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Add firmware for atmega8535 based driver of SCORPIO base platform module

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This commit is contained in:
eddyem
2018-04-11 18:37:27 +03:00
parent 715da979f1
commit c975836b2c
24 changed files with 1760 additions and 0 deletions
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77
avr/platform_deprecated/Makefile Normal file
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### https://habrahabr.ru/post/247663/
NAME = scorpio
OBJCOPY = avr-objcopy
OBJDUMP = avr-objdump
CC = avr-gcc
OPTIMIZE= -Os
DEFS = -DBAUD=9600
DEFS += -DEBUG
LIBS =
# controller
DEVICE = atmega8535
#Тактовая частота 8 МГц
CLOCK = 8000000
# partno (for avrdude)
PARTNO = m8535
CFLAGS = -g -Wall $(OPTIMIZE) $(DEFS)
LDFLAGS = -Wl,-Map,$(NAME).map
# programmer (for avrdude)
PROGRAMMER = avrisp
# serial port device (for avrdude)
SERPORT = /dev/ttyUSB0
SRC=$(wildcard *.c)
HEX = $(NAME).hex
ELF = $(NAME).elf
OBJECTS = $(SRC:%.c=%.o)
# avrdude command from arduino IDE
AVRDUDE = avrdude -C/usr/share/arduino/hardware/tools/avrdude.conf -v -p$(PARTNO) -c$(PROGRAMMER) -P$(SERPORT) -b19200 -D
COMPILE = $(CC) $(CFLAGS) -mmcu=$(DEVICE) -DF_CPU=$(CLOCK)
all: $(HEX) lst
$(ELF): $(OBJECTS)
@echo "ELF"
@$(COMPILE) $(LDFLAGS) -o $(ELF) $(OBJECTS) $(LIBS)
$(HEX): $(ELF)
@echo "HEX"
@rm -f $(HEX)
@$(OBJCOPY) -j .text -j .data -O ihex $(ELF) $(HEX)
@avr-size $(ELF)
.c.o:
@$(COMPILE) -c $< -o $@
.S.o:
@$(COMPILE) -x assembler-with-cpp -c $< -o $@
.c.s:
@$(COMPILE) -S $< -o $@
lst: $(NAME).lst
%.lst: %.elf
@echo "Make listing"
@$(OBJDUMP) -h -S $< > $@
flash: all
@echo "Flash"
$(AVRDUDE) -U flash:w:$(HEX):i
clean:
@echo "Clean"
@rm -f $(HEX) $(ELF) $(OBJECTS) *.lst *.map
gentags:
CFLAGS="$(CFLAGS) -I/usr/avr/include" geany -g $(NAME).c.tags *.[hc] 2>/dev/null
.PHONY: gentags clean

3
avr/platform_deprecated/Readme Normal file
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Прошивка для микроконтроллера платформы SCORPIO-1
Так как никакой поддержки этого не планируется, все сделано тяп-ляп. Абы проработало до разработки нормальной системы управления.

93
avr/platform_deprecated/includes.h Normal file
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/*
* geany_encoding=koi8-r
* includes.h
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#pragma once
#ifndef __INCLUDES_H__
#define __INCLUDES_H__
#include <avr/io.h> // IO ports
#include <avr/wdt.h> // WDT
#include <avr/interrupt.h>
#include <avr/io.h> // IO ports
#include <stdint.h> // int types
#include <util/setbaud.h> // baudrate calculation helper
#include "proto.h"
#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
// 8535 have common irq register for all timers
#define TIMSK0 TIMSK
#define TIMSK1 TIMSK
#define UCSR0A UCSRA
#define UCSR0B UCSRB
#define UCSR0C UCSRC
#define UDRIE0 UDRIE
#define FE0 FE
#define UPE0 PE
#define DOR0 DOR
#define UDRIE0 UDRIE
#define UDR0 UDR
#define UBRR0H UBRRH
#define UBRR0L UBRRL
#define U2X0 U2X
#define UCSZ01 UCSZ1
#define UCSZ00 UCSZ0
#define RXEN0 RXEN
#define TXEN0 TXEN
#define RXCIE0 RXCIE
#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__

118
avr/platform_deprecated/main.c Normal file
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/*
* geany_encoding=koi8-r
* main.c
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#include "includes.h"
/*
volatile uint16_t Milliseconds = 0, Seconds = 0, days = 0;
void print_time(){
printUint((uint8_t*)&days, 2);
usart_send("d");
printUint((uint8_t*)&Seconds, 2);
usart_send("s");
printUint((uint8_t*)&Milliseconds, 2);
usart_send("ms\n");
}*/
int main() {
/** setup all other pins **/
STPRS_OFF(); // turn off steppers before configuring to output
DDRD = 0xfc; // steppers
DDRC = 0x0f; // steppers diagram
// 328p have no port A
PORTAB |= FLAT_PIN | NEON_PIN | SHTR_PIN; // turn all off
DDRAB = PORTAB_PINS;
/** USART config **/
// set baudrate (using macros from util/setbaud.h)
#if !defined (__AVR_ATmega8535__)
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
#if USE_2X
UCSR0A |= _BV(U2X0);
#else
UCSR0A &= ~(_BV(U2X0));
#endif
#else // __AVR_ATmega8535__
UCSRA &= ~(_BV(U2X0));
UBRRH = 0;
UBRRL = 51;
#endif
UCSR0C = _BV(UCSZ01) | _BV(UCSZ00); // 8-bit data
UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0); // Enable RX and TX, enable RX interrupt
/** setup timer 0 - system timer **/
// set prescaler to 8 and start the timer (2MHz*256 = 0.128ms period)
#if defined (__AVR_ATmega8535__)
//TCCR0 |= _BV(CS01) | _BV(CS00); // /64
TCCR0 |= _BV(CS01);
#else
//TCCR0B |= _BV(CS01) | _BV(CS00);
TCCR0B |= _BV(CS01);
#endif
TIMSK0 |= _BV(TOIE0);
stepper_setup();
sei(); // enable interrupts
wdt_enable(WDTO_2S); // start watchdog
usart_send("Scorpio platform ready\n");
while(1){
wdt_reset();
if(stepper_pulse) stepper_process();
if(usart_flags & U_RX_COMPLETE)
process_string();
}
return 0;
}
uint8_t LEDs[3] = {20,20,20}; // LEDs shining time
ISR(TIMER0_OVF_vect){
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){
Seconds = 0;
++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;
// #if defined (__AVR_ATmega8535__)
// TCNT0 += 128;
// #endif
}

169
avr/platform_deprecated/proto.c Normal file
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/*
* geany_encoding=koi8-r
* proto.c - base protocol definitions
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#include "includes.h"
/**
* Move motor for given amount of steps, cmd should be 'N nnnn any other symbols',
* N - motor number,
* nnnn - steps (-32768...32768)
* @return 1 if all OK
*/
uint8_t move_motor(char *cmd){
uint8_t N = (uint8_t)*cmd - '0';
if(N < 1 || N > 6) return 0;
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");
#endif
if(steps) return stepper_move(N, steps);
else{ // steps == 0 - just check endswitches
stepper_get_esw(N);
return 0;
}
}
/**
* 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(char *cmd){
cmd = omit_whitespace(cmd + 1);
if(*cmd > '0' && *cmd < '7')
return move_motor(cmd);
char s = *cmd;
cmd = omit_whitespace(cmd + 1);
switch(s){
case '0': // stop motors
DBG("restart");
stop_motors();
break;
case '7':
DBG("Shutter");
relay(cmd, SHTR_PIN, '7');
break;
case '8':
DBG("Neon");
relay(cmd, NEON_PIN, '8');
break;
case '9':
DBG("Flat");
relay(cmd, FLAT_PIN, '9');
break;
case 'a':
return stepper_ch_speed(cmd);
break;
case 'b':
DBG("LED1");
LEDshine(cmd, 0);
break;
case 'c':
DBG("LED2");
LEDshine(cmd, 1);
break;
case 'd':
DBG("LED3");
LEDshine(cmd, 2);
break;
default:
return 0;
}
DBG("\n");
return 1;
}
void process_string(){
if((usart_flags & U_RX_COMPLETE) == 0) return;
uint8_t noerr = 1, oldflags = usart_flags;
usart_flags &= ~(U_RX_COMPLETE | U_RX_OVERFL | U_RX_ERROR);
if(oldflags & U_RX_OVERFL){
DBG("Input buffer overflow\n");
noerr = 0;
}
if(oldflags & U_RX_ERROR){
DBG("Rx error\n");
noerr = 0;
}
if(rx_bufsize < 3 || rx_buffer[0] != '[' || rx_buffer[rx_bufsize - 2] != ']'){
#ifdef EBUG
usart_send(rx_buffer);
#endif
if(!chk_stpr_cmd(rx_buffer[0])){
DBG("Enter \"[cmd]\"\n");
}
//if(rx_buffer[0] == 't'){ print_time(); return; }
rx_bufsize = 0;
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(cmd);
}
}

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avr/platform_deprecated/proto.h Normal file
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/*
* geany_encoding=koi8-r
* proto.h
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#pragma once
#ifndef __PROTO_H__
#define __PROTO_H__
void process_string();
#endif // __PROTO_H__

501
avr/platform_deprecated/scorpio.c.tags Normal file
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@@ -0,0 +1,501 @@
# format=tagmanager
AVR_STACK_POINTER_ADDRÌ65536Ö0
AVR_STACK_POINTER_LO_ADDRÌ65536Ö0
AVR_STACK_POINTER_LO_REGÌ65536Ö0
AVR_STACK_POINTER_REGÌ65536Ö0
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AVR_STATUS_REGÌ65536Ö0
BADISR_vectÌ65536Ö0
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DBGÌ131072Í(x)Ö0
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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
UBRR_VALUEÌ65536Ö0
USART_RX_vectÌ16Í(void)Ö0Ïvoid
USART_RX_vectÌ1024Í(void)Ö0ÏÓ void
USART_UDRE_vectÌ16Í(void)Ö0Ïvoid
USART_UDRE_vectÌ1024Í(void)Ö0ÏÓ void
USE_2XÌ65536Ö0
U_RX_COMPLETEÌ65536Ö0
U_RX_ERRORÌ65536Ö0
U_RX_OVERFLÌ65536Ö0
U_TX_COMPLETEÌ65536Ö0
U_TX_ERRORÌ65536Ö0
UstepÌ16384Ö0Ïint8_t
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_AVR_FUSE_H_Ì65536Ö0
_AVR_INTERRUPT_H_Ì65536Ö0
_AVR_IO_H_Ì65536Ö0
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printUintÌ16Í(uint8_t *val, uint8_t len)Ö0Ïvoid
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readIntÌ16Í(char *buff, int16_t *val)Ö0Ïuint8_t
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relayÌ16Í(char *cmd, uint8_t pin, char N)Ö0Ïuint8_t
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stepper_get_eswÌ16Í(uint8_t Nmotor)Ö0Ïvoid
stepper_get_eswÌ1024Í(uint8_t Nmotor)Ö0Ïvoid
stepper_moveÌ16Í(uint8_t Nmotor, int16_t Nsteps)Ö0Ïuint8_t
stepper_moveÌ1024Í(uint8_t Nmotor, int16_t Nsteps)Ö0Ïuint8_t
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wdt_disableÌ131072Í()Ö0
wdt_enableÌ131072Í(value)Ö0
wdt_resetÌ131072Í()Ö0

192
avr/platform_deprecated/scorpio.hex Normal file
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:00000001FF

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/*
* geany_encoding=koi8-r
* stepper.c
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#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
* 3 0011
* 4 0100
* 5 0101
* 6 0110
* 7 0111
* 8 1000
* 9 1001
*10 1010
*11 1011
*12 1100
*13 1101
*14 1110
*15 1111
*/
// winding1: [13], winding2: [24]
// 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, active 1
//static const uint8_t usteps[8] = {7, 3, 11, 9, 13, 12, 14, 6}; // unipolar, active is 0
static const uint8_t usteps_matrix[8][8] = {
{0b1000, 0b1100, 0b0100, 0b0110, 0b0010, 0b0011, 0b0001, 0b1001}, // [1234]
{0b0010, 0b0110, 0b0100, 0b1100, 0b1000, 0b1001, 0b0001, 0b0011}, // [3214]
{0b1000, 0b1001, 0b0001, 0b0011, 0b0010, 0b0110, 0b0100, 0b1100}, // [1432]
{0b1000, 0b1010, 0b0010, 0b0110, 0b0100, 0b0101, 0b0001, 0b1001}, // [1324]
// 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'
{0b0111, 0b0011, 0b1011, 0b1001, 0b1101, 0b1100, 0b1110, 0b0110}, // [1234]
{0b1101, 0b1001, 0b1011, 0b0011, 0b0111, 0b0110, 0b1110, 0b1100}, // [3214]
{0b0111, 0b0110, 0b1110, 0b1100, 0b1101, 0b1001, 0b1011, 0b0011}, // [1432]
{0b0111, 0b0101, 0b1101, 0b1001, 0b1011, 0b1010, 0b1110, 0b0110}, // [1324]
};
uint8_t const *usteps = usteps_matrix[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
void stepper_setup(){
TCCR1B |= _BV(WGM12); // configure timer1 for CTC mode, TOP is OCR1A
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;
if(readInt(spd, &newval)){
if(newval > -9 && newval < 0x7fff){
uint16_t O = 0xffff / (newval + 10);
TIMSK1 &= ~_BV(OCIE1A); // disable timer interrupt
OCR1A = O;
TCNT1 = 0; // reset counter
TIMSK1 |= _BV(OCIE1A);
#ifdef EBUG
usart_send("Speed changed to ");
printUint((uint8_t*)&O, 2);
usart_send("\n");
#endif
}else DBG("Bad speed value\n");
}
return 0;
}
/**
* Check endswitches
* @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 1 if all OK, 0 if error occured
*/
uint8_t stepper_move(uint8_t Nmotor, int16_t Nsteps){
if(!Nmotor || Nmotor > 6 || !Nsteps || Steps_left) return 0;
TIMSK1 &= ~_BV(OCIE1A); // disable timer interrupt
// turn all OFF
STPRS_OFF();
// turn on the motor we need
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){
stop_motors();
return 0; // already at end-switch in given direction
}
if(Nsteps < 0){ // CCW
Nsteps = -Nsteps;
direction = 1;
}else direction = 0; // CW
Steps_left = Nsteps;
TCNT1 = 0; // reset counter
TIMSK1 |= _BV(OCIE1A);
return 1;
}
void stop_motors(){
stepper_get_esw(cur_motor);
// turn off all pulses to place motor in free state & prevent undesirable behaviour
STPRS_OFF();
TIMSK1 &= ~_BV(OCIE1A); // disable timer interrupt
stepper_pulse = 0;
Steps_left = 0;
Ustep = 0;
cur_motor = 0;
}
/**
* process stepper pulses generation @ timer event
*/
void stepper_process(){
stepper_pulse = 0;
uint8_t port = PORTC & 0xf0; // save old port state & clear clocking
PORTC = port | usteps[Ustep];
uint8_t sw = check_endsw(); // 1 - "-", 2 - "+", 0 - none
if(direction){ // CCW
if(--Ustep < 0){
Ustep = 7;
--Steps_left;
}
if(sw == 1){
stop_motors();
return;
}
}else{ // CW
if(++Ustep > 7){
Ustep = 0;
--Steps_left;
}
if(sw == 2){
stop_motors();
return;
}
}
if(Steps_left == 0) stop_motors();
}
/**
* 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);
}
/**
* 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
*/
ISR(TIMER1_COMPA_vect){
stepper_pulse = 1; // say that we can generate next microstep
}

44
avr/platform_deprecated/stepper.h Normal file
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/*
* geany_encoding=koi8-r
* stepper.h
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#pragma once
#ifndef __STEPPER_H__
#define __STEPPER_H__
#include <stdint.h>
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 stop_motors();
void stepper_get_esw(uint8_t Nmotor);
uint8_t chk_stpr_cmd(char N);
#endif // __STEPPER_H__

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avr/platform_deprecated/uart.c Normal file
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/*
* geany_encoding=koi8-r
* uart.c
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#include "includes.h"
char rx_buffer[RX_BUFFER_SIZE + 1];
volatile uint8_t rx_bufsize = 0;
static char tx_buffer[TX_BUFFER_SIZE];
volatile uint8_t tx_bufsize = 0, tx_idx = 0;
volatile uint8_t usart_flags = U_TX_COMPLETE;
/**
* Send zero-terminated string using USART
* if length of string (excluding 0) > TX_BUFFER_SIZE return 1
* if all OK return 0
*/
int usart_send(char *Str){
while((usart_flags & U_TX_COMPLETE) == 0);
usart_flags &= ~(U_TX_COMPLETE | U_TX_ERROR);
tx_idx = 0;
for(tx_bufsize = 0; tx_bufsize < TX_BUFFER_SIZE; ++tx_bufsize){
if(*Str == 0) break;
tx_buffer[tx_bufsize] = *Str++;
}
if(tx_bufsize == TX_BUFFER_SIZE){ // error: buffer overflow
tx_bufsize = 0;
usart_flags |= U_TX_COMPLETE;
return 1;
}
UCSR0B |= _BV(UDRIE0); // allow TX data buffer empty interrupt
return 0;
}
/**
* print signed long onto terminal
* max len = 10 symbols + 1 for "-" + 1 for '\n' + 1 for 0 = 13
*/
void print_long(int32_t Number){
uint8_t i, L = 0;
uint8_t ch;
char decimal_buff[12];
decimal_buff[11] = 0;
ch = 11;
if(Number < 0){
Number = -Number;
L = 1;
}
do{
i = Number % 10L;
decimal_buff[--ch] = i + '0';
Number /= 10L;
}while(Number && ch > 0);
if(ch > 0 && L) decimal_buff[--ch] = '-';
usart_send(&decimal_buff[ch]);
}
void printUint(uint8_t *val, uint8_t len){
uint32_t Number = 0;
uint8_t i = len;
int8_t ch;
uint8_t decimal_buff[11]; // max len of U32 == 10 + \0
if(len > 4 || len == 3 || len == 0) return;
for(i = 0; i < 11; i++)
decimal_buff[i] = 0;
ch = 9;
switch(len){
case 1:
Number = *((uint8_t*)val);
break;
case 2:
Number = *((uint16_t*)val);
break;
case 4:
Number = *((uint32_t*)val);
break;
}
do{
i = Number % 10L;
decimal_buff[ch--] = i + '0';
Number /= 10L;
}while(Number && ch > -1);
usart_send((char*)&decimal_buff[ch+1]);
}
char *omit_whitespace(char *str){
char c;
for(c = *str; c == ' ' || c == '\t' || c == '\r' || c == '\n'; c = *(++str));
return str;
}
/**
* read 16 bit integer value from buffer until first non-number
* @param buff (i) - input buffer
* @param (o) - output value
* @return 1 if all OK or 0 if there's none numbers in buffer
*/
uint8_t readInt(char *buff, int16_t *val){
uint8_t sign = 0, rb, bad = 1;
int32_t R = 0;
//usart_send("readInt, buff=");
//usart_send(buff);
if(*buff == '-'){
sign = 1;
++buff;
}
do{
rb = *buff++;
if(rb < '0' || rb > '9') break;
bad = 0;
R = R * 10L + rb - '0';
if(R > 0x7fff){ // bad value
bad = 1;
break;
}
}while(1);
//print_long(R);
if(bad) return 0;
if(sign) R = -R;
if(val) *val = (int16_t)R;
return 1;
}
ISR(USART_RX_vect){
char c = UDR0, r = UCSR0A;
if(0 == (r & (_BV(FE0) | _BV(UPE0) | _BV(DOR0)))){ // no errors
rx_buffer[rx_bufsize++] = c;
if(c == '\n') usart_flags |= U_RX_COMPLETE;
else if(rx_bufsize == RX_BUFFER_SIZE)
usart_flags |= U_RX_COMPLETE | U_RX_OVERFL;
}else usart_flags |= U_RX_COMPLETE | U_RX_ERROR;
}
ISR(USART_UDRE_vect){
if(tx_bufsize == 0){
UCSR0B &= ~_BV(UDRIE0);
usart_flags |= U_TX_COMPLETE;
return;
}
UDR0 = tx_buffer[tx_idx++];
if(tx_idx == tx_bufsize){
tx_idx = 0;
tx_bufsize = 0;
UCSR0B &= ~_BV(UDRIE0);
usart_flags |= U_TX_COMPLETE;
}
}

52
avr/platform_deprecated/uart.h Normal file
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/*
* geany_encoding=koi8-r
* uart.h
*
* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This program 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 2 of the License, or
* (at your option) any later version.
*
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
* MA 02110-1301, USA.
*
*/
#pragma once
#ifndef __UART_H__
#define __UART_H__
#include <avr/io.h> // IO ports
#include <stdint.h> // int types
#define U_TX_COMPLETE (_BV(0))
#define U_RX_COMPLETE (_BV(1))
#define U_TX_ERROR (_BV(2))
#define U_RX_ERROR (_BV(3))
#define U_RX_OVERFL (_BV(4))
#define RX_BUFFER_SIZE (32)
#define TX_BUFFER_SIZE (32)
extern volatile uint8_t usart_flags;
extern char rx_buffer[];
extern volatile uint8_t rx_bufsize;
int usart_send(char *Str);
void print_long(int32_t Number);
void printUint(uint8_t *val, uint8_t len);
uint8_t readInt(char *buff, int16_t *val);
char *omit_whitespace(char *str);
#endif // __UART_H__