diff options
-rw-r--r-- | r3cam-steppermotor/Makefile | 47 | ||||
-rw-r--r-- | r3cam-steppermotor/r3cam-steppermotor.c | 184 |
2 files changed, 0 insertions, 231 deletions
diff --git a/r3cam-steppermotor/Makefile b/r3cam-steppermotor/Makefile deleted file mode 100644 index be27b2f..0000000 --- a/r3cam-steppermotor/Makefile +++ /dev/null @@ -1,47 +0,0 @@ -## -## 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 -SPREADAVR_PATH := .. - -LUFA_PATH := $(SPREADAVR_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 $(SPREADAVR_PATH)/include.mk diff --git a/r3cam-steppermotor/r3cam-steppermotor.c b/r3cam-steppermotor/r3cam-steppermotor.c deleted file mode 100644 index 5dd5039..0000000 --- a/r3cam-steppermotor/r3cam-steppermotor.c +++ /dev/null @@ -1,184 +0,0 @@ -/* - * 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(); - } -} |