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This commit is contained in:
Ishan S. Patel
2021-09-19 19:19:04 -04:00
parent c3e43fcc9c
commit 6c907068a8
3 changed files with 1063 additions and 61 deletions
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189
main.c
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@@ -7,23 +7,27 @@
#include <stdlib.h>
#include <stdio.h>
#include "helpers_uart.h"
#include <avr/interrupt.h>
#include <xc.h>
#include "twi0_master_example.h"
#define LISTEN_EXPANDER_COMMANDS true
#define IGNORE_SOFT_LIMITS false
#define delay_time 50
// Zoom, Focus, Iris
struct PORT_struct *port_1[] = {&PORTA, &PORTB, &PORTC};
struct PORT_struct *port_2[] = {&PORTA, &PORTB, &PORTC};
struct PORT_struct *port_3[] = {&PORTA, &PORTC, &PORTC};
struct PORT_struct *port_4[] = {&PORTA, &PORTC, &PORTC};
// Zoom -> motor 0
// Focus -> motor 1
// Iris -> motor 2
struct PORT_struct *port_1[] = {&PORTB, &PORTA, &PORTC};
struct PORT_struct *port_2[] = {&PORTB, &PORTA, &PORTC};
struct PORT_struct *port_3[] = {&PORTC, &PORTA, &PORTC};
struct PORT_struct *port_4[] = {&PORTC, &PORTA, &PORTC};
uint8_t pin_1[] = {2, 5, 4};
uint8_t pin_2[] = {3, 4, 5};
uint8_t pin_3[] = {4, 1, 6};
uint8_t pin_4[] = {5, 0, 7};
uint8_t pin_1[] = {5, 2, 4};
uint8_t pin_2[] = {4, 3, 5};
uint8_t pin_3[] = {0, 4, 6};
uint8_t pin_4[] = {1, 5, 7};
uint8_t delay[] = {15, 15, 50}; // Multiples of "delay_time"
uint16_t max_steps[] = {2994, 5180, 77};
@@ -37,28 +41,74 @@ uint8_t phase;
uint8_t motor_num;
uint8_t port_val;
char usart_recv_char;
bool usart_interrupt = false;
uint8_t read_low_usart_bit(){
while (!(USART0.STATUS & USART_RXCIF_bm)) {
}
return USART0.RXDATAL;
}
uint8_t read_high_usart_bit(){
while (!(USART0.STATUS & USART_RXCIF_bm)) {
}
return USART0.RXDATAH;
}
ISR(USART0_RXC_vect)
{
usart_recv_char = read_low_usart_bit();
USART0_sendChar(usart_recv_char);
}
void set_ports_out()
{
for (int i = 0; i<sizeof(pin_1); i++) {
port_1[i]->DIRSET = _BV(pin_1[i]);
port_2[i]->DIRSET = _BV(pin_2[i]);
port_3[i]->DIRSET = _BV(pin_3[i]);
port_4[i]->DIRSET = _BV(pin_4[i]);
port_1[i]->OUTSET = _BV(pin_1[i]);
port_2[i]->OUTSET = _BV(pin_2[i]);
port_3[i]->OUTSET = _BV(pin_3[i]);
port_4[i]->OUTSET = _BV(pin_4[i]);
}
}
void init_port_expander()
{
I2C0_example_write1ByteRegister(32, 0x00, 0x00);
I2C0_example_write1ByteRegister(32, 0x00, 0x00);
I2C0_example_write1ByteRegister(32, 0x09, 0x00);
}
void set_expanded_port_on(uint8_t num)
{
port_val = I2C0_example_read1ByteRegister(32, 0x09);
port_val |= _BV(num);
I2C0_example_write1ByteRegister(32, 0x09, port_val);
if (LISTEN_EXPANDER_COMMANDS) {
port_val = I2C0_example_read1ByteRegister(32, 0x09);
port_val |= _BV(num);
I2C0_example_write1ByteRegister(32, 0x09, port_val);
}
}
void set_expanded_port_off(uint8_t num)
{
port_val = I2C0_example_read1ByteRegister(32, 0x09);
port_val &= ~_BV(num);
I2C0_example_write1ByteRegister(32, 0x09, port_val);
if (LISTEN_EXPANDER_COMMANDS) {
port_val = I2C0_example_read1ByteRegister(32, 0x09);
port_val &= ~_BV(num);
I2C0_example_write1ByteRegister(32, 0x09, port_val);
}
}
void battery_charging_on()
{
set_expanded_port_on(0);
@@ -93,7 +143,6 @@ void power_3v3_off()
PORTA.OUTCLR = _BV(6);
}
void delay_n_units(uint8_t n)
{
for (int i = 0; i < n; i++) {
@@ -133,15 +182,17 @@ void step_phased(struct PORT_struct * p1, struct PORT_struct * p2, struct PORT_s
void step_motor(uint8_t i, int s)
{
set_expanded_port_on(i);
for (int n = 0; i < abs(s); n++) {
for (int n = 0; n < abs(s); n++) {
phase = abs(current_step[i] % 4);
motor_max_pos = (current_step[i] >= max_steps[i]) && (s > 0);
motor_min_pos = (current_step[i] <= 0) && (s < 0);
if (motor_max_pos || motor_min_pos) {
return;
if (!IGNORE_SOFT_LIMITS) {
return;
}
}
step_phased(port_1[i], port_2[i], port_3[i], port_4[i], pin_1[i], pin_2[i], pin_3[i], pin_4[i], phase);
@@ -159,28 +210,28 @@ void step_motor(uint8_t i, int s)
void step_iris_phased(int steps)
{
set_expanded_port_on(2);
set_expanded_port_on(4);
step_motor(2, steps);
set_expanded_port_off(2);
}
void step_zoom_phased(int steps)
{
set_expanded_port_on(1);
step_motor(1, steps);
set_expanded_port_off(1);
set_expanded_port_off(4);
}
void step_focus_phased(int steps)
{
set_expanded_port_on(0);
set_expanded_port_on(3);
step_motor(1, steps);
set_expanded_port_off(3);
}
void step_zoom_phased(int steps)
{
set_expanded_port_on(2);
step_motor(0, steps);
set_expanded_port_off(0);
set_expanded_port_off(2);
}
bool at_zoom_limit()
{
if (PORTD.IN & PIN0_bm) {
if (PORTD.IN & PIN1_bm) {
return false;
} else {
return true;
@@ -190,7 +241,7 @@ bool at_zoom_limit()
bool at_focus_limit()
{
if (PORTD.IN & PIN1_bm) {
if (PORTD.IN & PIN0_bm) {
return false;
} else {
return true;
@@ -198,25 +249,14 @@ bool at_focus_limit()
}
void home_focus()
{
motor_num = 0;
current_step[motor_num] = max_steps[motor_num] + 200;
step_motor(motor_num, -100);
for (int i = 0; i < max_steps[motor_num]; i++) {
step_motor(motor_num, -1);
if (at_focus_limit()) {
break;
}
}
current_step[motor_num] = 0;
}
void home_zoom()
{
motor_num = 1;
motor_num = 0;
set_expanded_port_on(motor_num + 2);
current_step[motor_num] = max_steps[motor_num] + 200;
step_motor(motor_num, -100);
_delay_ms(100);
for (int i = 0; i < max_steps[motor_num]; i++) {
step_motor(motor_num, -1);
if (at_zoom_limit()) {
@@ -224,14 +264,34 @@ void home_zoom()
}
}
current_step[motor_num] = 0;
set_expanded_port_off(motor_num + 2);
}
void home_focus()
{
motor_num = 1;
set_expanded_port_on(motor_num + 2);
current_step[motor_num] = max_steps[motor_num] + 200;
step_motor(motor_num, -100);
_delay_ms(100);
for (int i = 0; i < max_steps[motor_num]; i++) {
step_motor(motor_num, -1);
if (at_focus_limit()) {
break;
}
}
current_step[motor_num] = 0;
set_expanded_port_off(motor_num + 2);
}
void home_iris()
{
motor_num = 3;
motor_num = 2;
set_expanded_port_on(motor_num + 2);
current_step[motor_num] = max_steps[motor_num] + 200;
step_motor(motor_num, -100);
current_step[motor_num] = 0;
set_expanded_port_off(motor_num + 2);
}
void ir_filter_on()
@@ -256,29 +316,38 @@ void init_pins()
PORTD.DIRCLR = PIN0_bm;
PORTD.DIRCLR = PIN1_bm;
PORTD.PIN0CTRL |= PORT_ISC_BOTHEDGES_gc;
PORTD.PIN1CTRL |= PORT_ISC_BOTHEDGES_gc;
// IR Filter
PORTB.DIRSET = _BV(2);
PORTB.DIRSET = _BV(3);
//i2c muxing
PORTMUX.TWISPIROUTEA = 0x23;
set_ports_out();
}
int main(void)
{
init_pins();
I2C0_Initialize();
init_port_expander();
USART0_init();
I2C0_Initialize();
power_3v3_on();
init_port_expander();
sei();
if (!LISTEN_EXPANDER_COMMANDS) {
I2C0_example_write1ByteRegister(32, 0x09, 0xFF);
}
home_zoom();
home_focus();
home_iris();
while (1) {
step_zoom_phased(6000);
step_iris_phased(100);
step_focus_phased(2000);
step_zoom_phased(-6000);
step_iris_phased(-100);
step_focus_phased(-2000);
}
return 0;
}