Avr/AsteleMotor
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This commit is contained in:
Carl Klemm
2019-05-06 19:06:49 +02:00
commit 51a5e6fc28
10 changed files with 489 additions and 0 deletions
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54
CMakeLists.txt Normal file
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# Project name
project(asteleMotor)
# CMake version
cmake_minimum_required(VERSION 2.6)
# Options
set(MCU "attiny2313" CACHE STRING "Processor Type")
set(CPU_SPEED "4000000" CACHE STRING "Speed of the CPU")
set(PORT "/dev/ttyUSB0" CACHE STRING "USB Port")
set(PORT_SPEED "57600" CACHE STRING "Serial Port Speed")
set(PROGRAMMER "usbasp" CACHE STRING "Programmer Type")
set(COMPILE_FLAGS "" CACHE STRING "Additional Compiler Flags")
# Set own source files
set(SRC_FILES main.cpp writepin.cpp comperator.cpp stepper.cpp)
# Compiler suite specification
set(CMAKE_C_COMPILER /usr/bin/avr-gcc)
set(CMAKE_CXX_COMPILER /usr/bin/avr-g++)
set(CMAKE_OBJCOPY /usr/bin/avr-objcopy)
set(CMAKE_OBJDUMP /usr/bin/avr-objdump)
set(CMAKE_RANLIB /usr/bin/avr-ranlib)
set(CMAKE_LINKER /usr/bin/avr-ld)
# Compiler flags
add_definitions(-mmcu=${MCU} -DF_CPU=${CPU_SPEED})
add_definitions(-c -g -Os -flto -Wall -std=c++17 )
add_definitions(-fno-exceptions -ffunction-sections -fno-rtti -fdata-sections)
# Linker flags
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "") # remove -rdynamic for C
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "") # remove -rdynamic for CXX
set(CMAKE_EXE_LINKER_FLAGS "-s -Os -Wl,--gc-sections -mmcu=${MCU}")
add_executable(${PROJECT_NAME} ${ARDUINO_CORE_SRC} ${SRC_FILES})
find_program(AR_AVRDUDE NAMES avrdude PATHS /usr/bin NO_DEFAULT_PATH)
find_program(AR_AVRSIZE NAMES avr-size PATHS /usr/bin NO_DEFAULT_PATH)
add_custom_target(download
COMMAND ${CMAKE_OBJCOPY} -j .text -j .data -O ihex ${PROJECT_NAME} ${PROJECT_NAME}.hex
COMMAND ${AR_AVRSIZE} -C ${PROJECT_NAME}
COMMAND ${AR_AVRDUDE} -v -p ${MCU} -c ${PROGRAMMER} -D -U flash:w:${PROJECT_NAME}.hex
DEPENDS ${PROJECT_NAME}
)
message(STATUS "${CPU_SPEED}")
add_custom_target(export
COMMAND ${CMAKE_OBJCOPY} -j .text -j .data -O ihex ${PROJECT_NAME} ${PROJECT_NAME}.hex
COMMAND ${AR_AVRSIZE} -C ${PROJECT_NAME}
DEPENDS ${PROJECT_NAME}
)

44
buttons.h Normal file
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#pragma once
#include <avr/io.h>
#include "writepin.h"
class Buttons
{
public:
static constexpr uint8_t PRESSED = 0;
static constexpr uint8_t LONG_PRESSED = 1;
static constexpr uint8_t RELEASED = 2;
private:
volatile uint8_t * const pinReg = &PIND;
static constexpr uint8_t button[] = { PD5, PD6 };
static constexpr uint8_t buttonsAmount = sizeof(button);
uint8_t buttonCount[buttonsAmount] = {};
void* _userData;
void (*_eventHandler)(uint8_t index, uint8_t type, void* data);
public:
Buttons(void (*eventHandler)(uint8_t index, uint8_t type, void* data), void* userData = nullptr): _userData(userData), _eventHandler(eventHandler){}
void tick();
};
void Buttons::tick()
{
for(uint8_t i = 0; i < buttonsAmount; ++i)
{
if(readPin(pinReg, button[i]) == true)
{
if(buttonCount[i] > 2) _eventHandler(i, RELEASED, _userData);
buttonCount[i] = 0;
}
else
{
if(buttonCount[i] == 3) _eventHandler(i, PRESSED, _userData);
else if(buttonCount[i] == 100) _eventHandler(i, LONG_PRESSED, _userData);
++buttonCount[i];
}
}
}

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comperator.cpp Normal file
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#include "comperator.h"
Comperator::Comperator()
{
if constexpr(INTERNAL_REFERANCE) ACSR = 0b01000001;
else ACSR = 0b00000011;
}
void Comperator::on()
{
ACSR &= 0b01111111;
}
void Comperator::off()
{
ACSR |= 0b10000000;
}
bool Comperator::compare()
{
return ACSR & 0b00100000;
}

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comperator.h Normal file
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#pragma once
#include <avr/io.h>
class Comperator
{
static constexpr bool INTERNAL_REFERANCE = true;
public:
Comperator();
static void on();
static void off();
static bool compare();
};

51
eeprom.h Normal file
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void EEPROM_write_char(uint16_t address, unsigned char data)
{
//Wait for completion of previous write
while(EECR & (1<<EEPE));
//Set up address and Data Registers
EEAR = address;
EEDR = data;
//Write logical one to EEMPE
EECR |= (1<<EEMPE);
//Start eeprom write by setting EEPE
EECR |= (1<<EEPE);
}
unsigned char EEPROM_read_char(uint16_t uiAddress)
{
// Wait for completion of previous write
while(EECR & (1<<EEPE));
//Set up address register
EEAR = uiAddress;
//Start eeprom read by writing EERE
EECR |= (1<<EERE);
//Return data from Data Register
return EEDR;
}
void EEPROM_write_string(uint16_t address, char* buffer, uint16_t length)
{
for(uint16_t i = 0; i < length; i++) EEPROM_write_char( address+i, buffer[i] );
}
void EEPROM_read_string(uint16_t address, char* buffer, uint16_t length)
{
for(uint16_t i = 0; i < length; i++) buffer[i] = EEPROM_read_char( address+i);
}
template <class T> void EEPROM_write_class(uint16_t address, T& in)
{
EEPROM_write_string( address, reinterpret_cast<char*>(&in), sizeof(in));
}
template <class T> T EEPROM_read_class(uint16_t address)
{
char data[sizeof(T)];
EEPROM_read_string( address, data, sizeof(T) );
return *reinterpret_cast<T*>(data);
}
template <class T> void EEPROM_read_class(uint16_t address, T* in)
{
EEPROM_read_string( address, reinterpret_cast<char*>(in), sizeof(T) );
}

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main.cpp Normal file
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#include <stdint.h>
#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>
#include <avr/sleep.h>
#include "stepper.h"
#include "writepin.h"
#include "comperator.h"
#include "buttons.h"
#include "eeprom.h"
#define LED_1_PIN PB3
#define LED_2_PIN PB4
#define BUTTON_1_PIN PD5
#define BUTTON_2_PIN PD6
bool setup = false;
static bool buttonLongpressed[2];
uint8_t lockedSpeed = 180;
void debugBlink(bool fast = true)
{
_delay_ms(100);
if(!fast) _delay_ms(200);
PORTB |= 1 << LED_1_PIN;
_delay_ms(100);
if(!fast) _delay_ms(200);
PORTB &= ~(1 << LED_1_PIN);
}
void buttonHandler(uint8_t index, uint8_t type, void* data)
{
Stepper* stepper = reinterpret_cast<Stepper*>(data);
if(setup == false)
{
if(type == Buttons::PRESSED)
{
if(index == 0)
{
stepper->setSpeed(230);
stepper->setEndlesMove(true, true);
}
else
{
stepper->setSpeed(230);
stepper->setEndlesMove(true, false);
}
}
else if(type == Buttons::RELEASED)
{
stepper->setSpeed(lockedSpeed);
stepper->setEndlesMove(true, true);
buttonLongpressed[0] = false;
buttonLongpressed[1] = false;
}
else if(type == Buttons::LONG_PRESSED)
{
buttonLongpressed[index] = true;
if(buttonLongpressed[0] && buttonLongpressed[1])
{
writePin(&PORTB, LED_2_PIN, true);
writePin(&PORTB, LED_1_PIN, false);
setup = true;
buttonLongpressed[0] = false;
buttonLongpressed[1] = false;
stepper->setSpeed(lockedSpeed);
stepper->setEndlesMove(true, true);
debugBlink();
debugBlink();
debugBlink();
}
}
}
else
{
if(type == Buttons::PRESSED) writePin(&PORTB, LED_1_PIN, true);
if(type == Buttons::RELEASED)
{
writePin(&PORTB, LED_1_PIN, false);
if(index == 0)
{
lockedSpeed+=5;
}
else
{
lockedSpeed-=5;
}
EEPROM_write_char(0, lockedSpeed);
stepper->setSpeed(lockedSpeed);
}
else if(type == Buttons::LONG_PRESSED)
{
buttonLongpressed[index] = true;
if(buttonLongpressed[0] && buttonLongpressed[1])
{
writePin(&PORTB, LED_2_PIN, false);
writePin(&PORTB, LED_1_PIN, true);
setup = false;
buttonLongpressed[0] = false;
buttonLongpressed[1] = false;
stepper->setSpeed(lockedSpeed);
stepper->setEndlesMove(true, true);
}
}
}
}
int main()
{
DDRB = 1 << LED_1_PIN | 1 << LED_2_PIN;
DDRD = 1 << PD0 | 1 << PD1 | 1 << PD2 | 1 << PD3;
PORTD = 1 << BUTTON_1_PIN | 1 << BUTTON_2_PIN;
if(EEPROM_read_char(0) != 0) lockedSpeed = EEPROM_read_char(0);
Stepper stepper(&PORTD, PD0, PD1, PD2, PD3);
debugBlink(false);
debugBlink(false);
writePin(&PORTB, LED_1_PIN, true);
stepper.setSpeed(180);
stepper.setEndlesMove(true);
Buttons buttons(&buttonHandler, reinterpret_cast<void*>(&stepper));
uint8_t timer = 0;
while(true)
{
if(++timer == 0)buttons.tick();
stepper.tick();
_delay_us(50);
}
}

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#include "stepper.h"
#include "writepin.h"
void Stepper::tick()
{
if(++_tickCounter > UINT8_MAX - (_speed>>8) )
{
if(_targetStep != _currentStep)
{
step(_targetStep > _currentStep);
}
else if(endlessMove) step(endlessDriection);
_tickCounter = 0;
}
if(_speed>>8 < _targetSpeed) _speed = _speed + acceleration;
else if(_speed>>8 > _targetSpeed)_speed = _speed - acceleration;;
}
void Stepper::moveTo(const int32_t step)
{
_targetStep = step;
}
void Stepper::moveRelative(const int16_t dist)
{
moveTo(_targetStep + dist);
}
void Stepper::setSpeed(const uint8_t speed)
{
_targetSpeed = speed;
if(_targetSpeed < speedFloor) _targetSpeed = speedFloor;
}
void Stepper::setEndlesMove(bool endless, bool direction)
{
endlessMove = endless;
if(direction != endlessDriection)
{
_speed = speedFloor;
endlessDriection = direction;
}
}
uint32_t Stepper::isAt()
{
return _currentStep;
}
bool Stepper::isStoped()
{
return _currentStep == _targetStep;
}
void Stepper::step(bool direction)
{
switch(_currentStep & 0x03)
{
case 0:
writePin(_port, _pinA, true);
writePin(_port, _pinB, false);
writePin(_port, _pinC, false);
writePin(_port, _pinD, true);
break;
case 1:
writePin(_port, _pinA, true);
writePin(_port, _pinB, true);
writePin(_port, _pinC, false);
writePin(_port, _pinD, false);
break;
case 2:
writePin(_port, _pinA, false);
writePin(_port, _pinB, true);
writePin(_port, _pinC, true);
writePin(_port, _pinD, false);
break;
case 3:
writePin(_port, _pinA, false);
writePin(_port, _pinB, false);
writePin(_port, _pinC, true);
writePin(_port, _pinD, true);
break;
default:
writePin(_port, _pinA, false);
writePin(_port, _pinB, false);
writePin(_port, _pinC, false);
writePin(_port, _pinD, false);
}
_currentStep = _currentStep + (direction ? 1 : -1);
if(endlessMove) _targetStep = _currentStep;
}

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#pragma once
#include <stdint.h>
class Stepper
{
private:
volatile uint8_t * const _port;
const uint8_t _pinA;
const uint8_t _pinB;
const uint8_t _pinC;
const uint8_t _pinD;
static constexpr uint8_t acceleration = 5;
static constexpr uint8_t speedFloor = 50;
bool endlessMove = false;
bool endlessDriection = true;
uint16_t _speed = speedFloor;
uint8_t _targetSpeed = 220;
uint8_t _stepInterval = 0;
uint16_t _tickCounter = 0;
int32_t _currentStep = 0;
int32_t _targetStep = 0;
void step(bool direction);
public:
Stepper( volatile uint8_t * const port, const uint8_t pinA, const uint8_t pinB, const uint8_t pinC, const uint8_t pinD): _port(port), _pinA(pinA), _pinB(pinB), _pinC(pinC), _pinD(pinD){}
void tick();
void moveTo(const int32_t step);
void moveRelative(const int16_t dist);
void setSpeed(const uint8_t speed);
uint32_t isAt();
bool isStoped();
void setEndlesMove(bool endless, bool direction = true);
};

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writepin.cpp Normal file
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#include "writepin.h"
void writePin(volatile unsigned char * const port, const unsigned char pin, const bool state)
{
*port = (*port & ~(1 << pin)) | (1 << pin)*state;
//if(!state) *port &= ~(1 << pin);
//else *port |= (1 << pin);
}
void setBit( volatile unsigned char * const reg, const unsigned char bit, const bool value )
{
writePin(reg, bit, value);
}
void setDirection( volatile unsigned char * const portDirReg, const unsigned char pin, const bool makeOutput )
{
writePin(portDirReg, pin, makeOutput);
}
bool readPin( volatile const unsigned char * const inPort, const unsigned char pin){ return (bool) (*inPort & (1 << pin));}

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writepin.h Normal file
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#ifndef WRITEPIN_H
#define WRITEPIN_H
#include <avr/io.h>
void writePin(volatile unsigned char * const port, const unsigned char pin, const bool state);
void setBit( volatile unsigned char * const reg, const unsigned char bit, const bool value );
void setDirection( volatile unsigned char * const portDirReg, const unsigned char pin, const bool makeOutput );
bool readPin( volatile const unsigned char * const inPort, const unsigned char pin);
#endif