commit b9fde304f3fdbc298074f7b60b0f3b2a3ac46ee8 Author: FReenen Date: Mon Jul 22 02:09:16 2024 +0200 move to git diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..89cc49c --- /dev/null +++ b/.gitignore @@ -0,0 +1,5 @@ +.pio +.vscode/.browse.c_cpp.db* +.vscode/c_cpp_properties.json +.vscode/launch.json +.vscode/ipch diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 0000000..7c486f1 --- /dev/null +++ b/.travis.yml @@ -0,0 +1,67 @@ +# Continuous Integration (CI) is the practice, in software +# engineering, of merging all developer working copies with a shared mainline +# several times a day < https://docs.platformio.org/page/ci/index.html > +# +# Documentation: +# +# * Travis CI Embedded Builds with PlatformIO +# < https://docs.travis-ci.com/user/integration/platformio/ > +# +# * PlatformIO integration with Travis CI +# < https://docs.platformio.org/page/ci/travis.html > +# +# * User Guide for `platformio ci` command +# < https://docs.platformio.org/page/userguide/cmd_ci.html > +# +# +# Please choose one of the following templates (proposed below) and uncomment +# it (remove "# " before each line) or use own configuration according to the +# Travis CI documentation (see above). +# + + +# +# Template #1: General project. Test it using existing `platformio.ini`. +# + +# language: python +# python: +# - "2.7" +# +# sudo: false +# cache: +# directories: +# - "~/.platformio" +# +# install: +# - pip install -U platformio +# - platformio update +# +# script: +# - platformio run + + +# +# Template #2: The project is intended to be used as a library with examples. +# + +# language: python +# python: +# - "2.7" +# +# sudo: false +# cache: +# directories: +# - "~/.platformio" +# +# env: +# - PLATFORMIO_CI_SRC=path/to/test/file.c +# - PLATFORMIO_CI_SRC=examples/file.ino +# - PLATFORMIO_CI_SRC=path/to/test/directory +# +# install: +# - pip install -U platformio +# - platformio update +# +# script: +# - platformio ci --lib="." --board=ID_1 --board=ID_2 --board=ID_N diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..0f0d740 --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,7 @@ +{ + // See http://go.microsoft.com/fwlink/?LinkId=827846 + // for the documentation about the extensions.json format + "recommendations": [ + "platformio.platformio-ide" + ] +} diff --git a/include/README b/include/README new file mode 100644 index 0000000..194dcd4 --- /dev/null +++ b/include/README @@ -0,0 +1,39 @@ + +This directory is intended for project header files. + +A header file is a file containing C declarations and macro definitions +to be shared between several project source files. You request the use of a +header file in your project source file (C, C++, etc) located in `src` folder +by including it, with the C preprocessing directive `#include'. + +```src/main.c + +#include "header.h" + +int main (void) +{ + ... +} +``` + +Including a header file produces the same results as copying the header file +into each source file that needs it. Such copying would be time-consuming +and error-prone. With a header file, the related declarations appear +in only one place. If they need to be changed, they can be changed in one +place, and programs that include the header file will automatically use the +new version when next recompiled. The header file eliminates the labor of +finding and changing all the copies as well as the risk that a failure to +find one copy will result in inconsistencies within a program. + +In C, the usual convention is to give header files names that end with `.h'. +It is most portable to use only letters, digits, dashes, and underscores in +header file names, and at most one dot. + +Read more about using header files in official GCC documentation: + +* Include Syntax +* Include Operation +* Once-Only Headers +* Computed Includes + +https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html diff --git a/lib/README b/lib/README new file mode 100644 index 0000000..6debab1 --- /dev/null +++ b/lib/README @@ -0,0 +1,46 @@ + +This directory is intended for project specific (private) libraries. +PlatformIO will compile them to static libraries and link into executable file. + +The source code of each library should be placed in a an own separate directory +("lib/your_library_name/[here are source files]"). + +For example, see a structure of the following two libraries `Foo` and `Bar`: + +|--lib +| | +| |--Bar +| | |--docs +| | |--examples +| | |--src +| | |- Bar.c +| | |- Bar.h +| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html +| | +| |--Foo +| | |- Foo.c +| | |- Foo.h +| | +| |- README --> THIS FILE +| +|- platformio.ini +|--src + |- main.c + +and a contents of `src/main.c`: +``` +#include +#include + +int main (void) +{ + ... +} + +``` + +PlatformIO Library Dependency Finder will find automatically dependent +libraries scanning project source files. + +More information about PlatformIO Library Dependency Finder +- https://docs.platformio.org/page/librarymanager/ldf.html diff --git a/platformio.ini b/platformio.ini new file mode 100644 index 0000000..ea23b77 --- /dev/null +++ b/platformio.ini @@ -0,0 +1,14 @@ +; PlatformIO Project Configuration File +; +; Build options: build flags, source filter +; Upload options: custom upload port, speed and extra flags +; Library options: dependencies, extra library storages +; Advanced options: extra scripting +; +; Please visit documentation for the other options and examples +; https://docs.platformio.org/page/projectconf.html + +[env:uno] +platform = atmelavr +board = uno +framework = arduino diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..513a37f --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,90 @@ +#include +#include + +#define M_Driver_SS 10 + +struct M_Driver_pack { + unsigned char stat; + unsigned long data; +}; + +M_Driver_pack m_driverSend(unsigned char addr, unsigned long data){ + M_Driver_pack out = {0x0, 0x0}; + digitalWrite(M_Driver_SS, LOW); + out.stat = SPI.transfer(addr); + out.data |= SPI.transfer16((unsigned int) (data >> 16)); + out.data <<= 16; + out.data |= SPI.transfer16((unsigned int) data); + digitalWrite(M_Driver_SS, HIGH); + return out; +} + +void m_driverWrite( + unsigned char addr, + unsigned long data){ + addr |= 0x80; // set the RW bit to write + m_driverSend(addr, data); +} + +M_Driver_pack m_driverRead(unsigned char addr){ + addr &= 0x7F; // set the RW bit to read + return m_driverSend(addr, 0x0); +} + +void setup() { + pinMode(M_Driver_SS, OUTPUT); + digitalWrite(M_Driver_SS, HIGH); + + // start SPI for driver and motion controller + SPI.begin(); + SPI.setBitOrder(MSBFIRST); + SPI.setDataMode(SPI_MODE2); + + Serial.begin(9600); + + // enable step/dir for driver 1 + m_driverWrite(0x00, 0x02); +} + +void printVarln(String name, long x, char base){ + Serial.print(name); + Serial.print(": "); + Serial.println(x, base); +} +void printVarln(String name, long x){ + printVarln(name, x, DEC); +} + +void printBase(unsigned long x, unsigned char i, unsigned char bits){ + unsigned char bitLen = i*bits; // number of input bits + unsigned char comp = (0b1 << bits)-1; // compare value for filter one char + while(bitLen > 0){ + bitLen -= bits; // get the start pos for char + char c = (char) (x >> bitLen); // shift char to lsb + c &= comp; // filter one char + if(c > 9) // convert to a real char + c += 'A'-10; + else + c += '0'; + Serial.print(c); + } +} + +unsigned char a=0; +void loop() { + Serial.println("motor driver registers are:"); + for(unsigned char a = 0; a < 0x80; a++){ + M_Driver_pack r = {0x0, 0x0}; + r = m_driverRead(a); + if(r.stat != 0x0 || r.data != 0x0){ + printBase(a, 2, 4); + Serial.print(": "); + printBase(r.stat & 0x3, 3, 1); + Serial.print(' '); + printBase(r.data, 8, 4); + Serial.println(); + } + delay(75); + } + delay(5000); +} diff --git a/test/README b/test/README new file mode 100644 index 0000000..df5066e --- /dev/null +++ b/test/README @@ -0,0 +1,11 @@ + +This directory is intended for PIO Unit Testing and project tests. + +Unit Testing is a software testing method by which individual units of +source code, sets of one or more MCU program modules together with associated +control data, usage procedures, and operating procedures, are tested to +determine whether they are fit for use. Unit testing finds problems early +in the development cycle. + +More information about PIO Unit Testing: +- https://docs.platformio.org/page/plus/unit-testing.html