alpha version

Makefile

@@ -1,12 +1,13 @@
 ### https://habrahabr.ru/post/247663/
 
-NAME = scorpio2
+NAME = scorpio
 
 OBJCOPY = avr-objcopy
 OBJDUMP = avr-objdump
 CC      = avr-gcc
 OPTIMIZE= -Os
 DEFS    = -DBAUD=9600
+DEFS   += -DEBUG
 LIBS    =
 
 SRC=$(wildcard *.c)

includes.h

@@ -36,5 +36,37 @@
 #include "uart.h"
 #include "stepper.h"
 
+#ifdef EBUG
+#define DBG(x) usart_send(x)
+#else
+#define DBG(x)
+#endif
+
+// #define ()  do{}while(0)
+#if defined (__AVR_ATmega8535__)
+    // original MCU
+    #define STPRS_OFF() do{PORTD |= 0xfc; PORTC |= 0x0f;}while(0)
+    #define DDRAB       DDRA
+    #define PORTAB      PORTA
+    #define LED1_PIN    (_BV(0))
+    #define LED2_PIN    (_BV(1))
+    #define LED3_PIN    (_BV(2))
+    #define FLAT_PIN    (_BV(5))
+    #define NEON_PIN    (_BV(6))
+    #define SHTR_PIN    (_BV(7))
+#else
+    // arduino devboard with stepper
+    #define STPRS_OFF() do{PORTD |= 0xfc; PORTC &= 0xf0;}while(0)
+    #define DDRAB       DDRB
+    #define PORTAB      PORTB
+    #define FLAT_PIN    (_BV(0))
+    #define NEON_PIN    (_BV(1))
+    #define SHTR_PIN    (_BV(2))
+    #define LED1_PIN    (_BV(3))
+    #define LED2_PIN    (_BV(4))
+    #define LED3_PIN    (_BV(5))
+#endif
+
+#define PORTAB_PINS (FLAT_PIN | NEON_PIN | SHTR_PIN | LED1_PIN | LED2_PIN | LED3_PIN)
 
 #endif // __INCLUDES_H__

main.c

@@ -22,10 +22,7 @@
  */
 
 #include "includes.h"
-
+/*
-#define LED_PIN (_BV(5))
-
-
 volatile uint16_t Milliseconds = 0, Seconds = 0, days = 0;
 
 void print_time(){
@@ -35,21 +32,16 @@ void print_time(){
     usart_send("s");
     printUint((uint8_t*)&Milliseconds, 2);
     usart_send("ms\n");
-}
+}*/
 
 int main() {
-    // LED for debug
-    DDRB |= LED_PIN;
     /** setup all other pins **/
-    PORTD |= 0xfc; // turn off steppers before configuring to output
+    STPRS_OFF(); // turn off steppers before configuring to output
     DDRD = 0xfc; // steppers
-    PORTD |= 0x0f;
     DDRC = 0x0f; // steppers diagram
     // 328p have no port A
-    #if defined (__AVR_ATmega8535__)
+    PORTAB |= FLAT_PIN | NEON_PIN | SHTR_PIN; // turn all off
-    DDRA = 0xe0; // flat, neon, shutter
+    DDRAB = PORTAB_PINS;
-    #endif
-
 
     /** USART config **/
     // set baudrate (using macros from util/setbaud.h)
@@ -65,11 +57,13 @@ int main() {
     UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0);   // Enable RX and TX, enable RX interrupt
 
     /** setup timer 0 - system timer **/
-    // set prescaler to 64 and start the timer
+    // set prescaler to 8 and start the timer (2MHz*256 = 0.128ms period)
     #if defined (__AVR_ATmega8535__)
-    TCCR0 |= _BV(CS01) | _BV(CS00);
+    //TCCR0 |= _BV(CS01) | _BV(CS00); // /64
+    TCCR0 |= _BV(CS01);
     #else
-    TCCR0B |= _BV(CS01) | _BV(CS00);
+    //TCCR0B |= _BV(CS01) | _BV(CS00);
+    TCCR0B |= _BV(CS01);
     #endif
     TIMSK0 |= _BV(TOIE0);
 
@@ -81,17 +75,19 @@ int main() {
     while(1){
         wdt_reset();
         if(stepper_pulse) stepper_process();
-    // testing blinking - remove later
-    if(Milliseconds == 500) PORTB |= LED_PIN;
-    else if(Milliseconds == 0) PORTB &= ~LED_PIN;
         if(usart_flags & U_RX_COMPLETE)
             process_string();
     }
     return 0;
 }
 
+uint8_t LEDs[3] = {20,20,20}; // LEDs shining time
+
 ISR(TIMER0_OVF_vect){
-    TCNT0 += 6;
+    static uint8_t shi_counter = 0;/* tick_ctr = 0;
+    TCNT0 += 6; // 0.125ms period
+    if(++tick_ctr == 8){
+        tick_ctr = 0;
         if(++Milliseconds == 1000){
             Milliseconds = 0;
             if(++Seconds == 86400){
@@ -99,4 +95,13 @@ ISR(TIMER0_OVF_vect){
                 ++days;
             }
         }
+    }*/
+    if(shi_counter == 0){ // turn all LEDs on
+        PORTAB |= LED1_PIN | LED2_PIN | LED3_PIN;
+    }
+    // now check which LEDs we need to turn off
+    if(shi_counter == LEDs[0]) PORTAB &= ~LED1_PIN;
+    if(shi_counter == LEDs[1]) PORTAB &= ~LED2_PIN;
+    if(shi_counter == LEDs[2]) PORTAB &= ~LED3_PIN;
+    ++shi_counter;
 }

proto.c

@@ -35,65 +35,100 @@ uint8_t move_motor(char *cmd){
     cmd = omit_whitespace(cmd+1);
     int16_t steps;
     if(!readInt(cmd, &steps)) return 0;
+    #ifdef EBUG
     usart_send("Move motor ");
     printUint((uint8_t*)&N, 1);
     usart_send(" for ");
     print_long((uint32_t)steps);
     usart_send("steps\n");
-    return stepper_move(N, steps);
+    #endif
+    if(steps) return stepper_move(N, steps);
+    else{ // steps == 0 - just check endswitches
+        stepper_get_esw(N);
+        return 0;
+    }
 }
 
-extern void print_time();
+/**
+ * Switch relay on/off depending on cmd value
+ * 1 - on, 0 - off
+ * @param pin - pin to change
+ * @param N - second symbol of command ([2 N ...])
+ */
+uint8_t relay(char *cmd, uint8_t pin, char N){
+    if(*cmd == '-'){ // just check
+        char ans[] = "[2 N St=1]\n";
+        ans[3] = N;
+        if(PORTAB & pin) ans[8] = '0'; // off
+        usart_send(ans);
+        return 1;
+    }
+    if(*cmd == '0'){ // turn OFF
+        PORTAB |= pin;
+        return 1;
+    }
+    if(*cmd == '1'){ // turn ON
+        PORTAB &= ~pin;
+        return 1;
+    }
+    return 0;
+}
+
+//extern void print_time();
+extern uint8_t LEDs[3]; // LEDs shining time
+
+void LEDshine(char *cmd, uint8_t N){
+    int16_t s;
+    if(!readInt(cmd, &s)) return;
+    if(s < 0 || s > 255) return;
+    LEDs[N] = (uint8_t)s;
+}
 
 /**
  * process commands from user buffer
  * @return 1 if all OK
  */
-uint8_t process_commands(){
+uint8_t process_commands(char *cmd){
-    char *cmd = omit_whitespace(&rx_buffer[1]);
-    switch(*cmd){
-        case 't':
-            print_time();
-            return 1;
-        break;
-        case '2':
     cmd = omit_whitespace(cmd + 1);
-        break;
-        default:
-            return 0;
-    }
     if(*cmd > '0' && *cmd < '7')
         return move_motor(cmd);
-    switch(*cmd){
+    char s = *cmd;
+    cmd = omit_whitespace(cmd + 1);
+    switch(s){
         case '0':
-            usart_send("restart");
+            DBG("restart");
         break;
         case '7':
-            usart_send("Shutter");
+            DBG("Shutter");
+            relay(cmd, SHTR_PIN, '7');
         break;
         case '8':
-            usart_send("Neon");
+            DBG("Neon");
+            relay(cmd, NEON_PIN, '8');
         break;
         case '9':
-            usart_send("Flat");
+            DBG("Flat");
+            relay(cmd, FLAT_PIN, '9');
         break;
         case 'a':
-            cmd = omit_whitespace(cmd + 1);
             return stepper_ch_speed(cmd);
         break;
         case 'b':
-            usart_send("LED1");
+            DBG("LED1");
+            LEDshine(cmd, 0);
         break;
         case 'c':
-            usart_send("LED2");
+            DBG("LED2");
+            LEDshine(cmd, 1);
         break;
         case 'd':
-            usart_send("LED3");
+            DBG("LED3");
+            LEDshine(cmd, 2);
         break;
         default:
             return 0;
     }
-    usart_send("\n");
+    DBG("\n");
     return 1;
 }
 
@@ -102,24 +137,27 @@ void process_string(){
     uint8_t noerr = 1, oldflags = usart_flags;
     usart_flags &= ~(U_RX_COMPLETE | U_RX_OVERFL | U_RX_ERROR);
     if(oldflags & U_RX_OVERFL){
-        usart_send("Input buffer overflow\n");
+        DBG("Input buffer overflow\n");
         noerr = 0;
     }
     if(oldflags & U_RX_ERROR){
-        usart_send("Rx error\n");
+        DBG("Rx error\n");
         noerr = 0;
     }
     if(rx_bufsize < 3 || rx_buffer[0] != '[' || rx_buffer[rx_bufsize - 2] != ']'){
+        //if(rx_buffer[0] == 't'){ print_time(); return; }
         rx_bufsize = 0;
-        usart_send("Enter \"[cmd]\"\n");
+        DBG("Enter \"[cmd]\"\n");
         noerr = 0;
     }
     if(noerr){ // echo back given string
         rx_buffer[rx_bufsize] = 0;
+        char *cmd = omit_whitespace(&rx_buffer[1]);
+        if(*cmd != '2') return;
         uint8_t rbs = rx_bufsize;
         rx_bufsize = 0;
         usart_send(rx_buffer);
         rx_buffer[rbs - 2] = 0;
-        process_commands();
+        process_commands(cmd);
     }
 }

scorpio.c.tags

@@ -8,6 +8,7 @@ AVR_STATUS_REG
 BADISR_vectÌ65536Ö0
 BAUDÌ65536Ö0
 BAUD_TOLÌ65536Ö0
+DBGÌ131072Í(x)Ö0
 DD0Ì65536Ö0
 DD1Ì65536Ö0
 DD2Ì65536Ö0
@@ -16,36 +17,28 @@ DD4
 DD5Ì65536Ö0
 DD6Ì65536Ö0
 DD7Ì65536Ö0
+DDRABÌ65536Ö0
+EBUGÌ65536Ö0
 EMPTY_INTERRUPTÌ131072Í(vector)Ö0
+FLAT_PINÌ65536Ö0
 FUSEMEMÌ65536Ö0
 FUSESÌ65536Ö0
-F_CPUÌ65536Ö0
-INFINITYÌ65536Ö0
 ISRÌ131072Í(vector,...)Ö0
 ISR_ALIASÌ131072Í(vector,tgt)Ö0
 ISR_ALIASOFÌ131072Í(v)Ö0
 ISR_BLOCKÌ65536Ö0
 ISR_NAKEDÌ65536Ö0
 ISR_NOBLOCKÌ65536Ö0
-LED_PINÌ65536Ö0
+LED1_PINÌ65536Ö0
+LED2_PINÌ65536Ö0
+LED3_PINÌ65536Ö0
+LEDsÌ16384Ö0Ïuint8_t
+LEDsÌ32768Ö0Ïuint8_t
+LEDshineÌ16Í(char *cmd, uint8_t N)Ö0Ïvoid
 LOCKBITSÌ65536Ö0
 LOCKBITS_DEFAULTÌ65536Ö0
 LOCKMEMÌ65536Ö0
-M_1_PIÌ65536Ö0
+NEON_PINÌ65536Ö0
-M_2_PIÌ65536Ö0
-M_2_SQRTPIÌ65536Ö0
-M_EÌ65536Ö0
-M_LN10Ì65536Ö0
-M_LN2Ì65536Ö0
-M_LOG10EÌ65536Ö0
-M_LOG2EÌ65536Ö0
-M_PIÌ65536Ö0
-M_PI_2Ì65536Ö0
-M_PI_4Ì65536Ö0
-M_SQRT1_2Ì65536Ö0
-M_SQRT2Ì65536Ö0
-MillisecondsÌ16384Ö0Ïvolatile uint16_t
-NANÌ65536Ö0
 PIN0Ì65536Ö0
 PIN1Ì65536Ö0
 PIN2Ì65536Ö0
@@ -62,7 +55,10 @@ PORT4
 PORT5Ì65536Ö0
 PORT6Ì65536Ö0
 PORT7Ì65536Ö0
+PORTABÌ65536Ö0
+PORTAB_PINSÌ65536Ö0
 RX_BUFFER_SIZEÌ65536Ö0
+SHTR_PINÌ65536Ö0
 SIGNALÌ131072Í(vector)Ö0
 SPÌ65536Ö0
 SPLÌ65536Ö0
@@ -75,9 +71,13 @@ SREG_S
 SREG_TÌ65536Ö0
 SREG_VÌ65536Ö0
 SREG_ZÌ65536Ö0
-SecondsÌ16384Ö0Ïuint16_t
+STPRS_OFFÌ131072Í()Ö0
+Steps_leftÌ16384Ö0Ïuint16_t
+Steps_leftÌ32768Ö0Ïuint16_t
 TIMER0_OVF_vectÌ16Í(void)Ö0Ïvoid
 TIMER0_OVF_vectÌ1024Í(void)Ö0ÏÓ void
+TIMER1_COMPA_vectÌ16Í(void)Ö0Ïvoid
+TIMER1_COMPA_vectÌ1024Í(void)Ö0ÏÓ void
 TX_BUFFER_SIZEÌ65536Ö0
 UBRRH_VALUEÌ65536Ö0
 UBRRL_VALUEÌ65536Ö0
@@ -92,6 +92,7 @@ U_RX_ERROR
 U_RX_OVERFLÌ65536Ö0
 U_TX_COMPLETEÌ65536Ö0
 U_TX_ERRORÌ65536Ö0
+UstepÌ16384Ö0Ïint8_t
 WDTO_120MSÌ65536Ö0
 WDTO_15MSÌ65536Ö0
 WDTO_1SÌ65536Ö0
@@ -136,8 +137,6 @@ _SFR_MEM8
 _SFR_MEM_ADDRÌ131072Í(sfr)Ö0
 _SFR_WORDÌ131072Í(sfr)Ö0
 _STDC_PREDEF_HÌ65536Ö0
-_UTIL_DELAY_BASIC_H_Ì65536Ö0
-_UTIL_DELAY_H_Ì65536Ö0
 _VECTORÌ131072Í(N)Ö0
 _WD_CHANGE_BITÌ65536Ö0
 _WD_CONTROL_REGÌ65536Ö0
@@ -150,7 +149,6 @@ __ATOMIC_HLE_RELEASE
 __ATOMIC_RELAXEDÌ65536Ö0
 __ATOMIC_RELEASEÌ65536Ö0
 __ATOMIC_SEQ_CSTÌ65536Ö0
-__ATTR_CONST__Ì65536Ö0
 __AVR_LIBC_DATE_Ì65536Ö0
 __AVR_LIBC_DATE_STRING__Ì65536Ö0
 __AVR_LIBC_MAJOR__Ì65536Ö0
@@ -253,7 +251,7 @@ __GNUG__
 __GXX_ABI_VERSIONÌ65536Ö0
 __GXX_RTTIÌ65536Ö0
 __GXX_WEAK__Ì65536Ö0
-__HAS_DELAY_CYCLESÌ65536Ö0
+__INCLUDES_H__Ì65536Ö0
 __INT16_CÌ131072Í(c)Ö0
 __INT16_MAX__Ì65536Ö0
 __INT16_TYPE__Ì65536Ö0
@@ -306,7 +304,6 @@ __LDBL_MIN__
 __LONG_LONG_MAX__Ì65536Ö0
 __LONG_MAX__Ì65536Ö0
 __LP64__Ì65536Ö0
-__MATH_HÌ65536Ö0
 __MMX__Ì65536Ö0
 __OPTIMIZE_SIZE__Ì65536Ö0
 __OPTIMIZE__Ì65536Ö0
@@ -353,6 +350,7 @@ __STDC_ISO_10646__
 __STDC_NO_THREADS__Ì65536Ö0
 __STDC__Ì65536Ö0
 __STDINT_H_Ì65536Ö0
+__STEPPER_H__Ì65536Ö0
 __STRINGIFYÌ131072Í(x)Ö0
 __UART_H__Ì65536Ö0
 __UINT16_CÌ131072Í(c)Ö0
@@ -416,37 +414,12 @@ __unix
 __unix__Ì65536Ö0
 __x86_64Ì65536Ö0
 __x86_64__Ì65536Ö0
-_delay_loop_1Ì16Í(uint8_t __count)Ö0Ïvoid
-_delay_loop_1Ì1024Í(uint8_t __count)Ö0Ïinline void
-_delay_loop_2Ì16Í(uint16_t __count)Ö0Ïvoid
-_delay_loop_2Ì1024Í(uint16_t __count)Ö0Ïinline void
-_delay_msÌ16Í(double __ms)Ö0Ïvoid
-_delay_msÌ1024Í(double __ms)Ö0Ïinline void
-_delay_usÌ16Í(double __us)Ö0Ïvoid
-_delay_usÌ1024Í(double __us)Ö0Ïinline void
-acosfÌ65536Ö0
-asinfÌ65536Ö0
-atan2fÌ65536Ö0
-atanfÌ65536Ö0
 bit_is_clearÌ131072Í(sfr,bit)Ö0
 bit_is_setÌ131072Í(sfr,bit)Ö0
-cbrtfÌ65536Ö0
+check_endswÌ16Í()Ö0Ïuint8_t
-ceilfÌ65536Ö0
 cliÌ131072Í()Ö0
-copysignfÌ65536Ö0
+cur_motorÌ16384Ö0Ïuint8_t
-cosfÌ65536Ö0
+directionÌ16384Ö0Ïuint8_t
-coshfÌ65536Ö0
-daysÌ16384Ö0Ïuint16_t
-expfÌ65536Ö0
-fabsfÌ65536Ö0
-fdimfÌ65536Ö0
-floorfÌ65536Ö0
-fmafÌ65536Ö0
-fmaxfÌ65536Ö0
-fminfÌ65536Ö0
-fmodfÌ65536Ö0
-frexpfÌ65536Ö0
-hypotfÌ65536Ö0
 int16_tÌ4096Ö0Ïsigned int
 int32_tÌ4096Ö0Ïsigned int
 int64_tÌ4096Ö0Ïsigned int
@@ -462,48 +435,43 @@ int_least64_t
 int_least8_tÌ4096Ö0Ïint8_t
 intmax_tÌ4096Ö0Ïint64_t
 intptr_tÌ4096Ö0Ïint16_t
-isfinitefÌ65536Ö0
-isinffÌ65536Ö0
-isnanfÌ65536Ö0
-ldexpfÌ65536Ö0
 linuxÌ65536Ö0
-log10fÌ65536Ö0
-logfÌ65536Ö0
 loop_until_bit_is_clearÌ131072Í(sfr,bit)Ö0
 loop_until_bit_is_setÌ131072Í(sfr,bit)Ö0
-lrintfÌ65536Ö0
-lroundfÌ65536Ö0
 mainÌ16Í()Ö0Ïint
 move_motorÌ16Í(char *cmd)Ö0Ïuint8_t
-omit_watespaceÌ16Í(char *str)Ö0Ïchar *
+omit_whitespaceÌ16Í(char *str)Ö0Ïchar *
-omit_watespaceÌ1024Í(char *str)Ö0Ïchar *
+omit_whitespaceÌ1024Í(char *str)Ö0Ïchar *
-powfÌ65536Ö0
 printUintÌ16Í(uint8_t *val, uint8_t len)Ö0Ïvoid
 printUintÌ1024Í(uint8_t *val, uint8_t len)Ö0Ïvoid
 print_longÌ16Í(int32_t Number)Ö0Ïvoid
 print_longÌ1024Í(int32_t Number)Ö0Ïvoid
-print_timeÌ16Í()Ö0Ïvoid
+process_commandsÌ16Í(char *cmd)Ö0Ïuint8_t
-print_timeÌ1024Í()Ö0Ïvoid
-process_commandsÌ16Í()Ö0Ïuint8_t
 process_stringÌ16Í()Ö0Ïvoid
 process_stringÌ1024Í()Ö0Ïvoid
 readIntÌ16Í(char *buff, int16_t *val)Ö0Ïuint8_t
 readIntÌ1024Í(char *buff, int16_t *val)Ö0Ïuint8_t
+relayÌ16Í(char *cmd, uint8_t pin, char N)Ö0Ïuint8_t
 retiÌ131072Í()Ö0
-roundfÌ65536Ö0
 rx_bufferÌ16384Ö0Ïchar
 rx_bufferÌ32768Ö0Ïchar
 rx_bufsizeÌ16384Ö0Ïvolatile uint8_t
 rx_bufsizeÌ32768Ö0Ïvolatile uint8_t
 seiÌ131072Í()Ö0
-signbitfÌ65536Ö0
+stepper_ch_speedÌ16Í(char *spd)Ö0Ïuint8_t
-sinfÌ65536Ö0
+stepper_ch_speedÌ1024Í(char *spd)Ö0Ïuint8_t
-sinhfÌ65536Ö0
+stepper_get_eswÌ16Í(uint8_t Nmotor)Ö0Ïvoid
-sqrtfÌ65536Ö0
+stepper_get_eswÌ1024Í(uint8_t Nmotor)Ö0Ïvoid
-squarefÌ65536Ö0
+stepper_moveÌ16Í(uint8_t Nmotor, int16_t Nsteps)Ö0Ïuint8_t
-tanfÌ65536Ö0
+stepper_moveÌ1024Í(uint8_t Nmotor, int16_t Nsteps)Ö0Ïuint8_t
-tanhfÌ65536Ö0
+stepper_processÌ16Í()Ö0Ïvoid
-truncfÌ65536Ö0
+stepper_processÌ1024Í()Ö0Ïvoid
+stepper_pulseÌ16384Ö0Ïvolatile uint8_t
+stepper_pulseÌ32768Ö0Ïvolatile uint8_t
+stepper_setupÌ16Í()Ö0Ïvoid
+stepper_setupÌ1024Í()Ö0Ïvoid
+stop_motorsÌ16Í()Ö0Ïvoid
+stop_motorsÌ1024Í()Ö0Ïvoid
 tx_bufferÌ16384Ö0Ïchar
 tx_bufsizeÌ16384Ö0Ïvolatile uint8_t
 tx_idxÌ16384Ö0Ïuint8_t
@@ -527,6 +495,7 @@ usart_flags
 usart_flagsÌ32768Ö0Ïvolatile uint8_t
 usart_sendÌ16Í(char *Str)Ö0Ïint
 usart_sendÌ1024Í(char *Str)Ö0Ïint
+ustepsÌ16384Ö0Ïconst uint8_t
 wdt_disableÌ131072Í()Ö0
 wdt_enableÌ131072Í(value)Ö0
 wdt_resetÌ131072Í()Ö0

scorpio.hex

@@ -0,0 +1,201 @@
+:100000000C9434000C9451000C9451000C94510049
+:100010000C9451000C9451000C9451000C9451001C
+:100020000C9451000C9451000C9451000C94B601A6
+:100030000C9451000C9451000C9451000C945100FC
+:100040000C9498030C9451000C942D030C946203AF
+:100050000C9451000C9451000C9451000C945100DC
+:100060000C9451000C94510011241FBECFEFD8E026
+:10007000DEBFCDBF11E0A0E0B1E0E8EBFBE002C0E5
+:1000800005900D92AA3BB107D9F722E0AAEBB1E0A7
+:1000900001C01D92A530B207E1F70E942A050C9419
+:1000A000DA050C94000086B184FF04C085FF04C00B
+:1000B00080E0089581E0089582E00895E1E8F0E0AD
+:1000C00080818860808380ED97E0909389008093A1
+:1000D0008800808182608083EFE6F0E0808182602A
+:1000E000808388B1806388B90895CF93DF9300D06F
+:1000F00000D0CDB7DEB7BE016D5F7F4F0E94E60234
+:100100008823B1F16B817C81683F8FEF780764F1C0
+:100110006F3F8FE7780741F1665F7F4F8FEF9FEF6B
+:100120000E946B057A83698380916F008D7F809335
+:100130006F0089819A819093890080938800109242
+:1001400085001092840080916F00826080936F0020
+:100150008CE091E00E94C50162E0CE0101960E9410
+:10016000660287EB91E002C08EE191E00E94C5013A
+:1001700080E00F900F900F900F90DF91CF91089536
+:10018000CF93DF93CDB7DEB72C970FB6F894DEBFD1
+:100190000FBECDBF9FEF980F973020F59BB19C6F9E
+:1001A0009BB99BB122E030E0082E01C0220F0A94D7
+:1001B000EAF7209529232BB99CE0EFE2F1E0DE017C
+:1001C000119601900D929A95E1F7805D8C830E94C3
+:1001D0005300811101C083E0805D8987CE010196C3
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-:10092400015370656564206368616E676564207453
-:100934006F20004261642073706565642076616C89
-:1009440075650A00640073006D730A004D6F766567
-:10095400206D6F746F72200020666F7220007374B4
-:100964006570730A007265737461727400536875FC
-:1009740074746572004E656F6E00466C6174004C51
-:10098400454431004C454432004C45443300496EE3
-:1009940070757420627566666572206F766572661E
-:1009A4006C6F770A005278206572726F720A004584
-:0E09B4006E74657220225B636D645D220A0022
-:00000001FF

stepper.c

@@ -24,6 +24,17 @@
 #include "includes.h"
 
 /*
+ * Half-step mode:
+ * D |----|----|    |    |    |    |    |----|
+ * D |    |    |----|----|----|----|----|    |
+ * C |    |----|----|----|    |    |    |    |
+ * C |----|    |    |    |----|----|----|----|
+ * B |    |    |    |----|----|----|    |    |
+ * B |----|----|----|    |    |    |----|----|
+ * A |    |    |    |    |    |----|----|----|
+ * A |----|----|----|----|----|    |    |    |
+ *
+ * In full-step mode pulse rises sequentally: D->C->B->A
  * 0 0000
  * 1 0001
  * 2 0010
@@ -41,26 +52,36 @@
  *14 1110
  *15 1111
  */
-// microsteps: DCBA = 1000, 1100, 0100, 0110, 0010, 0011, 0001, 1001 -- for ULN
+// winding1: [13], winding2: [24]
-// what a shit is this > DCBA = 0001, 0010, 0110, 1010, 1001, 1000, 0100, 0000  - bipolar
+// microsteps: [1234] = 1000, 1100, 0100, 0110, 0010, 0011, 0001, 1001 -- for ULN
+// [1324] = 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - bipolar
 // 1000, 1010, 0010, 0110, 0100, 0101, 0001, 1001 - half-step
 // 1010, 0110, 0101, 1001 - full step
-static const uint8_t usteps[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar
+static const uint8_t usteps[8] = {8, 12, 4, 6, 2, 3, 1, 9}; // ULN - unipolar, active 1
-static volatile char Ustep = 0; // current microstep count
+//static const uint8_t usteps[8] = {7, 3, 11, 9, 13, 12, 14, 6}; // unipolar, active is 0
 
-uint8_t stepper_pulse = 0;
+static int8_t Ustep = 0; // current microstep count
+uint16_t Steps_left; // steps left to proceed (absolute value)
+static uint8_t direction = 0; // ==1 if rotate CCW
+static uint8_t cur_motor = 0; // current motor number
+
+volatile uint8_t stepper_pulse = 0; // interrupt flag, used in main.c
+
+static void stop_motors();
 
 void stepper_setup(){
     TCCR1B |= _BV(WGM12); // configure timer1 for CTC mode, TOP is OCR1A
-    OCR1A   = 1000; // set the CTC compare value - 2kHz (means 1kHz)
+    OCR1A   = 2000; // set the CTC compare value - 1kHz
     TCCR1B |= _BV(CS11); // start the timer at 16MHz/8 = 2MHz
     //TCCR1B |= _BV(CS12) | _BV(CS10); // /1024 == 15625Hz
     //OCR1A   = 15625;
     TIMSK1 |= _BV(OCIE1A); // enable the CTC interrupt
+    PORTC |= _BV(4) | _BV(5); // enable pullup
 }
 
 /**
  * Change TIM1 speed
+ * Period = 4 * 65535/(spd + 10) microseconds
  */
 uint8_t stepper_ch_speed(char *spd){
     int16_t newval;
@@ -71,10 +92,12 @@ uint8_t stepper_ch_speed(char *spd){
             OCR1A = O;
             TCNT1 = 0; // reset counter
             TIMSK1 |= _BV(OCIE1A);
+            #ifdef EBUG
             usart_send("Speed changed to ");
             printUint((uint8_t*)&O, 2);
             usart_send("\n");
-        }else usart_send("Bad speed value\n");
+            #endif
+        }else DBG("Bad speed value\n");
     }
     return 0;
 }
@@ -84,39 +107,53 @@ uint8_t stepper_ch_speed(char *spd){
  * @return 0 if none pressed, 1 if "-", 2 if "+"
  */
 static uint8_t check_endsw(){
+    // PC4 - "-", PC5 - "+"
+    uint8_t pc = PINC;
+    if(0 == (pc & _BV(4))) return 1;
+    if(0 == (pc & _BV(5))) return 2;
     return 0;
 }
 
 /**
  * move stepper number Nmotor by Nsteps steps
- * @return  0 if all OK
+ * @return  1 if all OK, 0 if error occured
- *          1 if Nmotor or Nsteps are bad values
- *          2 if motor already on endswitch in given direction
  */
 uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps){
-    if(!Nmotor || Nmotor > 6 || !Nsteps) return 1;
+    if(!Nmotor || Nmotor > 6 || !Nsteps || Steps_left) return 0;
+    TIMSK1 &= ~_BV(OCIE1A); // disable timer interrupt
     // turn all OFF
-    PORTD |= 0xfc;
+    STPRS_OFF();
-    PORTC |= 0x0f;
     // turn on the motor we need
-    PORTD &= 2 << Nmotor;
+    PORTD &= ~(2 << Nmotor);
     uint8_t c = check_endsw();
+    cur_motor = Nmotor;
     if(c){
         if(c == 1){if(Nsteps > 0) c = 0;}
         else if(Nsteps < 0) c = 0;
     }
     if(c){
-        PORTD |= 0xfc;
+        stop_motors();
-        return 2; // already at end-switch in given direction
+        return 0; // already at end-switch in given direction
     }
-    return 0;
+    if(Nsteps < 0){ // CCW
+        Nsteps = -Nsteps;
+        direction = 1;
+    }else direction = 0; // CW
+    Steps_left = Nsteps;
+    TCNT1 = 0; // reset counter
+    TIMSK1 |= _BV(OCIE1A);
+    return 1;
 }
 
-
+static void stop_motors(){
-static void stop_motor(uint8_t Nmotor){
+    stepper_get_esw(cur_motor);
     // turn off all pulses to place motor in free state & prevent undesirable behaviour
-    PORTD |= 0xfc;
+    STPRS_OFF();
-    PORTC |= 0x0f;
+    TIMSK1 &= ~_BV(OCIE1A); // disable timer interrupt
+    stepper_pulse = 0;
+    Steps_left = 0;
+    Ustep = 0;
+    cur_motor = 0;
 }
 
 /**
@@ -124,26 +161,45 @@ static void stop_motor(uint8_t Nmotor){
  */
 void stepper_process(){
     stepper_pulse = 0;
-    // change steps
+    uint8_t port = PORTC & 0xf0; // save old port state & clear clocking
-    /*if(TIM2_SR1 & TIM_SR1_UIF){
+    PORTC = port | usteps[Ustep];
-        TIM2_SR1 &= ~TIM_SR1_UIF; // take off flag
+    uint8_t sw = check_endsw(); // 1 - "-", 2 - "+", 0 - none
-        tmp = PORT(STP_PORT, ODR) & 0xf0;
+    if(direction){ // CCW
-        PORT(STP_PORT, ODR) = tmp | usteps[Ustep];
-        if(Dir){
-            if(++Ustep > 7){
-                Ustep = 0;
-                --Nsteps;
-            }
-        }else{
         if(--Ustep < 0){
             Ustep = 7;
-                --Nsteps;
+            --Steps_left;
+        }
+        if(sw == 1){
+            stop_motors();
+            return;
+        }
+    }else{ // CW
+        if(++Ustep > 7){
+            Ustep = 0;
+            --Steps_left;
+        }
+        if(sw == 2){
+            stop_motors();
+            return;
         }
     }
-        if(Nsteps == 0){
+    if(Steps_left == 0) stop_motors();
-            stop_motor();
+}
-        }
+
-    }*/
+/**
+ * get end-switches state for all motors or only Nth
+ * @param Nmotor - number of given motor
+ */
+void stepper_get_esw(uint8_t Nmotor){
+    if(Nmotor == 0 || Nmotor > 7) return; // no running motor
+    PORTD |= 0xfc;
+    PORTD &= ~(2 << Nmotor); // [2 1 St=2]
+    char str[] = "[2 0 St=0]\n"; // 3 - motor number, 5 - endswitch (3 if none)
+    str[3] = Nmotor + '0';
+    uint8_t sw = check_endsw();
+    if(sw == 0) sw = 3;
+    str[8] = sw + '0';
+    usart_send(str);
 }
 
 /**

stepper.h

@@ -27,14 +27,16 @@
 
 #include <stdint.h>
 
-extern uint8_t stepper_pulse;
+extern volatile uint8_t stepper_pulse;
+extern uint16_t Steps_left;
 
 // setup timer
 void stepper_setup();
 void stepper_process();
 
 uint8_t stepper_ch_speed(char *spd);
-
 uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps);
 
+void stepper_get_esw(uint8_t Nmotor);
+
 #endif // __STEPPER_H__