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stepper-2 code initial update, untested

This commit is contained in:
Michael Moon 2009-12-17 16:59:52 +11:00
parent ed868c04e0
commit f0e6d33ae7
2 changed files with 40 additions and 151 deletions
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2
stepper-2/Makefile
View File

@ -58,7 +58,7 @@ program: $(PROGRAM).hex
stty -hup -echo < $(PROGPORT)
clean:
rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex *.al
rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex *.al *.i *.s *~
%.o: %.c
$(CC) -c $(CFLAGS) -Wa,-adhlns=$(<:.c=.al) -o $@ $^

189
stepper-2/stepper.c
View File

@ -24,20 +24,23 @@
#define READ_DIR RPORT_AIO3
#define DDR_DIR DDR_AIO3
// outputs (PWM) - dir lines only below, en lines MUST connect to OCR0A/B (DIO 5/6)
#define PIN_DIR1 PIN_AIO0
#define PORT_DIR1 WPORT_AIO0
#define DDR_DIR1 DDR_AIO0
#define PIN_DIR2 PIN_AIO1
#define PORT_DIR2 WPORT_AIO1
#define DDR_DIR2 DDR_AIO1
// step output
#define PIN_STEPOUT PIN_AIO4
#define PORT_STEPOUT WPORT_AIO4
#define READ_STEPOUT RPORT_AIO4
#define DDR_STEPOUT DDR_AIO4
// direction output
#define PIN_DIROUT PIN_AIO5
#define PORT_DIROUT WPORT_AIO5
#define READ_DIROUT RPORT_AIO5
#define DDR_DIROUT DDR_AIO5
// *** machine-specific constants ***
// 1/2 step, NSTEPPING=2, for 1/4 step, NSTEPPING = 4 etc
#define NSTEPPING 8
#define NSTEPPING 16
// FULL steps per mm (calculate from 200 steps/rev)
#define FULL_STEPS_PER_MM 5
@ -57,47 +60,9 @@
#define SPEED (15 MM_PER_SEC)
// *** step table ***
// sinstepi MUST satisfy 2^n for integer values of n where n = 2 for 1/2 step, 4 for 1/4 step etc
// generate with:
// perl -e 'my $n = 4; my @st; for (0..$n) { push @st, sprintf "%i", sin($_ * 90 * 3.1415926535897932384626433832795029 * 2 / 360 / $n) * 255 }; print "#define sinstepi $n\nstatic uint8_t sintable[sinstepi + 1] = { "; print join ", ", @st; print " };\n";';
#if NSTEPPING == 1
#define sinstepi 1
static const uint8_t sintable[sinstepi + 1] = { 0, 255 };
#elif NSTEPPING == 2
#define sinstepi 2
static const uint8_t sintable[sinstepi + 1] = { 0, 180, 255 };
#elif NSTEPPING == 4
#define sinstepi 4
static uint8_t sintable[sinstepi + 1] = { 0, 97, 180, 235, 255 };
#elif NSTEPPING == 8
#define sinstepi 8
static uint8_t sintable[sinstepi + 1] = { 0, 49, 97, 141, 180, 212, 235, 250, 255 };
#elif NSTEPPING == 16
#define sinstepi 16
static uint8_t sintable[sinstepi + 1] = { 0, 24, 49, 74, 97, 120, 141, 161, 180, 197, 212, 224, 235, 244, 250, 253, 255 };
#elif NSTEPPING == 32
#define sinstepi 32
static uint8_t sintable[sinstepi + 1] = { 0, 12, 24, 37, 49, 61, 74, 85, 97, 109, 120, 131, 141, 151, 161, 171, 180, 188, 197, 204, 212, 218, 224, 230, 235, 240, 244, 247, 250, 252, 253, 254, 255 };
#else
#error Invalid NSTEPPING value
#endif
// recalculations - don't touch!
#define STEP_TIME F_CPU / SPEED / PRESCALER
#define MIN_STEP_TIME F_CPU / 1000 / PRESCALER
#define sinstepi2 (sinstepi * 2)
#define sinstepi3 (sinstepi * 3)
#define sinstepi4 (sinstepi * 4)
#define sinsteplast (sinstepi4 - 1)
// utilities
#define MASK(a) (1 << a)
@ -129,99 +94,39 @@ static FILE serio = FDEV_SETUP_STREAM(serial_putc_fdev, serial_getc_fdev, _FDEV_
volatile int32_t pos;
volatile int32_t npos;
volatile uint16_t speed;
volatile uint16_t speed_sync;
volatile uint8_t superstep; // for disabling microstep during high speed runs
volatile uint8_t superstep_sync;
volatile int step1;
volatile int step2;
// uint8_t power0;
// uint8_t power1;
// integer sine approximation
int sinstep(uint8_t sequence) {
while (sequence >= sinstepi4)
sequence -= sinstepi4;
if (sequence < (sinstepi + 1))
return sintable[sequence];
if ((sequence >= (sinstepi + 1)) && (sequence < (sinstepi2 + 1)))
return sintable[sinstepi2 - sequence];
if ((sequence >= (sinstepi2 + 1)) && (sequence < (sinstepi3 + 1)))
return -sintable[sequence - sinstepi2];
//if ((sequence >= (sinstepi3 + 1)) && (sequence < (sinstepi4 + 1)))
return -sintable[sinstepi4 - sequence];
}
// generate appropriate stepper signals for a sequence number
void stepperseq(uint8_t sequence) {
step1 = sinstep(sequence);
step2 = sinstep(sequence + sinstepi);
// set directions
if (step1 >= 0)
PORT_DIR1 |= MASK(PIN_DIR1);
else {
PORT_DIR1 &= ~MASK(PIN_DIR1);
}
// PORT_DIR1 = (PORT_DIR1 & ~MASK(PIN_DIR1)) | ((((step1 >= 0)?255:0) ^ wx) & MASK(PIN_DIR1));
if (step2 >= 0)
PORT_DIR2 |= MASK(PIN_DIR2);
else {
PORT_DIR2 &= ~MASK(PIN_DIR2);
}
// PORT_DIR2 = (PORT_DIR2 & ~MASK(PIN_DIR2)) | ((((step2 >= 0)?255:0) ^ wx) & MASK(PIN_DIR2));
// set power
TCNT0 = 0xFD;
OCR0A = ((uint8_t) abs(step1));
OCR0B = ((uint8_t) abs(step2));
}
// // PWM reset interrupt
// ISR(TIMER0_OVF_vect) {
// // now that our counter is at zero, load new power levels
// OCR0A = power0;
// OCR0B = power1;
// }
// next step interrupt
ISR(TIMER1_COMPA_vect) {
uint8_t i;
// toggle "L" led
PINB = MASK(PB5);
// update position
if (npos > pos)
pos += MASK(superstep_sync);
else if (npos < pos)
pos -= MASK(superstep_sync);
if (READ_STEPOUT & MASK(PIN_STEPOUT)) {
if (npos > pos)
PORT_DIROUT |= MASK(PIN_DIROUT);
else if (npos < pos)
PORT_DIROUT &= ~MASK(PIN_DIROUT);
else
TIMSK1 &= ~MASK(OCIE1A);
PORT_STEPOUT &= ~MASK(PIN_STEPOUT);
}
else {
PORT_STEPOUT |= MASK(PIN_STEPOUT);
if (READ_DIROUT & MASK(PIN_DIROUT))
pos++;
else
pos--;
}
// write new position
i = pos & sinsteplast;
stepperseq(i);
// if we're at a sync point and we're changing microstep rate
if ((i & (sinstepi2 - 1)) == 0)
// do the change now
superstep_sync = superstep;
// update speed
OCR1A = speed << superstep_sync;
OCR1A = speed;
}
void startstep(void) {
if ((TIMSK1 & MASK(OCIE1A)) == 0)
{
OCR1A = speed;
// while ((OCR1A < MIN_STEP_TIME) && (superstep < sinstepi)) {
// OCR1A <<= 1;
// superstep <<= 1;
// }
// while (((OCR1A > (MIN_STEP_TIME * 2)) && (superstep > 1)) || (abs(npos - pos) < superstep)) {
// OCR1A >>= 1;
// superstep >>= 1;
// }
TCNT1 = 0;
}
@ -261,16 +166,9 @@ int main (void)
PORT_STEP |= MASK(PIN_STEP);
PORT_DIR |= MASK(PIN_DIR);
// direction pins to h-bridge
DDR_DIR1 |= MASK(PIN_DIR1);
DDR_DIR2 |= MASK(PIN_DIR2);
// enable pins to h-bridge - must be DIO5/6 for PWM operation
DDR_DIO5 |= MASK(PIN_DIO5);
DDR_DIO6 |= MASK(PIN_DIO6);
// setup timer 0 (PWM timer)
TCCR0A = MASK(COM0A1) | MASK(COM0B1) | MASK(WGM01) | MASK(WGM00); // enable PWM output pins (DIO5/6), fast PWM
TCCR0B = MASK(CS00); // prescaler = 1 (max speed)
// direction pins to motor controller
DDR_STEPOUT |= MASK(PIN_STEPOUT);
DDR_DIROUT |= MASK(PIN_DIROUT);
// setup timer 1 (step timer)
TCCR1A = 0;
@ -293,11 +191,7 @@ int main (void)
TIMSK1 = 0;
// set speed
speed = STEP_TIME;
OCR1A = speed << superstep;
// initialize stepper drive
//PORT_OUT = (PORT_OUT & ~PORT_OUT_MASK) | ((steps[0] ^ wmod) << PIN_LSB_OUT);
stepperseq(0);
OCR1A = speed;
// enable interrupts
sei();
@ -311,8 +205,8 @@ int main (void)
{
// check logic inputs
if ((READ_STEP & MASK(PIN_STEP)) == 0) {
if (stepdebounce >= 32) {
if (stepdebounce == 32) {
if (stepdebounce >= 128) {
if (stepdebounce == 128) {
if (READ_DIR & MASK(PIN_DIR))
npos++;
else
@ -366,11 +260,6 @@ int main (void)
case 'h':
npos = 0;
break;
case 'x':
r = scanf("%i", &rs);
if (r != 0)
superstep = rs;
break;
case 'R':
npos = pos = 0;
break;
@ -389,8 +278,8 @@ int main (void)
printf("t:%7li", npos);
lcd_gotoxy(8, 1);
// printf("p:%i", PORT_STEP);
printf("%i %i", step1, step2);
// printf("%02X", READ_STEP);
// printf("%i %i", step1, step2);
printf("%02X", READ_STEP);
}
}
}