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