From 6b9774ee178a13c99cedc80486c1d606e899f960 Mon Sep 17 00:00:00 2001 From: Christian Pointner Date: Tue, 24 Feb 2015 02:42:03 +0100 Subject: refactored newly imported r3cam-steppermotoer --- r3cam-steppermotor/r3cam-steppermotor.c | 412 ++++++++++++++------------------ 1 file changed, 184 insertions(+), 228 deletions(-) (limited to 'r3cam-steppermotor/r3cam-steppermotor.c') 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 - * - * 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 . - */ - - -#include -#include -#include -#include - -#include "util.h" -#include "led.h" - -/* - LUFA Library - Copyright (C) Dean Camera, 2012. - - dean [at] fourwalledcubicle [dot] com - www.lufa-lib.org -*/ -#include -#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< 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 + * 2012 Othmar Gsenger + * 2015 Christian Pointner + * + * 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 . + */ + + +#include +#include +#include +#include +#include +#include + +#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< 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(); + } +} -- cgit v1.2.3