/* +-------------------------------------+ | Sig Vd Gnd | | +---------+ 5V O PB0 [o o o] | | | 7805 O | Vd O PB1 [o o o] | | +---------+ V+ . PB2 [o o o] | | PB3 [o o o] | | PB4 [o o o] | | PB5 [o o o] | | PB6 [o o o] | | PB7 [o o o] | | PA0 [o o o] | <- Limit 0 | PA1 [o o o] | <- Limit 1 | +----------+ PA2 [o o o] | <- Limit 2 | |O | PA3 [o o o] | <- Limit 3 | | | PA4 [o o o] | <- Limit 4 | | | PA5 [o o o] | <- Limit 5 | | | PA6 [o o o] | <- Limit 6 | | | PA7 [o o o] | <- Limit 7 | | | PC7 [o o o] | | | | PC6 [o o o] | | | | PC5 [o o o] | | | ATMEGA32 | PC4 [o o o] | | | | PC3 [o o o] | | | | PC2 [o o o] | -> LS595 strobe | | | PC1 [o o o] | -> LS595 data | | | PC0 [o o o] | -> ls595 clock | | | PD7 [o o o] | | | | PD2 [o o o] | | | | PD3 [o o o] | | | | PD4 [o o o] | | | | PD5 [o o o] | | +----------+ PD6 [o o o] | | E.D.S BABYBOARD III | +-------------------------------------+ control motors on ports B and C, port A can be used for limit switch inputs Serial protocol: 115200 baud, 8N1 commands: \n: motor sync A: queue step 0 forward a: queue step 0 back B: queue step 1 forward b: queue step 1 back C: queue step 2 forward c: queue step 2 back D: queue step 3 forward d: queue step 3 back E: queue step 4 forward e: queue step 4 back F: queue step 5 forward f: queue step 5 back G: queue step 6 forward g: queue step 6 back H: queue step 7 forward h: queue step 7 back U: echo, send 'u' when recieved 'U' (testing) ?: force input status update s: start timer number entry (enter digits, . to stop) replies: '.': step complete A: limit sw 1 went high a: limit sw 1 went low B: limit sw 2 went high b: limit sw 2 went low C: limit sw 3 went high c: limit sw 3 went low D: limit sw 4 went high d: limit sw 4 went low E: limit sw 5 went high e: limit sw 5 went low F: limit sw 6 went high f: limit sw 6 went low G: limit sw 7 went high g: limit sw 7 went low H: limit sw 8 went high h: limit sw 8 went low */ #include "avrcommon.h" #include #include #include "usart.h" // mind LS595settings.h #include "74LS595.h" #include "binary.h" // misc #define OUTPUT 1 #define INPUT 0 #define FOR 1 #define BAK -1 #define isDigit(C) (((C)>='0') && ((C)<='9')) #define setForward(m) (((m)->State) &= 0x03) #define setReverse(m) (((m)->State) |= 0x04) #define setStep(m) (((m)->Step) = 1) #define clearStep(m) (((m)->Step) = 0) typedef struct stepper4ph_t { unsigned State :4; unsigned Step :1; unsigned Sleep :1; } stepper4ph ; unsigned char stateTable[] = { (3)+(b0101<<4), (0)+(b0110<<4), (1)+(b1010<<4), (2)+(b1001<<4), (5)+(b0101<<4), (6)+(b0110<<4), (7)+(b1010<<4), (4)+(b1001<<4) }; unsigned char stepmotor (stepper4ph * motor) ; unsigned char oPINA; stepper4ph motors[6]; volatile char StepReady; volatile char SendReady; volatile unsigned int tempTimer; volatile unsigned int timerTop; void transmittchanges() ; void sync() ; void docmd(unsigned char command) ; void initCompleteSignal() ; void step(stepper4ph * motor, char dir) ; void printNumber16(unsigned int n) ; void inline printDigit(unsigned char n) ; int main(void) { unsigned int inputsTimer; // set up directions DDRA = (INPUT << PA0 | INPUT << PA1 |INPUT << PA2 |INPUT << PA3 |INPUT << PA4 |INPUT << PA5 |INPUT << PA6 |INPUT << PA7); DDRB = (INPUT << PB0 | INPUT << PB1 |INPUT << PB2 |INPUT << PB3 |INPUT << PB4 |INPUT << PB5 |INPUT << PB6 |INPUT << PB7); DDRC = (OUTPUT << PC0 | OUTPUT << PC1 |OUTPUT << PC2 |INPUT << PC3 |INPUT << PC4 |INPUT << PC5 |INPUT << PC6 |INPUT << PC7); DDRD = (INPUT << PD0 | INPUT << PD1 |INPUT << PD2 |INPUT << PD3 |INPUT << PD4 |INPUT << PD5 |INPUT << PD6 |INPUT << PD7); PORTA = 0xFF; // turn on port a pullups timerTop = 4000; StepReady = 0; SendReady = 0; inputsTimer = 90; // part of temp hack, to address comm saturation via input flapping USART_Init( 7 ); //115200 @ 14.74 Mhz motors[0].State = 0; motors[1].State = 0; motors[2].State = 0; motors[3].State = 0; motors[4].State = 0; motors[5].State = 0; // turn all steppers off LS595StrobeL(); LS595Send (0x00); LS595Send (0x00); LS595Send (0x00); LS595StrobeH(); while(1) { if (HAVEDATA) { docmd(USART_Receive()); } if (SendReady) { USART_Transmit('.'); SendReady = 0; } if ((inputsTimer -= 1) == 0 ) { transmittchanges(); inputsTimer = 4000; } if (tempTimer) if ((tempTimer -= 1) == 0) SendReady = 1; } } void transmittchanges() { unsigned char tPINA; tPINA = PINA; // snapshot the ports if ((tPINA^oPINA) != 0) { if ((tPINA^oPINA) & 0x01) { USART_Transmit( ((tPINA&0x01)>0?'A':'a')); } if ((tPINA^oPINA) & 0x02) { USART_Transmit( ((tPINA&0x02)>0?'B':'b')); } if ((tPINA^oPINA) & 0x04) { USART_Transmit( ((tPINA&0x04)>0?'C':'c')); } if ((tPINA^oPINA) & 0x08) { USART_Transmit( ((tPINA&0x08)>0?'D':'d')); } if ((tPINA^oPINA) & 0x10) { USART_Transmit( ((tPINA&0x10)>0?'E':'e')); } if ((tPINA^oPINA) & 0x20) { USART_Transmit( ((tPINA&0x20)>0?'F':'f')); } } oPINA = tPINA; } void docmd(unsigned char command) { static char mode = 0; static unsigned int number = 0; if (mode == 0) { switch(command) { case '\r': sync(); break; // motor sync case 'A': step(&motors[0], FOR); break; // step 0 forward case 'a': step(&motors[0], BAK); break; // step 0 back case 'B': step(&motors[1], FOR); break; // step 1 forward case 'b': step(&motors[1], BAK); break; // step 1 back case 'C': step(&motors[2], FOR); break; // step 2 forward case 'c': step(&motors[2], BAK); break; // step 2 back case 'D': step(&motors[3], FOR); break; // step 3 forward case 'd': step(&motors[3], BAK); break; // step 3 back case 'E': step(&motors[4], FOR); break; // step 4 forward case 'e': step(&motors[4], BAK); break; // step 4 back case 'F': step(&motors[5], FOR); break; // step 5 forward case 'f': step(&motors[5], BAK); break; // step 5 back case 'U': USART_Transmit(117); break; // echo case '?': oPINA = ~oPINA; break; // force status update case 's': number = 0; mode = 1; break; // switch to number mode for timer } } else { if (0) { } else if (isDigit(command)) { number *= 10; number += (command - '0'); } else if (command == '.') { // apply value and switch back timerTop = number; mode = 0; } } } unsigned char stepMotor (stepper4ph * motor) { unsigned char index; index = stateTable[motor->State]; motor->State = (index & 0x0F); // calc next state return (index & 0xF0) /*>> 4*/; // calc motor bits } void step(stepper4ph * motor, char dir) { if (dir == FOR) setForward(motor); else setReverse(motor); setStep(motor); } void sync() { // set up outputs static unsigned char out1, out2, out3 = 0; // in 3.3ms send done (0x00) 109 clocks at 32.768khz, 13 * 32768/8 initCompleteSignal(); if (motors[0].Step != 0) { out1 &= 0x0F; out1 |= stepMotor(&motors[0]); clearStep(&motors[0]); } if (motors[1].Step != 0) { out1 &= 0xF0; out1 |= (stepMotor(&motors[1]) >> 4); clearStep(&motors[1]); } if (motors[2].Step != 0) { out2 &= 0x0F; out2 |= stepMotor(&motors[2]); clearStep(&motors[2]); } if (motors[3].Step != 0) { out2 &= 0xF0; out2 |= (stepMotor(&motors[3]) >> 4); clearStep(&motors[3]); } if (motors[4].Step != 0) { out3 &= 0x0F; out3 |= stepMotor(&motors[4]); clearStep(&motors[4]); } if (motors[5].Step != 0) { out3 &= 0xF0; out3 |= (stepMotor(&motors[5]) >> 4); clearStep(&motors[5]); } // output them LS595StrobeL(); LS595Send (out1); LS595Send (out2); LS595Send (out3); LS595StrobeH(); // in 3.3ms send done (0x00) 109 clocks at 32.768khz, 13 * 32768/8 initCompleteSignal(); } void initCompleteSignal() { StepReady = 0; tempTimer = timerTop; // setup timer to trigger send of 0x00 } void inline printDigit(unsigned char n) { USART_Transmit( (n & 0x0F) | 0x30 ); } void printNumber16(unsigned int n) { unsigned int d; d = n/10000; printDigit(d); n -= d * 10000; d = n/1000; printDigit(d); n -= d * 1000; d = n/100; printDigit(d); n -= d * 100; d = n/10; printDigit(d); n -= d * 10; printDigit(n); }