| 0,0 → 1,153 |
|---|
| |
| #include <stdio.h> |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "servoboard.h" |
| #include "uart.h" |
| |
| uint8_t rx_buffer[RX_BUFFER_SZ]; |
| //uint8_t tx_buffer[TX_BUFFER_SZ]; |
| uint8_t rx_pos, tx_pos; |
| |
| void uart_init() { |
| |
| rx_pos = 0; |
| tx_pos = 0; |
| |
| UCR=(1 << TXEN) | (1 << RXEN); |
| USR |= (1<<U2X); |
| UCSRB |= (1<<RXCIE); |
| // UCSRB |= (1<<TXCIE); |
| |
| UBRR = (F_CPU / (BAUD_RATE * 8L) - 1); |
| |
| fdevopen(uart_putchar, NULL); |
| |
| printf("servoboard %s\n> ", VERSION); |
| |
| |
| } |
| |
| ISR(USART_RXC_vect) { |
| |
| if (rx_pos < RX_BUFFER_SZ) { |
| |
| uint8_t i = UDR; |
| |
| uart_putchar(i); |
| |
| if (i == '\r') { |
| |
| uart_putchar('\n'); |
| |
| rx_buffer[rx_pos] = 0; |
| rx_pos = 0; |
| |
| if (!strcasecmp(rx_buffer, "HELP")) { |
| printf("DISPLAY Display servo settings\n" |
| "EXPORT Export srvo settings\n" |
| "SET s=n,l,u Set servo settings\n" |
| " s = servo number (1-6)\n" |
| " n = neutral position (0-255)\n" |
| " l = lower limit (0-255)\n" |
| " u = upper limit (0-255)\n" |
| "LOAD Load settings from eeprom\n" |
| "SAVE Write settings to eeprom\n"); |
| } else if (!strcasecmp(rx_buffer, "DISPLAY")) { |
| for(i = 0; i < 6; i++) { |
| printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
| (i + 1), |
| (pwm_neutral_position[i]), |
| (pwm_limit[i] & 0xff), |
| (pwm_limit[i] >> 8) |
| ); |
| } |
| } else if (!strcasecmp(rx_buffer, "EXPORT")) { |
| for(i = 0; i < 6; i++) { |
| printf("SET %d=%d,%d,%d\n", |
| (i + 1), |
| (pwm_neutral_position[i]), |
| (pwm_limit[i] & 0xff), |
| (pwm_limit[i] >> 8) |
| ); |
| } |
| } else if (!strcasecmp(rx_buffer, "LOAD")) { |
| eeprom_init(); |
| } else if (!strcasecmp(rx_buffer, "SAVE")) { |
| eeprom_write(); |
| // } else if (!strncasecmp(rx_buffer, "INC ", 4)) { |
| // } else if (!strncasecmp(rx_buffer, "DEC ", 4)) { |
| } else if (!strncasecmp(rx_buffer, "SET ", 4)) { |
| char *s, *t; |
| uint8_t servo; |
| s = strtok_r(rx_buffer, " ", &t); |
| if (s) { |
| s = strtok_r(NULL, "=", &t); |
| if (s) { |
| servo = atoi(s); |
| if (servo >= 1 && servo <= 6) { |
| servo--; |
| s = strtok_r(NULL, ",", &t); |
| if (s) { |
| uint8_t h = 0, l = 0; |
| pwm_neutral_position[servo] = atoi(s); |
| s = strtok_r(NULL, ",", &t); |
| if (s) { |
| l = atoi(s); |
| s = strtok_r(NULL, ",", &t); |
| if (s) { |
| h = atoi(s); |
| } else { |
| h = 0xff; |
| } |
| } |
| pwm_limit[servo] = (h << 8) | l; |
| i = servo; |
| printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
| (i + 1), |
| (pwm_neutral_position[i]), |
| (pwm_limit[i] & 0xff), |
| (pwm_limit[i] >> 8) |
| ); |
| } |
| } else { |
| printf("Invalid servo\n"); |
| } |
| } |
| } |
| } else { |
| printf("Invalid command, type HELP\n"); |
| } |
| |
| uart_putchar('>'); |
| uart_putchar(' '); |
| |
| } else { |
| |
| rx_buffer[rx_pos++] = i; |
| |
| } |
| |
| } else { |
| |
| printf("Receive buffer full.\n"); |
| |
| } |
| |
| }; |
| |
| /* |
| ISR(USART_TXC_vect) { |
| }*/ |
| |
| int uart_putchar (char c) { |
| if (c == '\n') { |
| uart_putchar('\r'); |
| } |
| loop_until_bit_is_set(USR, UDRE); |
| UDR = c; |
| return 0; |
| } |
| |