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authorChristian Pointner <equinox@spreadspace.org>2015-10-11 18:03:26 (GMT)
committerChristian Pointner <equinox@spreadspace.org>2015-10-11 18:03:26 (GMT)
commitac8b2c9249899840ea771f23f983d7ba6ad1d4fe (patch)
tree0996574e5bb6febde7bd711eccf294a59391c161
parent974b118db66915a857188f2827df9eb23086d328 (diff)
added pwm based motor speed control
-rw-r--r--motor-pwm/Makefile47
-rw-r--r--motor-pwm/motor-pwm.c125
2 files changed, 172 insertions, 0 deletions
diff --git a/motor-pwm/Makefile b/motor-pwm/Makefile
new file mode 100644
index 0000000..d3a8dfd
--- /dev/null
+++ b/motor-pwm/Makefile
@@ -0,0 +1,47 @@
+##
+## spreadspace avr utils
+##
+##
+## Copyright (C) 2013-2015 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 := motor-pwm
+BOARD_TYPE := teensy2
+OBJ := $(NAME).o
+LIBS := util led lufa-descriptor-usbserial usbio
+EXTERNAL_LIBS := lufa
+SPREADAVR_PATH := ../contrib/avr-utils
+RESET_FUNC := $(SPREADAVR_PATH)/tools/reset_lufa_cdc
+RESET_PARAM := 'r'
+
+LUFA_PATH := $(SPREADAVR_PATH)/contrib/lufa-LUFA-140928
+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\"spreadspace motor-pwm control\""
+
+LUFA_COMPONENTS := USB USBCLASS ADC
+
+include $(SPREADAVR_PATH)/include.mk
diff --git a/motor-pwm/motor-pwm.c b/motor-pwm/motor-pwm.c
new file mode 100644
index 0000000..715d758
--- /dev/null
+++ b/motor-pwm/motor-pwm.c
@@ -0,0 +1,125 @@
+/*
+ * spreadspace avr utils
+ *
+ *
+ * Copyright (C) 2013-2015 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 <stdio.h>
+
+#include "util.h"
+#include "led.h"
+#include "usbio.h"
+
+#include <LUFA/Drivers/Peripheral/ADC.h>
+
+
+#define PWM_VAL OCR1BL
+
+void pwm_init(void)
+{
+ DDRB |= (1<<PB6);
+ TCCR1B = 0;
+ TCNT1 = 0;
+ OCR1B = 0;
+ TCCR1A = (1<<COM1B1) | (1<<WGM10);
+ TCCR1B = (1<<WGM12) | (1<<CS10);
+}
+
+inline void pwm_set(uint8_t val)
+{
+ PWM_VAL = val;
+}
+
+inline void pwm_inc(void)
+{
+ if(PWM_VAL < 255)
+ PWM_VAL++;
+}
+
+inline void pwm_dec(void)
+{
+ if(PWM_VAL > 0)
+ PWM_VAL--;
+}
+
+uint8_t adc_avg;
+
+void adc_init(void)
+{
+ ADC_Init(ADC_FREE_RUNNING);
+ ADC_SetupChannel(0);
+
+ adc_avg = 0;
+}
+
+void adc_task(void)
+{
+ int16_t adc_val = (ADC_GetChannelReading(ADC_REFERENCE_AVCC | ADC_CHANNEL0) >> 4) + 193;
+ adc_val = (adc_val >= 255) ? 255 : adc_val;
+
+ adc_avg += (adc_val > adc_avg) ? 1 : ((adc_val < adc_avg) ? -1 : 0);
+ pwm_set(adc_avg);
+}
+
+void handle_cmd(uint8_t cmd)
+{
+ switch(cmd) {
+ case '0': led_off(); printf("ok\r\n"); break;
+ case '1': led_on(); printf("ok\r\n"); break;
+ case '+': pwm_inc(); printf("pwm = %d\r\n", PWM_VAL); break;
+ case '-': pwm_dec(); printf("pwm = %d\r\n", PWM_VAL); break;
+ case 'r': reset2bootloader(); break;
+ default: printf("error\r\n"); return;
+ }
+
+}
+
+int main(void)
+{
+ MCUSR &= ~(1 << WDRF);
+ wdt_disable();
+
+ cpu_init();
+ jtag_disable();
+
+ led_init();
+ usbio_init();
+ pwm_init();
+ adc_init();
+ sei();
+
+ for(;;) {
+ int16_t BytesReceived = usbio_bytes_received();
+ while(BytesReceived > 0) {
+ int ReceivedByte = fgetc(stdin);
+ if(ReceivedByte != EOF) {
+ handle_cmd(ReceivedByte);
+ }
+ BytesReceived--;
+ }
+
+ adc_task();
+ usbio_task();
+ }
+}