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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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1475 | acid | 13 | uint8_t current_servo = 1; |
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 | |||
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)); |
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36 | } |
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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 == '+') { |
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47 | if (pwm_neutral_position[current_servo] < 255) { |
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48 | pwm_neutral_position[current_servo]++; |
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49 | } |
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50 | } else if (i == '-') { |
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51 | if (pwm_neutral_position[current_servo] > 0) { |
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52 | pwm_neutral_position[current_servo]--; |
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53 | } |
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1461 | acid | 54 | } |
1475 | acid | 55 | display_cur_servo(current_servo); |
1461 | acid | 56 | return; |
57 | } |
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58 | |||
1459 | acid | 59 | uart_putchar(i); |
60 | |||
61 | if (i == '\r') { |
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62 | |||
63 | uart_putchar('\n'); |
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64 | |||
65 | rx_buffer[rx_pos] = 0; |
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66 | rx_pos = 0; |
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67 | |||
68 | if (!strcasecmp(rx_buffer, "HELP")) { |
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1475 | acid | 69 | printf("DISPLAY Display servo settings\n" |
70 | "SET s=n[,l,u] Set servo settings\n" |
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71 | " s = servo number (1-6)\n" |
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72 | " n = neutral position (0-255)\n" |
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73 | " l = lower limit (0-255)\n" |
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74 | " u = upper limit (0-255)\n" |
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75 | "CUR n Set current servo. + = increase, - = decrease value\n" |
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76 | "SETLL Set lower limit to servo position\n" |
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77 | "SETUL Set upper limit\n" |
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78 | "LOAD Load settings from eeprom\n" |
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79 | "SAVE Write settings to eeprom\n"); |
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1459 | acid | 80 | } else if (!strcasecmp(rx_buffer, "DISPLAY")) { |
81 | for(i = 0; i < 6; i++) { |
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1475 | acid | 82 | display_cur_servo(i); |
1459 | acid | 83 | } |
1475 | acid | 84 | #if DEBUG_SIGNAL |
85 | } else if (!strcasecmp(rx_buffer, "TV")) { |
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86 | display_values = !display_values; |
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87 | printf("\n"); |
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88 | #endif |
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1459 | acid | 89 | } else if (!strcasecmp(rx_buffer, "LOAD")) { |
90 | eeprom_init(); |
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91 | } else if (!strcasecmp(rx_buffer, "SAVE")) { |
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92 | eeprom_write(); |
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1461 | acid | 93 | } else if (!strncasecmp(rx_buffer, "CUR ", 4)) { |
94 | char *s, *t; |
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95 | s = strtok_r(rx_buffer, " ", &t); |
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96 | if (s) { |
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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 { |
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104 | printf("Invalid servo\n"); |
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105 | } |
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106 | } |
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107 | } |
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1475 | acid | 108 | } else if (!strcasecmp(rx_buffer, "SETLL")) { |
109 | uint8_t l, h; |
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110 | l = pwm_neutral_position[current_servo]; |
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111 | h = (pwm_limit[current_servo] >> 8); |
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112 | if (h < l) { |
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113 | h = l; |
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114 | } |
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115 | pwm_limit[current_servo] = (h << 8) | l; |
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116 | display_cur_servo(current_servo); |
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117 | } else if (!strcasecmp(rx_buffer, "SETUL")) { |
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118 | uint8_t l, h; |
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119 | h = pwm_neutral_position[current_servo]; |
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120 | l = (pwm_limit[current_servo] & 0xff); |
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121 | if (l > h) { |
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122 | l = h; |
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123 | } |
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124 | pwm_limit[current_servo] = (h << 8) | l; |
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125 | display_cur_servo(current_servo); |
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1459 | acid | 126 | } else if (!strncasecmp(rx_buffer, "SET ", 4)) { |
127 | char *s, *t; |
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128 | uint8_t servo; |
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129 | s = strtok_r(rx_buffer, " ", &t); |
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130 | if (s) { |
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131 | s = strtok_r(NULL, "=", &t); |
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132 | if (s) { |
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133 | servo = atoi(s); |
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134 | if (servo >= 1 && servo <= 6) { |
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135 | servo--; |
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136 | s = strtok_r(NULL, ",", &t); |
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137 | if (s) { |
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1477 | acid | 138 | uint8_t h = 0xff, l = 0; |
1459 | acid | 139 | pwm_neutral_position[servo] = atoi(s); |
140 | s = strtok_r(NULL, ",", &t); |
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141 | if (s) { |
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142 | l = atoi(s); |
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1461 | acid | 143 | s = strtok_r(NULL, "", &t); |
1459 | acid | 144 | if (s) { |
145 | h = atoi(s); |
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146 | } |
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147 | } |
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148 | pwm_limit[servo] = (h << 8) | l; |
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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), |
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1459 | acid | 153 | (pwm_neutral_position[i]), |
1460 | acid | 154 | (pwm_limit[i] & 0xff), |
1459 | acid | 155 | (pwm_limit[i] >> 8) |
156 | ); |
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157 | } |
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158 | } else { |
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159 | printf("Invalid servo\n"); |
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160 | } |
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161 | } |
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162 | } |
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163 | } else { |
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164 | printf("Invalid command, type HELP\n"); |
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165 | } |
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166 | |||
167 | uart_putchar('>'); |
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168 | uart_putchar(' '); |
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169 | |||
170 | } else { |
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171 | |||
172 | rx_buffer[rx_pos++] = i; |
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173 | |||
174 | } |
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175 | |||
176 | } else { |
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177 | |||
178 | printf("Receive buffer full.\n"); |
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1475 | acid | 179 | rx_pos = 0; |
1459 | acid | 180 | |
181 | } |
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1478 | acid | 182 | |
1459 | acid | 183 | }; |
184 | |||
185 | /* |
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186 | ISR(USART_TXC_vect) { |
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187 | }*/ |
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188 | |||
189 | int uart_putchar (char c) { |
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190 | if (c == '\n') { |
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191 | uart_putchar('\r'); |
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192 | } |
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193 | loop_until_bit_is_set(USR, UDRE); |
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194 | UDR = c; |
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195 | return 0; |
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196 | } |
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197 |