diff options
author | Christian Pointner <equinox@spreadspace.org> | 2015-10-11 20:03:26 +0200 |
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committer | Christian Pointner <equinox@spreadspace.org> | 2015-10-11 20:03:26 +0200 |
commit | ac8b2c9249899840ea771f23f983d7ba6ad1d4fe (patch) | |
tree | 0996574e5bb6febde7bd711eccf294a59391c161 | |
parent | moved dolmetschctl to own repo (diff) |
added pwm based motor speed control
-rw-r--r-- | motor-pwm/Makefile | 47 | ||||
-rw-r--r-- | motor-pwm/motor-pwm.c | 125 |
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(); + } +} |