// MS2 Speed control Application // Target : M128 // Crystal: 16MHz /* 마이크로 스텝드라이버 구동 소스 포트 연결 Enable : PORTB 7번핀 Mode1 : PORTB 5번핀 Mode0 : PORTB 4번핀 R_DIR : PORTB 3번핀 R_CLK : PORTB 2번핀 L_DIR : PORTB 1번핀 L_CLK : PORTB 0번핀 */ #include #include #include #define MOTOR1_PORT PORTC // 스테핑 모터 연결 포트 #define MOTOR1_PORT_DDR DDRC // 스테핑 모터 연결 포트의 DDR REG #define MOTOR2_PORT PORTE // 스테핑 모터 연결 포트 #define MOTOR2_PORT_DDR DDRE // 스테핑 모터 연결 포트의 DDR REG #define SW_PORT PINA #define SW_DDR_PORT DDRA #define SPEEDSW_PORT PIND #define SPEEDSW_DDR_PORT DDRD #define MOTOR1_ENABLE (MOTOR1_PORT = MOTOR1_PORT|0x80) #define MOTOR1_DISABLE (MOTOR1_PORT = MOTOR1_PORT&0x7f) #define MOTOR1_STEP_M0 (MOTOR1_PORT = (MOTOR1_PORT&0xcf)|0x00) #define MOTOR1_STEP_M1 (MOTOR1_PORT = (MOTOR1_PORT&0xcf)|0x10) #define MOTOR1_STEP_M2 (MOTOR1_PORT = (MOTOR1_PORT&0xcf)|0x20) #define MOTOR1_STEP_M3 (MOTOR1_PORT = (MOTOR1_PORT&0xcf)|0x30) #define MOTOR1_LEFT_CLK (MOTOR1_PORT = MOTOR1_PORT^0x01) #define MOTOR1_RIGHT_CLK (MOTOR1_PORT = MOTOR1_PORT^0x04) #define MOTOR1_LEFT_CW (MOTOR1_PORT = MOTOR1_PORT&0xfd) #define MOTOR1_LEFT_CCW (MOTOR1_PORT = MOTOR1_PORT|0x02) #define MOTOR1_RIGHT_CW (MOTOR1_PORT = MOTOR1_PORT&0xf7) #define MOTOR1_RIGHT_CCW (MOTOR1_PORT = MOTOR1_PORT|0x08) #define MOTOR2_ENABLE (MOTOR2_PORT = MOTOR2_PORT|0x80) #define MOTOR2_DISABLE (MOTOR2_PORT = MOTOR2_PORT&0x7f) #define MOTOR2_STEP_M0 (MOTOR2_PORT = (MOTOR2_PORT&0xcf)|0x00) #define MOTOR2_STEP_M1 (MOTOR2_PORT = (MOTOR2_PORT&0xcf)|0x10) #define MOTOR2_STEP_M2 (MOTOR2_PORT = (MOTOR2_PORT&0xcf)|0x20) #define MOTOR2_STEP_M3 (MOTOR2_PORT = (MOTOR2_PORT&0xcf)|0x30) #define MOTOR2_LEFT_CLK (MOTOR2_PORT = MOTOR2_PORT^0x01) #define MOTOR2_RIGHT_CLK (MOTOR2_PORT = MOTOR2_PORT^0x04) #define MOTOR2_LEFT_CW (MOTOR2_PORT = MOTOR2_PORT&0xfd) #define MOTOR2_LEFT_CCW (MOTOR2_PORT = MOTOR2_PORT|0x02) #define MOTOR2_RIGHT_CW (MOTOR2_PORT = MOTOR2_PORT&0xf7) #define MOTOR2_RIGHT_CCW (MOTOR2_PORT = MOTOR2_PORT|0x08) #define MOTOR1DELAY 10000 #define MOTOR2DELAY 10000 #define MOTOROFF 0 #define MOTORON 1 #define MOTORMID 2 #define MOTORGOLEFT 3 #define MOTORGORIGHT 4 #define SPEEDRATE 2 #define LIMIT 10000 #define LEFTEND 0 #define RIGHTEND 1 #define MID 2 #define PRESS 1 #define OPEN 0 #define ON 1 #define OFF 0 #define IDLE 0 #define ACTIVE 1 volatile int key7state = OPEN, key6state = OPEN, key0state = OPEN, key1state = OPEN; volatile int speedswstate[8]; // motor1durate : motor speed control // motor1pos : motor position (리미트 스위치를 사용하기 위한 판단) volatile int motor1over=0, motor1durate=30, motor1pos=MOTORGOLEFT, motor1state=ON; volatile long motor1delay = 0; volatile int motor2over=0, motor2durate=15, motor2pos=MOTORGOLEFT, motor2state=ON; volatile long motor2delay = 0; void port_init(void); void uart0_init(void); void delay(int n); void timer0_init(void); void timer0_ovf_isr(void); void timer1_init(void); void timer1_ovf_isr(void); int putchar(char c); void init_devices(void); void port_init(void) { PORTA = 0x00; DDRA = 0x03; PORTB = 0x00; DDRB = 0x00; PORTC = 0x00; DDRC = 0xFF; PORTD = 0x00; DDRD = 0xFF; PORTE = 0x00; DDRE = 0x00; PORTF = 0x00; DDRF = 0x00; PORTG = 0x00; DDRG = 0x03; } //UART0 initialize // desired baud rate: 9600 // actual: baud rate:9615 (0.2%) // char size: 8 bit // parity: Disabled void uart0_init(void) { UCSR0B = 0x00; //disable while setting baud rate UCSR0A = 0x00; UCSR0C = 0x06; UBRR0L = 0x67; //set baud rate lo UBRR0H = 0x00; //set baud rate hi UCSR0B = 0x18; } void delay(int n) { volatile int i,j; for(i=1;i MOTOR1DELAY){ motor1over++; if(motor1over > motor1durate){ motor1over = 0; if(motor1state == ON){ MOTOR1_LEFT_CLK; MOTOR1_RIGHT_CLK; } } }else{ motor1delay++; } } //TIMER1 initialize - prescale:8 // WGM: 0) Normal, TOP=0xFFFF // desired value: 10KHz // actual value: 10.000KHz (0.0%) void timer1_init(void) { TCCR1B = 0x00; //stop TCNT1H = 0xFF; //setup TCNT1L = 0x38; OCR1AH = 0x00; OCR1AL = 0xC8; OCR1BH = 0x00; OCR1BL = 0xC8; OCR1CH = 0x00; OCR1CL = 0xC8; ICR1H = 0x00; ICR1L = 0xC8; TCCR1A = 0x00; TCCR1B = 0x02; //start Timer } #pragma interrupt_handler timer1_ovf_isr:iv_TIM1_OVF void timer1_ovf_isr(void) { //TIMER1 has overflowed TCNT1H = 0xFF; //reload counter high value TCNT1L = 0x38; //reload counter low value if(motor2delay > MOTOR2DELAY){ motor2over++; if(motor2over > motor2durate){ motor2over = 0; if(motor2state == ON){ MOTOR2_LEFT_CLK; MOTOR2_RIGHT_CLK; } } }else{ motor2delay++; } } int putchar(char c) { while (((UCSR0A>>UDRE0)&0x01) == 0) ; // UDRE, data register empty UDR0 = c; return c; } //call this routine to initialize all peripherals void init_devices(void) { //stop errant interrupts until set up CLI(); //disable all interrupts XDIV = 0x00; //xtal divider XMCRA = 0x00; //external memory port_init(); uart0_init(); timer0_init(); timer1_init(); MCUCR = 0x00; EICRA = 0x00; //extended ext ints EICRB = 0x00; //extended ext ints EIMSK = 0x00; TIMSK = 0x05; //timer interrupt sources ETIMSK = 0x00; //extended timer interrupt sources SEI(); //re-enable interrupts //all peripherals are now initialized } void init_system(void){ MOTOR1_PORT_DDR = 0xff; MOTOR2_PORT_DDR = 0xff; motor1state = ON; MOTOR1_ENABLE; MOTOR1_STEP_M0; MOTOR1_LEFT_CCW; MOTOR1_RIGHT_CCW; motor2state = ON; MOTOR2_ENABLE; MOTOR2_STEP_M2; MOTOR2_LEFT_CCW; MOTOR2_RIGHT_CCW; SW_DDR_PORT = 0x00; SPEEDSW_DDR_PORT = 0x00; } /* main function-----------------------------------*/ void main(void) { int motordir1=0, motordir2=0; int motor1where=MID, motor2where=MID; init_devices(); init_system(); //insert your functional code here... printf(" \n\n\rStepping Motor test program...\n\r"); /* 딜레이로 마이크로 스텝 드라이버 구동 */ while(1){ // 모터의 방향 및 온 오프 콘트롤 switch(SW_PORT){ // MOTOR 1 control case 0x01 : if(key0state == OPEN){ if(!(motor1where == LEFTEND)){ motor1pos = MOTORGOLEFT; motordir1 = 0; motor1state = ON; MOTOR1_LEFT_CCW; MOTOR1_RIGHT_CCW; motor1delay=0; } key0state = PRESS; }else{ if(!(motor1where == LEFTEND)){ motor1pos = MOTORGOLEFT; motordir1 = 0; motor1state = ON; MOTOR1_LEFT_CCW; MOTOR1_RIGHT_CCW; // motor1delay=0; } } break; case 0x02 : if(key1state == OPEN){ if(!(motor1where == RIGHTEND)){ motor1pos = MOTORGORIGHT; motordir1 = 1; motor1state = ON; MOTOR1_LEFT_CW; MOTOR1_RIGHT_CW; motor1delay=0; } key1state = PRESS; }else{ if(!(motor1where == RIGHTEND)){ motor1pos = MOTORGORIGHT; motordir1 = 1; motor1state = ON; MOTOR1_LEFT_CW; MOTOR1_RIGHT_CW; //motor1delay=0; } } break; case 0x04 : motor1state = OFF; break; case 0x08 : motor1state = ON; break; // MOTOR 2 control case 0x80 : if(key7state == OPEN){ if(!(motor2where == LEFTEND)){ motor2pos = MOTORGOLEFT; motordir2 = 0; motor2state = ON; MOTOR2_LEFT_CCW; MOTOR2_RIGHT_CCW; motor2delay=0; } key7state = PRESS; }else{ if(!(motor2where == LEFTEND)){ motor2pos = MOTORGOLEFT; motordir2 = 0; motor2state = ON; MOTOR2_LEFT_CCW; MOTOR2_RIGHT_CCW; //motor2delay=0; } } break; case 0x40 : if(key6state == OPEN){ if(!(motor2where == RIGHTEND)){ motor2pos = MOTORGORIGHT; motordir2 = 1; motor2state = ON; MOTOR2_LEFT_CW; MOTOR2_RIGHT_CW; motor2delay=0; } key6state = PRESS; }else{ if(!(motor2where == RIGHTEND)){ motor2pos = MOTORGORIGHT; motordir2 = 1; motor2state = ON; MOTOR2_LEFT_CW; MOTOR2_RIGHT_CW; //motor2delay=0; } } break; case 0x20 : motor2state = OFF; break; case 0x10 : motor2state = ON; break; case 0x00 : key7state = key6state = key1state = key0state =OPEN; default : //printf("No Button!"); break; } // 이후 모터의 속도 컨트롤 switch(SPEEDSW_PORT&0xC3){ case 0x01 : speedswstate[0] = PRESS; break; case 0x02 : speedswstate[1] = PRESS; break; case 0x40 : speedswstate[6] = PRESS; break; case 0x80 : speedswstate[7] = PRESS; break; case 0x00 : if(speedswstate[0] == PRESS){ speedswstate[0] = OPEN; motor1durate = motor1durate + SPEEDRATE; if(motor1durate > LIMIT){ motor1durate = LIMIT; } } if(speedswstate[1] == PRESS){ speedswstate[1] = OPEN; motor1durate = motor1durate - SPEEDRATE; if(motor1durate <= 1){ motor1durate = 1; } } if(speedswstate[6] == PRESS){ speedswstate[6] = OPEN; motor2durate = motor2durate - SPEEDRATE; if(motor2durate > LIMIT){ motor2durate = LIMIT; } } if(speedswstate[7] == PRESS){ speedswstate[7] = OPEN; motor2durate = motor2durate + SPEEDRATE; if(motor2durate <= 1){ motor2durate = 1; } } break; default : break; } //printf("\r\n SPEEDSW_PORT&0x03 : %d ",SPEEDSW_PORT&0xC3); } }