Started following some tutorial on att85 usi. Downloaded example code from make avr book.
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Dan
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##########------------------------------------------------------##########
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########## Project-specific Details ##########
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########## Check these every time you start a new project ##########
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##########------------------------------------------------------##########
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MCU = atmega168p
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F_CPU = 8000000UL
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BAUD = 9600UL
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## Also try BAUD = 19200 or 38400 if you're feeling lucky.
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## A directory for common include files and the simple USART library.
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## If you move either the current folder or the Library folder, you'll
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## need to change this path to match.
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LIBDIR = ../../AVR-Programming-Library
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##########------------------------------------------------------##########
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########## Programmer Defaults ##########
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########## Set up once, then forget about it ##########
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########## (Can override. See bottom of file.) ##########
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##########------------------------------------------------------##########
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PROGRAMMER_TYPE = usbtiny
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# extra arguments to avrdude: baud rate, chip type, -F flag, etc.
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PROGRAMMER_ARGS =
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##########------------------------------------------------------##########
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########## Program Locations ##########
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########## Won't need to change if they're in your PATH ##########
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##########------------------------------------------------------##########
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CC = avr-gcc
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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AVRSIZE = avr-size
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AVRDUDE = avrdude
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##########------------------------------------------------------##########
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########## Makefile Magic! ##########
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########## Summary: ##########
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########## We want a .hex file ##########
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########## Compile source files into .elf ##########
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########## Convert .elf file into .hex ##########
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########## You shouldn't need to edit below. ##########
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##########------------------------------------------------------##########
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## The name of your project (without the .c)
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# TARGET = blinkLED
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## Or name it automatically after the enclosing directory
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TARGET = $(lastword $(subst /, ,$(CURDIR)))
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# Object files: will find all .c/.h files in current directory
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# and in LIBDIR. If you have any other (sub-)directories with code,
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# you can add them in to SOURCES below in the wildcard statement.
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SOURCES=$(wildcard *.c $(LIBDIR)/*.c)
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OBJECTS=$(SOURCES:.c=.o)
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HEADERS=$(SOURCES:.c=.h)
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## Compilation options, type man avr-gcc if you're curious.
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CPPFLAGS = -DF_CPU=$(F_CPU) -DBAUD=$(BAUD) -I. -I$(LIBDIR)
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CFLAGS = -Os -g -std=gnu99 -Wall
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## Use short (8-bit) data types
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CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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## Splits up object files per function
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CFLAGS += -ffunction-sections -fdata-sections
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LDFLAGS = -Wl,-Map,$(TARGET).map
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## Optional, but often ends up with smaller code
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LDFLAGS += -Wl,--gc-sections
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## Relax shrinks code even more, but makes disassembly messy
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## LDFLAGS += -Wl,--relax
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## LDFLAGS += -Wl,-u,vfprintf -lprintf_flt -lm ## for floating-point printf
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## LDFLAGS += -Wl,-u,vfprintf -lprintf_min ## for smaller printf
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TARGET_ARCH = -mmcu=$(MCU)
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## Explicit pattern rules:
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## To make .o files from .c files
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%.o: %.c $(HEADERS) Makefile
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$(CC) $(CFLAGS) $(CPPFLAGS) $(TARGET_ARCH) -c -o $@ $<;
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$(TARGET).elf: $(OBJECTS)
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$(CC) $(LDFLAGS) $(TARGET_ARCH) $^ $(LDLIBS) -o $@
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%.hex: %.elf
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$(OBJCOPY) -j .text -j .data -O ihex $< $@
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%.eeprom: %.elf
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$(OBJCOPY) -j .eeprom --change-section-lma .eeprom=0 -O ihex $< $@
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%.lst: %.elf
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$(OBJDUMP) -S $< > $@
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## These targets don't have files named after them
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.PHONY: all disassemble disasm eeprom size clean squeaky_clean flash fuses
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all: $(TARGET).hex
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debug:
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@echo
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@echo "Source files:" $(SOURCES)
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@echo "MCU, F_CPU, BAUD:" $(MCU), $(F_CPU), $(BAUD)
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@echo
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# Optionally create listing file from .elf
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# This creates approximate assembly-language equivalent of your code.
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# Useful for debugging time-sensitive bits,
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# or making sure the compiler does what you want.
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disassemble: $(TARGET).lst
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disasm: disassemble
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# Optionally show how big the resulting program is
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size: $(TARGET).elf
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$(AVRSIZE) -C --mcu=$(MCU) $(TARGET).elf
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clean:
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rm -f $(TARGET).elf $(TARGET).hex $(TARGET).obj \
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$(TARGET).o $(TARGET).d $(TARGET).eep $(TARGET).lst \
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$(TARGET).lss $(TARGET).sym $(TARGET).map $(TARGET)~ \
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$(TARGET).eeprom
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squeaky_clean:
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rm -f *.elf *.hex *.obj *.o *.d *.eep *.lst *.lss *.sym *.map *~ *.eeprom
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##########------------------------------------------------------##########
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########## Programmer-specific details ##########
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########## Flashing code to AVR using avrdude ##########
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##########------------------------------------------------------##########
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flash: $(TARGET).hex
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U flash:w:$<
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## An alias
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program: flash
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flash_eeprom: $(TARGET).eeprom
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -U eeprom:w:$<
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avrdude_terminal:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nt
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## If you've got multiple programmers that you use,
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## you can define them here so that it's easy to switch.
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## To invoke, use something like `make flash_arduinoISP`
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flash_usbtiny: PROGRAMMER_TYPE = usbtiny
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flash_usbtiny: PROGRAMMER_ARGS = # USBTiny works with no further arguments
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flash_usbtiny: flash
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flash_usbasp: PROGRAMMER_TYPE = usbasp
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flash_usbasp: PROGRAMMER_ARGS = # USBasp works with no further arguments
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flash_usbasp: flash
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flash_arduinoISP: PROGRAMMER_TYPE = avrisp
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flash_arduinoISP: PROGRAMMER_ARGS = -b 19200 -P /dev/ttyACM0
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## (for windows) flash_arduinoISP: PROGRAMMER_ARGS = -b 19200 -P com5
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flash_arduinoISP: flash
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flash_109: PROGRAMMER_TYPE = avr109
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flash_109: PROGRAMMER_ARGS = -b 9600 -P /dev/ttyUSB0
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flash_109: flash
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##########------------------------------------------------------##########
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########## Fuse settings and suitable defaults ##########
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##########------------------------------------------------------##########
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## Mega 48, 88, 168, 328 default values
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LFUSE = 0x62
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HFUSE = 0xdf
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EFUSE = 0x00
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## Generic
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FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
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fuses:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) \
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$(PROGRAMMER_ARGS) $(FUSE_STRING)
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show_fuses:
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$(AVRDUDE) -c $(PROGRAMMER_TYPE) -p $(MCU) $(PROGRAMMER_ARGS) -nv
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## Called with no extra definitions, sets to defaults
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set_default_fuses: FUSE_STRING = -U lfuse:w:$(LFUSE):m -U hfuse:w:$(HFUSE):m -U efuse:w:$(EFUSE):m
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set_default_fuses: fuses
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## Set the fuse byte for full-speed mode
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## Note: can also be set in firmware for modern chips
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set_fast_fuse: LFUSE = 0xE2
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set_fast_fuse: FUSE_STRING = -U lfuse:w:$(LFUSE):m
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set_fast_fuse: fuses
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## Set the EESAVE fuse byte to preserve EEPROM across flashes
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set_eeprom_save_fuse: HFUSE = 0xD7
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set_eeprom_save_fuse: FUSE_STRING = -U hfuse:w:$(HFUSE):m
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set_eeprom_save_fuse: fuses
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## Clear the EESAVE fuse byte
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clear_eeprom_save_fuse: FUSE_STRING = -U hfuse:w:$(HFUSE):m
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clear_eeprom_save_fuse: fuses
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@@ -0,0 +1,17 @@
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// Include file for half-stepping order
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// You may need to change the software pinouts around to match your motor
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// or change your motor connections around to match the software.
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const uint8_t stepOrder[] = {
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(1 << PB0) | (1 << PB2),
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(1 << PB0),
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(1 << PB0) | (1 << PB3),
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(1 << PB3),
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(1 << PB1) | (1 << PB3),
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(1 << PB1),
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(1 << PB1) | (1 << PB2),
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(1 << PB2)
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};
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#define LAST_PHASE_IN_CYCLE 7
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@@ -0,0 +1,137 @@
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/* Stepper Motor Demo with Accelerated Moves */
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// ------- Preamble -------- //
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#include <avr/io.h>
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#include <util/delay.h>
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#include <avr/interrupt.h>
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#include <avr/power.h>
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#include "USART.h"
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/* Set these to +/- 1 for half-stepping, +/- 2 for full-stepping */
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#define FORWARD 1
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#define BACKWARD -1
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#define TURN 400 /* steps per rotation,
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depends on stepping & motor */
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/* These parameters will depend on your motor, what it's driving */
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#define MAX_DELAY 255 /* determines min startup speed */
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#define MIN_DELAY 10 /* determines max cruise speed */
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#define ACCELERATION 16 /* lower = smoother but slower accel */
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#define RAMP_STEPS (MAX_DELAY - MIN_DELAY) / ACCELERATION
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// -------- Global Variables --------- //
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const uint8_t motorPhases[] = {
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(1 << PB0) | (1 << PB2), /* full */
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(1 << PB0), /* half */
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(1 << PB0) | (1 << PB3), /* full */
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(1 << PB3), /* half */
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(1 << PB1) | (1 << PB3), /* etc. */
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(1 << PB1),
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(1 << PB1) | (1 << PB2),
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(1 << PB2)
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};
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volatile uint8_t stepPhase = 0;
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volatile int8_t direction = FORWARD;
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volatile uint16_t stepCounter = 0;
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// -------- Functions --------- //
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void initTimer(void) {
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TCCR0A |= (1 << WGM01); /* CTC mode */
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TCCR0B |= (1 << CS00) | (1 << CS02);
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OCR0A = MAX_DELAY; /* set default speed as slowest */
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sei(); /* enable global interrupts */
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/* Notice we haven't set the timer0 interrupt flag yet. */
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}
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ISR(TIMER0_COMPA_vect) {
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stepPhase += direction; /* take step in right direction */
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stepPhase &= 0b00000111; /* keep phase in range 0-7 */
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PORTB = motorPhases[stepPhase]; /* write phase out to motor */
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stepCounter++; /* count step taken */
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}
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void takeSteps(uint16_t howManySteps, uint8_t delay) {
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UDR0 = delay; /* send speed/delay over serial, non-blocking */
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OCR0A = delay; /* delay in counter compare register */
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stepCounter = 0; /* initialize to zero steps taken so far */
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TIMSK0 |= (1 << OCIE0A); /* turn on interrupts, stepping */
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while (!(stepCounter == howManySteps)) {;
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} /* wait */
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TIMSK0 &= ~(1 << OCIE0A); /* turn back off */
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}
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void trapezoidMove(int16_t howManySteps) {
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uint8_t delay = MAX_DELAY;
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uint16_t stepsTaken = 0;
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/* set direction, make howManySteps > 0 */
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if (howManySteps > 0) {
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direction = FORWARD;
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}
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else {
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direction = BACKWARD;
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howManySteps = -howManySteps;
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}
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if (howManySteps > (RAMP_STEPS * 2)) {
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/* Have enough steps for a full trapezoid */
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/* Accelerate */
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while (stepsTaken < RAMP_STEPS) {
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takeSteps(1, delay);
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delay -= ACCELERATION;
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stepsTaken++;
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}
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/* Cruise */
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delay = MIN_DELAY;
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takeSteps((howManySteps - 2 * RAMP_STEPS), delay);
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stepsTaken += (howManySteps - 2 * RAMP_STEPS);
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/* Decelerate */
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while (stepsTaken < howManySteps) {
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takeSteps(1, delay);
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delay += ACCELERATION;
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stepsTaken++;
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}
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}
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else {
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/* Partial ramp up/down */
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while (stepsTaken <= howManySteps / 2) {
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takeSteps(1, delay);
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delay -= ACCELERATION;
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stepsTaken++;
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}
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delay += ACCELERATION;
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while (stepsTaken < howManySteps) {
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takeSteps(1, delay);
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delay += ACCELERATION;
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stepsTaken++;
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}
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}
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}
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int main(void) {
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// -------- Inits --------- //
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clock_prescale_set(clock_div_1); /* CPU clock 8 MHz */
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initUSART();
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_delay_ms(1000);
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initTimer();
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DDRB = (1 << PB0) | (1 << PB1) | (1 << PB2) | (1 << PB3);
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// ------ Event loop ------ //
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while (1) {
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/* Smooth movements, trapezoidal acceleration */
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trapezoidMove(2 * TURN); /* two full turns */
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trapezoidMove(-TURN / 2); /* half turn */
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trapezoidMove(TURN / 4); /* quarter turn */
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trapezoidMove(-TURN / 8); /* eighth */
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_delay_ms(TURN);
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trapezoidMove(-TURN / 4); /* the other way */
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trapezoidMove(TURN / 8);
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trapezoidMove(TURN / 2); /* half turn back to start */
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_delay_ms(1000);
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} /* End event loop */
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return 0; /* This line is never reached */
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}
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Reference in New Issue
Block a user