#include "ArduinoMotorShieldStepper.h"
#include <avr/io.h>
#include <avr/interrupt.h>
extern void dirA_P(void);
extern void dirA_N(void);
extern void dirB_P(void);
extern void dirB_N(void);
extern void pwmA_On(void);
extern void pwmA_Off(void);
extern void pwmB_On(void);
extern void pwmB_Off(void);
extern void sensorStart(void);
extern unsigned char sensorFractor(unsigned int);
extern void sensorSelect(unsigned char);
#define PI 3.14159265358979323846
#define abs(a) (a < 0 ? (-a) : a)
#define max(a,b) (a < b ? b : a)
#define SHIELD_SENS_RESITOR 0.15 // Serial resistor for current sensing
#define SHIELD_OA_GROUND_RESISTOR 1000 // multiplier non inverter OA ground resistor
#define SHIELD_OA_FEEDBACK_RESOSTOR 10000 // multiplier non inverter OA feedback resistor
#define ADC_REF_VOLTAGE 5.0
#define SENSOR_SAFETY_FACTOR 24
#define SENSOR_MASK 0b00001111 // MUX3:0 = 15
#define SENSOR_A 0b00000000 // MUX3:0 = 0, ADC0
#define SENSOR_B 0b00000001 // MUX3:0 = 1, ADC1
#define STEPPING_FACTOR 1
// stepper speed definitions
#define STEPPER_SETTING_COUNT 5
static const unsigned int STEPPER_PS_FACTOR[] = {
1024,
256,
64,
8,
1
};
static const unsigned char STEPPER_PS_SETTING[] = {
(1 << CS12) | (0 << CS11) | (1 << CS10),
(1 << CS12) | (0 << CS11) | (0 << CS10),
(0 << CS12) | (1 << CS11) | (1 << CS10),
(0 << CS12) | (1 << CS11) | (0 << CS10),
(0 << CS12) | (0 << CS11) | (1 << CS10)
};
static unsigned int _stepsPerRevolution = 0;
volatile float _currentLimit = 0;
volatile unsigned char _direction = 1;
volatile unsigned long _count = 0;
volatile unsigned char _step = 1;
// stepper functions ******************************************************************************
void stepperSetup(unsigned int someStepPerRevolution, float aCurrentLimit) {
_stepsPerRevolution = someStepPerRevolution;
_currentLimit = aCurrentLimit;
// PUD = 1 : disable internal pullup
MCUCR |= (1 << PUD);
// enable interrupts
sei();
// SENSOR setup :
// SENS_A on ADC0 (PC0)
// SENS_B on ADC1 (PC1)
//
// ADEN = 1 : Analog to Digital Enabled
// ADSC = 0 : do not start conversion
// ADATE = 0 : no auto triggering
// ADIF = 0 : do not force interrupt
// ADIE = 1 : Analog to Digital Interrupt Enabled
// ADPS2:0 = 7 : F_CPU/128 -> 125kHz
ADCSRA |= (1 << ADEN) | (0 << ADSC) | (0 << ADATE) | (0 << ADIF) | (1 << ADIE) | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
// ADTS2:0 = 0 : no auto trigger modes
//ADCSRB |= (0 << ADTS2) | (0 << ADTS1) | (0 << ADTS0);
// ADC5D:0 = 3 : ADC1 & ADC0 digital input disabled
DIDR0 |= (0 << ADC5D) | (0 << ADC4D) | (0 << ADC3D) | (0 << ADC2D) | (1 << ADC1D) | (1 << ADC0D);
// REFS1:0 = 1 : 5V Internal VRef
// MUX3:0 = 0 : Select ADC0 at startup
ADMUX |= (0 << REFS1) | (1 << REFS0) | (0 << MUX3) | (0 << MUX2) | (0 << MUX1) | (0 << MUX0);
// start sensing
sensorStart();
// motor PWM modulation with TIMER2 :
// COM2A1:0 = 0 : no output at stratup, use pwmA_on() or pwmA_off()
// COM2B1:0 = 0 : no output at stratup, use pwmB_on() or pwmB_off()
// WGM22:0 = 3 : Fast PWM
TCCR2A |= (0 << COM2A1) | (0 << COM2A0) | (0 << COM2B1) | (0 << COM2B0) | (1 << WGM21) | (1 << WGM20);
// FOC2x = 0 : do not focrce output
// CS22:0 = 1 : F_CPU/1 -> 16MHz
TCCR2B |= (0 << FOC2A) | (0 << FOC2B) | (0 << WGM22) | (0 << CS22) | (0 << CS21) | (1 << CS20);
// OCIE2B = 0 : no compare match 2B interrupt
// OCIE2A = 0 : no compare match 2A interrupt
// TOIE2 = 0 : no overflow interrupt
//TIMSK2 |= (0 << OCIE2B) | (0 << OCIE2A) | (0 << TOIE2);
// motor step timing with TIMER1 (16 bits)
// COM1A1:0 = 0 : no output
// COM1B1:0 = 1 : monotoring output compare match 1B, toggle OC1B (PB2, arduino pin 10)
// WGM12:1 = 4 : CTC mode.
TCCR1A |= (0 << COM1A1) | (0 << COM1A0) | (0 << COM1B1) | (1 << COM1B0) | (0 << WGM11) | (0 << WGM10);
// FOC1x = 0 : do not focrce output
// CS12:0 = 0 : no clk source, timer stoped, defined with stepperSpeed()
TCCR1B |= (0 << FOC1A) | (0 << FOC1B) | (1 << WGM12) | (0 << CS12) | (0 << CS11) | (0 << CS10);
// OCIE1B = 0 : no compare match 1B interrupt
// OCIE1A = 1 : compare match 1A interrupt enabled
// TOIE1 = 0 : no overflow interrupt
TIMSK1 |= (0 << OCIE1B) | (1 << OCIE1A) | (0 << TOIE1);
// Output pins :
// DDB7:6 = 0 : unused
// DDB5 = 1 : DIR B, Arduino pin 13
// DDB4 = 1 : DIR A, Arduino pin 12
// DDB3 = 1 : PWM B, OC2A, Arduino pin 11
// DDB2 = 1 : OC1B, PB2, Arduino pin 10, monitoring stepping timer
// DDB1 = 1 : BRK B, Arduino pin 9
// DDB0 = 1 : BRK A, Arduino pin 8
DDRB |= (0 << DDB7) | (0 << DDB6) | (1 << DDB5) | (1 << DDB4) | (1 << DDB3) | (1 << DDB2) | (1 << DDB1) | (1 << DDB0);
// DDD7:4,2:0 = 0 : unused
// DDD3 = 1 : PWM A, OC2B, Arduino pin 3
DDRD |= (0 << DDD7) | (0 << DDD6) | (0 << DDD5) | (0 << DDD4) | (1 << DDD3) | (0 << DDD2) | (0 << DDD1) | (0 << DDD0);
}
void stepperSpeed(float aSpeed) {
//aSpeed : speed in rad/s
//compute TIMER0 prescalar and OUTPUT COMPARE REGISTER 0A according to the speed
//selecting timer prescalar
float foc1A = abs(aSpeed) * _stepsPerRevolution * STEPPING_FACTOR;
unsigned char n = 0;
while ((foc1A > (F_CPU / STEPPER_PS_FACTOR[n] / STEPPING_FACTOR)) && (n < STEPPER_SETTING_COUNT)) {
n++;
}
//clear prescalar, stop timer
TCCR1B &= ~((1 << CS12) | (1 << CS11) | (1 << CS10));
//réglage de la valeur TOP
// set OCR1B to the same value for monitoring
OCR1A = OCR1B = max((12 * F_CPU / (2 * STEPPER_PS_FACTOR[n] * foc1A)) - 1, 1);
// TCNT1 = 0 : clear, restart from 0
TCNT1 = 0;
//set prescalar, restart timer
TCCR1B |= STEPPER_PS_SETTING[n];
}
void stepperRotate(float anAngle) {
//anAngle : angle in radians
_count = STEPPING_FACTOR * abs(anAngle) * _stepsPerRevolution / PI / 2;
_direction = anAngle > 0 ? 1 : 0;
}
unsigned long stepperCount() {
return _count;
}
// Stepping functions *******************************************************************
inline void dirA_P() {
PORTB |= (1 << PORTB4);
}
inline void dirA_N() {
PORTB &= ~(1 << PORTB4);
}
inline void dirB_P() {
PORTB |= (1 << PORTB5);
}
inline void dirB_N() {
PORTB &= ~(1 << PORTB5);
}
inline void pwmA_On() {
// COM2B1:0 = 2 : OUTPUT COMPARE 2B pin set at BOTTOM, clear on COMPARE MATCH
TCCR2A |= (1 << COM2B1);
}
inline void pwmA_Off() {
TCCR2A &= ~(1 << COM2B1);
PORTD &= ~(1 << PORTD3);
}
inline void pwmB_On() {
// COM2A1:0 = 2 : OUTPUT COMPARE 2A pin set at BOTTOM, clear on COMPARE MATCH
TCCR2A |= (1 << COM2A1);
}
inline void pwmB_Off() {
TCCR2A &= ~(1 << COM2A1);
PORTB &= ~(1 << PORTB3);
}
ISR(TIMER1_COMPA_vect) {
if (_count > 0) {
switch (_direction) {
case 0:
switch (_step) {//clockwise
case 1:
pwmA_Off();
dirB_N();
pwmB_On();
break;
case 2:
pwmB_Off();
dirA_N();
pwmA_On();
break;
case 3:
pwmA_Off();
dirB_P();
pwmB_On();
break;
case 4:
pwmB_Off();
dirA_P();
pwmA_On();
break;
}
break;
case 1:
switch (_step) {//conter clockwise
case 1:
pwmB_Off();
dirA_P();
pwmA_On();
break;
case 2:
pwmA_Off();
dirB_P();
pwmB_On();
break;
case 3:
pwmB_Off();
dirA_N();
pwmA_On();
break;
case 4:
pwmA_Off();
dirB_N();
pwmB_On();
break;
}
break;
}
_step++;
if ( _step > (4 * STEPPING_FACTOR) ) {
_step = 1;
}
_count--;
}
}
// Sensor function ********************************************************************
inline void sensorStart() {
// ADSC = 1 : start analog to digital conversion
ADCSRA|=(1<<ADSC);
}
inline unsigned char sensorFactor(unsigned int aValue) {
float current = SENSOR_SAFETY_FACTOR * (aValue * ADC_REF_VOLTAGE / 1024) / (1 + SHIELD_OA_FEEDBACK_RESOSTOR / SHIELD_OA_GROUND_RESISTOR) / SHIELD_SENS_RESITOR;
return max(255 * (current < _currentLimit ? 1 : _currentLimit / current), 1);
}
inline void sensorSelect(unsigned char aSensor) {
// MUX3:0 = 0 : clear MUX
ADMUX &= ~SENSOR_MASK;
// MUX3=0 = sensor : set MUX to sensor
ADMUX |= aSensor;
}
ISR(ADC_vect) {
switch (ADMUX & SENSOR_MASK) {
case SENSOR_A:
// set OUTPUT COMPARE REGISTER 2B
OCR2B = sensorFactor(ADC);
sensorSelect(SENSOR_B);
break;
case SENSOR_B:
// set OUTPUT COMPARE REGSITER 2A
OCR2A = sensorFactor(ADC);
sensorSelect(SENSOR_A);
break;
}
sensorStart();
}
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Évènements 
Ven 27 Mar - 17:55
ATTENTION ! 
grâce à la commande en PWM des bobines. J'ai réussi à faire tourner le moteur de 1 à 240 tr/mn sans problème. En fonctionnement, la plaque tournante tournera à 1 tr/mn et le moteur à 3 tr/mn car le rapport de transmission est de 54/18=3. J'ai encore un problème de vitesse. Elle est légèrement supérieure; à 1 tr/mn la minute ne fait que 57s 
. Je cherche...