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/*
* 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();
}
}
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