added tube-rotator project

4 files changed, 243 insertions, 0 deletions

diff --git a/tube-rotator/Makefile b/tube-rotator/Makefile
new file mode 100644
index 0000000..c75c022
--- /dev/null
+++ b/tube-rotator/Makefile
@@ -0,0 +1,46 @@
+##
+##  spreadspace avr utils
+##
+##
+##  Copyright (C) 2014 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 := tube-rotator
+BOARD_TYPE := teenstep
+OBJ := $(NAME).o stepper.o
+LIBS := util led lufa-descriptor-usbserial anyio
+EXTERNAL_LIBS := lufa
+RESET_FUNC := ../tools/reset_lufa_cdc
+RESET_PARAM := '!'
+
+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\"" -D USB_MANUFACTURER_LEN=7
+LUFA_OPTS += -D USB_PRODUCT="L\"realraum tube rotator\"" -D USB_PRODUCT_LEN=21
+
+LUFA_COMPONENTS := USB USBCLASS SERIAL
+
+include ../include.mk
diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c
new file mode 100644
index 0000000..1bb9cae
--- /dev/null
+++ b/tube-rotator/stepper.c
@@ -0,0 +1,92 @@
+/*
+ *  spreadspace avr utils
+ *
+ *
+ *  Copyright (C) 2014 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/sfr_defs.h>
+#include <avr/interrupt.h>
+
+#include "stepper.h"
+
+uint8_t step_table [] =
+{
+    /* full steps */
+  /* 6,  // 0110 */
+  /* 5,  // 0101 */
+  /* 9,  // 1001 */
+  /* 10, // 1010 */
+
+    /* half steps */
+  2,  // 0010
+  6,  // 0110
+  4,  // 0100
+  5,  // 0101
+  1,  // 0001
+  9,  // 1001
+  8,  // 1000
+  10, // 1010
+};
+
+#define STEPPER_PORT PORTF
+#define STEPPER_DDR DDRF
+#define STEPPER_FIRST_BIT 4
+#define STEPPER_ENABLE_A_BIT 0
+#define STEPPER_ENABLE_B_BIT 1
+#define LENGTH_STEP_TABLE (sizeof(step_table)/sizeof(uint8_t))
+#define STEPPER_OUTPUT_BITMASK (~(0xF << STEPPER_FIRST_BIT ))
+
+void stepper_init(void)
+{
+  STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_A_BIT | 1<<STEPPER_ENABLE_B_BIT);
+  STEPPER_DDR |= (0xF << STEPPER_FIRST_BIT) | (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT);
+}
+
+void stepper_start(void)
+{
+  STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT);
+  TCCR1A = 0;                    // prescaler 1:256, WGM = 4 (CTC)
+  TCCR1B = 1<<WGM12 | 1<<CS12;   //
+  OCR1A = 150;
+  TCNT1 = 0;
+  TIMSK1 = 1<<OCIE1A;
+}
+
+void stepper_stop(void)
+{
+  STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_A_BIT | 1<<STEPPER_ENABLE_B_BIT);
+  TCCR1B = 0; // no clock source
+  TIMSK1 = 0; // disable timer interrupt
+}
+
+static inline void stepper_handle(void)
+{
+  static uint8_t step_idx = 0;
+
+  uint8_t stepper_output = step_table[step_idx];
+  stepper_output <<= STEPPER_FIRST_BIT;
+  STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output;
+  step_idx++;
+  step_idx %= LENGTH_STEP_TABLE;
+}
+
+ISR(TIMER1_COMPA_vect)
+{
+  stepper_handle();
+}
diff --git a/tube-rotator/stepper.h b/tube-rotator/stepper.h
new file mode 100644
index 0000000..7fb70ec
--- /dev/null
+++ b/tube-rotator/stepper.h
@@ -0,0 +1,30 @@
+/*
+ *  spreadspace avr utils
+ *
+ *
+ *  Copyright (C) 2014 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/>.
+ */
+
+#ifndef R3TUBE_stepper_h_INCLUDED
+#define R3TUBE_stepper_h_INCLUDED
+
+void stepper_init(void);
+void stepper_start(void);
+void stepper_stop(void);
+
+#endif
diff --git a/tube-rotator/tube-rotator.c b/tube-rotator/tube-rotator.c
new file mode 100644
index 0000000..7a0e2ec
--- /dev/null
+++ b/tube-rotator/tube-rotator.c
@@ -0,0 +1,75 @@
+/*
+ *  spreadspace avr utils
+ *
+ *
+ *  Copyright (C) 2014 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 <string.h>
+
+#include "util.h"
+#include "led.h"
+#include "anyio.h"
+
+#include "stepper.h"
+
+void handle_cmd(uint8_t cmd)
+{
+  switch(cmd) {
+    case '!':
+             reset2bootloader();
+             break;
+    case 'r':
+             led_on();
+             stepper_start();
+             break;
+    case 's':
+             stepper_stop();
+             led_off();
+             break;
+    default: printf("Error(cmd): unknown command %02X '%c'\r\n", cmd, cmd); return;
+  }
+}
+
+int main(void)
+{
+  MCUSR &= ~(1 << WDRF);
+  wdt_disable();
+
+  cpu_init();
+  jtag_disable();
+  led_init();
+  anyio_init(115200, 0);
+
+  stepper_init();
+  sei();
+
+  for(;;) {
+    anyio_task();
+
+    int16_t bytes_received = anyio_bytes_received();
+    if(bytes_received > 0)
+      handle_cmd(fgetc(stdin));
+  }
+}