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Added simple stepper motion control

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eddyem 2015-08-12 15:31:21 +03:00
parent c556bc8ab7
commit a5ce88a19b
25 changed files with 1695 additions and 0 deletions
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133
stepper_motion/Makefile Normal file
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BINARY = usb_cdc_simple
BOOTPORT ?= /dev/ttyUSB0
BOOTSPEED ?= 115200
# change this linking script depending on particular MCU model,
# for example, if you have STM32F103VBT6, you should write:
LDSCRIPT = ld/stm32f103x8.ld
LIBNAME = opencm3_stm32f1
DEFS = -DSTM32F1 -DEBUG
OBJDIR = mk
INDEPENDENT_HEADERS=
FP_FLAGS ?= -msoft-float
ARCH_FLAGS = -mthumb -mcpu=cortex-m3 $(FP_FLAGS) -mfix-cortex-m3-ldrd
###############################################################################
# Executables
PREFIX ?= arm-none-eabi
RM := rm -f
RMDIR := rmdir
CC := $(PREFIX)-gcc
LD := $(PREFIX)-gcc
AR := $(PREFIX)-ar
AS := $(PREFIX)-as
OBJCOPY := $(PREFIX)-objcopy
OBJDUMP := $(PREFIX)-objdump
GDB := $(PREFIX)-gdb
STFLASH = $(shell which st-flash)
STBOOT = $(shell which stm32flash)
###############################################################################
# Source files
LDSCRIPT ?= $(BINARY).ld
SRC = $(wildcard *.c)
OBJS = $(addprefix $(OBJDIR)/, $(SRC:%.c=%.o))
ifeq ($(strip $(OPENCM3_DIR)),)
OPENCM3_DIR := /usr/local/arm-none-eabi
$(info Using $(OPENCM3_DIR) path to library)
endif
INCLUDE_DIR = $(OPENCM3_DIR)/include
LIB_DIR = $(OPENCM3_DIR)/lib
SCRIPT_DIR = $(OPENCM3_DIR)/scripts
###############################################################################
# C flags
CFLAGS += -Os -g
CFLAGS += -Wall -Wextra -Wshadow -Wimplicit-function-declaration
CFLAGS += -Wredundant-decls
# -Wmissing-prototypes -Wstrict-prototypes
CFLAGS += -fno-common -ffunction-sections -fdata-sections
###############################################################################
# C & C++ preprocessor common flags
CPPFLAGS += -MD
CPPFLAGS += -Wall -Werror
CPPFLAGS += -I$(INCLUDE_DIR) $(DEFS)
###############################################################################
# Linker flags
LDFLAGS += --static -nostartfiles
LDFLAGS += -L$(LIB_DIR)
LDFLAGS += -T$(LDSCRIPT)
LDFLAGS += -Wl,-Map=$(*).map
LDFLAGS += -Wl,--gc-sections
###############################################################################
# Used libraries
LDLIBS += -l$(LIBNAME)
LDLIBS += -Wl,--start-group -lc -lgcc -Wl,--end-group
.SUFFIXES: .elf .bin .hex .srec .list .map .images
.SECONDEXPANSION:
.SECONDARY:
ELF := $(OBJDIR)/$(BINARY).elf
LIST := $(OBJDIR)/$(BINARY).list
BIN := $(BINARY).bin
HEX := $(BINARY).hex
all: bin
elf: $(ELF)
bin: $(BIN)
hex: $(HEX)
list: $(LIST)
$(OBJDIR):
mkdir $(OBJDIR)
$(OBJDIR)/%.o: %.c
@printf " CC $<\n"
$(CC) $(CFLAGS) $(CPPFLAGS) $(ARCH_FLAGS) -o $@ -c $<
$(SRC) : %.c : %.h $(INDEPENDENT_HEADERS)
@touch $@
%.h: ;
$(BIN): $(ELF)
@printf " OBJCOPY $(BIN)\n"
$(OBJCOPY) -Obinary $(ELF) $(BIN)
$(HEX): $(ELF)
@printf " OBJCOPY $(HEX)\n"
$(OBJCOPY) -Oihex $(ELF) $(HEX)
$(LIST): $(ELF)
@printf " OBJDUMP $(LIST)\n"
$(OBJDUMP) -S $(ELF) > $(LIST)
$(ELF): $(OBJDIR) $(OBJS) $(LDSCRIPT) $(LIB_DIR)/lib$(LIBNAME).a
@printf " LD $(ELF)\n"
$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $(ELF)
clean:
@printf " CLEAN\n"
$(RM) $(OBJS) $(OBJDIR)/*.d $(ELF) $(HEX) $(LIST) $(OBJDIR)/*.map
$(RMDIR) $(OBJDIR)
flash: $(BIN)
@printf " FLASH $(BIN)\n"
$(STFLASH) write $(BIN) 0x8000000
boot: $(BIN)
@printf " LOAD $(BIN) through bootloader\n"
$(STBOOT) -b$(BOOTSPEED) $(BOOTPORT) -w $(BIN)
.PHONY: clean elf hex list flash boot
#-include $(OBJS:.o=.d)

5
stepper_motion/README Normal file
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Very simple USB-CDC
written for chinese devboard based on STM32F103RBT6
Press H for help

314
stepper_motion/cdcacm.c Normal file
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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
#include "cdcacm.h"
#include "user_proto.h"
#include "main.h"
// Buffer for USB Tx
static uint8_t USB_Tx_Buffer[USB_TX_DATA_SIZE];
static uint8_t USB_Tx_ptr = 0;
// connection flag
uint8_t USB_connected = 0;
static const struct usb_device_descriptor dev = {
.bLength = USB_DT_DEVICE_SIZE,
.bDescriptorType = USB_DT_DEVICE,
.bcdUSB = 0x0200,
.bDeviceClass = USB_CLASS_CDC,
.bDeviceSubClass = 0,
.bDeviceProtocol = 0,
.bMaxPacketSize0 = 64,
.idVendor = 0x0483,
.idProduct = 0x5740,
.bcdDevice = 0x0200,
.iManufacturer = 1,
.iProduct = 2,
.iSerialNumber = 3,
.bNumConfigurations = 1,
};
char usbdatabuf[USB_RX_DATA_SIZE]; // buffer for received data
int usbdatalen = 0; // lenght of received data
/*
* This notification endpoint isn't implemented. According to CDC spec its
* optional, but its absence causes a NULL pointer dereference in Linux
* cdc_acm driver.
*/
static const struct usb_endpoint_descriptor comm_endp[] = {{
.bLength = USB_DT_ENDPOINT_SIZE,
.bDescriptorType = USB_DT_ENDPOINT,
.bEndpointAddress = 0x83,
.bmAttributes = USB_ENDPOINT_ATTR_INTERRUPT,
.wMaxPacketSize = 16,
.bInterval = 255,
}};
static const struct usb_endpoint_descriptor data_endp[] = {{
.bLength = USB_DT_ENDPOINT_SIZE,
.bDescriptorType = USB_DT_ENDPOINT,
.bEndpointAddress = 0x01,
.bmAttributes = USB_ENDPOINT_ATTR_BULK,
.wMaxPacketSize = 64,
.bInterval = 1,
}, {
.bLength = USB_DT_ENDPOINT_SIZE,
.bDescriptorType = USB_DT_ENDPOINT,
.bEndpointAddress = 0x82,
.bmAttributes = USB_ENDPOINT_ATTR_BULK,
.wMaxPacketSize = 64,
.bInterval = 1,
}};
static const struct {
struct usb_cdc_header_descriptor header;
struct usb_cdc_call_management_descriptor call_mgmt;
struct usb_cdc_acm_descriptor acm;
struct usb_cdc_union_descriptor cdc_union;
} __attribute__((packed)) cdcacm_functional_descriptors = {
.header = {
.bFunctionLength = sizeof(struct usb_cdc_header_descriptor),
.bDescriptorType = CS_INTERFACE,
.bDescriptorSubtype = USB_CDC_TYPE_HEADER,
.bcdCDC = 0x0110,
},
.call_mgmt = {
.bFunctionLength =
sizeof(struct usb_cdc_call_management_descriptor),
.bDescriptorType = CS_INTERFACE,
.bDescriptorSubtype = USB_CDC_TYPE_CALL_MANAGEMENT,
.bmCapabilities = 0,
.bDataInterface = 1,
},
.acm = {
.bFunctionLength = sizeof(struct usb_cdc_acm_descriptor),
.bDescriptorType = CS_INTERFACE,
.bDescriptorSubtype = USB_CDC_TYPE_ACM,
.bmCapabilities = 0,
},
.cdc_union = {
.bFunctionLength = sizeof(struct usb_cdc_union_descriptor),
.bDescriptorType = CS_INTERFACE,
.bDescriptorSubtype = USB_CDC_TYPE_UNION,
.bControlInterface = 0,
.bSubordinateInterface0 = 1,
},
};
static const struct usb_interface_descriptor comm_iface[] = {{
.bLength = USB_DT_INTERFACE_SIZE,
.bDescriptorType = USB_DT_INTERFACE,
.bInterfaceNumber = 0,
.bAlternateSetting = 0,
.bNumEndpoints = 1,
.bInterfaceClass = USB_CLASS_CDC,
.bInterfaceSubClass = USB_CDC_SUBCLASS_ACM,
.bInterfaceProtocol = USB_CDC_PROTOCOL_AT,
.iInterface = 0,
.endpoint = comm_endp,
.extra = &cdcacm_functional_descriptors,
.extralen = sizeof(cdcacm_functional_descriptors),
}};
static const struct usb_interface_descriptor data_iface[] = {{
.bLength = USB_DT_INTERFACE_SIZE,
.bDescriptorType = USB_DT_INTERFACE,
.bInterfaceNumber = 1,
.bAlternateSetting = 0,
.bNumEndpoints = 2,
.bInterfaceClass = USB_CLASS_DATA,
.bInterfaceSubClass = 0,
.bInterfaceProtocol = 0,
.iInterface = 0,
.endpoint = data_endp,
}};
static const struct usb_interface ifaces[] = {{
.num_altsetting = 1,
.altsetting = comm_iface,
}, {
.num_altsetting = 1,
.altsetting = data_iface,
}};
static const struct usb_config_descriptor config = {
.bLength = USB_DT_CONFIGURATION_SIZE,
.bDescriptorType = USB_DT_CONFIGURATION,
.wTotalLength = 0,
.bNumInterfaces = 2,
.bConfigurationValue = 1,
.iConfiguration = 0,
.bmAttributes = 0x80,
.bMaxPower = 0x32,
.interface = ifaces,
};
static const char *usb_strings[] = {
"Organisation, author",
"device",
"version",
};
// default line coding: B115200, 1stop, 8bits, parity none
struct usb_cdc_line_coding linecoding = {
.dwDTERate = 115200,
.bCharFormat = USB_CDC_1_STOP_BITS,
.bParityType = USB_CDC_NO_PARITY,
.bDataBits = 8,
};
/* Buffer to be used for control requests. */
uint8_t usbd_control_buffer[128];
/**
* This function runs every time it gets a request for control parameters get/set
* parameter SET_LINE_CODING used to change USART1 parameters: if you want to
* change them, just connect through USB with required parameters
*/
static int cdcacm_control_request(usbd_device *usbd_dev, struct usb_setup_data *req, uint8_t **buf,
uint16_t *len, void (**complete)(usbd_device *usbd_dev, struct usb_setup_data *req)){
(void)complete;
(void)buf;
(void)usbd_dev;
char local_buf[10];
struct usb_cdc_line_coding lc;
switch (req->bRequest) {
case SET_CONTROL_LINE_STATE:{
if(req->wValue){ // terminal is opened
USB_connected = 1;
}else{ // terminal is closed
USB_connected = 0;
}
/*
* This Linux cdc_acm driver requires this to be implemented
* even though it's optional in the CDC spec, and we don't
* advertise it in the ACM functional descriptor.
*/
struct usb_cdc_notification *notif = (void *)local_buf;
/* We echo signals back to host as notification. */
notif->bmRequestType = 0xA1;
notif->bNotification = USB_CDC_NOTIFY_SERIAL_STATE;
notif->wValue = 0;
notif->wIndex = 0;
notif->wLength = 2;
local_buf[8] = req->wValue & 3;
local_buf[9] = 0;
usbd_ep_write_packet(usbd_dev, 0x83, local_buf, 10);
}break;
case SET_LINE_CODING:
if (!len || (*len != sizeof(struct usb_cdc_line_coding)))
return 0;
memcpy((void *)&lc, (void *)*buf, *len);
// Mark & Space parity don't support by hardware, check it
if(lc.bParityType == USB_CDC_MARK_PARITY || lc.bParityType == USB_CDC_SPACE_PARITY){
return 0; // error
}else{
// memcpy((void *)&linecoding, (void *)&lc, sizeof(struct usb_cdc_line_coding));
// UART_setspeed(USART1, &linecoding);
}
break;
case GET_LINE_CODING: // return linecoding buffer
if(len && *len == sizeof(struct usb_cdc_line_coding))
memcpy((void *)*buf, (void *)&linecoding, sizeof(struct usb_cdc_line_coding));
//usbd_ep_write_packet(usbd_dev, 0x83, (char*)&linecoding, sizeof(linecoding));
break;
default:
return 0;
}
return 1;
}
static void cdcacm_data_rx_cb(usbd_device *usbd_dev, uint8_t ep){
(void)ep;
int len = usbd_ep_read_packet(usbd_dev, 0x01, usbdatabuf + usbdatalen, USB_RX_DATA_SIZE - usbdatalen);
usbdatalen += len;
if(usbdatalen >= USB_RX_DATA_SIZE){ // buffer overflow - drop all its contents
usbdatalen = 0;
}
}
static void cdcacm_data_tx_cb(usbd_device *usbd_dev, uint8_t ep){
(void)ep;
(void)usbd_dev;
usb_send_buffer();
}
static void cdcacm_set_config(usbd_device *usbd_dev, uint16_t wValue)
{
(void)wValue;
(void)usbd_dev;
usbd_ep_setup(usbd_dev, 0x01, USB_ENDPOINT_ATTR_BULK, USB_RX_DATA_SIZE, cdcacm_data_rx_cb);
usbd_ep_setup(usbd_dev, 0x82, USB_ENDPOINT_ATTR_BULK, USB_TX_DATA_SIZE, cdcacm_data_tx_cb);
usbd_ep_setup(usbd_dev, 0x83, USB_ENDPOINT_ATTR_INTERRUPT, 16, NULL);
usbd_register_control_callback(
usbd_dev,
USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
cdcacm_control_request);
}
static usbd_device *current_usb = NULL;
usbd_device *USB_init(){
current_usb = usbd_init(&stm32f103_usb_driver, &dev, &config,
usb_strings, 3, usbd_control_buffer, sizeof(usbd_control_buffer));
if(!current_usb) return NULL;
usbd_register_set_config_callback(current_usb, cdcacm_set_config);
return current_usb;
}
mutex_t send_block_mutex = MUTEX_UNLOCKED;
/**
* Put byte into USB buffer to send
* @param byte - a byte to put into a buffer
*/
void usb_send(uint8_t byte){
mutex_lock(&send_block_mutex);
USB_Tx_Buffer[USB_Tx_ptr++] = byte;
mutex_unlock(&send_block_mutex);
if(USB_Tx_ptr == USB_TX_DATA_SIZE){ // buffer can be overflowed - send it!
usb_send_buffer();
}
}
/**
* Send all data in buffer over USB
* this function runs when buffer is full or on SysTick
*/
void usb_send_buffer(){
if(MUTEX_LOCKED == mutex_trylock(&send_block_mutex)) return;
if(USB_Tx_ptr){
if(current_usb && USB_connected){
// usbd_ep_write_packet return 0 if previous packet isn't transmit yet
while(USB_Tx_ptr != usbd_ep_write_packet(current_usb, 0x82, USB_Tx_Buffer, USB_Tx_ptr));
usbd_poll(current_usb);
}
USB_Tx_ptr = 0;
}
mutex_unlock(&send_block_mutex);
}

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/*
* ccdcacm.h
*
* Copyright 2014 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 __CCDCACM_H__
#define __CCDCACM_H__
#include <libopencm3/usb/usbd.h>
// commands through EP0
#define SEND_ENCAPSULATED_COMMAND 0x00
#define GET_ENCAPSULATED_RESPONSE 0x01
#define SET_COMM_FEATURE 0x02
#define GET_COMM_FEATURE 0x03
#define CLEAR_COMM_FEATURE 0x04
#define SET_LINE_CODING 0x20
#define GET_LINE_CODING 0x21
#define SET_CONTROL_LINE_STATE 0x22
#define SEND_BREAK 0x23
// Size of input/output buffers
#define USB_TX_DATA_SIZE 64
#define USB_RX_DATA_SIZE 64
// USB connection flag
extern uint8_t USB_connected;
extern struct usb_cdc_line_coding linecoding;
extern char usbdatabuf[];
extern int usbdatalen;
usbd_device *USB_init();
void usb_send(uint8_t byte);
void usb_send_buffer();
#endif // __CCDCACM_H__

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/*
* hardware_ini.c - functions for HW initialisation
*
* Copyright 2014 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.
*/
/*
* All hardware-dependent initialisation & definition should be placed here
* and in hardware_ini.h
*
*/
#include "main.h"
#include "hardware_ini.h"
/**
* GPIO initialisaion: clocking + pins setup
*/
void GPIO_init(){
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
RCC_APB2ENR_IOPBEN | RCC_APB2ENR_IOPCEN | RCC_APB2ENR_IOPDEN |
RCC_APB2ENR_IOPEEN);
/*
// Buttons: pull-up input
gpio_set_mode(BTNS_PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN,
BTN_S2_PIN | BTN_S3_PIN);
// turn on pull-up
gpio_set(BTNS_PORT, BTN_S2_PIN | BTN_S3_PIN);
// LEDS: opendrain output
gpio_set_mode(LEDS_PORT, GPIO_MODE_OUTPUT_2_MHZ, GPIO_CNF_OUTPUT_OPENDRAIN,
LED_D1_PIN | LED_D2_PIN);
// turn off LEDs
gpio_set(LEDS_PORT, LED_D1_PIN | LED_D2_PIN);
*/
/*
// USB_DISC: push-pull
gpio_set_mode(USB_DISC_PORT, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, USB_DISC_PIN);
// USB_POWER: open drain, externall pull down with R7 (22k)
gpio_set_mode(USB_POWER_PORT, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, USB_POWER_PIN);
*/
}
/*
* SysTick used for system timer with period of 1ms
*/
void SysTick_init(){
systick_set_clocksource(STK_CSR_CLKSOURCE_AHB_DIV8); // Systyck: 72/8=9MHz
systick_set_reload(8999); // 9000 pulses: 1kHz
systick_interrupt_enable();
systick_counter_enable();
}
/*
// check buttons S2/S3
void check_btns(){
static uint8_t oldstate[2] = {1,1}; // old buttons state
uint8_t newstate[2], i;
static uint32_t Old_timer[2] = {0,0};
newstate[0] = gpio_get(BTNS_PORT, BTN_S2_PIN) ? 1 : 0;
newstate[1] = gpio_get(BTNS_PORT, BTN_S3_PIN) ? 1 : 0;
for(i = 0; i < 2; i++){
uint8_t new = newstate[i];
// pause for 60ms
uint32_t O = Old_timer[i];
if(O){
if(Timer - O > 60 || O > Timer){
P("Button S");
usb_send('2' + i);
if(new) P("released");
else P("pressed");
newline();
oldstate[i] = new;
Old_timer[i] = 0;
}
}
else if(new != oldstate[i]){
Old_timer[i] = Timer;
}
}
}
*/

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/*
* hardware_ini.h
*
* Copyright 2014 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 __HARDWARE_INI_H__
#define __HARDWARE_INI_H__
/*
* Timers:
* SysTick - system time
*/
void GPIO_init();
void SysTick_init();
/*
* USB interface
* connect boot1 jumper to gnd, boot0 to gnd; and reconnect boot0 to +3.3 to boot flash
*/
/*
// USB_DICS (disconnect) - PC11
#define USB_DISC_PIN GPIO11
#define USB_DISC_PORT GPIOC
// USB_POWER (high level when USB connected to PC)
#define USB_POWER_PIN GPIO10
#define USB_POWER_PORT GPIOC
// change signal level on USB diconnect pin
#define usb_disc_high() gpio_set(USB_DISC_PORT, USB_DISC_PIN)
#define usb_disc_low() gpio_clear(USB_DISC_PORT, USB_DISC_PIN)
// in case of n-channel FET on 1.5k pull-up change on/off disconnect means low level
// in case of pnp bipolar transistor or p-channel FET on 1.5k pull-up disconnect means high level
#define usb_disconnect() usb_disc_high()
#define usb_connect() usb_disc_low()
*/
// my simple devboard have no variants for programmed connection/disconnection of USB
#define usb_disconnect()
#define usb_connect()
#endif // __HARDWARE_INI_H__

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stm32f103?4* stm32f1 ROM=16K RAM=6K
stm32f103?6* stm32f1 ROM=32K RAM=10K
stm32f103?8* stm32f1 ROM=64K RAM=20K
stm32f103?b* stm32f1 ROM=128K RAM=20K
stm32f103?c* stm32f1 ROM=256K RAM=48K
stm32f103?d* stm32f1 ROM=384K RAM=64K
stm32f103?e* stm32f1 ROM=512K RAM=64K
stm32f103?f* stm32f1 ROM=768K RAM=96K
stm32f103?g* stm32f1 ROM=1024K RAM=96K

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stepper_motion/ld/stm32f103x4.ld Normal file
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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 16K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 6K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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stepper_motion/ld/stm32f103x6.ld Normal file
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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 32K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 10K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 64K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 128K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 20K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 256K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 48K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 384K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 512K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 64K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 768K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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@ -0,0 +1,31 @@
/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Karl Palsson <karlp@tweak.net.au>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/* Linker script for STM32F100x4, 16K flash, 4K RAM. */
/* Define memory regions. */
MEMORY
{
rom (rx) : ORIGIN = 0x08000000, LENGTH = 1024K
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 96K
}
/* Include the common ld script. */
INCLUDE libopencm3_stm32f1.ld

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/*
* main.c
*
* Copyright 2014 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 "main.h"
#include "hardware_ini.h"
#include "cdcacm.h"
#include "steppers.h"
volatile uint32_t Timer = 0; // global timer (milliseconds)
usbd_device *usbd_dev;
int main(){
uint32_t Old_timer = 0;
// RCC clocking: 8MHz oscillator -> 72MHz system
rcc_clock_setup_in_hse_8mhz_out_72mhz();
GPIO_init();
usb_disconnect(); // turn off USB while initializing all
steppers_init();
// USB
usbd_dev = USB_init();
// SysTick is a system timer with 1ms period
SysTick_init();
// wait a little and then turn on USB pullup
// for (i = 0; i < 0x800000; i++)
// __asm__("nop");
usb_connect(); // turn on USB
while(1){
usbd_poll(usbd_dev);
if(usbdatalen){ // there's something in USB buffer
usbdatalen = parce_incoming_buf(usbdatabuf, usbdatalen);
}
//check_and_parce_UART(USART1); // also check data in UART buffers
if(Timer - Old_timer > 999){ // one-second cycle
Old_timer += 1000;
}else if(Timer < Old_timer){ // Timer overflow
Old_timer = 0;
}
}
}
/**
* SysTick interrupt: increment global time & send data buffer through USB
*/
void sys_tick_handler(){
Timer++;
usbd_poll(usbd_dev);
usb_send_buffer();
}
// pause function, delay in ms
void Delay(uint16_t _U_ time){
uint32_t waitto = Timer + time;
while(Timer < waitto);
}
/**
* print current time in milliseconds: 4 bytes for ovrvlow + 4 bytes for time
* with ' ' as delimeter
*/
void print_time(){
print_int(Timer);
}

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/*
* main.h
*
* Copyright 2014 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 __MAIN_H__
#define __MAIN_H__
#include <stdlib.h>
#include <string.h> // memcpy
#include <libopencm3/stm32/gpio.h>
#include <libopencm3/stm32/usart.h>
#include <libopencm3/cm3/nvic.h>
#include <libopencm3/usb/cdc.h>
#include <libopencm3/usb/usbd.h>
#include <libopencm3/cm3/systick.h>
#include <libopencm3/stm32/rcc.h>
#include <libopencm3/stm32/adc.h>
#include <libopencm3/stm32/dma.h>
#include <libopencm3/stm32/spi.h>
#define ADC_CHANNELS_NUMBER (10)
#include "sync.h" // mutexes
#include "user_proto.h"
#define _U_ __attribute__((__unused__))
#define U8(x) ((uint8_t) x)
#define U16(x) ((uint16_t) x)
#define U32(x) ((uint32_t) x)
extern volatile uint32_t Timer; // global timer (milliseconds)
void Delay(uint16_t time);
#endif // __MAIN_H__

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/*
* steppers.c
*
* Copyright 2015 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 "steppers.h"
#include "user_proto.h"
#include <libopencm3/stm32/timer.h>
volatile int32_t Glob_steps = 0;
volatile int Dir = 0; // 0 - stop, 1 - move to +, -1 - move to -
int32_t stepper_period = STEPPER_DEFAULT_PERIOD;
/**
* Init TIM2_CH3 (& remap to 5V tolerant PB10) [STEP] and PB11 [DIR]
*/
void steppers_init(){
// Turn off JTAG & SWD, remap TIM2_CH3 to PB10 (five tolerant)
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_AFIOEN | RCC_APB2ENR_IOPBEN);
gpio_primary_remap(AFIO_MAPR_SWJ_CFG_JTAG_OFF_SW_OFF, AFIO_MAPR_TIM2_REMAP_PARTIAL_REMAP2);
// setup PB10 & PB11 - both opendrain
gpio_set_mode(GPIO_BANK_TIM2_PR2_CH3, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN, GPIO_TIM2_PR2_CH3);
// GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, GPIO_TIM2_PR2_CH3);
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_2_MHZ,
GPIO_CNF_OUTPUT_OPENDRAIN, GPIO11);
rcc_periph_clock_enable(RCC_TIM2);
timer_reset(TIM2);
// timers have frequency of 1MHz -- 1us for one step
timer_set_mode(TIM2, TIM_CR1_CKD_CK_INT, TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
// 36MHz of APB1 x2 = 72MHz
TIM2_PSC = STEPPER_TIM_DEFAULT_PRESCALER; // prescaler is (div - 1)
TIM2_CR1 = 0;
TIM2_CCER = 0;
TIM2_CCMR2 = 0;
TIM2_DIER = 0;
TIM2_SR = 0; // clear all flags
// PWM_OUT for TIM2_CH3
TIM2_CCMR2 = TIM_CCMR2_CC3S_OUT | TIM_CCMR2_OC3M_PWM1;
// active is low
TIM2_CCER = TIM_CCER_CC3E | TIM_CCER_CC3P;
// enable update IRQ
TIM2_DIER = TIM_DIER_UIE;
TIM2_ARR = STEPPER_DEFAULT_PERIOD;
TIM2_CCR3 = STEPPER_PULSE_LEN;
nvic_enable_irq(NVIC_TIM2_IRQ);
}
/**
* Set stepper period
*/
uint8_t set_stepper_speed(int32_t Period){
if(Period > STEPPER_MIN_PERIOD && Period < STEPPER_MAX_PERIOD){
P("Set stepper period to ");
if(Period > STEPPER_TIM_MAX_ARRVAL){ // redefine prescaler when value is too large
TIM2_PSC = STEPPER_TIM_HUNDR_PRESCALER;
Period /= 100;
print_int(Period*100);
TIM2_ARR = --Period;
}else{ // default prescaler - for 1MHz
print_int(Period);
TIM2_PSC = STEPPER_TIM_DEFAULT_PRESCALER;
TIM2_ARR = --Period;
}
stepper_period = Period;
newline();
}
return 0;
}
void stop_stepper(){
TIM2_CCR3 = 0;
TIM2_CR1 = 0;
Glob_steps = 0;
Dir = 0;
gpio_set(GPIOB, GPIO11); // clear "direction"
P("Stopped!\n");
}
/**
* move stepper motor to N steps
* if motor is moving - just add Nsteps to current counter
*/
uint8_t move_stepper(int32_t Nsteps){
int dir = 1;
if(!Nsteps) return 0;
if(TIM2_CR1){ // moving
if(!gpio_get(GPIOB, GPIO11)) dir = 0; // negative direction
Glob_steps += Nsteps;
if(Glob_steps < 0){
Glob_steps = -Glob_steps;
dir = !dir;
}
}else{ // start timer if not moving
if(Nsteps < 0){ // change direction
dir = 0;
Nsteps = -Nsteps;
}
Glob_steps = Nsteps;
TIM2_ARR = stepper_period;
TIM2_CCR3 = STEPPER_PULSE_LEN;
TIM2_CR1 = TIM_CR1_CEN;
}
// set/clear direction
P("Rotate ");
if(dir){
gpio_set(GPIOB, GPIO11);
}else{
gpio_clear(GPIOB, GPIO11);
P("counter-");
}
P("clockwise to ");
print_int(Glob_steps);
P(" steps\n");
return 0;
}
void tim2_isr(){
// Next step
if(TIM2_SR & TIM_SR_UIF){
if(--Glob_steps < 1){ // stop timer as steps ends
stop_stepper();
}
}
TIM2_SR = 0;
}
int32_t stepper_get_period(){
int32_t r = stepper_period + 1;
if(TIM2_PSC == STEPPER_TIM_DEFAULT_PRESCALER) return r;
else return r * 100;
}

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/*
* steppers.h
*
* Copyright 2015 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 __STEPPERS_H__
#define __STEPPERS_H__
#include "main.h"
// minimal period - 100us (10000ticks per second)
#define STEPPER_MIN_PERIOD (99)
// default period
#define STEPPER_DEFAULT_PERIOD (1299)
// high (off) pulse length: 70us (minimum value according documentation is 0.5us)
#define STEPPER_PULSE_LEN (69)
// TIM2 have 16bit ARR register, so max P with fixed prescaler is 65536
#define STEPPER_TIM_MAX_ARRVAL (65536)
// max period allowed: 6553600us = 6.5s
#define STEPPER_MAX_PERIOD (6553601)
// default prescaler for 1MHz
#define STEPPER_TIM_DEFAULT_PRESCALER (71)
// prescaler for 100kHz
#define STEPPER_TIM_HUNDR_PRESCALER (7199)
void steppers_init();
uint8_t set_stepper_speed(int32_t Period);
uint8_t move_stepper(int32_t Nsteps);
void stop_stepper();
extern volatile int32_t Glob_steps;
#define stepper_get_steps() (Glob_steps)
extern int32_t stepper_period;
int32_t stepper_get_period();
#endif // __STEPPERS_H__

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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* TODO:
* implement mutexes for other type of MCU (which doesn't have strex & ldrex)
*/
#include <libopencm3/cm3/sync.h>
/* DMB is supported on CM0 */
void __dmb()
{
__asm__ volatile ("dmb");
}
/* Those are defined only on CM3 or CM4 */
#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
uint32_t __ldrex(volatile uint32_t *addr)
{
uint32_t res;
__asm__ volatile ("ldrex %0, [%1]" : "=r" (res) : "r" (addr));
return res;
}
uint32_t __strex(uint32_t val, volatile uint32_t *addr)
{
uint32_t res;
__asm__ volatile ("strex %0, %2, [%1]"
: "=&r" (res) : "r" (addr), "r" (val));
return res;
}
void mutex_lock(mutex_t *m)
{
uint32_t status = 0;
do {
/* Wait until the mutex is unlocked. */
while (__ldrex(m) != MUTEX_UNLOCKED);
/* Try to acquire it. */
status = __strex(MUTEX_LOCKED, m);
/* Did we get it? If not then try again. */
} while (status != 0);
/* Execute the mysterious Data Memory Barrier instruction! */
__dmb();
}
void mutex_unlock(mutex_t *m)
{
/* Ensure accesses to protected resource are finished */
__dmb();
/* Free the lock. */
*m = MUTEX_UNLOCKED;
}
/*
* Try to lock mutex
* if it's already locked or there was error in STREX, return MUTEX_LOCKED
* else return MUTEX_UNLOCKED
*/
mutex_t mutex_trylock(mutex_t *m){
uint32_t status = 0;
mutex_t old_lock = __ldrex(m); // get mutex value
// set mutex
status = __strex(MUTEX_LOCKED, m);
if(status == 0) __dmb();
else old_lock = MUTEX_LOCKED;
return old_lock;
}
#endif

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/*
* This file is part of the libopencm3 project.
*
* Copyright (C) 2012 Fergus Noble <fergusnoble@gmail.com>
*
* This library is free software: you can redistribute it and/or modify
* it under the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef LIBOPENCM3_CM3_SYNC_H
#define LIBOPENCM3_CM3_SYNC_H
void __dmb(void);
/* Implements synchronisation primitives as discussed in the ARM document
* DHT0008A (ID081709) "ARM Synchronization Primitives" and the ARM v7-M
* Architecture Reference Manual.
*/
/* --- Exclusive load and store instructions ------------------------------- */
/* Those are defined only on CM3 or CM4 */
#if defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__)
uint32_t __ldrex(volatile uint32_t *addr);
uint32_t __strex(uint32_t val, volatile uint32_t *addr);
/* --- Convenience functions ----------------------------------------------- */
/* Here we implement some simple synchronisation primitives. */
typedef uint32_t mutex_t;
#define MUTEX_UNLOCKED 0
#define MUTEX_LOCKED 1
void mutex_lock(mutex_t *m);
void mutex_unlock(mutex_t *m);
mutex_t mutex_trylock(mutex_t *m);
#endif
#endif

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@ -0,0 +1,208 @@
/*
* user_proto.c
*
* Copyright 2014 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 "cdcacm.h"
#include "main.h"
#include "hardware_ini.h"
#include "steppers.h"
// integer value given by user
static volatile int32_t User_value = 0;
enum{
UVAL_START, // user start to write integer value
UVAL_ENTERED, // value entered but not printed
UVAL_BAD // entered bad value
};
uint8_t Uval_ready = UVAL_BAD;
int read_int(char *buf, int cnt);
intfun I = NULL; // function to process entered integer
#define READINT() do{i += read_int(&buf[i+1], len-i-1);}while(0)
void help(){
P("G\tgo to N steps\n");
P("H\tshow this help\n");
P("P\tset stepper period (us)\n");
P("S\tstop motor\n");
P("T\tshow current approx. time\n");
P("W\tshow current steps value\n");
P("X\tshow current stepper period\n");
}
/**
* parce command buffer buf with length len
* return 0 if buffer processed or len if there's not enough data in buffer
*/
int parce_incoming_buf(char *buf, int len){
uint8_t command;
//uint32_t utmp;
int i = 0;
if(Uval_ready == UVAL_START){ // we are in process of user's value reading
i += read_int(buf, len);
}
if(Uval_ready == UVAL_ENTERED){
//print_int(User_value); // printout readed integer value for error control
Uval_ready = UVAL_BAD; // clear Uval
I(User_value);
return 0;
}
for(; i < len; i++){
command = buf[i];
if(!command) continue; // omit zero
switch (command){
case 'G':
I = move_stepper;
READINT();
break;
case 'H': // show help
help();
break;
case 'P':
I = set_stepper_speed;
READINT();
break;
case 'S':
stop_stepper();
break;
case 'T':
newline();
print_int(Timer); // be careful for Time >= 2^{31}!!!
newline();
break;
case 'W':
print_int(stepper_get_steps());
newline();
break;
case 'X':
print_int(stepper_get_period());
newline();
break;
case '\n': // show newline, space and tab as is
case '\r':
case ' ':
case '\t':
break;
default:
command = '?'; // echo '?' on unknown command in byte mode
}
usb_send(command); // echo readed byte
}
return 0; // all data processed - 0 bytes leave in buffer
}
/**
* Send char array wrd thru USB or UART
*/
void prnt(uint8_t *wrd){
if(!wrd) return;
while(*wrd) usb_send(*wrd++);
}
/**
* Read from TTY integer value given by user (in DEC).
* Reading stops on first non-numeric symbol.
* To work with symbol terminals reading don't stops on buffer's end,
* it waits for first non-numeric char.
* When working on string terminals, terminate string by '\n', 0 or any other symbol
* @param buf - buffer to read from
* @param cnt - buffer length
* @return amount of readed symbols
*/
int read_int(char *buf, int cnt){
int readed = 0, i;
static int enteredDigits; // amount of entered digits
static int sign; // sign of readed value
if(Uval_ready){ // this is first run
Uval_ready = UVAL_START; // clear flag
enteredDigits = 0; // 0 digits entered
User_value = 0; // clear value
sign = 1; // clear sign
}
if(!cnt) return 0;
for(i = 0; i < cnt; i++, readed++){
uint8_t chr = buf[i];
if(chr == '-'){
if(enteredDigits == 0){ // sign should be first
sign = -1;
continue;
}else{ // '-' after number - reject entered value
Uval_ready = UVAL_BAD;
break;
}
}
if(chr < '0' || chr > '9'){
if(enteredDigits)
Uval_ready = UVAL_ENTERED;
else
Uval_ready = UVAL_BAD; // bad symbol
break;
}
User_value = User_value * 10 + (int32_t)(chr - '0');
enteredDigits++;
}
if(Uval_ready == UVAL_ENTERED) // reading has met an non-numeric character
User_value *= sign;
return readed;
}
/**
* Print buff as hex values
* @param buf - buffer to print
* @param l - buf length
* @param s - function to send a byte
*/
void print_hex(uint8_t *buff, uint8_t l){
void putc(uint8_t c){
if(c < 10)
usb_send(c + '0');
else
usb_send(c + 'a' - 10);
}
usb_send('0'); usb_send('x'); // prefix 0x
while(l--){
putc(buff[l] >> 4);
putc(buff[l] & 0x0f);
}
}
/**
* Print decimal integer value
* @param N - value to print
* @param s - function to send a byte
*/
void print_int(int32_t N){
uint8_t buf[10], L = 0;
if(N < 0){
usb_send('-');
N = -N;
}
if(N){
while(N){
buf[L++] = N % 10 + '0';
N /= 10;
}
while(L--) usb_send(buf[L]);
}else usb_send('0');
}

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stepper_motion/user_proto.h Normal file
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/*
* user_proto.h
*
* Copyright 2014 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 __USER_PROTO_H__
#define __USER_PROTO_H__
#include "cdcacm.h"
// shorthand for prnt
#define P(arg) do{prnt((uint8_t*)arg);}while(0)
// debug message - over USB
#ifdef EBUG
#define DBG(a) do{prnt((uint8_t*)a);}while(0)
#else
#define DBG(a)
#endif
typedef uint8_t (*intfun)(int32_t);
void prnt(uint8_t *wrd);
#define newline() usb_send('\n')
void print_int(int32_t N);
void print_hex(uint8_t *buff, uint8_t l);
int parce_incoming_buf(char *buf, int len);
#endif // __USER_PROTO_H__