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feature/BinaryCommandTest
EmbeddedMan 2024-04-20 09:07:40 -05:00
rodzic 87dbe2e370
commit 7759f5ff7f
8 zmienionych plików z 19173 dodań i 17721 usunięć
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3892
EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/EBF.X.production.map vendored
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BIN
EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.cof vendored
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3905
EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.hex vendored
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24995
EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.lst vendored
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3846
EBB_firmware/app.X/dist/EBBv13_with_bootloader/production/app.X.production.unified.hex vendored
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180
EBB_firmware/app.X/source/UBW.c
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@ -151,7 +151,7 @@ volatile UINT16 g_StepperDisableTimeoutS; // Seconds of no motion before m
volatile UINT16 g_StepperDisableSecondCounter; // Counts milliseconds up to 1 s for stepper disable timeout
volatile UINT16 g_StepperDisableCountdownS; // After motion is done, counts down in seconds from g_StepperDisableTimeoutS to zero
const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 3.0.1"};
const rom char st_version[] = {"EBBv13_and_above EB Firmware Version 3.0.1.1"};
#pragma udata ISR_buf = 0x100
volatile unsigned int ISR_A_FIFO[16]; // Stores the most recent analog conversions
@ -918,6 +918,11 @@ void ProcessIO(void)
static BYTE last_fifo_size;
static unsigned char button_state = 0;
static unsigned int button_ctr = 0;
static BOOL first_byte = TRUE; // True whenever we are looking for
// the first byte of the next cmd
static BYTE binary_bytes_left = 0; // When not zero, stores the number
// of bytes left to copy over for
// this binary command
BYTE i;
BOOL done = FALSE;
@ -976,70 +981,133 @@ void ProcessIO(void)
{
tst_char = g_RX_command_buf[byte_cnt];
if (binary_bytes_left)
{
g_RX_buf[g_RX_buf_in] = tst_char;
g_RX_buf_in++;
byte_cnt++;
binary_bytes_left--;
if (!binary_bytes_left)
{
if (bittstzero(TestMode)) // TEST_MODE_PARSING_COMMAND_NUM
{
LATCbits.LATC0 = 1;
}
parse_Y_packet();
if (bittstzero(TestMode)) // TEST_MODE_PARSING_COMMAND_NUM
{
LATCbits.LATC0 = 0;
}
g_RX_buf_in = 0;
g_RX_buf_out = 0;
first_byte = TRUE;
}
}
else if (first_byte)
{
// Check for binary command. If we see a 'Y' then we know we have a
// binary command, and so we need to copy the right number of bytes
// over to the binary command temp storage
if (tst_char == 'Y')
{
first_byte = FALSE;
binary_bytes_left = 28;
if ((rx_bytes - byte_cnt) >= 28u)
{
byte_cnt++; // Advance past the "Y"
while (binary_bytes_left)
{
g_RX_buf[g_RX_buf_in] = g_RX_command_buf[byte_cnt];
g_RX_buf_in++;
byte_cnt++;
binary_bytes_left--;
}
if (bittstzero(TestMode)) // TEST_MODE_PARSING_COMMAND_NUM
{
LATCbits.LATC0 = 1;
}
parse_Y_packet();
if (bittstzero(TestMode)) // TEST_MODE_PARSING_COMMAND_NUM
{
LATCbits.LATC0 = 0;
}
g_RX_buf_in = 0;
g_RX_buf_out = 0;
first_byte = TRUE;
}
}
}
if (bittst(TestMode, TEST_MODE_USART_COMMAND_NUM))
{
Write1USART(tst_char);
}
// Check to see if we are in a CR/LF situation
if (
!in_cr
&&
(
kCR == tst_char
||
kLF == tst_char
)
)
{
in_cr = TRUE;
g_RX_buf[g_RX_buf_in] = kCR;
g_RX_buf_in++;
// At this point, we know we have a full packet
// of information from the PC to parse
if (!binary_bytes_left)
{
// Check to see if we are in a CR/LF situation
if (
!in_cr
&&
(
kCR == tst_char
||
kLF == tst_char
)
)
{
in_cr = TRUE;
g_RX_buf[g_RX_buf_in] = kCR;
g_RX_buf_in++;
// Now, if we've gotten a full command (user send <CR>) then
// go call the code that deals with that command, and then
// keep parsing. (This allows multiple small commands per packet)
if (bittstzero(TestMode)) // TEST_MODE_PARSING_COMMAND_NUM
{
LATCbits.LATC0 = 1;
// At this point, we know we have a full packet
// of information from the PC to parse
// Now, if we've gotten a full command (user send <CR>) then
// go call the code that deals with that command, and then
// keep parsing. (This allows multiple small commands per packet)
if (bittstzero(TestMode)) // TEST_MODE_PARSING_COMMAND_NUM
{
LATCbits.LATC0 = 1;
}
parse_packet();
if (bittstzero(TestMode)) // TEST_MODE_PARSING_COMMAND_NUM
{
LATCbits.LATC0 = 0;
}
g_RX_buf_in = 0;
g_RX_buf_out = 0;
first_byte = TRUE;
}
parse_packet();
if (bittstzero(TestMode)) // TEST_MODE_PARSING_COMMAND_NUM
else if (tst_char == 8u && g_RX_buf_in > 0u)
{
LATCbits.LATC0 = 0;
// Handle the backspace thing
g_RX_buf_in--;
g_RX_buf[g_RX_buf_in] = 0x00;
ebb_print((far rom char *)" \b");
}
else if (
tst_char != kCR
&&
tst_char != kLF
&&
tst_char >= 32u
)
{
// Only add a byte if it is not a CR or LF
g_RX_buf[g_RX_buf_in] = tst_char;
in_cr = FALSE;
first_byte = FALSE;
g_RX_buf_in++;
}
// Check for buffer wraparound
if (kRX_BUF_SIZE == g_RX_buf_in)
{
bitset(error_byte, kERROR_BYTE_RX_BUFFER_OVERRUN);
g_RX_buf_in = 0;
g_RX_buf_out = 0;
}
g_RX_buf_in = 0;
g_RX_buf_out = 0;
}
else if (tst_char == 8u && g_RX_buf_in > 0u)
{
// Handle the backspace thing
g_RX_buf_in--;
g_RX_buf[g_RX_buf_in] = 0x00;
ebb_print((far rom char *)" \b");
}
else if (
tst_char != kCR
&&
tst_char != kLF
&&
tst_char >= 32u
)
{
// Only add a byte if it is not a CR or LF
g_RX_buf[g_RX_buf_in] = tst_char;
in_cr = FALSE;
g_RX_buf_in++;
}
// Check for buffer wraparound
if (kRX_BUF_SIZE == g_RX_buf_in)
{
bitset(error_byte, kERROR_BYTE_RX_BUFFER_OVERRUN);
g_RX_buf_in = 0;
g_RX_buf_out = 0;
}
}
}

75
EBB_firmware/app.X/source/ebb.c
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@ -4606,3 +4606,78 @@ void parse_CS_packet(void)
print_line_ending(kLE_OK_NORM);
}
void parse_Y_packet(void)
{
UINT32 tmp;
// We should now have
// AAAABBBBCCCCDDDDEEEEFFFFGGGG
// in g_RX_buf[] starting at g_RX_buf_out
//
// T3 command
// T3,Intervals,Rate1,Accel1,Jerk1,Rate2,Accel2,Jerk2[,Clear]
// Intervals = unsigned 32 bit
// Rate = signed 32
// Accel = signed 32 bit
// Jerk = signed 32 bit
// Clear = 2 bits
//
// A = Intervals
// B = Rate1
// C = Accel1
// D = Jerk1
// E = Rate2
// F = Accel2
// G = Jerk2
// For the Clear parameter, Y command should assume NEVER clear accumulators.
// YAAAABBBBCCCCDDDDEEEEFFFFGGGG
// 1 bytes command
// 28 bytes data
// No carriage return
// For now, just print out all of the parameters to the debug UART
tmp = g_RX_buf[0];
tmp = (tmp << 8) | g_RX_buf[1];
tmp = (tmp << 8) | g_RX_buf[2];
tmp = (tmp << 8) | g_RX_buf[3];
HexPrint(tmp);
tmp = g_RX_buf[4];
tmp = (tmp << 8) | g_RX_buf[5];
tmp = (tmp << 8) | g_RX_buf[6];
tmp = (tmp << 8) | g_RX_buf[7];
HexPrint(tmp);
tmp = g_RX_buf[8];
tmp = (tmp << 8) | g_RX_buf[9];
tmp = (tmp << 8) | g_RX_buf[10];
tmp = (tmp << 8) | g_RX_buf[11];
HexPrint(tmp);
tmp = g_RX_buf[12];
tmp = (tmp << 8) | g_RX_buf[13];
tmp = (tmp << 8) | g_RX_buf[14];
tmp = (tmp << 8) | g_RX_buf[15];
HexPrint(tmp);
tmp = g_RX_buf[16];
tmp = (tmp << 8) | g_RX_buf[17];
tmp = (tmp << 8) | g_RX_buf[18];
tmp = (tmp << 8) | g_RX_buf[19];
HexPrint(tmp);
tmp = g_RX_buf[20];
tmp = (tmp << 8) | g_RX_buf[21];
tmp = (tmp << 8) | g_RX_buf[22];
tmp = (tmp << 8) | g_RX_buf[23];
HexPrint(tmp);
tmp = g_RX_buf[24];
tmp = (tmp << 8) | g_RX_buf[25];
tmp = (tmp << 8) | g_RX_buf[26];
tmp = (tmp << 8) | g_RX_buf[27];
HexPrint(tmp);
}

1
EBB_firmware/app.X/source/ebb.h
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@ -396,6 +396,7 @@ void parse_L3_packet(void);
void parse_CM_packet(void);
void parse_TR_packet(void);
void parse_TD_packet(void);
void parse_Y_packet(void);
void EBB_Init(void);
void process_SP(PenStateType NewState, UINT16 CommandDuration);
UINT8 process_QM(void);