| 10,9 → 10,8 |
|---|
| 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; |
| uint8_t current_servo = 1; |
| |
| |
| void uart_init() { |
| |
| rx_pos = 0; |
| 32,24 → 31,29 |
|---|
| |
| } |
| |
| void display_cur_servo(uint8_t i) { |
| printf("SERVO %d NEUTRAL %d LIMIT %d-%d\n", i + 1, pwm_neutral_position[i], (pwm_limit[i] & 0xff), (pwm_limit[i] >> 8)); |
| } |
| |
| |
| ISR(USART_RXC_vect) { |
| |
| uint8_t i = UDR; |
| |
| if (rx_pos < RX_BUFFER_SZ) { |
| |
| uint8_t i = UDR; |
| |
| if (i == '+') { |
| if (pwm_neutral_position[current_servo - 1] < 255) { |
| pwm_neutral_position[current_servo - 1]++; |
| if (i == '+' || i == '-') { |
| if (i == '+') { |
| if (pwm_neutral_position[current_servo] < 255) { |
| pwm_neutral_position[current_servo]++; |
| } |
| } else if (i == '-') { |
| if (pwm_neutral_position[current_servo] > 0) { |
| pwm_neutral_position[current_servo]--; |
| } |
| } |
| printf("SERVO %d VALUE %d\n", current_servo, pwm_neutral_position[current_servo - 1]); |
| display_cur_servo(current_servo); |
| 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); |
| 62,34 → 66,26 |
|---|
| 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" |
| "CUR n Set current servo. + = increase, - = decrease value\n" |
| "LOAD Load settings from eeprom\n" |
| "SAVE Write settings to eeprom\n"); |
| printf("DISPLAY Display servo 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" |
| "CUR n Set current servo. + = increase, - = decrease value\n" |
| "SETLL Set lower limit to servo position\n" |
| "SETUL Set upper limit\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) |
| ); |
| display_cur_servo(i); |
| } |
| } 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) |
| ); |
| } |
| #if DEBUG_SIGNAL |
| } else if (!strcasecmp(rx_buffer, "TV")) { |
| display_values = !display_values; |
| printf("\n"); |
| #endif |
| } else if (!strcasecmp(rx_buffer, "LOAD")) { |
| eeprom_init(); |
| } else if (!strcasecmp(rx_buffer, "SAVE")) { |
| 98,11 → 94,11 |
|---|
| char *s, *t; |
| s = strtok_r(rx_buffer, " ", &t); |
| if (s) { |
| s = strtok_r(NULL, "", &t); |
| s = strtok_r(NULL, ",", &t); |
| if (s) { |
| i = atoi(s) + 1; |
| i = atoi(s); |
| if (i >= 1 && i <= 6) { |
| current_servo = i; |
| current_servo = i - 1; |
| printf("CURRENT SERVO %d\n", i); |
| } else { |
| printf("Invalid servo\n"); |
| 109,6 → 105,24 |
|---|
| } |
| } |
| } |
| } else if (!strcasecmp(rx_buffer, "SETLL")) { |
| uint8_t l, h; |
| l = pwm_neutral_position[current_servo]; |
| h = (pwm_limit[current_servo] >> 8); |
| if (h < l) { |
| h = l; |
| } |
| pwm_limit[current_servo] = (h << 8) | l; |
| display_cur_servo(current_servo); |
| } else if (!strcasecmp(rx_buffer, "SETUL")) { |
| uint8_t l, h; |
| h = pwm_neutral_position[current_servo]; |
| l = (pwm_limit[current_servo] & 0xff); |
| if (l > h) { |
| l = h; |
| } |
| pwm_limit[current_servo] = (h << 8) | l; |
| display_cur_servo(current_servo); |
| } else if (!strncasecmp(rx_buffer, "SET ", 4)) { |
| char *s, *t; |
| uint8_t servo; |
| 164,6 → 178,7 |
|---|
| } else { |
| |
| printf("Receive buffer full.\n"); |
| rx_pos = 0; |
| |
| } |
| |