WebSVN – svnkaklik – Blame – /programy/C/avr/LX200/serial.c

Rev	Author	Line No.	Line
508	kaklik	1	`/*`
		2	`* Copyright (C) 2004 Darren Hutchinson (dbh@gbdt.com.au)`
		3	`*`
		4	`* This program is free software; you can redistribute it and/or modify`
		5	`* it under the terms of the GNU Library General Public License as published by`
		6	`* the Free Software Foundation; either version 2 of the License, or (at your`
		7	`* option) any later version.`
		8	`*`
		9	`* This program is distributed in the hope that it will be useful, but`
		10	`* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY`
		11	`* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public`
		12	`* License for more details.`
		13	`*`
		14	`* You should have received a copy of the GNU Library General Public License`
		15	`* along with this program; see the file COPYING. If not, write to`
		16	`* the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,`
		17	`* MA 02111-1307, USA.`
		18	`*`
		19	`* $Id: serial.c,v 1.10 2004/04/04 10:32:50 dbh Exp $`
		20	`*/`
		21
		22	`#include <inttypes.h>`
		23	`#include <avr/io.h>`
		24
		25	`#include "eq6.h"`
		26	`#include "serial.h"`
		27	`#include "combine.h"`
		28	`#include "stepper.h"`
		29	`#include "paddle.h"`
		30	`#include "sr.h"`
		31
		32	`/* This file accepts serial data from a serial guider and performs the`
		33	`* requested guiding operation.`
		34	`*`
		35	`* This interface is also is designed to support future mount management`
		36	`* operations via the same serial interface`
		37	`*`
		38	`* The current protocol is:`
		39	`*`
		40	`* [0-9] Add the number to the "accumulator"`
		41	`* - Denote accumulator as negative`
		42	`* # Clear the accumulator and flag`
		43	`* < Clear the flag`
		44	`* > Set the flag`
		45	`* U Copy flag state to the DEC UP key`
		46	`* D Copy flag state to the DEC DOWN key`
		47	`* L Copy flag state to the RA left key`
		48	`* R Copy flag state to the RA right key`
		49	`* C Release all keys`
		50	`*`
		51	`* B Set DEC backlash to accum`
		52	`* M Set DEC backlash mode (+ = finish pos, 0 = none, - = finish neg)`
		53	`* b Set RA backlash to accum`
		54	`* m Set RA backlash mode (see DEC backlash)`
		55	`*`
		56	`* G Set 2X paddle to guiding speed (0.3x) if flag set, 1X if clear`
		57	`*`
		58	`* t Use halfStep for slow step if flag set, microStep if clear (TEST)`
		59	`*`
		60	`* T Set the tracking rate as-per the accumulator`
		61	`* -1 = No tracking (Terrestial)`
		62	`* 0 = Sidereal`
		63	`* 1 = Solar / Planetary`
		64	`* 2 = Lunar`
		65	`*`
		66	`* g Set transmission (gearbox) ratio`
		67	`*`
		68	`* The '#' and accumulator support future value-based entries`
		69	`*`
		70	`* A subset of LX200 commands are supported for compatibility`
		71	`* with various autoguiding programs.`
		72	`*`
		73	`* :Me# :Mw# :Ms# :Mn# Start slewing East(right), West(left),`
		74	`* North (up), South (down)`
		75	`* :Qe# :Qw# :Qs# :Qn# :Q# Halt selected or all slews`
		76	`* :RG# :RC# :RM# :RS# Set guiding rate for LX200 motions`
		77	`* G = 0.3x`
		78	`* C = 1x`
		79	`* M = 8x`
		80	`* S = 16x`
		81	`*`
		82	`* ACK Returns alignment mode (always 'P' polar)`
		83	`*/`
		84	`#include <avr/interrupt.h>`
		85	`#include <inttypes.h>`
		86
		87	`#include "paddle.h"`
		88	`#include "eq6.h"`
		89	`#include "combine.h"`
		90
		91	`/* serialInit() initializes the serial port used for the`
		92	`* serial guider input.`
		93	`*`
		94	`* Passed:`
		95	`* Nothing`
		96	`*`
		97	`* Returns:`
		98	`* Nothing.`
		99	`*/`
		100	`void`
		101	`serialInit(void)`
		102	`{`
		103	`// The serial guider is attached to USART1`
		104
		105	`// Set serial rate`
		106	`UBRR1H = (CLK_RATE / GUIDE_BAUD / 16 - 1) >> 8;`
		107	`UBRR1L = (CLK_RATE / GUIDE_BAUD / 16 - 1) & 0xff;`
		108
		109	`/* Setup registers`
		110	`* 8 bits, no parity, RX enable, TX enable. Only the Rx interrupts are`
		111	`* enabled at this point.`
		112	`*/`
		113	`UCSR1B = 0; // Disable all interrupts`
		114	`UCSR1C = _BV(URSEL1) \| _BV(UCSZ11) \| _BV(UCSZ10);`
		115	`UCSR1B = _BV(RXCIE1) \| _BV(RXEN1) \| _BV(TXEN1);`
		116	`}`
		117
		118	`/* serialInt() is called whenever a character is received on USART1.`
		119	`* These characters are send by the serial guider`
		120	`*`
		121	`* Passed:`
		122	`* Nothing`
		123	`*`
		124	`* Returns:`
		125	`* Nothing`
		126	`*`
		127	`* Notes:`
		128	`* Interrupts are disabled during processing`
		129	`*/`
		130	`SIGNAL(SIG_USART1_RECV)`
		131	`{`
		132	`/* Variables for flags/accumulator */`
		133	`static uint8_t flag = 0;`
		134	`static uint16_t accum = 0;`
		135	`static uint8_t sign = 0;`
		136
		137	`/* Variable holding current guiding rate */`
		138	`static int8_t guideRate = SPEED_0_33_X;`
		139
		140	`/* Flags holding current requested slewing directions */`
		141	`static uint8_t upFlag;`
		142	`static uint8_t downFlag;`
		143	`static uint8_t leftFlag;`
		144	`static uint8_t rightFlag;`
		145
		146	`/* LX200 command state */`
		147	`#define LX200_CMD_LEN 8`
		148	`static char lxCmd[LX200_CMD_LEN];`
		149	`static uint8_t lxPos;`
		150
		151	`uint8_t ch;`
		152	`uint8_t dirChg;`
		153
		154	`static uint8_t lxMode;`
		155
		156
		157	`/* Get the character from the port. This will dismiss the interrupt`
		158	`*/`
		159	`dirChg = 0;`
		160	`ch = UDR1;`
		161	`/* UDR1 = ch; /* Echo for debugging */`
		162
		163	`/* This code processes commands when a LX200 command is not currently`
		164	`* being processed.`
		165	`*/`
		166	`if (lxMode == 0)`
		167	`{`
		168	`switch(ch)`
		169	`{`
		170	`case '0' ... '9':`
		171	`/* Add it to the accumulator */`
		172	`accum = (accum * 10) + ch - '0';`
		173	`break;`
		174
		175	`case '#':`
		176	`/* Clear the accumulator */`
		177	`accum = 0;`
		178	`sign = 0;`
		179	`break;`
		180
		181	`case '-':`
		182	`/* Set the sign of the accumulator to negative */`
		183	`sign = 1;`
		184	`break;`
		185
		186	`case '<':`
		187	`/* Clear the flag */`
		188	`flag = 0;`
		189	`break;`
		190
		191	`case '>':`
		192	`/* Set the flag */`
		193	`flag = 1;`
		194	`break;`
		195
		196	`case 'U':`
		197	`/* Guide UP (DEC) */`
		198	`upFlag = flag;`
		199	`dirChg = 1;`
		200	`break;`
		201
		202	`case 'D':`
		203	`/* Guide DOWN (DEC) */`
		204	`downFlag = flag;`
		205	`dirChg = 1;`
		206	`break;`
		207
		208	`case 'R':`
		209	`/* Guide RIGHT (RA) */`
		210	`rightFlag = flag;`
		211	`dirChg = 1;`
		212	`break;`
		213
		214	`case 'L':`
		215	`/* Guide LEFT (RA) */`
		216	`leftFlag = flag;`
		217	`dirChg = 1;`
		218	`break;`
		219
		220	`case 'C':`
		221	`/* Clear all keys */`
		222	`upFlag = downFlag = leftFlag = rightFlag = 0;`
		223	`dirChg = 1;`
		224	`break;`
		225
		226	`case 'b':`
		227	`/* Set RA backlash steps */`
		228	`raState.backlash = accum;`
		229	`doSave = 1;`
		230	`break;`
		231
		232	`case 'B':`
		233	`/* Set DEC backlash steps */`
		234	`decState.backlash = accum;`
		235	`doSave = 1;`
		236	`break;`
		237
		238	`case 'm':`
		239	`/* Set RA backlash mode */`
		240	`raState.finNeg = raState.finPos = 0;`
		241	`if (accum != 0)`
		242	`{`
		243	`if (sign)`
		244	`raState.finNeg = 1;`
		245	`else`
		246	`raState.finPos = 1;`
		247	`}`
		248	`doSave = 1;`
		249	`break;`
		250
		251	`case 'M':`
		252	`/* Set DEC backlash mode */`
		253	`decState.finNeg = decState.finPos = 0;`
		254	`if (accum != 0)`
		255	`{`
		256	`if (sign)`
		257	`decState.finNeg = 1;`
		258	`else`
		259	`decState.finPos = 1;`
		260	`}`
		261	`doSave = 1;`
		262	`break;`
		263
		264	`case 'G':`
		265	`/* Set the speed for the 2x paddle button. This has`
		266	`* no effect on the rate used for serial commands`
		267	`*/`
		268	`paddleGuideRate = flag ? SPEED_0_33_X : SPEED_1_X;`
		269	`doSave = 1;`
		270	`break;`
		271
		272	`case 'T':`
		273	`/* Set the tracking speed */`
		274	`setTrackRate(sign ? -accum : accum);`
		275	`doSave = 1;`
		276	`break;`
		277
		278	`case 'g': /* Set transmission (gearbox) ratio */`
		279	`transRatio = accum;`
		280	`doSave = 1;`
		281	`break;`
		282
		283	`case 't':`
		284	`/* TEST Allow half step table to be specified instead of`
		285	`* the microstep table`
		286	`*/`
		287	`doHalfStep = flag;`
		288	`break;`
		289
		290	`case '\006': /* LX200: ACK */`
		291	`UDR1 = 'P';`
		292	`break;`
		293
		294	`case ':': /* LX200: Start command */`
		295	`/* This indicates the start of a LX200 command */`
		296	`lxMode = 1;`
		297	`lxPos = 0;`
		298	`break;`
		299
		300	`default:`
		301	`/* OK, now we're confused .... */`
		302	`UDR1 = '?';`
		303	`break;`
		304	`}`
		305	`}`
		306	`else`
		307	`{`
		308	`/* This section of code supports the LX200 commands. They`
		309	`* have a fundimentally different syntax to the existing`
		310	`* commands, so they are implemented in this code seperately`
		311	`* for clarity.`
		312	`*/`
		313	`if (ch != '#')`
		314	`{`
		315	`/* Add this to the command characters so far */`
		316	`lxCmd[lxPos++] = ch;`
		317	`if (lxPos == LX200_CMD_LEN)`
		318	`{`
		319	`/* Too much data for any command */`
		320	`UDR1 = '?';`
		321	`lxMode = 0;`
		322	`}`
		323	`}`
		324	`else`
		325	`{`
		326	`/* We are going back to native mode after this */`
		327	`lxMode = 0;`
		328
		329	`if (lxPos >= 1)`
		330	`{`
		331	`/* We have a complete LX200 command (without the delimiters).`
		332	`* Do what it asks`
		333	`*/`
		334	`switch(lxCmd[0])`
		335	`{`
		336	`case 'M': // Start guiding in specified direction`
		337	`if (lxPos == 2)`
		338	`{`
		339	`// We have the right number of chars */`
		340	`switch (lxCmd[1])`
		341	`{`
		342	`case 'n': upFlag = 1; break;`
		343	`case 's': downFlag = 1; break;`
		344	`case 'e': rightFlag = 1; break;`
		345	`case 'w': leftFlag = 1; break;`
		346	`default: UDR1 = '?'; break;`
		347	`}`
		348
		349	`dirChg = 1;`
		350	`}`
		351	`break;`
		352
		353	`case 'Q': // Stop guiding in specified direction`
		354	`if (lxPos == 1)`
		355	`{`
		356	`// Stop slewing`
		357	`upFlag = downFlag = leftFlag = rightFlag = 0;`
		358	`dirChg = 1;`
		359	`}`
		360	`else if (lxPos == 2)`
		361	`{`
		362	`// Stop slewing is specified direction`
		363	`switch (lxCmd[1])`
		364	`{`
		365	`case 'n': upFlag = 0; break;`
		366	`case 's': downFlag = 0; break;`
		367	`case 'e': rightFlag = 0; break;`
		368	`case 'w': leftFlag = 0; break;`
		369	`default: UDR1 = '?'; break;`
		370	`}`
		371
		372	`dirChg = 1;`
		373	`} else`
		374	`UDR1 = '?';`
		375	`break;`
		376
		377	`case 'R': // Set guiding speed`
		378	`if (lxPos == 2)`
		379	`{`
		380	`switch (lxCmd[1])`
		381	`{`
		382	`case 'G': guideRate = SPEED_0_33_X; break;`
		383	`case 'C': guideRate = SPEED_1_X; break;`
		384	`case 'M': guideRate = SPEED_8_X; break;`
		385	`case 'S': guideRate = SPEED_16_X; break;`
		386	`default: UDR1 = '?'; break;`
		387	`}`
		388	`dirChg = 1;`
		389	`}`
		390	`break;`
		391	`default:`
		392	`UDR1 = '?';`
		393	`}`
		394	`}`
		395	`}`
		396	`}`
		397
		398	`/* Update the serial guiding rate data if it has changed */`
		399	`if (dirChg)`
		400	`{`
		401	`if (upFlag)`
		402	`rateInput.serialDecRate = guideRate;`
		403	`else if (downFlag)`
		404	`rateInput.serialDecRate = -guideRate;`
		405	`else`
		406	`rateInput.serialDecRate = SPEED_0_X;`
		407
		408	`if (rightFlag)`
		409	`rateInput.serialRaRate = guideRate;`
		410	`else if (leftFlag)`
		411	`rateInput.serialRaRate = -guideRate;`
		412	`else`
		413	`rateInput.serialRaRate = SPEED_0_X;`
		414	`}`
		415	`updateMountSpeed();`
		416	`}`

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