r3 cam rotate test

diff --git a/avr-projects/r3cam-steppermotor/Makefile b/avr-projects/r3cam-steppermotor/Makefile
new file mode 100644 (file)
index 0000000..ac1b80e
--- /dev/null
+++ b/avr-projects/r3cam-steppermotor/Makefile
@@ -0,0 +1,42 @@
+##\r
+##  spreadspace avr utils\r
+##\r
+##\r
+##  Copyright (C) 2012 Christian Pointner <equinox@spreadspace.org>\r
+##\r
+##  This file is part of spreadspace avr utils.\r
+##\r
+##  spreadspace avr utils is free software: you can redistribute it and/or modify\r
+##  it under the terms of the GNU General Public License as published by\r
+##  the Free Software Foundation, either version 3 of the License, or\r
+##  any later version.\r
+##\r
+##  spreadspace avr utils is distributed in the hope that it will be useful,\r
+##  but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+##  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
+##  GNU General Public License for more details.\r
+##\r
+##  You should have received a copy of the GNU General Public License\r
+##  along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.\r
+##\r
+\r
+NAME := r3cam-steppermotor\r
+BOARD_TYPE := minimus32\r
+OBJ := $(NAME).o\r
+LIBS := util led lufa-descriptor-usbserial\r
+EXTERNAL_LIBS := lufa\r
+\r
+LUFA_PATH := ../contrib/LUFA-120219\r
+LUFA_OPTS  = -D USB_DEVICE_ONLY\r
+LUFA_OPTS += -D DEVICE_STATE_AS_GPIOR=0\r
+LUFA_OPTS += -D ORDERED_EP_CONFIG\r
+LUFA_OPTS += -D FIXED_CONTROL_ENDPOINT_SIZE=8\r
+LUFA_OPTS += -D FIXED_NUM_CONFIGURATIONS=1\r
+LUFA_OPTS += -D USE_FLASH_DESCRIPTORS\r
+LUFA_OPTS += -D USE_STATIC_OPTIONS="(USB_DEVICE_OPT_FULLSPEED | USB_OPT_REG_ENABLED | USB_OPT_AUTO_PLL)"\r
+LUFA_OPTS += -D INTERRUPT_CONTROL_ENDPOINT\r
+\r
+LUFA_OPTS += -D USB_MANUFACTURER="L\"equinox\""\r
+LUFA_OPTS += -D USB_PRODUCT="L\"$(NAME)\""\r
+\r
+include ../include.mk\r

diff --git a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
new file mode 100644 (file)
index 0000000..fcebc65
--- /dev/null
+++ b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c
@@ -0,0 +1,205 @@
+/*\r
+ *  spreadspace avr utils\r
+ *\r
+ *\r
+ *  Copyright (C) 2012 Christian Pointner <equinox@spreadspace.org>\r
+ *\r
+ *  This file is part of spreadspace avr utils.\r
+ *\r
+ *  spreadspace avr utils is free software: you can redistribute it and/or modify\r
+ *  it under the terms of the GNU General Public License as published by\r
+ *  the Free Software Foundation, either version 3 of the License, or\r
+ *  any later version.\r
+ *\r
+ *  spreadspace avr utils is distributed in the hope that it will be useful,\r
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of\r
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\r
+ *  GNU General Public License for more details.\r
+ *\r
+ *  You should have received a copy of the GNU General Public License\r
+ *  along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.\r
+ */\r
+\r
+\r
+#include <avr/io.h>\r
+#include <avr/wdt.h>\r
+#include <avr/interrupt.h>\r
+#include <avr/power.h>\r
+\r
+#include "util.h"\r
+#include "led.h"\r
+\r
+/*\r
+             LUFA Library\r
+     Copyright (C) Dean Camera, 2012.\r
+\r
+  dean [at] fourwalledcubicle [dot] com\r
+           www.lufa-lib.org\r
+*/\r
+#include <LUFA/Drivers/USB/USB.h>\r
+#include "lufa-descriptor-usbserial.h"\r
+\r
+USB_ClassInfo_CDC_Device_t VirtualSerial_CDC_Interface =\r
+  {\r
+    .Config =\r
+      {\r
+        .ControlInterfaceNumber         = 0,\r
+\r
+        .DataINEndpointNumber           = CDC_TX_EPNUM,\r
+        .DataINEndpointSize             = CDC_TXRX_EPSIZE,\r
+        .DataINEndpointDoubleBank       = false,\r
+\r
+        .DataOUTEndpointNumber          = CDC_RX_EPNUM,\r
+        .DataOUTEndpointSize            = CDC_TXRX_EPSIZE,\r
+        .DataOUTEndpointDoubleBank      = false,\r
+\r
+        .NotificationEndpointNumber     = CDC_NOTIFICATION_EPNUM,\r
+        .NotificationEndpointSize       = CDC_NOTIFICATION_EPSIZE,\r
+        .NotificationEndpointDoubleBank = false,\r
+      },\r
+  };\r
+\r
+void EVENT_USB_Device_ConfigurationChanged(void)\r
+{\r
+  CDC_Device_ConfigureEndpoints(&VirtualSerial_CDC_Interface);\r
+}\r
+\r
+void EVENT_USB_Device_ControlRequest(void)\r
+{\r
+  CDC_Device_ProcessControlRequest(&VirtualSerial_CDC_Interface);\r
+}\r
+/* end LUFA CDC-ACM specific definitions*/\r
+\r
+\r
+/* Start Our Code */\r
+\r
+#define M_PORT PORTB\r
+#define M_DDR DDRB\r
+#define M_DIRECTION  0\r
+#define M_CLK 1\r
+#define M_ENABLE 2\r
+#define M_RESET 3\r
+#define M_HALFSTEPS 4\r
+\r
+static uint8_t m_clk_divisor_ = 0;\r
+static uint8_t m_clk_divisor_counter_ = 0;\r
+static uint16_t m_steps_to_go_ = 0;\r
+\r
+inline void m_timer_enable(void)\r
+{\r
+    TIMSK0 |= (1<<TOIE0);    \r
+}\r
+\r
+inline void m_timer_disable(void)\r
+{\r
+    TIMSK0 &= ~(1<<TOIE0);    \r
+}\r
+\r
+void motor_stop(void)\r
+{\r
+    m_timer_disable();\r
+    M_PORT &= ~(1 << M_ENABLE);\r
+    m_steps_to_go_ = 0;\r
+}\r
+\r
+ISR(TIMER0_OVF_vect)\r
+{\r
+    if (m_steps_to_go_ == 0)\r
+        motor_stop();\r
+    if (m_clk_divisor_counter_ == 0)\r
+    {\r
+        m_clk_divisor_counter_ = m_clk_divisor_;\r
+        M_PORT ^=  (1 << M_CLK);\r
+        m_steps_to_go_--;\r
+    }\r
+    else \r
+        m_clk_divisor_counter_--;\r
+}\r
+\r
+void motor_set_speed(uint8_t speed)\r
+{\r
+    m_clk_divisor_ = 0xFF - speed;\r
+}\r
+\r
+void motor_run(uint16_t steps, uint8_t direction)\r
+{\r
+    //reset by pulling reset low for 100ms\r
+    M_PORT &= ~(1 << M_RESET);\r
+    _delay_ms(100);\r
+    M_PORT |= (1 << M_RESET);\r
+    \r
+    m_clk_divisor_counter_ = 0;\r
+    m_steps_to_go_ = steps;\r
+    \r
+    if (direction)\r
+        M_PORT |= (1 << M_DIRECTION);\r
+    else\r
+        M_PORT &= ~(1 << M_DIRECTION);\r
+    \r
+    //enable motor\r
+    M_PORT |= (1 << M_ENABLE);\r
+    m_timer_enable();    \r
+}\r
+\r
+void init_pins()\r
+{\r
+    M_DDR = 0x0F;\r
+    M_PORT = 0 | (1 << M_RESET);\r
+    \r
+    // Configure timer 0 to generate a timer overflow interrupt every\r
+    // 560us (NEC Protocol)\r
+    TCCR0A = 0x00;\r
+    TIMSK0 = (0<<TOIE0);\r
+    //TCCR0B = 1<<WGM02 | 1<<CS02 | 0<<CS01| 1<<CS00;   //Teiler 1024\r
+    TCCR0B = 1<<WGM02 | 1<<CS02 | 0<<CS01| 0<<CS00;   //Teiler 256\r
+    //OCR0A = 139;        // (1+139)*8 = 1120 -> 70us @ 16 MHz -> 1*alpha\r
+    OCR0A = 255;        // (1+139)*8 = 1120 -> 70us @ 16 MHz -> 1*alpha\r
+}\r
+\r
+uint8_t cur_speed = 0xFF;\r
+void handle_cmd(uint8_t cmd)\r
+{\r
+  switch(cmd) {\r
+  case '0': led_off(); break;\r
+  case '1': led_on(); break;\r
+  case 't': led_toggle(); break;\r
+  case 'r': reset2bootloader(); break;\r
+  case 's': motor_stop(); break;\r
+  case 'c': motor_run(300,0); break;\r
+  case 'w': motor_run(300,1); break;\r
+  case 'C': motor_run(1000,0); break;\r
+  case 'W': motor_run(1000,1); break;\r
+  case '+': motor_set_speed(++cur_speed); break;\r
+  case '-': motor_set_speed(--cur_speed); break;\r
+  default: CDC_Device_SendString(&VirtualSerial_CDC_Interface, "error\n"); return;\r
+  }\r
+  CDC_Device_SendString(&VirtualSerial_CDC_Interface, "ok\n");\r
+}\r
+\r
+\r
+\r
+int main(void)\r
+{\r
+  MCUSR &= ~(1 << WDRF);\r
+  wdt_disable();\r
+\r
+  cpu_init();\r
+  led_init();\r
+  USB_Init();\r
+  init_pins();\r
+  sei();\r
+\r
+  for(;;) {\r
+    int16_t BytesReceived = CDC_Device_BytesReceived(&VirtualSerial_CDC_Interface);\r
+    while(BytesReceived > 0) {\r
+      int16_t ReceivedByte = CDC_Device_ReceiveByte(&VirtualSerial_CDC_Interface);\r
+      if(!(ReceivedByte < 0)) {\r
+        handle_cmd(ReceivedByte);\r
+      }\r
+      BytesReceived--;\r
+    }\r
+\r
+    CDC_Device_USBTask(&VirtualSerial_CDC_Interface);\r
+    USB_USBTask();\r
+  }\r
+}\r