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Jake Read
ucbus-stepper
Commits
478ff3e8
Commit
478ff3e8
authored
Aug 09, 2021
by
Jake Read
Browse files
at successful ucbus ring test
parent
eed7f8f7
Changes
3
Hide whitespace changes
Inline
Side-by-side
firmware/stepper-drop/src/main.cpp
View file @
478ff3e8
...
...
@@ -151,6 +151,7 @@ void setup() {
ERRLIGHT_SETUP
;
CLKLIGHT_SETUP
;
DEBUG1PIN_SETUP
;
/*
// limit switch
//limitSetup();
// osap
...
...
@@ -175,6 +176,10 @@ void setup() {
osapAddVertex(homeStateEp); // 8
// stepper init
stepper_hw->init(false, c_scale);
*/
// bare serial
Serial
.
begin
(
9600
);
ucBusDrop_setup
(
true
,
0
);
}
// have available,
...
...
@@ -185,9 +190,20 @@ void setup() {
unsigned
long
lastTx
=
0
;
uint8_t
tstTx
[
14
]
=
{
1
,
2
,
3
,
4
,
5
,
0
,
7
,
8
,
9
,
10
,
11
,
12
,
13
,
14
};
uint8_t
tstRx
[
256
];
void
loop
()
{
osapLoop
();
stepper_hw
->
dacRefresh
();
if
(
ucBusDrop_ctrB
()){
ERRLIGHT_TOGGLE
;
uint16_t
len
=
ucBusDrop_readB
(
tstRx
);
logPacket
(
tstRx
,
len
);
if
(
ucBusDrop_ctsB
()){
CLKLIGHT_TOGGLE
;
ucBusDrop_transmitB
(
tstRx
,
len
);
}
}
//osapLoop();
//stepper_hw->dacRefresh();
#ifdef TEST_TX
if
(
millis
()
>
lastTx
+
500
){
lastTx
=
millis
();
...
...
osape-d51
@
7d0be7a5
Compare
e926d28a
...
7d0be7a5
Subproject commit
e926d28ae33499d1bbb96df5933fba47e7d5eec7
Subproject commit
7d0be7a5c309aab2a3300116c7e9fd2c425fc6cb
firmware/stepper-drop/src/syserror.cpp
View file @
478ff3e8
...
...
@@ -24,37 +24,6 @@ boolean writeLenBytes(unsigned char* dest, uint16_t* dptr, uint16_t len){
}
*/
#ifdef UCBUS_IS_DROP
//uint8_t escape[512];
//uint8_t escapeHeader[10] = { PK_BUSF_KEY, 0, 0, 0, 0, PK_PTR, PK_PORTF_KEY, 0, 0, PK_DEST };
// config-your-own-ll-escape-hatch
void
sysError
(
String
msg
){
//ERRLIGHT_ON;
/*
uint32_t len = msg.length();
errBuf[0] = PK_LLERR; // the ll-errmsg-key
errBuf[1] = len & 255;
errBuf[2] = (len >> 8) & 255;
errBuf[3] = (len >> 16) & 255;
errBuf[4] = (len >> 24) & 255;
msg.getBytes(&(errBuf[5]), len + 1);
// write header,
memcpy(escape, escapeHeader, 10);
// write segsize, checksum
uint16_t wptr = 10;
ts_writeUint16(128, escape, &wptr);
ts_writeUint16(len + 5, escape, &wptr);
memcpy(&(escape[wptr]), errBuf, len + 5);
// transmit on ucbus
// potential here to hang-up and do while(!(ucBusDrop->cts())) ... I *think* that would clear on an interrupt
ucBusDrop->transmit(escape, len + wptr + 5);
*/
}
#else
// config-your-own-ll-escape-hatch
void
sysError
(
String
msg
){
// whatever you want,
...
...
@@ -69,17 +38,11 @@ void sysError(String msg){
errBuf
[
6
]
=
(
len
>>
24
)
&
255
;
msg
.
getBytes
(
&
(
errBuf
[
7
]),
len
+
1
);
size_t
ecl
=
cobsEncode
(
errBuf
,
len
+
7
,
errEncoded
);
// direct escape
//if(Serial.availableForWrite() > (int64_t)ecl){
Serial
.
write
(
errEncoded
,
ecl
);
Serial
.
flush
();
//} else {
// ERRLIGHT_ON;
//}
errEncoded
[
ecl
]
=
0
;
// add delimiter
// escape:
Serial
.
write
(
errEncoded
,
ecl
+
1
);
}
#endif
void
logPacket
(
uint8_t
*
pck
,
uint16_t
len
){
String
errmsg
;
errmsg
.
reserve
(
1024
);
...
...
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