mirror of
https://github.com/eddyem/scorpio.git
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AVR
This commit is contained in:
eddyem
parent
7de4c0f78f
commit
3c1b544489
30
Makefile
30
Makefile
@ -10,29 +10,29 @@ DEFS = -DBAUD=9600
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DEFS += -DEBUG
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DEFS += -DEBUG
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LIBS =
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LIBS =
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SRC=$(wildcard *.c)
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HEX = $(NAME).hex
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ELF = $(NAME).elf
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OBJECTS = $(SRC:%.c=%.o)
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# controller
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# controller
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DEVICE = atmega328p
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DEVICE = atmega8535
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#atmega8535
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#Тактовая частота 8 МГц
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CLOCK = 8000000
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# partno (for avrdude)
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PARTNO = m8535
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CFLAGS = -g -Wall $(OPTIMIZE) $(DEFS)
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CFLAGS = -g -Wall $(OPTIMIZE) $(DEFS)
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LDFLAGS = -Wl,-Map,$(NAME).map
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LDFLAGS = -Wl,-Map,$(NAME).map
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# programmer (for avrdude)
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# programmer (for avrdude)
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PROGRAMMER = arduino
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PROGRAMMER = avrisp
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# partno (for avrdude)
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PARTNO = m328p
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# serial port device (for avrdude)
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# serial port device (for avrdude)
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SERPORT = /dev/ttyUSB0
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SERPORT = /dev/ttyUSB0
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#Тактовая частота 16 МГц
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CLOCK = 16000000
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SRC=$(wildcard *.c)
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HEX = $(NAME).hex
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ELF = $(NAME).elf
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OBJECTS = $(SRC:%.c=%.o)
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# avrdude command from arduino IDE
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# avrdude command from arduino IDE
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AVRDUDE = avrdude -C/usr/share/arduino/hardware/tools/avrdude.conf -v -p$(PARTNO) -c$(PROGRAMMER) -P$(SERPORT) -b115200 -D
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AVRDUDE = avrdude -C/usr/share/arduino/hardware/tools/avrdude.conf -v -p$(PARTNO) -c$(PROGRAMMER) -P$(SERPORT) -b19200 -D
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COMPILE = $(CC) $(CFLAGS) -mmcu=$(DEVICE) -DF_CPU=$(CLOCK)
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COMPILE = $(CC) $(CFLAGS) -mmcu=$(DEVICE) -DF_CPU=$(CLOCK)
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@ -40,7 +40,7 @@ all: $(HEX) lst
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$(ELF): $(OBJECTS)
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$(ELF): $(OBJECTS)
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@echo "ELF"
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@echo "ELF"
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@$(COMPILE) -o $(ELF) $(OBJECTS) $(LIBS)
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@$(COMPILE) $(LDFLAGS) -o $(ELF) $(OBJECTS) $(LIBS)
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$(HEX): $(ELF)
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$(HEX): $(ELF)
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@echo "HEX"
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@echo "HEX"
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@ -65,7 +65,7 @@ lst: $(NAME).lst
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flash: all
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flash: all
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@echo "Flash"
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@echo "Flash"
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@$(AVRDUDE) -U flash:w:$(HEX):i
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$(AVRDUDE) -U flash:w:$(HEX):i
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clean:
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clean:
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@echo "Clean"
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@echo "Clean"
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21
includes.h
21
includes.h
@ -48,6 +48,27 @@
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#define STPRS_OFF() do{PORTD |= 0xfc; PORTC |= 0x0f;}while(0)
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#define STPRS_OFF() do{PORTD |= 0xfc; PORTC |= 0x0f;}while(0)
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#define DDRAB DDRA
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#define DDRAB DDRA
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#define PORTAB PORTA
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#define PORTAB PORTA
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// 8535 have common irq register for all timers
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#define TIMSK0 TIMSK
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#define TIMSK1 TIMSK
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#define UCSR0A UCSRA
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#define UCSR0B UCSRB
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#define UCSR0C UCSRC
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#define UDRIE0 UDRIE
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#define FE0 FE
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#define UPE0 PE
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#define DOR0 DOR
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#define UDRIE0 UDRIE
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#define UDR0 UDR
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#define UBRR0H UBRRH
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#define UBRR0L UBRRL
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#define U2X0 U2X
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#define UCSZ01 UCSZ1
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#define UCSZ00 UCSZ0
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#define RXEN0 RXEN
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#define TXEN0 TXEN
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#define RXCIE0 RXCIE
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#define LED1_PIN (_BV(0))
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#define LED1_PIN (_BV(0))
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#define LED2_PIN (_BV(1))
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#define LED2_PIN (_BV(1))
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#define LED3_PIN (_BV(2))
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#define LED3_PIN (_BV(2))
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11
main.c
11
main.c
@ -45,6 +45,7 @@ int main() {
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/** USART config **/
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/** USART config **/
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// set baudrate (using macros from util/setbaud.h)
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// set baudrate (using macros from util/setbaud.h)
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#if !defined (__AVR_ATmega8535__)
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UBRR0H = UBRRH_VALUE;
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UBRR0H = UBRRH_VALUE;
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UBRR0L = UBRRL_VALUE;
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UBRR0L = UBRRL_VALUE;
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@ -53,6 +54,11 @@ int main() {
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#else
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#else
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UCSR0A &= ~(_BV(U2X0));
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UCSR0A &= ~(_BV(U2X0));
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#endif
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#endif
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#else // __AVR_ATmega8535__
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UCSRA &= ~(_BV(U2X0));
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UBRRH = 0;
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UBRRL = 51;
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#endif
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UCSR0C = _BV(UCSZ01) | _BV(UCSZ00); // 8-bit data
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UCSR0C = _BV(UCSZ01) | _BV(UCSZ00); // 8-bit data
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UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0); // Enable RX and TX, enable RX interrupt
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UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0); // Enable RX and TX, enable RX interrupt
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@ -70,7 +76,9 @@ int main() {
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stepper_setup();
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stepper_setup();
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sei(); // enable interrupts
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sei(); // enable interrupts
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wdt_enable(WDTO_2S); // start watchdog
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wdt_enable(WDTO_2S); // start watchdog
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usart_send("Scorpio platform ready\n");
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while(1){
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while(1){
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wdt_reset();
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wdt_reset();
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@ -104,4 +112,7 @@ ISR(TIMER0_OVF_vect){
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if(shi_counter == LEDs[1]) PORTAB &= ~LED2_PIN;
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if(shi_counter == LEDs[1]) PORTAB &= ~LED2_PIN;
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if(shi_counter == LEDs[2]) PORTAB &= ~LED3_PIN;
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if(shi_counter == LEDs[2]) PORTAB &= ~LED3_PIN;
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++shi_counter;
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++shi_counter;
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// #if defined (__AVR_ATmega8535__)
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// TCNT0 += 128;
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// #endif
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}
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}
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10
proto.c
10
proto.c
@ -95,8 +95,9 @@ uint8_t process_commands(char *cmd){
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char s = *cmd;
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char s = *cmd;
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cmd = omit_whitespace(cmd + 1);
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cmd = omit_whitespace(cmd + 1);
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switch(s){
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switch(s){
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case '0':
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case '0': // stop motors
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DBG("restart");
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DBG("restart");
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stop_motors();
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break;
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break;
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case '7':
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case '7':
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DBG("Shutter");
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DBG("Shutter");
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@ -145,9 +146,14 @@ void process_string(){
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noerr = 0;
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noerr = 0;
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}
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}
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if(rx_bufsize < 3 || rx_buffer[0] != '[' || rx_buffer[rx_bufsize - 2] != ']'){
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if(rx_bufsize < 3 || rx_buffer[0] != '[' || rx_buffer[rx_bufsize - 2] != ']'){
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#ifdef EBUG
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usart_send(rx_buffer);
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#endif
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if(!chk_stpr_cmd(rx_buffer[0])){
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DBG("Enter \"[cmd]\"\n");
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}
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//if(rx_buffer[0] == 't'){ print_time(); return; }
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//if(rx_buffer[0] == 't'){ print_time(); return; }
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rx_bufsize = 0;
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rx_bufsize = 0;
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DBG("Enter \"[cmd]\"\n");
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noerr = 0;
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noerr = 0;
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}
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}
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if(noerr){ // echo back given string
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if(noerr){ // echo back given string
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391
scorpio.hex
391
scorpio.hex
@ -1,201 +1,192 @@
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:100000000C9434000C9451000C9451000C94510049
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:1000000014C02EC02DC02CC02BC02AC041C328C094
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:100010000C9451000C9451000C9451000C9451001C
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:1000100027C04DC325C084C1B6C122C021C020C0A5
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:100020000C9451000C9451000C9451000C94B601A6
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:100020001FC01EC01DC01CC01BC011241FBECFE5B9
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:100030000C9451000C9451000C9451000C945100FC
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:10003000D2E0DEBFCDBF11E0A0E6B0E0E0EEFAE036
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:100050000C9451000C9451000C9451000C945100DC
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:1000B00080E0089581E0089582E00895E1E8F0E0AD
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
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||||||
:00000001FF
|
:00000001FF
|
||||||
|
|||||||
31
stepper.c
31
stepper.c
@ -57,8 +57,21 @@
|
|||||||
// [1324] = 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - bipolar
|
// [1324] = 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - bipolar
|
||||||
// 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - half-step
|
// 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - half-step
|
||||||
// 1010, 0110, 0101, 1001 - full step
|
// 1010, 0110, 0101, 1001 - full step
|
||||||
static const uint8_t usteps[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar, active 1
|
//static const uint8_t usteps[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar, active 1
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||||||
//static const uint8_t usteps[8] = {7, 3, 11, 9, 13, 12, 14, 6}; // unipolar, active is 0
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//static const uint8_t usteps[8] = {7, 3, 11, 9, 13, 12, 14, 6}; // unipolar, active is 0
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||||||
|
static const uint8_t usteps_matrix[8][8] = {
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|
{0b1000, 0b1100, 0b0100, 0b0110, 0b0010, 0b0011, 0b0001, 0b1001}, // [1234]
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||||||
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{0b0010, 0b0110, 0b0100, 0b1100, 0b1000, 0b1001, 0b0001, 0b0011}, // [3214]
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{0b1000, 0b1001, 0b0001, 0b0011, 0b0010, 0b0110, 0b0100, 0b1100}, // [1432]
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{0b1000, 0b1010, 0b0010, 0b0110, 0b0100, 0b0101, 0b0001, 0b1001}, // [1324]
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||||||
|
// inversion: cat | sed -e 's/0b/x/g' -e 's/0/y/g' -e 's/1/0/g' -e 's/y/1/g' -e s'/x/0b/g'
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|
{0b0111, 0b0011, 0b1011, 0b1001, 0b1101, 0b1100, 0b1110, 0b0110}, // [1234]
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||||||
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{0b1101, 0b1001, 0b1011, 0b0011, 0b0111, 0b0110, 0b1110, 0b1100}, // [3214]
|
||||||
|
{0b0111, 0b0110, 0b1110, 0b1100, 0b1101, 0b1001, 0b1011, 0b0011}, // [1432]
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||||||
|
{0b0111, 0b0101, 0b1101, 0b1001, 0b1011, 0b1010, 0b1110, 0b0110}, // [1324]
|
||||||
|
};
|
||||||
|
|
||||||
|
uint8_t const *usteps = usteps_matrix[0];
|
||||||
|
|
||||||
static int8_t Ustep = 0; // current microstep count
|
static int8_t Ustep = 0; // current microstep count
|
||||||
uint16_t Steps_left; // steps left to proceed (absolute value)
|
uint16_t Steps_left; // steps left to proceed (absolute value)
|
||||||
@ -67,8 +80,6 @@ static uint8_t cur_motor = 0; // current motor number
|
|||||||
|
|
||||||
volatile uint8_t stepper_pulse = 0; // interrupt flag, used in main.c
|
volatile uint8_t stepper_pulse = 0; // interrupt flag, used in main.c
|
||||||
|
|
||||||
static void stop_motors();
|
|
||||||
|
|
||||||
void stepper_setup(){
|
void stepper_setup(){
|
||||||
TCCR1B |= _BV(WGM12); // configure timer1 for CTC mode, TOP is OCR1A
|
TCCR1B |= _BV(WGM12); // configure timer1 for CTC mode, TOP is OCR1A
|
||||||
OCR1A = 2000; // set the CTC compare value - 1kHz
|
OCR1A = 2000; // set the CTC compare value - 1kHz
|
||||||
@ -145,7 +156,7 @@ uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps){
|
|||||||
return 1;
|
return 1;
|
||||||
}
|
}
|
||||||
|
|
||||||
static void stop_motors(){
|
void stop_motors(){
|
||||||
stepper_get_esw(cur_motor);
|
stepper_get_esw(cur_motor);
|
||||||
// turn off all pulses to place motor in free state & prevent undesirable behaviour
|
// turn off all pulses to place motor in free state & prevent undesirable behaviour
|
||||||
STPRS_OFF();
|
STPRS_OFF();
|
||||||
@ -202,9 +213,21 @@ void stepper_get_esw(uint8_t Nmotor){
|
|||||||
usart_send(str);
|
usart_send(str);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* User can change current stepper phases table
|
||||||
|
* N - position in table from 'a' (0) to 'h' (7)
|
||||||
|
* return 1 if all OK
|
||||||
|
*/
|
||||||
|
uint8_t chk_stpr_cmd(char N){
|
||||||
|
if(N < 'a' || N > 'h') return 0;
|
||||||
|
usteps = usteps_matrix[N-'a'];
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Timer 1 used to generate stepper pulses
|
* Timer 1 used to generate stepper pulses
|
||||||
*/
|
*/
|
||||||
ISR(TIMER1_COMPA_vect){
|
ISR(TIMER1_COMPA_vect){
|
||||||
stepper_pulse = 1; // say that we can generate next microstep
|
stepper_pulse = 1; // say that we can generate next microstep
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@ -36,7 +36,9 @@ void stepper_process();
|
|||||||
|
|
||||||
uint8_t stepper_ch_speed(char *spd);
|
uint8_t stepper_ch_speed(char *spd);
|
||||||
uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps);
|
uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps);
|
||||||
|
void stop_motors();
|
||||||
|
|
||||||
void stepper_get_esw(uint8_t Nmotor);
|
void stepper_get_esw(uint8_t Nmotor);
|
||||||
|
uint8_t chk_stpr_cmd(char N);
|
||||||
|
|
||||||
#endif // __STEPPER_H__
|
#endif // __STEPPER_H__
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user