
if(ch){
onpos[nch] = 0;
}
return *addr[nch];
}
uint8_t onposition(int nch){
return onpos[nch];
}
static void chkPWM(int n){
if(n < 0 || n > 2) return;
uint32_t cur = *addr[n], tg = target_Val[n];
if(cur == tg){
onpos[n] = 1;
return;
}
uint32_t diff = tg - cur;
int sign = 1;
if(cur > tg){
diff = cur - tg;
sign = -1;
}
if(diff > target_Speed[n]) diff = target_Speed[n];
*addr[n] = cur + sign*diff;
}
void tim3_isr(){
/*
if(TIM3->SR & TIM_SR_CC1IF){ // 1st channel
chkPWM(0);
}
if(TIM3->SR & TIM_SR_CC2IF){ // 2nd channel
chkPWM(1);
}
if(TIM3->SR & TIM_SR_CC4IF){ // 3rd channel
chkPWM(2);
}*/
if(TIM3->SR & TIM_SR_UIF){
chkPWM(0);
chkPWM(1);
chkPWM(2);
}
TIM3->SR = 0;
}
/*
void exti0_1_isr(){ void exti0_1_isr(){
if (EXTI->PR & EXTI_PR_PR1){ if (EXTI->PR & EXTI_PR_PR1){
EXTI->PR |= EXTI_PR_PR1; /* Clear the pending bit */ EXTI->PR |= EXTI_PR_PR1; // Clear the pending bit
; ;
} }
} }
*/

62
F0-nolib/Servo/hardware.h
View File

@ -20,59 +20,21 @@
#define HARDWARE_H #define HARDWARE_H
#include "stm32f0.h" #include "stm32f0.h"
// measure flow sensor data each 1 second // minimal and maximal pulse length for SG90
#define FLOW_RATE_MS (999) #define SG90_MINPULSE (700)
// previous as string constant #define SG90_MAXPULSE (2100)
#define FLOWRATESTR "1" #define SG90_MIDPULSE ((SG90_MINPULSE+SG90_MAXPULSE)/2)
#define SG90_AMPL (SG90_MAXPULSE-SG90_MINPULSE)
// each TMEASURE_MS ms calculate temperatures & check them #define SG90DEFSTEP (100)
#define TMEASURE_MS (1000) #define SG90_STEP (sg90step)
// each TCHECK_MS ms check cooler state and regulate temperature
#define TCHECK_MS (10000)
/*
temperature limits and tolerances
*/
// tolerance: +-1.5degrC
#define TEMP_TOLERANCE (15)
// dT tolerance: +-0.5degrC
#define DT_TOLERANCE (5)
// maximal heater temperature - 80degrC; normal - <60
#define MAX_HEATER_T (800)
#define NORMAL_HEATER_T (600)
// maximal output temperature - 45degrC; minimal - 10
#define MAX_OUTPUT_T (450)
#define MIN_OUTPUT_T (100)
// temperature working values: from 15 to 30degrC
#define OUTPUT_T_H (300)
#define OUTPUT_T_L (150)
/*
other limits & tolerances
*/
// minimal flow rate - 0.2l per minute
#define MIN_FLOW_RATE (20)
// normal flow rate
#define NORMAL_FLOW_RATE (30)
// minimal PWM values when motors should work
#define MIN_PUMP_PWM (90)
#define MIN_COOLER_PWM (90)
// PWM setters and getters
#define SET_COOLER_PWM(N) do{TIM14->CCR1 = (uint32_t)N;}while(0)
#define GET_COOLER_PWM() (uint16_t)(TIM14->CCR1)
#define SET_HEATER_PWM(N) do{TIM16->CCR1 = (uint32_t)N;}while(0)
#define GET_HEATER_PWM() (uint16_t)(TIM16->CCR1)
#define SET_PUMP_PWM(N) do{TIM17->CCR1 = (uint32_t)N;}while(0)
#define GET_PUMP_PWM() (uint16_t)(TIM17->CCR1)
// ext. alarm states
#define ALARM_ON() pin_set(GPIOF, 2)
#define ALARM_OFF() pin_clear(GPIOF, 2)
#define ALARM_STATE() pin_read(GPIOF, 2)
extern volatile uint32_t Tms; extern volatile uint32_t Tms;
extern uint32_t sg90step;
void hw_setup(void); void hw_setup(void);
int32_t setPWM(int nch, uint32_t val, uint32_t speed);
int32_t getPWM(int nch);
uint8_t onposition(int nch);
void setTIM3T(uint32_t T);
#endif // HARDWARE_H #endif // HARDWARE_H

10
F0-nolib/Servo/main.c
View File

@ -19,8 +19,8 @@
* MA 02110-1301, USA. * MA 02110-1301, USA.
*/ */
#include "adc.h" #include "adc.h"
#include "effects.h"
#include "hardware.h" #include "hardware.h"
#include "mainloop.h"
#include "protocol.h" #include "protocol.h"
#include "usart.h" #include "usart.h"
#include <string.h> // memcpy #include <string.h> // memcpy
@ -38,12 +38,12 @@ int main(void){
char *txt; char *txt;
hw_setup(); hw_setup();
SysTick_Config(6000, 1); SysTick_Config(6000, 1);
SEND_BLK("Servos controller v0.1\n"); SEND("Servos controller v0.1\n");
if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured if(RCC->CSR & RCC_CSR_IWDGRSTF){ // watchdog reset occured
SEND_BLK("WDGRESET=1"); SEND("WDGRESET=1\n");
} }
if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured if(RCC->CSR & RCC_CSR_SFTRSTF){ // software reset occured
SEND_BLK("SOFTRESET=1"); SEND("SOFTRESET=1\n");
} }
RCC->CSR |= RCC_CSR_RMVF; // remove reset flags RCC->CSR |= RCC_CSR_RMVF; // remove reset flags
while (1){ while (1){
@ -56,7 +56,7 @@ int main(void){
IWDG->KR = IWDG_REFRESH; IWDG->KR = IWDG_REFRESH;
} }
} }
mainloop(); proc_effect();
IWDG->KR = IWDG_REFRESH; IWDG->KR = IWDG_REFRESH;
usart1_sendbuf(); usart1_sendbuf();
} }

127
F0-nolib/Servo/protocol.c
View File

@ -15,81 +15,170 @@
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include "adc.h"
#include "effects.h"
#include "hardware.h" #include "hardware.h"
#include "protocol.h" #include "protocol.h"
#include "usart.h" #include "usart.h"
#include "adc.h"
#include "mainloop.h"
extern uint8_t crit_error; extern uint8_t crit_error;
#ifdef EBUG #ifdef EBUG
static void putADC(int n){
put_string("ADC");
put_char('0' + n);
put_string(" value: ");
put_uint(getADCval(n));
put_char('\n');
// while(LINE_BUSY == usart1_sendbuf());
}
/** /**
* @brief debugging_proc - debugging functions * @brief debugging_proc - debugging functions
* @param command - rest of cmd * @param command - rest of cmd
*/ */
static void debugging_proc(const char *command){ static void debugging_proc(const char *command){
const char *ptr = command; char ch;
int i; int i;
switch(*ptr++){ switch(*command++){
case 'w': case 'w':
usart1_send("Test watchdog", 0); SEND("Test watchdog\n");
while(1){nop();} while(1){nop();}
break; break;
case 'A': // raw ADC values depending on next symbol case 'A': // raw ADC values depending on next symbol
i = *ptr++ - '0'; ch = *command;
if(i < 0 || i > NUMBER_OF_ADC_CHANNELS){ if(ch == 'A' || ch == 'B'){
usart1_send("Wrong channel nuber!", 0); for(i = 0; i < NUMBER_OF_ADC_CHANNELS; ++i){
return; putADC(i);
} }
put_string("ADC value: "); }else{
put_uint(getADCval(i)); i = ch - '0';
put_string(", "); if(i < 0 || i >= NUMBER_OF_ADC_CHANNELS){
usart1_sendbuf(); SEND("Wrong channel nuber!\n");
}else putADC(i);
}
break;
case 'B':
SEND("B command\n");
break; break;
default: default:
SEND("wrong command\n");
break; break;
} }
while(LINE_BUSY == usart1_sendbuf()){nop();};
} }
#endif #endif
static void chPWM(const char *command){
int n = *command++ - '1';
if(n < 0 || n > 2){
put_string("Wrong PWM channel number");
return;
}
int32_t CCR = getPWM(n);
if((command = getnum(command, &CCR))){
set_effect(n, EFF_NONE);
int32_t speed = SG90_STEP;
if(*command++ == ','){
getnum(command, &speed);
}
CCR = setPWM(n, CCR, speed);
}
put_string("pulse");
put_char('1' + n);
put_char('=');
put_int(CCR);
put_char('\n');
}
static void set_servoT(const char *buf){
int32_t T;
if(!getnum(buf, &T) || T < 1000 || T > 65535){
put_string("Bad period value\n");
usart1_sendbuf();
return;
}
put_string("Set period to ");
put_int(T);
put_string(" us\n");
setTIM3T(T);
usart1_sendbuf();
}
static void chk_effect(const char *cmd, effect_t eff, const char *name){
if(set_effect(*(++cmd)-'1', eff) == eff){
put_string("Turn on ");
put_string(name);
put_string(" effect\n");
}else put_string("err\n");
}
/** /**
* @brief process_command - command parser * @brief process_command - command parser
* @param command - command text (all inside [] without spaces) * @param command - command text (all inside [] without spaces)
* @return text to send over terminal or NULL * @return text to send over terminal or NULL
*/ */
char *process_command(const char *command){ char *process_command(const char *command){
const char *ptr = command;
char *ret = NULL; char *ret = NULL;
usart1_sendbuf(); // send buffer (if it is already filled) usart1_sendbuf(); // send buffer (if it is already filled)
switch(*ptr++){ switch(*command){
case '?': // help case '?': // help
SEND_BLK( SEND_BLK(
"1-3[pos[,speed]]- set/get xth pulse length (us) (0,1,2 - min, max, mid)\n"
"fx - servo period (us)"
"Mn - set Mad Wipe effect\n"
"Pn - set Pendulum effect\n"
"R - reset\n" "R - reset\n"
"Sn - set Small Pendulum effect\n"
"t - get MCU temperature (approx.)\n" "t - get MCU temperature (approx.)\n"
"V - get Vdd" "V - get Vdd\n"
"Wn - set Wipe effect\n"
); );
#ifdef EBUG #ifdef EBUG
SEND_BLK("d -> goto debug:\n" SEND_BLK("d -> goto debug:\n"
"\tAx - get raw ADCx value\n" "\tAx - get raw ADCx value (A for all)\n"
"\tw - test watchdog" "\tw - test watchdog\n"
); );
#endif #endif
break; break;
case '1':
case '2':
case '3':
chPWM(command);
break;
case 'f':
set_servoT(++command);
break;
case 'M':
chk_effect(command, EFF_MADWIPE, "mad wipe");
break;
case 'P':
chk_effect(command, EFF_PENDULUM, "pendulum");
break;
case 'R': // reset MCU case 'R': // reset MCU
NVIC_SystemReset(); NVIC_SystemReset();
break; break;
case 'S':
chk_effect(command, EFF_SMPENDULUM, "small pendulum");
break;
case 't': // get mcu T case 't': // get mcu T
put_string("MCUTEMP10="); put_string("MCUTEMP10=");
put_int(getMCUtemp()); put_int(getMCUtemp());
put_char('\n');
break; break;
case 'V': // get Vdd case 'V': // get Vdd
put_string("VDD100="); put_string("VDD100=");
put_uint(getVdd()); put_uint(getVdd());
put_char('\n');
break;
case 'W':
chk_effect(command, EFF_WIPE, "wipe");
break; break;
#ifdef EBUG #ifdef EBUG
case 'd': case 'd':
debugging_proc(ptr); debugging_proc(++command);
return NULL; return NULL;
break; break;
#endif #endif

BIN
F0-nolib/Servo/servo.bin
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20
F0-nolib/Servo/usart.c
View File

@ -42,7 +42,8 @@ static int trbufidx = 0;
int put_char(char c){ int put_char(char c){
if(trbufidx >= UARTBUFSZ - 1){ if(trbufidx >= UARTBUFSZ - 1){
if(ALL_OK != usart1_sendbuf()) return 1; for(int i = 0; i < 72000000 && ALL_OK != usart1_sendbuf(); ++i)
if(i == 72000000) return 1;
} }
trbuf[trbufidx++] = c; trbuf[trbufidx++] = c;
return 0; return 0;
@ -84,10 +85,11 @@ int put_uint(uint32_t N){
*/ */
TXstatus usart1_sendbuf(){ TXstatus usart1_sendbuf(){
int len = trbufidx; int len = trbufidx;
trbufidx = 0;
if(len == 0) return ALL_OK; if(len == 0) return ALL_OK;
else if(len > UARTBUFSZ) len = UARTBUFSZ; else if(len > UARTBUFSZ) len = UARTBUFSZ;
return usart1_send(trbuf, len); TXstatus s = usart1_send(trbuf, len);
if(s == ALL_OK) trbufidx = 0;
return s;
} }
void USART1_config(){ void USART1_config(){
@ -125,8 +127,14 @@ void USART1_config(){
NVIC_EnableIRQ(USART1_IRQn); /* (4) */ NVIC_EnableIRQ(USART1_IRQn); /* (4) */
} }
#ifdef EBUG
#define TMO 0
#else
#define TMO 1
#endif
void usart1_isr(){ void usart1_isr(){
static uint8_t timeout = 1 // == 0 for human interface without timeout static uint8_t timeout = TMO // == 0 for human interface without timeout
,nctr = 0 // counter of '#' received ,nctr = 0 // counter of '#' received
,incmd = 0 // ==1 - inside command ,incmd = 0 // ==1 - inside command
; ;
@ -235,7 +243,7 @@ TXstatus usart1_send(const char *str, int len){
if(len == 0) return ALL_OK; if(len == 0) return ALL_OK;
DMA1_Channel2->CCR &= ~DMA_CCR_EN; DMA1_Channel2->CCR &= ~DMA_CCR_EN;
memcpy(tbuf, str, len); memcpy(tbuf, str, len);
tbuf[len++] = '\n'; // tbuf[len++] = '\n';
DMA1_Channel2->CNDTR = len; DMA1_Channel2->CNDTR = len;
DMA1_Channel2->CCR |= DMA_CCR_EN; // start transmission DMA1_Channel2->CCR |= DMA_CCR_EN; // start transmission
return ALL_OK; return ALL_OK;
@ -252,7 +260,7 @@ TXstatus usart1_send_blocking(const char *str, int len){
USART1->TDR = *str++; USART1->TDR = *str++;
while(!(USART1->ISR & USART_ISR_TXE)); while(!(USART1->ISR & USART_ISR_TXE));
} }
USART1->TDR = '\n'; // USART1->TDR = '\n';
while(!(USART1->ISR & USART_ISR_TC)); while(!(USART1->ISR & USART_ISR_TC));
txrdy = 1; txrdy = 1;
return ALL_OK; return ALL_OK;

4
F0-nolib/Servo/usart.h
View File

@ -38,8 +38,8 @@ typedef enum{
#define usart1ovr() (bufovr) #define usart1ovr() (bufovr)
// send constant string // send constant string
#define SEND_BLK(x) do{while(LINE_BUSY == usart1_send_blocking(x, sizeof(x)-1));}while(0) #define SEND_BLK(x) do{while(LINE_BUSY == usart1_send_blocking(x, sizeof(x)-1)) IWDG->KR = IWDG_REFRESH;}while(0)
#define SEND(x) do{while(LINE_BUSY == usart1_send(x, sizeof(x)-1));}while(0) #define SEND(x) do{while(LINE_BUSY == usart1_send(x, sizeof(x)-1)) IWDG->KR = IWDG_REFRESH;}while(0)
extern uint8_t bufovr; extern uint8_t bufovr;