X-Git-Url: https://git.realraum.at/?a=blobdiff_plain;f=avr-projects%2Fr3cam-steppermotor%2Fr3cam-steppermotor.c;fp=avr-projects%2Fr3cam-steppermotor%2Fr3cam-steppermotor.c;h=fcebc656eb940e0c450fdf41e1f6de2273588132;hb=912fd90fb14e42009388573ec222a729517fdb71;hp=0000000000000000000000000000000000000000;hpb=226c4ce83dc9084a423ba4964b945a927603a765;p=svn42.git

diff --git a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
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+++ b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
@@ -0,0 +1,205 @@
+/*
+ *  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_HALFSTEPS 4
+
+static uint8_t m_clk_divisor_ = 0;
+static uint8_t m_clk_divisor_counter_ = 0;
+static uint16_t m_steps_to_go_ = 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;
+}
+
+ISR(TIMER0_OVF_vect)
+{
+    if (m_steps_to_go_ == 0)
+        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;
+}
+
+void motor_run(uint16_t steps, uint8_t direction)
+{
+    //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;
+    
+    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 = 0 | (1 << M_RESET);
+    
+    // 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
+}
+
+uint8_t cur_speed = 0xFF;
+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 'c': motor_run(300,0); break;
+  case 'w': motor_run(300,1); break;
+  case 'C': motor_run(1000,0); break;
+  case 'W': motor_run(1000,1); break;
+  case '+': motor_set_speed(++cur_speed); break;
+  case '-': motor_set_speed(--cur_speed); break;
+  default: CDC_Device_SendString(&VirtualSerial_CDC_Interface, "error\n"); return;
+  }
+  CDC_Device_SendString(&VirtualSerial_CDC_Interface, "ok\n");
+}
+
+
+
+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();
+  }
+}