WebSVN - FlightCtrl - Blame - Rev 1478 - /branches/V0.76g-acid/servoboard/uart.c

Rev	Author	Line No.	Line
1459	acid	1
		2	#include <stdio.h>
		3	#include <stdlib.h>
		4	#include <string.h>
		5	#include <avr/io.h>
		6	#include <avr/interrupt.h>
		7	#include "servoboard.h"
		8	#include "uart.h"
		9
		10	uint8_t rx_buffer[RX_BUFFER_SZ];
		11	//uint8_t tx_buffer[TX_BUFFER_SZ];
		12	uint8_t rx_pos, tx_pos;
1475	acid	13	uint8_t current_servo = 1;
1459	acid	14
		15	void uart_init() {
		16
		17	rx_pos = 0;
		18	tx_pos = 0;
		19
		20	UCR=(1 << TXEN) \| (1 << RXEN);
		21	USR \|= (1<<U2X);
		22	UCSRB \|= (1<<RXCIE);
		23	// UCSRB \|= (1<<TXCIE);
		24
		25	UBRR = (F_CPU / (BAUD_RATE * 8L) - 1);
		26
		27	fdevopen(uart_putchar, NULL);
		28
		29	printf("servoboard %s\n> ", VERSION);
		30
		31
		32	}
		33
1475	acid	34	void display_cur_servo(uint8_t i) {
		35	printf("SERVO %d NEUTRAL %d LIMIT %d-%d\n", i + 1, pwm_neutral_position[i], (pwm_limit[i] & 0xff), (pwm_limit[i] >> 8));
		36	}
		37
		38
1459	acid	39	ISR(USART_RXC_vect) {
		40
1475	acid	41	uint8_t i = UDR;
		42
1459	acid	43	if (rx_pos < RX_BUFFER_SZ) {
		44
1475	acid	45	if (i == '+' \|\| i == '-') {
		46	if (i == '+') {
		47	if (pwm_neutral_position[current_servo] < 255) {
		48	pwm_neutral_position[current_servo]++;
		49	}
		50	} else if (i == '-') {
		51	if (pwm_neutral_position[current_servo] > 0) {
		52	pwm_neutral_position[current_servo]--;
		53	}
1461	acid	54	}
1475	acid	55	display_cur_servo(current_servo);
1461	acid	56	return;
		57	}
		58
1459	acid	59	uart_putchar(i);
		60
		61	if (i == '\r') {
		62
		63	uart_putchar('\n');
		64
		65	rx_buffer[rx_pos] = 0;
		66	rx_pos = 0;
		67
		68	if (!strcasecmp(rx_buffer, "HELP")) {
1475	acid	69	printf("DISPLAY Display servo settings\n"
		70	"SET s=n[,l,u] Set servo settings\n"
		71	" s = servo number (1-6)\n"
		72	" n = neutral position (0-255)\n"
		73	" l = lower limit (0-255)\n"
		74	" u = upper limit (0-255)\n"
		75	"CUR n Set current servo. + = increase, - = decrease value\n"
		76	"SETLL Set lower limit to servo position\n"
		77	"SETUL Set upper limit\n"
		78	"LOAD Load settings from eeprom\n"
		79	"SAVE Write settings to eeprom\n");
1459	acid	80	} else if (!strcasecmp(rx_buffer, "DISPLAY")) {
		81	for(i = 0; i < 6; i++) {
1475	acid	82	display_cur_servo(i);
1459	acid	83	}
1475	acid	84	#if DEBUG_SIGNAL
		85	} else if (!strcasecmp(rx_buffer, "TV")) {
		86	display_values = !display_values;
		87	printf("\n");
		88	#endif
1459	acid	89	} else if (!strcasecmp(rx_buffer, "LOAD")) {
		90	eeprom_init();
		91	} else if (!strcasecmp(rx_buffer, "SAVE")) {
		92	eeprom_write();
1461	acid	93	} else if (!strncasecmp(rx_buffer, "CUR ", 4)) {
		94	char s, t;
		95	s = strtok_r(rx_buffer, " ", &t);
		96	if (s) {
1475	acid	97	s = strtok_r(NULL, ",", &t);
1461	acid	98	if (s) {
1475	acid	99	i = atoi(s);
1461	acid	100	if (i >= 1 && i <= 6) {
1475	acid	101	current_servo = i - 1;
1461	acid	102	printf("CURRENT SERVO %d\n", i);
		103	} else {
		104	printf("Invalid servo\n");
		105	}
		106	}
		107	}
1475	acid	108	} else if (!strcasecmp(rx_buffer, "SETLL")) {
		109	uint8_t l, h;
		110	l = pwm_neutral_position[current_servo];
		111	h = (pwm_limit[current_servo] >> 8);
		112	if (h < l) {
		113	h = l;
		114	}
		115	pwm_limit[current_servo] = (h << 8) \| l;
		116	display_cur_servo(current_servo);
		117	} else if (!strcasecmp(rx_buffer, "SETUL")) {
		118	uint8_t l, h;
		119	h = pwm_neutral_position[current_servo];
		120	l = (pwm_limit[current_servo] & 0xff);
		121	if (l > h) {
		122	l = h;
		123	}
		124	pwm_limit[current_servo] = (h << 8) \| l;
		125	display_cur_servo(current_servo);
1459	acid	126	} else if (!strncasecmp(rx_buffer, "SET ", 4)) {
		127	char s, t;
		128	uint8_t servo;
		129	s = strtok_r(rx_buffer, " ", &t);
		130	if (s) {
		131	s = strtok_r(NULL, "=", &t);
		132	if (s) {
		133	servo = atoi(s);
		134	if (servo >= 1 && servo <= 6) {
		135	servo--;
		136	s = strtok_r(NULL, ",", &t);
		137	if (s) {
1477	acid	138	uint8_t h = 0xff, l = 0;
1459	acid	139	pwm_neutral_position[servo] = atoi(s);
		140	s = strtok_r(NULL, ",", &t);
		141	if (s) {
		142	l = atoi(s);
1461	acid	143	s = strtok_r(NULL, "", &t);
1459	acid	144	if (s) {
		145	h = atoi(s);
		146	}
		147	}
		148	pwm_limit[servo] = (h << 8) \| l;
1477	acid	149	set_pwm_active();
1459	acid	150	i = servo;
1460	acid	151	printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n",
		152	(i + 1),
1459	acid	153	(pwm_neutral_position[i]),
1460	acid	154	(pwm_limit[i] & 0xff),
1459	acid	155	(pwm_limit[i] >> 8)
		156	);
		157	}
		158	} else {
		159	printf("Invalid servo\n");
		160	}
		161	}
		162	}
		163	} else {
		164	printf("Invalid command, type HELP\n");
		165	}
		166
		167	uart_putchar('>');
		168	uart_putchar(' ');
		169
		170	} else {
		171
		172	rx_buffer[rx_pos++] = i;
		173
		174	}
		175
		176	} else {
		177
		178	printf("Receive buffer full.\n");
1475	acid	179	rx_pos = 0;
1459	acid	180
		181	}
1478	acid	182
1459	acid	183	};
		184
		185	/*
		186	ISR(USART_TXC_vect) {
		187	}*/
		188
		189	int uart_putchar (char c) {
		190	if (c == '\n') {
		191	uart_putchar('\r');
		192	}
		193	loop_until_bit_is_set(USR, UDRE);
		194	UDR = c;
		195	return 0;
		196	}
		197

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(root)/branches/V0.76g-acid/servoboard/uart.c - Rev 1478