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use timer1 and use makefile 

use timer1 (initial code)
use makefile instead of arduino IDE.
master
Marc Poulhiès 5 years ago
committed by Marc Poulhiès
parent
511e65a0d3
commit
1e0fe2f077
4 changed files with 320 additions and 277 deletions
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  1. 6
      arduino/Makefile
  2. 277
      arduino/jjrobots.ino
  3. 0
      arduino/nema_test.c
  4. 314
      arduino/startracker.ino

6
arduino/Makefile
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@ -0,0 +1,6 @@
BOARD_TAG = nano328
#ARDUINO_LIBS = LiquidCrystal
ARDMK_DIR:=$(HOME)/git/Arduino-Makefile
include $(ARDMK_DIR)/Arduino.mk

277
arduino/jjrobots.ino
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@ -1,277 +0,0 @@
// STARTRACKER MOTOR CONTROL: STEPPER MOTOR CONTROL FOR JJROBOTS POV DISPLAY
// This code is designed for JJROBOTS arDusplay Stepper Motor Control board
// Author: JJROBOTS.COM (Jose Julio & Juan Pedro)
// Licence: GNU GPL
// Stepper : NEMA17
// Driver : A4988 or DRV8825
// Microstepping : configured to 1/16
// Arduino board: Pro micro (leonardo equivalent)
// STEPPER DRIVER CONNECTED TO:
// ENABLE pin: D10 (PB6)
// DIR pin: D9 (PB5)
// STEP pin: D8 (PB4)
// Button1 : START/STOP D4
// Button2 : DEC D5
// Button3 : CHANGE ROTATION DIRECTION (go back to original position) D6
//DO NO TAKE PHOTOS WITH AN EXPOSITION LONGER THAN 5 MINUTES. THE DRIFT WOULD BE NOTICEABLE.
//Theory behind this CODE
//-----------------------------------------
// 360º (rotation of the Earth every 1436min)
// *Using a M8 rod coming up 1.25mm every complete rotation
#define COMINGUPSPEED 1.25 //milimeters that the rod comes up every complete rotation (360º). In a M8 rod/bolt is usually 1.25 mm. In a M6, only 1.00mm
//other info needed:
//ratio between the large gear and the small one=0.2549
//MEASURE THIS VALUE AS GOOD AS YOU CAN AND SET THE LENGHT BELOW
#define LENGTH 228 //distance from the centre of the hinge to the centre of the hole for the rod in milimiters
// Calculus here:
#define STEP ((2*3.14159)/1436)*LENGTH //rotational velocity of the small gear
#define RPS (STEP/(60*0.2549))/COMINGUPSPEED //rotational velocity of the large gear
#define ZERO_SPEED 65535
#define STEPS_PER_REV 3200 // 200 steps motor with 1/16 microstepping
#define MAX_RPM (RPS*60.0)
static const unsigned int led_pin = 7;
static const unsigned int step_pin = 8;
static const unsigned int dir_pin = 9;
static const unsigned int enable_pin = 10;
static const unsigned int btn1_pin = 4;
static const unsigned int btn2_pin = 11;
static const unsigned int btn3_pin = 6;
static const unsigned int serial_speed = 115200;
// BIT functions
#define CLR(x,y) (x&=(~(1<<y)))
#define SET(x,y) (x|=(1<<y))
//uint16_t rpm;
float rpm;
uint16_t period;
uint16_t userCommand=0;
static bool motor_enable;
// TIMER 1: STEP INTERRUPT
ISR(TIMER1_COMPA_vect)
{
if (motor_enable)
{
SET(PORTB, step_pin);
delayMicroseconds(2);
CLR(PORTB, step_pin);
}
}
static enum control_state_e {
IDLE = 0,
RUN = 1,
} control_state;
ISR(TIMER) {
// THIS AUTOMATA MUST NOT CHANGE STATE.
// Let control automata take care of state change
switch(control_state) {
case IDLE:
// spurious timer IT, ignore
break;
case RUN:
// emit STEP
break;
}
}
void start_timer(void) {
// compute frequency
// configure timer
// enable timer interrupt
}
void stop_timer(void) {
//disable timer interrupt
// disable timer
}
void control_automata(void) {
switch(control_state){
case IDLE:
if (digitalRead(btn1_pin)==LOW) { // START/STOP Button pressed
while (digitalRead(btn1_pin)==HIGH); // START/STOP released
}
control_state = RUN;
start_timer();
// FALLTHROUGH
case RUN:
if (digitalRead(btn1_pin)==LOW) { // START/STOP Button pressed
while (digitalRead(btn1_pin)==HIGH); // START/STOP released
}
stop_timer();
control_state = IDLE;
break;
}
}
void setRpm()
{
float temp;
if (rpm == 0)
{
ICR1 = ZERO_SPEED;
digitalWrite(enable_pin, HIGH); // Disable motor
}
else
{
digitalWrite(enable_pin, LOW); // Enable motor
/* if (rpm<8)
rpm = 8;*/
if (rpm>MAX_RPM)
rpm = MAX_RPM;
temp = (rpm/60.0)*STEPS_PER_REV; // Number of steps per seconds needed
temp = 2000000 / temp; // 2000000 = (16000000/8) timer1 16Mhz with 1/8 preescaler
if (period<600000)
period=60000;
period = temp;
while (TCNT1 < 30); // Wait until a pulse to motor has finished
//cli();
ICR1 = period; //+ userCommand;
if (TCNT1 > ICR1) // Handle when we need to reset the timer
TCNT1=0;
//sei();
}
}
void setup() {
timer_state = IDLE;
control_state = IDLE;
// Setup PIN as GPIO output
pinMode(led_pin, OUTPUT); // LED pin
pinMode(step_pin, OUTPUT); // STEP pin
pinMode(dir_pin, OUTPUT); // DIR pin
pinMode(enable_pin, OUTPUT); // ENABLE pin
// Button input with pullups enable
pinMode(btn1_pin, INPUT_PULLUP);
pinMode(btn2_pin, INPUT_PULLUP);
pinMode(btn3_pin, INPUT_PULLUP);
// Initial setup for motor driver
digitalWrite(enable_pin, HIGH); // Disable motor
digitalWrite(dir_pin, HIGH); // Motor direction
// debug output
Serial.begin(serial_speed);
digitalWrite(led_pin, HIGH);
delay(200); // Initial delay
digitalWrite(led_pin, LOW);
motor_enable = false;
// PWM SETUP
// Fast PWM mode => TOP:ICR1
TCCR1A =(1<<WGM11);
// TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS10); //No Prescaler, Fast PWM
TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); // Prescaler 1:8, Fast PWM
ICR1 = ZERO_SPEED;
TIMSK1 = (1<<OCIE1A); // Enable Timer interrupt
rpm = 0;
while (digitalRead(4)==HIGH); // Wait until START button is pressed
motor_enable = true;
delay(250);
while (digitalRead(4)==LOW);
}
void loop(void) {
if (digitalRead(btn1_pin)==LOW) // START/STOP Button pressed?
{
rpm = 0;
userCommand=0;
setRpm();
motor_enable = !motor_enable;
/* if (motor_enable) */
/* motor_enable = false; */
/* else */
/* motor_enable = true; */
while (digitalRead(btn1_pin)==LOW); // Wait until botton release
}
if (digitalRead(btn3_pin)==LOW) // Button 3 pressed?
{
Serial.println("Coming back");
digitalWrite(btn3_pin, HIGH); // Motor direction
rpm=50;
setRpm();
if (motor_enable == 1)
motor_enable = 0;
else
motor_enable = 1;
while (digitalRead(btn3_pin)==LOW); // Wait until botton release
}
if (motor_enable)
{
rpm++;
digitalWrite(led_pin, HIGH);
}
else
{
rpm = 0;
digitalWrite(led_pin, LOW);
}
Serial.print("RPM:");
Serial.print(rpm);
Serial.print(" ");
Serial.println(period+userCommand);
setRpm();
Serial.print("100xRPS large gear:");
Serial.print(RPS/0.2549);
Serial.print(" ");
Serial.print("STEP:");
Serial.print(STEP);
Serial.print(" ");
delay(10);
if (digitalRead(btn2_pin)==LOW) // Decrease button
{
digitalWrite(led_pin, LOW);
userCommand--;
while (digitalRead(btn2_pin)==LOW); // Wait until released
}
if (digitalRead(btn3_pin)==LOW) // Increase button
{
digitalWrite(led_pin, LOW);
userCommand++;
while (digitalRead(btn3_pin)==LOW); // Wait until released
}
}

0
arduino/nema_test.ino → arduino/nema_test.c
View File

314
arduino/startracker.ino
View File

@ -0,0 +1,314 @@
// STARTRACKER MOTOR CONTROL: STEPPER MOTOR CONTROL FOR JJROBOTS POV DISPLAY
// This code is designed for JJROBOTS arDusplay Stepper Motor Control board
// Author: JJROBOTS.COM (Jose Julio & Juan Pedro)
// Licence: GNU GPL
// Stepper : NEMA17
// Driver : A4988 or DRV8825
// Microstepping : configured to 1/16
// Arduino board: Pro micro (leonardo equivalent)
// STEPPER DRIVER CONNECTED TO:
// ENABLE pin: D10 (PB6)
// DIR pin: D9 (PB5)
// STEP pin: D8 (PB4)
// Button1 : START/STOP D4
// Button2 : DEC D5
// Button3 : CHANGE ROTATION DIRECTION (go back to original position) D6
//DO NO TAKE PHOTOS WITH AN EXPOSITION LONGER THAN 5 MINUTES. THE DRIFT WOULD BE NOTICEABLE.
//Theory behind this CODE
//-----------------------------------------
// 360º (rotation of the Earth every 1436min)
// *Using a M8 rod coming up 1.25mm every complete rotation
#define COMINGUPSPEED 1.25 //milimeters that the rod comes up every complete rotation (360º). In a M8 rod/bolt is usually 1.25 mm. In a M6, only 1.00mm
//other info needed:
//ratio between the large gear and the small one=0.2549
//MEASURE THIS VALUE AS GOOD AS YOU CAN AND SET THE LENGHT BELOW
#define LENGTH 228 //distance from the centre of the hinge to the centre of the hole for the rod in milimiters
// Calculus here:
#define STEP ((2*3.14159)/1436)*LENGTH //rotational velocity of the small gear
#define RPS (STEP/(60*0.2549))/COMINGUPSPEED //rotational velocity of the large gear
#define ZERO_SPEED 65535
#define STEPS_PER_REV 3200 // 200 steps motor with 1/16 microstepping
#define MAX_RPM (RPS*60.0)
static const unsigned int led_pin = 7;
static const unsigned int step_pin = 8;
static const unsigned int dir_pin = 9;
static const unsigned int enable_pin = 10;
static const unsigned int btn1_pin = 4;
static const unsigned int btn2_pin = 11;
static const unsigned int btn3_pin = 6;
static const unsigned long serial_speed = 115200UL;
#define DEBUG (1)
static const int fake_start = 1;
// BIT functions
#define CLR(x,y) (x&=(~(1<<y)))
#define SET(x,y) (x|=(1<<y))
//uint16_t rpm;
float rpm;
uint16_t period;
uint16_t userCommand=0;
static bool motor_enable;
/* // TIMER 1: STEP INTERRUPT */
/* ISR(TIMER1_COMPA_vect) */
/* { */
/* if (motor_enable) */
/* { */
/* SET(PORTB, step_pin); */
/* delayMicroseconds(2); */
/* CLR(PORTB, step_pin); */
/* } */
/* } */
static enum control_state_e {
IDLE = 0,
RUN = 1,
} control_state;
ISR(TIMER1_COMPA_vect) {
// THIS AUTOMATA MUST NOT CHANGE STATE.
// Let control automata take care of state change
#if DEBUG
Serial.println("in ISR");
#endif
switch(control_state) {
case IDLE:
// spurious timer IT, ignore
break;
case RUN:
// emit STEP
break;
}
}
void start_timer(int freq) {
// compute frequency
// configure timer
// enable timer interrupt
#if DEBUG
Serial.println("start timer");
#endif
noInterrupts(); // disable all interrupts
TCCR1A = 0;
TCCR1B = 0;
TCNT1 = 0;
OCR1A = (16000000/256); // 62500 ~ 1Hz
TCCR1B |= (1 << WGM12); // CTC mode
TCCR1B |= (1 << CS12); // 256 prescaler
TIMSK1 |= (1 << OCIE1A); // enable timer compare interrupt
interrupts(); // enable all interrupts
}
void stop_timer(void) {
//disable timer interrupt
// disable timer
}
void control_automata(void) {
#if DEBUG == 2
Serial.println("Automata step...");
#endif
switch(control_state){
case IDLE:
if (fake_start || digitalRead(btn1_pin)==LOW) { // START/STOP Button pressed
if (!fake_start) while (digitalRead(btn1_pin)==HIGH); // START/STOP released
control_state = RUN;
start_timer();
}
break;
case RUN:
if (digitalRead(btn1_pin)==LOW) { // START/STOP Button pressed
while (digitalRead(btn1_pin)==HIGH); // START/STOP released
stop_timer();
control_state = IDLE;
}
break;
}
#if DEBUG == 2
Serial.println("End of Automata step...");
#endif
}
/* void setRpm() */
/* { */
/* float temp; */
/* if (rpm == 0) */
/* { */
/* ICR1 = ZERO_SPEED; */
/* digitalWrite(enable_pin, HIGH); // Disable motor */
/* } */
/* else */
/* { */
/* digitalWrite(enable_pin, LOW); // Enable motor */
/* /\* if (rpm<8) */
/* rpm = 8;*\/ */
/* if (rpm>MAX_RPM) */
/* rpm = MAX_RPM; */
/* temp = (rpm/60.0)*STEPS_PER_REV; // Number of steps per seconds needed */
/* temp = 2000000 / temp; // 2000000 = (16000000/8) timer1 16Mhz with 1/8 preescaler */
/* if (period<600000) */
/* period=60000; */
/* period = temp; */
/* while (TCNT1 < 30); // Wait until a pulse to motor has finished */
/* //cli(); */
/* ICR1 = period; //+ userCommand; */
/* if (TCNT1 > ICR1) // Handle when we need to reset the timer */
/* TCNT1=0; */
/* //sei(); */
/* } */
/* } */
void setup() {
control_state = IDLE;
// Setup PIN as GPIO output
pinMode(led_pin, OUTPUT); // LED pin
pinMode(step_pin, OUTPUT); // STEP pin
pinMode(dir_pin, OUTPUT); // DIR pin
pinMode(enable_pin, OUTPUT); // ENABLE pin
// Button input with pullups enable
pinMode(btn1_pin, INPUT_PULLUP);
pinMode(btn2_pin, INPUT_PULLUP);
pinMode(btn3_pin, INPUT_PULLUP);
// Initial setup for motor driver
digitalWrite(enable_pin, HIGH); // Disable motor
digitalWrite(dir_pin, HIGH); // Motor direction
// debug output
Serial.begin(serial_speed);
#if DEBUG
Serial.println("Serial setup");
#endif
digitalWrite(led_pin, HIGH);
delay(200); // Initial delay
digitalWrite(led_pin, LOW);
motor_enable = false;
/* // PWM SETUP */
/* // Fast PWM mode => TOP:ICR1 */
/* TCCR1A =(1<<WGM11); */
/* // TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS10); //No Prescaler, Fast PWM */
/* TCCR1B = (1<<WGM13)|(1<<WGM12)|(1<<CS11); // Prescaler 1:8, Fast PWM */
/* ICR1 = ZERO_SPEED; */
/* TIMSK1 = (1<<OCIE1A); // Enable Timer interrupt */
/* rpm = 0; */
/* while (digitalRead(4)==HIGH); // Wait until START button is pressed */
/* motor_enable = true; */
/* delay(250); */
/* while (digitalRead(4)==LOW); */
}
void loop(void) {
control_automata();
/* if (digitalRead(btn1_pin)==LOW) // START/STOP Button pressed? */
/* { */
/* rpm = 0; */
/* userCommand=0; */
/* setRpm(); */
/* motor_enable = !motor_enable; */
/* /\* if (motor_enable) *\/ */
/* /\* motor_enable = false; *\/ */
/* /\* else *\/ */
/* /\* motor_enable = true; *\/ */
/* while (digitalRead(btn1_pin)==LOW); // Wait until botton release */
/* } */
/* if (digitalRead(btn3_pin)==LOW) // Button 3 pressed? */
/* { */
/* Serial.println("Coming back"); */
/* digitalWrite(btn3_pin, HIGH); // Motor direction */
/* rpm=50; */
/* setRpm(); */
/* if (motor_enable == 1) */
/* motor_enable = 0; */
/* else */
/* motor_enable = 1; */
/* while (digitalRead(btn3_pin)==LOW); // Wait until botton release */
/* } */
/* if (motor_enable) */
/* { */
/* rpm++; */
/* digitalWrite(led_pin, HIGH); */
/* } */
/* else */
/* { */
/* rpm = 0; */
/* digitalWrite(led_pin, LOW); */
/* } */
/* Serial.print("RPM:"); */
/* Serial.print(rpm); */
/* Serial.print(" "); */
/* Serial.println(period+userCommand); */
/* setRpm(); */
/* Serial.print("100xRPS large gear:"); */
/* Serial.print(RPS/0.2549); */
/* Serial.print(" "); */
/* Serial.print("STEP:"); */
/* Serial.print(STEP); */
/* Serial.print(" "); */
/* delay(10); */
/* if (digitalRead(btn2_pin)==LOW) // Decrease button */
/* { */
/* digitalWrite(led_pin, LOW); */
/* userCommand--; */
/* while (digitalRead(btn2_pin)==LOW); // Wait until released */
/* } */
/* if (digitalRead(btn3_pin)==LOW) // Increase button */
/* { */
/* digitalWrite(led_pin, LOW); */
/* userCommand++; */
/* while (digitalRead(btn3_pin)==LOW); // Wait until released */
/* } */
}
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