Rev 1460 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 1460 | Rev 1461 | ||
|---|---|---|---|
| Line 8... | Line 8... | ||
| 8 | #include "uart.h" |
8 | #include "uart.h" |
| Line 9... | Line 9... | ||
| 9 | 9 | ||
| 10 | uint8_t rx_buffer[RX_BUFFER_SZ]; |
10 | uint8_t rx_buffer[RX_BUFFER_SZ]; |
| 11 | //uint8_t tx_buffer[TX_BUFFER_SZ]; |
11 | //uint8_t tx_buffer[TX_BUFFER_SZ]; |
| - | 12 | uint8_t rx_pos, tx_pos; |
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| Line 12... | Line 13... | ||
| 12 | uint8_t rx_pos, tx_pos; |
13 | uint8_t current_servo = 0; |
| Line 13... | Line 14... | ||
| 13 | 14 | ||
| 14 | void uart_init() { |
15 | void uart_init() { |
| Line 34... | Line 35... | ||
| 34 | 35 | ||
| Line 35... | Line 36... | ||
| 35 | if (rx_pos < RX_BUFFER_SZ) { |
36 | if (rx_pos < RX_BUFFER_SZ) { |
| Line -... | Line 37... | ||
| - | 37 | ||
| - | 38 | uint8_t i = UDR; |
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| - | 39 | ||
| - | 40 | if (i == '+') { |
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| - | 41 | if (pwm_neutral_position[current_servo - 1] < 255) { |
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| - | 42 | pwm_neutral_position[current_servo - 1]++; |
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| - | 43 | } |
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| - | 44 | printf("SERVO %d VALUE %d\n", current_servo, pwm_neutral_position[current_servo - 1]); |
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| - | 45 | return; |
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| - | 46 | } else if (i == '-') { |
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| - | 47 | if (pwm_neutral_position[current_servo - 1] > 0) { |
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| - | 48 | pwm_neutral_position[current_servo - 1]--; |
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| - | 49 | } |
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| - | 50 | printf("SERVO %d VALUE %d\n", current_servo, pwm_neutral_position[current_servo - 1]); |
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| 36 | 51 | return; |
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| Line 37... | Line 52... | ||
| 37 | uint8_t i = UDR; |
52 | } |
| Line 38... | Line 53... | ||
| 38 | 53 | ||
| Line 51... | Line 66... | ||
| 51 | "SET s=n[,l,u] Set servo settings\n" |
66 | "SET s=n[,l,u] Set servo settings\n" |
| 52 | " s = servo number (1-6)\n" |
67 | " s = servo number (1-6)\n" |
| 53 | " n = neutral position (0-255)\n" |
68 | " n = neutral position (0-255)\n" |
| 54 | " l = lower limit (0-255)\n" |
69 | " l = lower limit (0-255)\n" |
| 55 | " u = upper limit (0-255)\n" |
70 | " u = upper limit (0-255)\n" |
| - | 71 | "CUR n Set current servo. + = increase, - = decrease value\n" |
|
| 56 | "LOAD Load settings from eeprom\n" |
72 | "LOAD Load settings from eeprom\n" |
| 57 | "SAVE Write settings to eeprom\n"); |
73 | "SAVE Write settings to eeprom\n"); |
| 58 | } else if (!strcasecmp(rx_buffer, "DISPLAY")) { |
74 | } else if (!strcasecmp(rx_buffer, "DISPLAY")) { |
| 59 | for(i = 0; i < 6; i++) { |
75 | for(i = 0; i < 6; i++) { |
| 60 | printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
76 | printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
| Line 75... | Line 91... | ||
| 75 | } |
91 | } |
| 76 | } else if (!strcasecmp(rx_buffer, "LOAD")) { |
92 | } else if (!strcasecmp(rx_buffer, "LOAD")) { |
| 77 | eeprom_init(); |
93 | eeprom_init(); |
| 78 | } else if (!strcasecmp(rx_buffer, "SAVE")) { |
94 | } else if (!strcasecmp(rx_buffer, "SAVE")) { |
| 79 | eeprom_write(); |
95 | eeprom_write(); |
| 80 | // } else if (!strncasecmp(rx_buffer, "INC ", 4)) { |
96 | } else if (!strncasecmp(rx_buffer, "CUR ", 4)) { |
| - | 97 | char *s, *t; |
|
| 81 | // } else if (!strncasecmp(rx_buffer, "DEC ", 4)) { |
98 | s = strtok_r(rx_buffer, " ", &t); |
| - | 99 | if (s) { |
|
| - | 100 | s = strtok_r(NULL, "", &t); |
|
| - | 101 | if (s) { |
|
| - | 102 | i = atoi(s) + 1; |
|
| - | 103 | if (i >= 1 && i <= 6) { |
|
| - | 104 | current_servo = i; |
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| - | 105 | printf("CURRENT SERVO %d\n", i); |
|
| - | 106 | } else { |
|
| - | 107 | printf("Invalid servo\n"); |
|
| - | 108 | } |
|
| - | 109 | } |
|
| - | 110 | } |
|
| 82 | } else if (!strncasecmp(rx_buffer, "SET ", 4)) { |
111 | } else if (!strncasecmp(rx_buffer, "SET ", 4)) { |
| 83 | char *s, *t; |
112 | char *s, *t; |
| 84 | uint8_t servo; |
113 | uint8_t servo; |
| 85 | s = strtok_r(rx_buffer, " ", &t); |
114 | s = strtok_r(rx_buffer, " ", &t); |
| 86 | if (s) { |
115 | if (s) { |
| Line 94... | Line 123... | ||
| 94 | uint8_t h = 0, l = 0; |
123 | uint8_t h = 0, l = 0; |
| 95 | pwm_neutral_position[servo] = atoi(s); |
124 | pwm_neutral_position[servo] = atoi(s); |
| 96 | s = strtok_r(NULL, ",", &t); |
125 | s = strtok_r(NULL, ",", &t); |
| 97 | if (s) { |
126 | if (s) { |
| 98 | l = atoi(s); |
127 | l = atoi(s); |
| 99 | s = strtok_r(NULL, ",", &t); |
128 | s = strtok_r(NULL, "", &t); |
| 100 | if (s) { |
129 | if (s) { |
| 101 | h = atoi(s); |
130 | h = atoi(s); |
| 102 | } else { |
131 | } else { |
| 103 | h = 0xff; |
132 | h = 0xff; |
| 104 | } |
133 | } |
| 105 | } |
134 | } |
| 106 | pwm_limit[servo] = (h << 8) | l; |
135 | pwm_limit[servo] = (h << 8) | l; |
| - | 136 | pwm_check_active(); |
|
| 107 | i = servo; |
137 | i = servo; |
| 108 | printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
138 | printf("SERVO %d, NEUTRAL %d, LIMIT %d-%d\n", |
| 109 | (i + 1), |
139 | (i + 1), |
| 110 | (pwm_neutral_position[i]), |
140 | (pwm_neutral_position[i]), |
| 111 | (pwm_limit[i] & 0xff), |
141 | (pwm_limit[i] & 0xff), |