Rev 1459 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| 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; |
||
| 13 | |||
| 14 | void uart_init() { |
||
| 15 | |||
| 16 | rx_pos = 0; |
||
| 17 | tx_pos = 0; |
||
| 18 | |||
| 19 | UCR=(1 << TXEN) | (1 << RXEN); |
||
| 20 | USR |= (1<<U2X); |
||
| 21 | UCSRB |= (1<<RXCIE); |
||
| 22 | // UCSRB |= (1<<TXCIE); |
||
| 23 | |||
| 24 | UBRR = (F_CPU / (BAUD_RATE * 8L) - 1); |
||
| 25 | |||
| 26 | fdevopen(uart_putchar, NULL); |
||
| 27 | |||
| 28 | printf("servoboard %s\n> ", VERSION); |
||
| 29 | |||
| 30 | |||
| 31 | } |
||
| 32 | |||
| 33 | ISR(USART_RXC_vect) { |
||
| 34 | |||
| 35 | if (rx_pos < RX_BUFFER_SZ) { |
||
| 36 | |||
| 37 | uint8_t i = UDR; |
||
| 1460 | acid | 38 | |
| 1459 | acid | 39 | uart_putchar(i); |
| 40 | |||
| 41 | if (i == '\r') { |
||
| 42 | |||
| 43 | uart_putchar('\n'); |
||
| 44 | |||
| 45 | rx_buffer[rx_pos] = 0; |
||
| 46 | rx_pos = 0; |
||
| 47 | |||
| 48 | if (!strcasecmp(rx_buffer, "HELP")) { |
||
| 49 | printf("DISPLAY Display servo settings\n" |
||
| 50 | "EXPORT Export srvo settings\n" |
||
| 1460 | acid | 51 | "SET s=n[,l,u] Set servo settings\n" |
| 1459 | acid | 52 | " s = servo number (1-6)\n" |
| 53 | " n = neutral position (0-255)\n" |
||
| 54 | " l = lower limit (0-255)\n" |
||
| 55 | " u = upper limit (0-255)\n" |
||
| 56 | "LOAD Load settings from eeprom\n" |
||
| 57 | "SAVE Write settings to eeprom\n"); |
||
| 58 | } else if (!strcasecmp(rx_buffer, "DISPLAY")) { |
||
| 59 | for(i = 0; i < 6; i++) { |
||
| 1460 | acid | 60 | printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
| 61 | (i + 1), |
||
| 1459 | acid | 62 | (pwm_neutral_position[i]), |
| 1460 | acid | 63 | (pwm_limit[i] & 0xff), |
| 1459 | acid | 64 | (pwm_limit[i] >> 8) |
| 65 | ); |
||
| 66 | } |
||
| 67 | } else if (!strcasecmp(rx_buffer, "EXPORT")) { |
||
| 68 | for(i = 0; i < 6; i++) { |
||
| 1460 | acid | 69 | printf("SET %d=%d,%d,%d\n", |
| 70 | (i + 1), |
||
| 1459 | acid | 71 | (pwm_neutral_position[i]), |
| 1460 | acid | 72 | (pwm_limit[i] & 0xff), |
| 1459 | acid | 73 | (pwm_limit[i] >> 8) |
| 74 | ); |
||
| 75 | } |
||
| 76 | } else if (!strcasecmp(rx_buffer, "LOAD")) { |
||
| 77 | eeprom_init(); |
||
| 78 | } else if (!strcasecmp(rx_buffer, "SAVE")) { |
||
| 79 | eeprom_write(); |
||
| 80 | // } else if (!strncasecmp(rx_buffer, "INC ", 4)) { |
||
| 81 | // } else if (!strncasecmp(rx_buffer, "DEC ", 4)) { |
||
| 82 | } else if (!strncasecmp(rx_buffer, "SET ", 4)) { |
||
| 83 | char *s, *t; |
||
| 84 | uint8_t servo; |
||
| 85 | s = strtok_r(rx_buffer, " ", &t); |
||
| 86 | if (s) { |
||
| 87 | s = strtok_r(NULL, "=", &t); |
||
| 88 | if (s) { |
||
| 89 | servo = atoi(s); |
||
| 90 | if (servo >= 1 && servo <= 6) { |
||
| 91 | servo--; |
||
| 92 | s = strtok_r(NULL, ",", &t); |
||
| 93 | if (s) { |
||
| 94 | uint8_t h = 0, l = 0; |
||
| 95 | pwm_neutral_position[servo] = atoi(s); |
||
| 96 | s = strtok_r(NULL, ",", &t); |
||
| 97 | if (s) { |
||
| 98 | l = atoi(s); |
||
| 99 | s = strtok_r(NULL, ",", &t); |
||
| 100 | if (s) { |
||
| 101 | h = atoi(s); |
||
| 102 | } else { |
||
| 103 | h = 0xff; |
||
| 104 | } |
||
| 105 | } |
||
| 106 | pwm_limit[servo] = (h << 8) | l; |
||
| 107 | i = servo; |
||
| 1460 | acid | 108 | printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
| 109 | (i + 1), |
||
| 1459 | acid | 110 | (pwm_neutral_position[i]), |
| 1460 | acid | 111 | (pwm_limit[i] & 0xff), |
| 1459 | acid | 112 | (pwm_limit[i] >> 8) |
| 113 | ); |
||
| 114 | } |
||
| 115 | } else { |
||
| 116 | printf("Invalid servo\n"); |
||
| 117 | } |
||
| 118 | } |
||
| 119 | } |
||
| 120 | } else { |
||
| 121 | printf("Invalid command, type HELP\n"); |
||
| 122 | } |
||
| 123 | |||
| 124 | uart_putchar('>'); |
||
| 125 | uart_putchar(' '); |
||
| 126 | |||
| 127 | } else { |
||
| 128 | |||
| 129 | rx_buffer[rx_pos++] = i; |
||
| 130 | |||
| 131 | } |
||
| 132 | |||
| 133 | } else { |
||
| 134 | |||
| 135 | printf("Receive buffer full.\n"); |
||
| 136 | |||
| 137 | } |
||
| 138 | |||
| 139 | }; |
||
| 140 | |||
| 141 | /* |
||
| 142 | ISR(USART_TXC_vect) { |
||
| 143 | }*/ |
||
| 144 | |||
| 145 | int uart_putchar (char c) { |
||
| 146 | if (c == '\n') { |
||
| 147 | uart_putchar('\r'); |
||
| 148 | } |
||
| 149 | loop_until_bit_is_set(USR, UDRE); |
||
| 150 | UDR = c; |
||
| 151 | return 0; |
||
| 152 | } |
||
| 153 |