refactored newly imported r3cam-steppermotoer

2 files changed, 230 insertions, 270 deletions

diff --git a/r3cam-steppermotor/Makefile b/r3cam-steppermotor/Makefile
index ac1b80e..3b7afce 100644
--- a/r3cam-steppermotor/Makefile
+++ b/r3cam-steppermotor/Makefile
@@ -1,42 +1,46 @@
-##

-##  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

+##
+##  spreadspace avr utils
+##
+##
+##  Copyright (C) 2012 Bernhard Tittelbach <xro@realraum.at>
+##                2012 Othmar Gsenger <otti@realraum.at>
+##                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 := r3cam-steppermotor
+BOARD_TYPE := minimus32
+OBJ := $(NAME).o
+LIBS := util led lufa-descriptor-usbserial usbio
+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\"realraum\"" -D USB_MANUFACTURER_LEN=8
+LUFA_OPTS += -D USB_PRODUCT="L\"realraum cam-steppermotor\"" -D USB_PRODUCT_LEN=25
+
+LUFA_COMPONENTS := USB USBCLASS
+
+include ../include.mk
diff --git a/r3cam-steppermotor/r3cam-steppermotor.c b/r3cam-steppermotor/r3cam-steppermotor.c
index f9ab209..5dd5039 100644
--- a/r3cam-steppermotor/r3cam-steppermotor.c
+++ b/r3cam-steppermotor/r3cam-steppermotor.c
@@ -1,228 +1,184 @@
-/*

- *  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_FULLSTEPS 4

-

-#define M_START_DIVISOR 2;

-

-static uint8_t cur_speed = 0xFF - M_START_DIVISOR;

-static uint8_t m_clk_divisor_ = M_START_DIVISOR;

-static uint8_t m_clk_divisor_counter_ = 0;

-static uint16_t m_steps_to_go_ = 0;

-static uint16_t m_steps_to_go_back_ = 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;

-    m_steps_to_go_back_ = 0;

-}

-

-ISR(TIMER0_OVF_vect)

-{

-    //if (m_steps_to_go_ == 0)

-    //{

-        //if(m_steps_to_go_back_)

-        //{  

-    //      M_PORT ^= (1 << M_DIRECTION);

-    //      m_steps_to_go_=m_steps_to_go_back_;

-          //m_steps_to_go_back_=0;

-        //} else   

-        //  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_--;

-}

-

-static char set_speed_msg[] = "m_clk_divisor_ = %d\n\r";

-

-void motor_set_speed(uint8_t speed)

-{

-    m_clk_divisor_ = 0xFF - speed;

-    char tmp[sizeof(set_speed_msg)+4];

-    sprintf(tmp, set_speed_msg,m_clk_divisor_);

-    CDC_Device_SendString(&VirtualSerial_CDC_Interface, tmp);

-}

-

-void motor_run(uint16_t steps, uint8_t direction,uint16_t steps_back)

-{

-    //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;

-    m_steps_to_go_back_ = steps_back;

-    

-    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 = (1 << M_RESET) | (1 << M_FULLSTEPS);

-    

-    // 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

-}

-

-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 'y': motor_run(30,0,20); break;

-  //case 'x': motor_run(140,0,40); break;

-  //case 'c': motor_run(60,0,20); break;

-  //case 'v': motor_run(40,0,20); break;

-  //case 'q': motor_run(140,1,40); break;

-  //case 'w': motor_run(60,1,20); break;

-  //case 'e': motor_run(40,1,20); break;

-  //case 'C': motor_run(330,0,40); break;

-  //case 'W': motor_run(330,1,40); break;

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

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

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

-  }

-  CDC_Device_SendString(&VirtualSerial_CDC_Interface, "ok\n\r");

-}

-

-

-

-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();

-  }

-}

+/*
+ *  spreadspace avr utils
+ *
+ *
+ *  Copyright (C) 2012 Bernhard Tittelbach <xro@realraum.at>
+ *                2012 Othmar Gsenger <otti@realraum.at>
+ *                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 <util/delay.h>
+#include <stdio.h>
+
+#include "util.h"
+#include "led.h"
+#include "usbio.h"
+
+/* 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_FULLSTEPS 4
+
+#define M_START_DIVISOR 2;
+
+static uint8_t cur_speed = 0xFF - M_START_DIVISOR;
+static uint8_t m_clk_divisor_ = M_START_DIVISOR;
+static uint8_t m_clk_divisor_counter_ = 0;
+static uint16_t m_steps_to_go_ = 0;
+static uint16_t m_steps_to_go_back_ = 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;
+  m_steps_to_go_back_ = 0;
+}
+
+ISR(TIMER0_OVF_vect)
+{
+  //if (m_steps_to_go_ == 0)
+  //{
+      //if(m_steps_to_go_back_)
+      //{
+  //      M_PORT ^= (1 << M_DIRECTION);
+  //      m_steps_to_go_=m_steps_to_go_back_;
+        //m_steps_to_go_back_=0;
+      //} else
+      //  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;
+  printf("m_clk_divisor_ = %d\n\r", m_clk_divisor_);
+}
+
+void motor_run(uint16_t steps, uint8_t direction,uint16_t steps_back)
+{
+  //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;
+  m_steps_to_go_back_ = steps_back;
+
+  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(void)
+{
+  M_DDR = 0x0F;
+  M_PORT = (1 << M_RESET) | (1 << M_FULLSTEPS);
+
+  // 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
+}
+
+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 'y': motor_run(30,0,20); break;
+  //case 'x': motor_run(140,0,40); break;
+  //case 'c': motor_run(60,0,20); break;
+  //case 'v': motor_run(40,0,20); break;
+  //case 'q': motor_run(140,1,40); break;
+  //case 'w': motor_run(60,1,20); break;
+  //case 'e': motor_run(40,1,20); break;
+  //case 'C': motor_run(330,0,40); break;
+  //case 'W': motor_run(330,1,40); break;
+  case '+': motor_set_speed(++cur_speed); break;
+  case '-': motor_set_speed(--cur_speed); break;
+  default: printf("error\r\n"); return;
+  }
+  printf("ok\r\n");
+}
+
+int main(void)
+{
+  MCUSR &= ~(1 << WDRF);
+  wdt_disable();
+
+  cpu_init();
+  led_init();
+  usbio_init();
+  init_pins();
+  sei();
+
+  for(;;) {
+    int16_t BytesReceived = usbio_bytes_received();
+    while(BytesReceived > 0) {
+      int ReceivedByte = fgetc(stdin);
+      if(ReceivedByte != EOF) {
+        handle_cmd(ReceivedByte);
+      }
+      BytesReceived--;
+    }
+
+    usbio_task();
+  }
+}