| 10,6 → 10,7 |
|---|
| uint8_t rx_buffer[RX_BUFFER_SZ]; |
| //uint8_t tx_buffer[TX_BUFFER_SZ]; |
| uint8_t rx_pos, tx_pos; |
| uint8_t current_servo = 0; |
| |
| void uart_init() { |
| |
| 36,6 → 37,20 |
|---|
| |
| uint8_t i = UDR; |
| |
| if (i == '+') { |
| if (pwm_neutral_position[current_servo - 1] < 255) { |
| pwm_neutral_position[current_servo - 1]++; |
| } |
| printf("SERVO %d VALUE %d\n", current_servo, pwm_neutral_position[current_servo - 1]); |
| return; |
| } else if (i == '-') { |
| if (pwm_neutral_position[current_servo - 1] > 0) { |
| pwm_neutral_position[current_servo - 1]--; |
| } |
| printf("SERVO %d VALUE %d\n", current_servo, pwm_neutral_position[current_servo - 1]); |
| return; |
| } |
| |
| uart_putchar(i); |
| |
| if (i == '\r') { |
| 53,6 → 68,7 |
|---|
| " n = neutral position (0-255)\n" |
| " l = lower limit (0-255)\n" |
| " u = upper limit (0-255)\n" |
| "CUR n Set current servo. + = increase, - = decrease value\n" |
| "LOAD Load settings from eeprom\n" |
| "SAVE Write settings to eeprom\n"); |
| } else if (!strcasecmp(rx_buffer, "DISPLAY")) { |
| 77,8 → 93,21 |
|---|
| 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, "CUR ", 4)) { |
| char *s, *t; |
| s = strtok_r(rx_buffer, " ", &t); |
| if (s) { |
| s = strtok_r(NULL, "", &t); |
| if (s) { |
| i = atoi(s) + 1; |
| if (i >= 1 && i <= 6) { |
| current_servo = i; |
| printf("CURRENT SERVO %d\n", i); |
| } else { |
| printf("Invalid servo\n"); |
| } |
| } |
| } |
| } else if (!strncasecmp(rx_buffer, "SET ", 4)) { |
| char *s, *t; |
| uint8_t servo; |
| 96,7 → 125,7 |
|---|
| s = strtok_r(NULL, ",", &t); |
| if (s) { |
| l = atoi(s); |
| s = strtok_r(NULL, ",", &t); |
| s = strtok_r(NULL, "", &t); |
| if (s) { |
| h = atoi(s); |
| } else { |
| 104,6 → 133,7 |
|---|
| } |
| } |
| pwm_limit[servo] = (h << 8) | l; |
| pwm_check_active(); |
| i = servo; |
| printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
| (i + 1), |