diff options
Diffstat (limited to 'tube-rotator/stepper.c')
| -rw-r--r-- | tube-rotator/stepper.c | 169 |
1 files changed, 0 insertions, 169 deletions
diff --git a/tube-rotator/stepper.c b/tube-rotator/stepper.c deleted file mode 100644 index 8b718ae..0000000 --- a/tube-rotator/stepper.c +++ /dev/null @@ -1,169 +0,0 @@ -/* - * 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 <util/atomic.h> -#include <math.h> - -#include "stepper.h" - -uint8_t step_table [] = -{ - 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 )) - -volatile uint16_t target_speed; -uint16_t current_speed; -stepper_state_t current_state; - -void stepper_init(void) -{ - target_speed = STEPPER_SPEED_DEFAULT; - 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); - stepper_stop(); -} - -void stepper_start(void) -{ - if(current_state == stepper_running) return; - - current_speed = STEPPER_SPEED_MIN; - STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT); - TCNT1 = 0; - OCR1A = current_speed; - TCCR1A = 0; // prescaler 1:64, WGM = 4 (CTC) - TCCR1B = 1<<WGM12 | 1<<CS11 | 1<<CS10; // - TIMSK1 = 1<<OCIE1A; - current_state = stepper_running; -} - -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 - current_state = stepper_stopped; -} - -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; - - if(step_idx != 0 && step_idx % 8) { - if(current_speed > target_speed) - OCR1A = (uint16_t)((STEPPER_SPEED_CONVERT_VALUE/(--current_speed)) - 1); - else if(current_speed < target_speed) - OCR1A = (uint16_t)((STEPPER_SPEED_CONVERT_VALUE/(++current_speed)) - 1); - } -} - -ISR(TIMER1_COMPA_vect) -{ - stepper_handle(); -} - -stepper_state_t stepper_get_state(void) -{ - return current_state; -} - -const char* stepper_state_to_string(stepper_state_t state) -{ - switch(state) { - case stepper_running: return "running"; - case stepper_stopped: return "stopped"; - } - return "?"; -} - -void stepper_set_speed(uint16_t new_speed) -{ - if(new_speed >= STEPPER_SPEED_MIN && new_speed <= STEPPER_SPEED_MAX) { - ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { - target_speed = new_speed; - } - } -} - -void stepper_inc_speed(void) -{ - ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { - target_speed = (target_speed >= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed + 1; - } -} - -void stepper_dec_speed(void) -{ - ATOMIC_BLOCK(ATOMIC_RESTORESTATE) { - target_speed = (target_speed <= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed - 1; - } -} - -uint16_t stepper_get_speed(void) -{ - return target_speed; -} - -void stepper_set_speed_rpm(uint8_t new_rpm) -{ - stepper_set_speed( (uint16_t)lround( ( (double)(64.0 * 800.0 * (double)STEPPER_SPEED_CONVERT_VALUE) / (double)(60.0 * (double)F_CPU) ) * (double)new_rpm) ); -} - -uint8_t stepper_get_speed_rpm(void) -{ - return (uint8_t)lround( ( (double)(60.0 * (double)F_CPU) / (double)(64.0 * 800.0 * (double)STEPPER_SPEED_CONVERT_VALUE) ) * (double)(target_speed) ); -} - -void stepper_inc_speed_rpm(void) -{ - uint8_t rpm = stepper_get_speed_rpm(); - stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1); -} - -void stepper_dec_speed_rpm(void) -{ - uint8_t rpm = stepper_get_speed_rpm(); - stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1); -} |