WebSVN – Code-Repo – Diff – /PIC Stuff/PICX_16F1825_Stepper_Driver/main.c

 #include "defines.h"
 #include "INTERRUPTS.h"
 #include "STEPPER.h"
 #include "IOC.h"
 #include "SPI.h"
+#include "ADC.h"
 #include "OLED_SSD1306.h"
+#include "TIMER.h"
+#include <stdio.h>
 void Pins_Init(void) {
     // RA0 and RA1 pins as analog input
     ANSELA = 0x3;
     ANSELC = 0x0;
 //    OPTION_REGbits.nWPUEN = 0;
     // SDO1 on RC2
     APFCON0bits.SDOSEL = 0;
+    // Stepper Driver
     STEP_TRIS = 0;
     STEP_LAT = 0;
     M0_TRIS = 0;
     M0_LAT = 0;
     M1_TRIS = 0;
     M1_LAT = 0;
     M2_TRIS = 0;
     M2_LAT = 0;
+    // I/O
     SW_1_TRIS = 1;
     SW_1_INLVL = 1;
     SW_2_TRIS = 1;
     SW_2_INLVL = 1;
     STEP_CURRENT_TRIS = 1;
     POT_CURRENT_TRIS = 1;
+    // SPI
     SPI_MOSI_TRIS = 0;
     SPI_CLK_TRIS = 0;
     SPI_DC_SELECT_TRIS = 0;
     SPI_DC_SELECT_LAT = 0;
     SPI_RESET_TRIS = 0;
     // Initialize I/O
     Pins_Init();
     IOC_Init();
+    ADC_Init();
+    TIMER_DATA timer_data;
+    TIMER_Init(&timer_data);
     SPI_DATA spi_data;
     SPI_Init(&spi_data, SPI2_FOSC_16);
     SSD1306_DATA ssd1306_data;
     SSD1306_Init(&ssd1306_data);
     currMode = SINGLE_STEP;
     SSD1306_Begin(SSD1306_SWITCHCAPVCC);
     while(1) {
         Update_OLED();
-        switch (STEPPER_Get_Auto()) {
-            case DELAY_1000MS:
-                STEPPER_Step();
-                __delay_ms(1000);
-                break;
-            case DELAY_500MS:
-                STEPPER_Step();
-                __delay_ms(500);
-                break;
-            case DELAY_333MS:
-                STEPPER_Step();
-                __delay_ms(333);
-                break;
-            case DELAY_250MS:
-                STEPPER_Step();
-                __delay_ms(250);
-                break;
-            case DELAY_100MS:
-                STEPPER_Step();
-                __delay_ms(100);
-                break;
-            case DELAY_50MS:
-                STEPPER_Step();
-                __delay_ms(50);
-                break;
-            case DELAY_25MS:
-                STEPPER_Step();
-                __delay_ms(25);
-                break;
-            case DELAY_10MS:
-                STEPPER_Step();
-                __delay_ms(10);
-                break;
-            case DELAY_5MS:
-                STEPPER_Step();
-                __delay_ms(5);
-                break;
-            case DELAY_1MS:
-                STEPPER_Step();
-                __delay_ms(1);
+//        __delay_ms(1);
-                break;
-            case DELAY_STOPPED:
-                break;
-        }
+    }
+}
 void Set_Next_Mode() {
     switch (currMode) {
         case SINGLE_STEP:
             currMode = AUTO_STEP;
             break;
         case AUTO_STEP:
-            currMode = SET_DELAY;
-            break;
-        case SET_DELAY:
             currMode = SET_MICROSTEP;
             break;
         case SET_MICROSTEP:
         default:
             currMode = SINGLE_STEP;
     switch (currMode) {
         case SINGLE_STEP:
             Draw_Manual_Text(1);
             Draw_Auto_Text(0);
             Draw_Step_Text(STEPPER_Get_Cur_Step(), 0);
-            Draw_Speed_Text(STEPPER_Get_Cur_Speed(), 0);
             break;
         case AUTO_STEP:
             Draw_Manual_Text(0);
             Draw_Auto_Text(1);
             Draw_Step_Text(STEPPER_Get_Cur_Step(), 0);
-            Draw_Speed_Text(STEPPER_Get_Cur_Speed(), 0);
-            break;
-        case SET_DELAY:
-            Draw_Manual_Text(0);
-            Draw_Auto_Text(0);
-            Draw_Step_Text(STEPPER_Get_Cur_Step(), 1);
-            Draw_Speed_Text(STEPPER_Get_Cur_Speed(), 0);
             break;
         case SET_MICROSTEP:
             Draw_Manual_Text(0);
             Draw_Auto_Text(0);
-            Draw_Step_Text(STEPPER_Get_Cur_Step(), 0);
+            Draw_Step_Text(STEPPER_Get_Cur_Step(), 1);
-            Draw_Speed_Text(STEPPER_Get_Cur_Speed(), 1);
             break;
+    }
+    Draw_Stepper_Current();
+    Draw_Pot_Value();
     SSD1306_Display();
+}
 void Draw_Manual_Text(uint8_t selected) {
+    // Draw and/or highlight the stepping mode in the top left corner
     uint8_t stringManual[] = "MANUAL";
     if (selected) {
         SSD1306_Fill_Rect(0, 0, 75, 16, 1);
         SSD1306_Set_Text_Color(0);
     } else {
     SSD1306_Set_Cursor(3, 1);
     SSD1306_Write_String(stringManual, 6);
+}
 void Draw_Auto_Text(uint8_t selected) {
+    // Draw and/or highlight the stepping mode in the top right corner
     uint8_t stringAuto[] = "AUTO";
     if (selected) {
         SSD1306_Fill_Rect(76, 0, 53, 16, 1);
         SSD1306_Set_Text_Color(0);
     } else {
+    }
     SSD1306_Set_Cursor(79, 1);
     SSD1306_Write_String(stringAuto, 4);
+}
+void Draw_Stepper_Current() {
-void Draw_Speed_Text(STEPPER_SPEED speed, uint8_t selected) {
+    // Draw the stepper motor current draw in the bottom right corner
-    uint8_t stringSpeed[] = "1000Hz";
+    uint8_t buffer[6] = {0};
+    uint16_t potVoltage = ADC_Read(STEP_ADC_CHANNEL);
-    if (selected) {
+    // Compute current from voltage reading (2x)
-        SSD1306_Fill_Rect(53, 16, 76, 16, 1);
+    uint16_t current = potVoltage * 0.3222 * 2;
-        SSD1306_Set_Text_Color(0);
+    uint8_t preDecimal = current / 100;
-    } else {
+    uint8_t postDecimal = current % 100;
+    sprintf(buffer, "%1d.%02dA", preDecimal, postDecimal);
-        SSD1306_Set_Text_Color(1);
+    SSD1306_Set_Text_Color(1);
-    }
-    SSD1306_Set_Cursor(55, 17);
+    SSD1306_Set_Cursor(67, 17);
-    SSD1306_Write_String(stringSpeed, 6);
+    SSD1306_Write_String(buffer, 5);
+}
+void Draw_Pot_Value() {
+    // Draw a line indicating auto rotation delay
+    uint8_t potVoltage = ADC_Read(POT_ADC_CHANNEL) >> 4;
+    SSD1306_Draw_Line(127, 31, 127 - potVoltage, 31, 1);
+}
 void Draw_Step_Text(STEPPER_MICROSTEP step, uint8_t selected) {
+    // Draw and/or highlight the stepping in the bottom left corner
-    uint8_t stringStepping[] = "1/32";
+    uint8_t stringStepping32[] = "1/32";
+    uint8_t stringStepping16[] = "1/16";
+    uint8_t stringStepping8[] = "1/8";
+    uint8_t stringStepping4[] = "1/4";
+    uint8_t stringStepping2[] = "1/2";
+    uint8_t stringStepping1[] = "1/1";
     if (selected) {
         SSD1306_Fill_Rect(0, 16, 52, 16, 1);
         SSD1306_Set_Text_Color(0);
     } else {
         SSD1306_Set_Text_Color(1);
+    }
+    if (step == STEP_1_32) {
-    SSD1306_Set_Cursor(2, 17);
+        SSD1306_Set_Cursor(2, 17);
+        SSD1306_Write_String(stringStepping32, 4);
+    } else if (step == STEP_1_16) {
+        SSD1306_Set_Cursor(2, 17);
-    SSD1306_Write_String(stringStepping, 4);
+        SSD1306_Write_String(stringStepping16, 4);
+    } else if (step == STEP_1_8) {
+        SSD1306_Set_Cursor(8, 17);
+        SSD1306_Write_String(stringStepping8, 3);
+    } else if (step == STEP_1_4) {
+        SSD1306_Set_Cursor(8, 17);
+        SSD1306_Write_String(stringStepping4, 3);
+    } else if (step == STEP_1_2) {
+        SSD1306_Set_Cursor(8, 17);
+        SSD1306_Write_String(stringStepping2, 3);
+    } else if (step == STEP_1_1) {
+        SSD1306_Set_Cursor(8, 17);
+        SSD1306_Write_String(stringStepping1, 3);
+    }
+}

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(root)/PIC Stuff/PICX_16F1825_Stepper_Driver/main.c @ 316 – Rev 315 → 316