From 912fd90fb14e42009388573ec222a729517fdb71 Mon Sep 17 00:00:00 2001 From: Bernhard Tittelbach Date: Fri, 5 Oct 2012 01:13:42 +0000 Subject: [PATCH] r3 cam rotate test --- avr-projects/r3cam-steppermotor/Makefile | 42 ++++ .../r3cam-steppermotor/r3cam-steppermotor.c | 205 ++++++++++++++++++++ 2 files changed, 247 insertions(+) create mode 100644 avr-projects/r3cam-steppermotor/Makefile create mode 100644 avr-projects/r3cam-steppermotor/r3cam-steppermotor.c diff --git a/avr-projects/r3cam-steppermotor/Makefile b/avr-projects/r3cam-steppermotor/Makefile new file mode 100644 index 0000000..ac1b80e --- /dev/null +++ b/avr-projects/r3cam-steppermotor/Makefile @@ -0,0 +1,42 @@ +## +## 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 . +## + +NAME := r3cam-steppermotor +BOARD_TYPE := minimus32 +OBJ := $(NAME).o +LIBS := util led lufa-descriptor-usbserial +EXTERNAL_LIBS := lufa + +LUFA_PATH := ../contrib/LUFA-120219 +LUFA_OPTS = -D USB_DEVICE_ONLY +LUFA_OPTS += -D DEVICE_STATE_AS_GPIOR=0 +LUFA_OPTS += -D ORDERED_EP_CONFIG +LUFA_OPTS += -D FIXED_CONTROL_ENDPOINT_SIZE=8 +LUFA_OPTS += -D FIXED_NUM_CONFIGURATIONS=1 +LUFA_OPTS += -D USE_FLASH_DESCRIPTORS +LUFA_OPTS += -D USE_STATIC_OPTIONS="(USB_DEVICE_OPT_FULLSPEED | USB_OPT_REG_ENABLED | USB_OPT_AUTO_PLL)" +LUFA_OPTS += -D INTERRUPT_CONTROL_ENDPOINT + +LUFA_OPTS += -D USB_MANUFACTURER="L\"equinox\"" +LUFA_OPTS += -D USB_PRODUCT="L\"$(NAME)\"" + +include ../include.mk diff --git a/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c new file mode 100644 index 0000000..fcebc65 --- /dev/null +++ b/avr-projects/r3cam-steppermotor/r3cam-steppermotor.c @@ -0,0 +1,205 @@ +/* + * 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_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< 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(); + } +} -- 1.7.10.4