mirror of
https://github.com/eddyem/stm32samples.git
synced 2025-12-08 11:45:22 +03:00
650 lines
17 KiB
C
650 lines
17 KiB
C
/*
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* geany_encoding=koi8-r
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* proto.c
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*
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* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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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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*/
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#include "adc.h"
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#include "can.h"
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#include "flash.h"
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#include "hardware.h"
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#include "proto.h"
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#include "steppers.h"
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#include "usart.h"
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#include "usb.h"
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#include <string.h> // strlen, strcpy(
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extern volatile uint8_t canerror;
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uint8_t monitCAN = 0; // ==1 to show CAN messages
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#define BUFSZ UARTBUFSZ
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static char buff[BUFSZ+1], *bptr = buff;
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static uint8_t blen = 0, // length of data in `buff`
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USBcmd = 0; // ==1 if buffer prepared for USB
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char *omit_spaces(char *buf){
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while(*buf){
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if(*buf > ' ') break;
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++buf;
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}
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return buf;
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}
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void buftgt(uint8_t isUSB){
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USBcmd = isUSB;
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}
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void sendbuf(){
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IWDG->KR = IWDG_REFRESH;
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if(blen == 0) return;
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if(USBcmd){
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*bptr = 0;
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USB_sendstr(buff);
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}else while(LINE_BUSY == usart_send(buff, blen)){IWDG->KR = IWDG_REFRESH;}
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bptr = buff;
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blen = 0;
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}
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void addtobuf(const char *txt){
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IWDG->KR = IWDG_REFRESH;
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int l = strlen(txt);
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if(l > BUFSZ){
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sendbuf();
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if(USBcmd) USB_sendstr(txt);
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else usart_send_blocking(txt, l);
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}else{
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if(blen+l > BUFSZ){
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sendbuf();
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}
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strcpy(bptr, txt);
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bptr += l;
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}
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blen += l;
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}
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void bufputchar(char ch){
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if(blen > BUFSZ-1){
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sendbuf();
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}
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*bptr++ = ch;
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++blen;
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}
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// show all ADC values
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static inline void showADCvals(){
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char msg[] = "ADCn=";
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for(int n = 0; n < NUMBER_OF_ADC_CHANNELS; ++n){
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msg[3] = n + '0';
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addtobuf(msg);
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printu(getADCval(n));
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newline();
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}
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}
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static inline void printmcut(){
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SEND("MCUT=");
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int32_t T = getMCUtemp();
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if(T < 0){
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bufputchar('-');
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T = -T;
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}
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printu(T);
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newline();
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}
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static inline void showUIvals(){
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uint16_t *vals = getUval();
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SEND("V12="); printu(vals[0]);
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SEND("\nV5="); printu(vals[1]);
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SEND("\nV33="); printu(getVdd());
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newline();
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}
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// check address & return 0 if wrong or roll to next non-digit
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static char *chk485addr(char *txt){
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uint32_t N;
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char *nxt = getnum(txt, &N);
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if(nxt == txt) return NULL;
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if(N == getBRDaddr()){
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return nxt;
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}
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return NULL;
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}
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// parse `txt` to CAN_message
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static CAN_message *parseCANmsg(char *txt){
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static CAN_message canmsg;
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uint32_t N;
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char *n;
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int ctr = -1;
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canmsg.ID = 0xffff;
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do{
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txt = omit_spaces(txt);
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n = getnum(txt, &N);
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if(txt == n) break;
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txt = n;
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if(ctr == -1){
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if(N > 0x7ff){
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SEND("ID should be 11-bit number!\n");
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return NULL;
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}
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canmsg.ID = (uint16_t)(N&0x7ff);
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ctr = 0;
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continue;
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}
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if(ctr > 7){
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SEND("ONLY 8 data bytes allowed!\n");
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return NULL;
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}
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if(N > 0xff){
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SEND("Every data portion is a byte!\n");
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return NULL;
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}
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canmsg.data[ctr++] = (uint8_t)(N&0xff);
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}while(1);
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if(canmsg.ID == 0xffff){
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SEND("NO ID given, send nothing!\n");
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return NULL;
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}
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canmsg.length = (uint8_t) ctr;
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return &canmsg;
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}
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// send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
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TRUE_INLINE void sendCANcommand(char *txt){
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CAN_message *msg = parseCANmsg(txt);
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if(!msg) return;
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uint32_t N = 1000000;
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while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
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if(--N == 0) break;
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}
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}
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static uint8_t userconf_changed = 0; // ==1 if user_conf was changed
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TRUE_INLINE void userconf_manip(char *txt){
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txt = omit_spaces(txt);
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switch(*txt){
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case 'd': // dump
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dump_userconf();
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break;
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case 's': // store
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if(userconf_changed){
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if(!store_userconf()){
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userconf_changed = 0;
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SEND("Stored!");
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}else SEND("Error when storing!");
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}
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break;
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default:
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SEND("\nUserconf commands:\n"
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"d - userconf dump\n"
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"s - userconf store\n"
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);
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}
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}
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TRUE_INLINE void setdefflags(char *txt){
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const char *needar = "Need argument 0 or 1 for flag";
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txt = omit_spaces(txt);
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char ch = *txt;
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++txt;
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uint32_t U;
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if(txt == getnum(txt, &U)){
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SEND(needar);
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return;
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}
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switch(ch){
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case 'r':
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if(U > 1){
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SEND(needar);
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return;
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}
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the_conf.defflags.reverse = U&1;
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break;
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default:
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SEND("\nFlag commands:\n"
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"r - set/clear reverse\n"
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);
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}
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}
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// a set of setters for user_conf
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TRUE_INLINE void setters(char *txt){
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uint32_t U;
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uint8_t u8;
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const char *drvshould = "Driver type should be one of: 2130, 4988, 8825";
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const char *usshould = "Microsteps amount is a power of two: 1..512";
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const char *motspdshould = "Motor speed should be from 1 to " STR(10000);
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txt = omit_spaces(txt);
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if(!*txt){
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SEND("Setters need more arguments");
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return;
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}
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char *nxt = getnum(txt + 1, &U);
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switch(*txt){
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case 'a': // accdecsteps
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if(nxt == txt + 1){
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SEND("No accdecsteps value given");
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return;
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}
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if(U < ACCDECSTEPS_MIN || U > ACCDECSTEPS_MAX){
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SEND("The value should be from" STR(ACCDECSTEPS_MIN) " to " STR(ACCDECSTEPS_MAX));
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return;
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}
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if(the_conf.accdecsteps != (uint16_t) U){
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the_conf.accdecsteps = (uint16_t) U;
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userconf_changed = 1;
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SEND("Set accdecsteps to "); printu(U);
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}
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break;
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case 'c': // set CAN speed
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if(nxt == txt + 1){
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SEND("No CAN speed given");
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return;
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}
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if(U < 50){
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SEND("Speed should be not less than 50kbps");
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return;
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}
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if(U > 3000){
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SEND("Speed should be not greater than 3000kbps");
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return;
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}
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if(the_conf.CANspeed != (uint16_t)U){
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the_conf.CANspeed = (uint16_t)U;
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SEND("Set CAN speed to "); printu(U);
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userconf_changed = 1;
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}
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break;
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case 'd': // set driver type
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if(nxt == txt+1){
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SEND(drvshould);
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break;
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}
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u8 = DRV_NONE;
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switch(U){
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case 2130:
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u8 = DRV_2130;
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SEND("TMC2130");
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break;
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case 4988:
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u8 = DRV_4988;
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SEND("A4988");
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break;
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case 8825:
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u8 = DRV_8825;
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SEND("DRV8825");
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break;
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default:
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SEND(drvshould);
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}
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if(the_conf.driver_type != u8){
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the_conf.driver_type = u8;
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userconf_changed = 1;
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}
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break;
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case 'F':
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setdefflags(txt+1);
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break;
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case 'm': // microsteps
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if(nxt == txt + 1){ // no number
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SEND(usshould); break;
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}
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if(U < 1 || U > getMaxUsteps() || (U & (U-1)) != 0){ // U over of range or not power of two
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SEND(usshould); break;
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}
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if(the_conf.microsteps != (uint16_t)U){
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the_conf.microsteps = (uint16_t)U;
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userconf_changed = 1;
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SEND("Set microsteps to "); printu(U);
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}
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break;
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case 'M': // maxsteps
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if(nxt == txt + 1 || U > INT32_MAX){
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SEND("Enter number from 0 (infinity) to INT32_MAX"); break;
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}
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if(U != the_conf.maxsteps){
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the_conf.maxsteps = U;
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userconf_changed = 1;
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SEND("Set maxsteps to "); printu(U);
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}
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break;
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case 's': // motor speed
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if(nxt == txt + 1 || U < 1 || U > MAX_SPEED){ // no number
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SEND(motspdshould); break;
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}
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if(the_conf.motspd != (uint16_t)U){
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the_conf.motspd = (uint16_t)U;
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userconf_changed = 1;
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SEND("Set motspd to "); printu(U);
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}
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break;
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default:
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SEND("\nSetters commands:\n"
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"a - set accdecsteps\n"
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"c - set default CAN speed\n"
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"d - set driver type\n"
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"F - set flags\n"
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"m - set microsteps\n"
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"M - set maxsteps\n"
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"s - set motspd\n"
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);
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}
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}
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TRUE_INLINE void driver_commands(char *txt){
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txt = omit_spaces(txt);
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if(!*txt){
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SEND("Driver commands need more arguments");
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return;
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}
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char cmd = *txt++;
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txt = omit_spaces(txt);
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uint32_t U;
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int8_t sign = 1;
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if(*txt == '-'){
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++txt;
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sign = -1;
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}
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char *nxt = getnum(txt, &U);
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stp_status st;
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switch(cmd){
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case '0':
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state = STP_MOVE0;
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stp_process();
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break;
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case '1':
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state = STP_MOVE1;
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stp_process();
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break;
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case 'd':
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SEND(stp_getdrvtype());
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break;
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case 'e':
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SEND("ESW=");
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printu(ESW_STATE());
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break;
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case 'i': // init
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initDriver();
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break;
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case 'l':
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SEND("Stepsleft=");
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printu(stpleft());
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break;
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case 'm':
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if(nxt == txt || U > (INT32_MAX-1)){
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SEND("Give right steps amount: from -INT32_MAX to INT32_MAX");
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return;
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}
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if(sign > 0) st = stp_move((int32_t)U);
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else st = stp_move(-(int32_t)U);
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switch(st){
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case STPS_ACTIVE:
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SEND("IsMoving");
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break;
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case STPS_ONESW:
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SEND("OnEndSwitch");
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break;
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case STPS_ZEROMOVE:
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SEND("ZeroMove");
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break;
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case STPS_TOOBIG:
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SEND("TooBigNumber");
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break;
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default:
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SEND("Move to given steps amount");
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}
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break;
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case 'p':
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SEND("Motpos=");
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if(stppos() < 0){
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U = (uint32_t) -stppos();
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bufputchar('-');
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}else U = (uint32_t) stppos();
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printu(U);
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break;
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case 's':
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stp_stop();
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SEND("Stop motor");
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break;
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case 'S':
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SEND(stp_getstate());
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break;
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default:
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SEND("\nDriver commands:\n"
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"0/1 - move to ESW0/ESW3 and stop there\n"
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"d - current driver type\n"
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"e - end-switches state\n"
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"i - init stepper driver (8825, 4988, 2130)\n"
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"l - steps left\n"
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"m - move N steps\n"
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"p - motor position\n"
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"s - stop\n"
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"S - state\n"
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);
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}
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}
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/**
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* @brief cmd_parser - command parsing
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* @param txt - buffer with commands & data
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* @param isUSB - == 1 if data got from USB
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*/
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void cmd_parser(char *txt, uint8_t isUSB){
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sendbuf();
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USBcmd = isUSB;
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// we can't simple use &txt[p] as variable: it can be non-aligned by 4!!!
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if(isUSB == TARGET_USART){ // check address and roll message to nearest non-space
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txt = chk485addr(txt);
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if(!txt) return;
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}
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txt = omit_spaces(txt);
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// long commands, commands with arguments
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switch(*txt){
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case 'D':
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driver_commands(txt + 1);
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goto eof;
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break;
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case 's':
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sendCANcommand(txt + 1);
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goto eof;
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break;
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case 'S': // setters
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setters(txt + 1);
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goto eof;
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break;
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case 'U':
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userconf_manip(txt + 1);
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goto eof;
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break;
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}
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if(txt[1] != '\n') *txt = '?'; // help for wrong message length
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switch(*txt){
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case '0':
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can_accept_one();
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SEND("Accept only my ID @CAN");
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break;
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case '1':
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timer_setup();
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break;
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case '@':
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can_accept_any();
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SEND("Accept any ID @CAN");
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break;
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case 'a':
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showADCvals();
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break;
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case 'b':
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SEND("Jump to bootloader.\n");
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sendbuf();
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Jump2Boot();
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break;
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case 'g':
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SEND("Board address: ");
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printuhex(refreshBRDaddr());
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SEND("\nCAN IN address (OUT=IN+1): ");
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printuhex(getCANID());
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break;
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case 'j':
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printmcut();
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break;
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case 'k':
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showUIvals();
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break;
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case 'm':
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monitCAN = !monitCAN;
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SEND("CAN monitoring ");
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if(monitCAN) SEND("ON");
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else SEND("OFF");
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break;
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case 't':
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if(ALL_OK != usart_send("TEST test\n", 10))
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SEND("Can't send data over RS485");
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else SEND("Sent");
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break;
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case 'T':
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SEND("Tms="); printu(Tms);
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break;
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case 'z':
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flashstorage_init();
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break;
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default: // help
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SEND(
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"0 - accept only data for this device\n"
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"@ - accept any IDs\n"
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"a - get raw ADC values\n"
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"b - switch to bootloader\n"
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"D? - stepper driver commands\n"
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"g - get board address\n"
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"j - get MCU temperature\n"
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"k - get U values\n"
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"m - start/stop monitoring CAN bus\n"
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"s - send data over CAN: s ID [byte0..7]\n"
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"S? - parameter setters\n"
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"t - send test sequence over RS-485\n"
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"T - print current time\n"
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"U? - options for user configuration\n"
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);
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break;
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}
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eof:
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newline();
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sendbuf();
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}
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// print 32bit unsigned int
|
|
void printu(uint32_t val){
|
|
char buf[11], *bufptr = &buf[10];
|
|
*bufptr = 0;
|
|
if(!val){
|
|
*(--bufptr) = '0';
|
|
}else{
|
|
while(val){
|
|
*(--bufptr) = val % 10 + '0';
|
|
val /= 10;
|
|
}
|
|
}
|
|
addtobuf(bufptr);
|
|
}
|
|
|
|
// print 32bit unsigned int as hex
|
|
void printuhex(uint32_t val){
|
|
addtobuf("0x");
|
|
uint8_t *ptr = (uint8_t*)&val + 3;
|
|
int8_t i, j;
|
|
for(i = 0; i < 4; ++i, --ptr){
|
|
for(j = 1; j > -1; --j){
|
|
uint8_t half = (*ptr >> (4*j)) & 0x0f;
|
|
if(half < 10) bufputchar(half + '0');
|
|
else bufputchar(half - 10 + 'a');
|
|
}
|
|
}
|
|
}
|
|
|
|
// THERE'S NO OVERFLOW PROTECTION IN NUMBER READ PROCEDURES!
|
|
// read decimal number
|
|
static char *getdec(char *buf, uint32_t *N){
|
|
uint32_t num = 0;
|
|
while(*buf){
|
|
char c = *buf;
|
|
if(c < '0' || c > '9'){
|
|
break;
|
|
}
|
|
num *= 10;
|
|
num += c - '0';
|
|
++buf;
|
|
}
|
|
*N = num;
|
|
return buf;
|
|
}
|
|
// read hexadecimal number (without 0x prefix!)
|
|
static char *gethex(char *buf, uint32_t *N){
|
|
uint32_t num = 0;
|
|
while(*buf){
|
|
char c = *buf;
|
|
uint8_t M = 0;
|
|
if(c >= '0' && c <= '9'){
|
|
M = '0';
|
|
}else if(c >= 'A' && c <= 'F'){
|
|
M = 'A' - 10;
|
|
}else if(c >= 'a' && c <= 'f'){
|
|
M = 'a' - 10;
|
|
}
|
|
if(M){
|
|
num <<= 4;
|
|
num += c - M;
|
|
}else{
|
|
break;
|
|
}
|
|
++buf;
|
|
}
|
|
*N = num;
|
|
return buf;
|
|
}
|
|
// read binary number (without 0b prefix!)
|
|
static char *getbin(char *buf, uint32_t *N){
|
|
uint32_t num = 0;
|
|
while(*buf){
|
|
char c = *buf;
|
|
if(c < '0' || c > '1'){
|
|
break;
|
|
}
|
|
num <<= 1;
|
|
if(c == '1') num |= 1;
|
|
++buf;
|
|
}
|
|
*N = num;
|
|
return buf;
|
|
}
|
|
|
|
/**
|
|
* @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
|
|
* @param buf - buffer with number and so on
|
|
* @param N - the number read
|
|
* @return pointer to first non-number symbol in buf (if it is == buf, there's no number)
|
|
*/
|
|
char *getnum(char *txt, uint32_t *N){
|
|
txt = omit_spaces(txt);
|
|
if(*txt == '0'){
|
|
if(txt[1] == 'x' || txt[1] == 'X') return gethex(txt+2, N);
|
|
if(txt[1] == 'b' || txt[1] == 'B') return getbin(txt+2, N);
|
|
}
|
|
return getdec(txt, N);
|
|
}
|