r3 cam rotate test

2 files changed, 247 insertions, 0 deletions

diff --git a/r3cam-steppermotor/Makefile b/r3cam-steppermotor/Makefile
new file mode 100644
index 0000000..ac1b80e
--- /dev/null
+++ b/r3cam-steppermotor/Makefile
@@ -0,0 +1,42 @@
+##

+##  spreadspace avr utils

+##

+##

+##  Copyright (C) 2012 Christian Pointner <equinox@spreadspace.org>

+##

+##  This file is part of spreadspace avr utils.

+##

+##  spreadspace avr utils is free software: you can redistribute it and/or modify

+##  it under the terms of the GNU General Public License as published by

+##  the Free Software Foundation, either version 3 of the License, or

+##  any later version.

+##

+##  spreadspace avr utils is distributed in the hope that it will be useful,

+##  but WITHOUT ANY WARRANTY; without even the implied warranty of

+##  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+##  GNU General Public License for more details.

+##

+##  You should have received a copy of the GNU General Public License

+##  along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.

+##

+

+NAME := r3cam-steppermotor

+BOARD_TYPE := minimus32

+OBJ := $(NAME).o

+LIBS := util led lufa-descriptor-usbserial

+EXTERNAL_LIBS := lufa

+

+LUFA_PATH := ../contrib/LUFA-120219

+LUFA_OPTS  = -D USB_DEVICE_ONLY

+LUFA_OPTS += -D DEVICE_STATE_AS_GPIOR=0

+LUFA_OPTS += -D ORDERED_EP_CONFIG

+LUFA_OPTS += -D FIXED_CONTROL_ENDPOINT_SIZE=8

+LUFA_OPTS += -D FIXED_NUM_CONFIGURATIONS=1

+LUFA_OPTS += -D USE_FLASH_DESCRIPTORS

+LUFA_OPTS += -D USE_STATIC_OPTIONS="(USB_DEVICE_OPT_FULLSPEED | USB_OPT_REG_ENABLED | USB_OPT_AUTO_PLL)"

+LUFA_OPTS += -D INTERRUPT_CONTROL_ENDPOINT

+

+LUFA_OPTS += -D USB_MANUFACTURER="L\"equinox\""

+LUFA_OPTS += -D USB_PRODUCT="L\"$(NAME)\""

+

+include ../include.mk

diff --git a/r3cam-steppermotor/r3cam-steppermotor.c b/r3cam-steppermotor/r3cam-steppermotor.c
new file mode 100644
index 0000000..fcebc65
--- /dev/null
+++ b/r3cam-steppermotor/r3cam-steppermotor.c
@@ -0,0 +1,205 @@
+/*

+ *  spreadspace avr utils

+ *

+ *

+ *  Copyright (C) 2012 Christian Pointner <equinox@spreadspace.org>

+ *

+ *  This file is part of spreadspace avr utils.

+ *

+ *  spreadspace avr utils is free software: you can redistribute it and/or modify

+ *  it under the terms of the GNU General Public License as published by

+ *  the Free Software Foundation, either version 3 of the License, or

+ *  any later version.

+ *

+ *  spreadspace avr utils is distributed in the hope that it will be useful,

+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of

+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

+ *  GNU General Public License for more details.

+ *

+ *  You should have received a copy of the GNU General Public License

+ *  along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.

+ */

+

+

+#include <avr/io.h>

+#include <avr/wdt.h>

+#include <avr/interrupt.h>

+#include <avr/power.h>

+

+#include "util.h"

+#include "led.h"

+

+/*

+             LUFA Library

+     Copyright (C) Dean Camera, 2012.

+

+  dean [at] fourwalledcubicle [dot] com

+           www.lufa-lib.org

+*/

+#include <LUFA/Drivers/USB/USB.h>

+#include "lufa-descriptor-usbserial.h"

+

+USB_ClassInfo_CDC_Device_t VirtualSerial_CDC_Interface =

+  {

+    .Config =

+      {

+        .ControlInterfaceNumber         = 0,

+

+        .DataINEndpointNumber           = CDC_TX_EPNUM,

+        .DataINEndpointSize             = CDC_TXRX_EPSIZE,

+        .DataINEndpointDoubleBank       = false,

+

+        .DataOUTEndpointNumber          = CDC_RX_EPNUM,

+        .DataOUTEndpointSize            = CDC_TXRX_EPSIZE,

+        .DataOUTEndpointDoubleBank      = false,

+

+        .NotificationEndpointNumber     = CDC_NOTIFICATION_EPNUM,

+        .NotificationEndpointSize       = CDC_NOTIFICATION_EPSIZE,

+        .NotificationEndpointDoubleBank = false,

+      },

+  };

+

+void EVENT_USB_Device_ConfigurationChanged(void)

+{

+  CDC_Device_ConfigureEndpoints(&VirtualSerial_CDC_Interface);

+}

+

+void EVENT_USB_Device_ControlRequest(void)

+{

+  CDC_Device_ProcessControlRequest(&VirtualSerial_CDC_Interface);

+}

+/* end LUFA CDC-ACM specific definitions*/

+

+

+/* Start Our Code */

+

+#define M_PORT PORTB

+#define M_DDR DDRB

+#define M_DIRECTION  0

+#define M_CLK 1

+#define M_ENABLE 2

+#define M_RESET 3

+#define M_HALFSTEPS 4

+

+static uint8_t m_clk_divisor_ = 0;

+static uint8_t m_clk_divisor_counter_ = 0;

+static uint16_t m_steps_to_go_ = 0;

+

+inline void m_timer_enable(void)

+{

+    TIMSK0 |= (1<<TOIE0);    

+}

+

+inline void m_timer_disable(void)

+{

+    TIMSK0 &= ~(1<<TOIE0);    

+}

+

+void motor_stop(void)

+{

+    m_timer_disable();

+    M_PORT &= ~(1 << M_ENABLE);

+    m_steps_to_go_ = 0;

+}

+

+ISR(TIMER0_OVF_vect)

+{

+    if (m_steps_to_go_ == 0)

+        motor_stop();

+    if (m_clk_divisor_counter_ == 0)

+    {

+        m_clk_divisor_counter_ = m_clk_divisor_;

+        M_PORT ^=  (1 << M_CLK);

+        m_steps_to_go_--;

+    }

+    else 

+        m_clk_divisor_counter_--;

+}

+

+void motor_set_speed(uint8_t speed)

+{

+    m_clk_divisor_ = 0xFF - speed;

+}

+

+void motor_run(uint16_t steps, uint8_t direction)

+{

+    //reset by pulling reset low for 100ms

+    M_PORT &= ~(1 << M_RESET);

+    _delay_ms(100);

+    M_PORT |= (1 << M_RESET);

+    

+    m_clk_divisor_counter_ = 0;

+    m_steps_to_go_ = steps;

+    

+    if (direction)

+        M_PORT |= (1 << M_DIRECTION);

+    else

+        M_PORT &= ~(1 << M_DIRECTION);

+    

+    //enable motor

+    M_PORT |= (1 << M_ENABLE);

+    m_timer_enable();    

+}

+

+void init_pins()

+{

+    M_DDR = 0x0F;

+    M_PORT = 0 | (1 << M_RESET);

+    

+    // Configure timer 0 to generate a timer overflow interrupt every

+    // 560us (NEC Protocol)

+    TCCR0A = 0x00;

+    TIMSK0 = (0<<TOIE0);

+    //TCCR0B = 1<<WGM02 | 1<<CS02 | 0<<CS01| 1<<CS00;   //Teiler 1024

+    TCCR0B = 1<<WGM02 | 1<<CS02 | 0<<CS01| 0<<CS00;   //Teiler 256

+    //OCR0A = 139;        // (1+139)*8 = 1120 -> 70us @ 16 MHz -> 1*alpha

+    OCR0A = 255;        // (1+139)*8 = 1120 -> 70us @ 16 MHz -> 1*alpha

+}

+

+uint8_t cur_speed = 0xFF;

+void handle_cmd(uint8_t cmd)

+{

+  switch(cmd) {

+  case '0': led_off(); break;

+  case '1': led_on(); break;

+  case 't': led_toggle(); break;

+  case 'r': reset2bootloader(); break;

+  case 's': motor_stop(); break;

+  case 'c': motor_run(300,0); break;

+  case 'w': motor_run(300,1); break;

+  case 'C': motor_run(1000,0); break;

+  case 'W': motor_run(1000,1); break;

+  case '+': motor_set_speed(++cur_speed); break;

+  case '-': motor_set_speed(--cur_speed); break;

+  default: CDC_Device_SendString(&VirtualSerial_CDC_Interface, "error\n"); return;

+  }

+  CDC_Device_SendString(&VirtualSerial_CDC_Interface, "ok\n");

+}

+

+

+

+int main(void)

+{

+  MCUSR &= ~(1 << WDRF);

+  wdt_disable();

+

+  cpu_init();

+  led_init();

+  USB_Init();

+  init_pins();

+  sei();

+

+  for(;;) {

+    int16_t BytesReceived = CDC_Device_BytesReceived(&VirtualSerial_CDC_Interface);

+    while(BytesReceived > 0) {

+      int16_t ReceivedByte = CDC_Device_ReceiveByte(&VirtualSerial_CDC_Interface);

+      if(!(ReceivedByte < 0)) {

+        handle_cmd(ReceivedByte);

+      }

+      BytesReceived--;

+    }

+

+    CDC_Device_USBTask(&VirtualSerial_CDC_Interface);

+    USB_USBTask();

+  }

+}