Added start of firmware

.gitignore

@@ -10,3 +10,8 @@ _autosave-*
 *-save.pro
 *-save.kicad_pcb
 fp-info-cache
+
+# Firmware
+*.o
+*.hex
+*.elf

firmware/Makefile

@@ -0,0 +1,61 @@
+AVRMCU = attiny2313
+F_CPU = 8000000
+
+VERSION = 0.1
+
+HEADERS =
+SRC = main.c
+TARGET = mate-driver-$(AVRMCU)
+OBJDIR = bin
+
+CC = avr-gcc
+OBJCOPY = avr-objcopy
+OBJDUMP = avr-objdump
+SIZE = avr-size
+
+
+OBJ = $(SRC:%.c=$(OBJDIR)/%.o)
+
+CFLAGS = -Os -Wall -Wstrict-prototypes
+CFLAGS += -fshort-enums -fpack-struct -funsigned-char -funsigned-bitfields
+CFLAGS += -mmcu=$(AVRMCU) -DF_CPU=$(F_CPU)UL -DVERSION=$(VERSION)
+
+
+all: start $(OBJDIR)/$(TARGET).hex size
+	@echo ":: Done !"
+
+start:
+	@echo "Mate driver firmare version $(VERSION)"
+	@echo "======================================"
+	@echo ":: Building for $(AVRMCU)"
+	@echo ":: MCU operating frequency is $(F_CPU)Hz"
+
+$(OBJDIR)/%.o: %.c $(HEADERS)
+	@mkdir -p $$(dirname $@)
+	$(CC) $(CFLAGS) -c $< -o $@
+
+
+$(OBJDIR)/$(TARGET).elf: $(OBJ)
+	$(CC) $(CFLAGS) $+ -o $@
+
+$(OBJDIR)/$(TARGET).hex: $(OBJDIR)/$(TARGET).elf
+	$(OBJCOPY) -O ihex $< $@
+
+size: $(OBJDIR)/$(TARGET).elf
+	@echo
+	@$(SIZE) --mcu=$(AVRMCU) -C $(OBJDIR)/$(TARGET).elf
+	@echo
+
+clean:
+	@rm -rf $(OBJDIR)
+
+fuse:
+	avrdude -c usbasp \
+		-p $(AVRMCU) \
+		-B 10 \
+		-U lfuse:w:0xde:m -U hfuse:w:0xdf:m -U efuse:w:0xff:m
+
+flash: all
+	avrdude -c usbasp \
+		-p $(AVRMCU) \
+        -U flash:w:$(OBJDIR)/$(TARGET).hex

firmware/main.c

@@ -0,0 +1,132 @@
+#include <avr/io.h>
+#include <util/delay.h>
+
+static inline void hbridge_init() {
+	DDRB |= (1 << PB2); // PWM
+	DDRB |= (1 << PB0) | (1 << PB1); // H1 L1
+	DDRB |= (1 << PB3) | (1 << PB4); // H2 L2
+}
+
+
+static inline void hbridge_set_h1() {
+	PORTB |= (1 << PB0);
+}
+static inline void hbridge_unset_h1() {
+	PORTB &= ~(1 << PB0);
+}
+
+static inline void hbridge_set_l1() {
+	PORTB |= (1 << PB1);
+}
+static inline void hbridge_unset_l1() {
+	PORTB &= ~(1 << PB1);
+}
+
+static inline void hbridge_set_h2() {
+	PORTB |= (1 << PB3);
+}
+static inline void hbridge_unset_h2() {
+	PORTB &= ~(1 << PB3);
+}
+
+static inline void hbridge_set_l2() {
+	PORTB |= (1 << PB4);
+}
+static inline void hbridge_unset_l2() {
+	PORTB &= ~(1 << PB4);
+}
+
+
+static inline void pwm_cycle_backwards(uint8_t speed) {
+	hbridge_unset_l2();
+	hbridge_set_l1();
+	for(uint8_t i = 0; i < 8; i++) {
+		if((speed & (1 << i)) != 0) {
+			hbridge_set_h2();
+		}
+		for(uint8_t j = 0; j < (1 << i); j++) {
+			_delay_us(2);
+		}
+		hbridge_unset_h2();
+	}
+}
+
+
+static inline void pwm_cycle_forwards(uint8_t speed) {
+	hbridge_unset_l1();
+	hbridge_set_l2();
+	for(uint8_t i = 0; i < 8; i++) {
+		if((speed & (1 << i)) != 0) {
+			hbridge_set_h1();
+		}
+		for(uint8_t j = 0; j < (1 << i); j++) {
+			_delay_us(2);
+		}
+		hbridge_unset_h1();
+	}
+}
+
+int main(void) {
+
+
+	_delay_ms(5000);
+
+	hbridge_init();
+
+
+	while(1) {
+		//hbridge_set_l1();
+
+		for(uint8_t speed = 20; speed <= 230; speed++) {
+			for(uint16_t i = 0; i < 250; i++) {
+				pwm_cycle_forwards(speed);
+			}
+		}
+
+		hbridge_unset_h2();
+		hbridge_unset_h2();
+		hbridge_set_l1();
+		hbridge_set_l2();
+		_delay_ms(1000);
+		hbridge_unset_l2();
+		hbridge_unset_l2();
+
+		for(uint8_t speed = 20; speed <= 230; speed++) {
+			for(uint16_t i = 0; i < 250; i++) {
+				pwm_cycle_backwards(speed);
+			}
+		}
+
+		hbridge_unset_h2();
+		hbridge_unset_h2();
+		hbridge_set_l1();
+		hbridge_set_l2();
+		_delay_ms(1000);
+		hbridge_unset_l2();
+		hbridge_unset_l2();
+
+		/*
+
+		for(uint16_t i = 0; i  < 5000; i++) {
+			hbridge_set_h2();
+			_delay_ms(0.9);
+			hbridge_unset_h2();
+			_delay_ms(0.1);
+		}
+
+		hbridge_set_l2();
+		_delay_ms(100);
+		hbridge_unset_l1();
+
+
+		for(uint16_t i = 0; i  < 5000; i++) {
+			hbridge_set_h1();
+			_delay_ms(0.9);
+			hbridge_unset_h1();
+			_delay_ms(0.1);
+		}
+*/
+	}
+
+
+}