summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--r3cam-steppermotor/Makefile88
-rw-r--r--r3cam-steppermotor/r3cam-steppermotor.c412
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();
+ }
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-02 17:45:15 +0000