Nur in src/: #main.c#.
Nur in src/: .#main.c.
diff -uwr IAR/main.c src/main.c
--- IAR/main.c	2006-05-08 14:25:58.000000000 +0200
+++ src/main.c	2008-04-24 13:40:44.000000000 +0200
@@ -21,8 +21,14 @@
  * $Date: 2006/05/08 12:25:58 $
  *****************************************************************************/
 
+#ifdef __GNUC__
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/pgmspace.h>
+#else
 #include <ioavr.h>
 #include <inavr.h>
+#endif
 #include <stdlib.h>
 #include "global.h"
 #include "uart.h"
@@ -52,14 +58,23 @@
   // Init of Timer/Counter1
   speed_cntr_Init_Timer1();
 
+#ifdef __GNUC__
+  sei();
+#else
   __enable_interrupt();
+#endif
 }
 
 /*! \brief Demo of linear speed controller.
  *
  *  Serial interface frontend to test linear speed controller.
  */
-void main(void)
+#ifdef __GNUC__
+int
+#else
+void
+#endif
+main(void)
 {
   // Number of steps to move.
   int steps = 1000;
@@ -164,7 +179,15 @@
 }
 
 //! Help message
-__flash char Help[] = {"\n\r--------------------------------------------------------------\n\rAtmel AVR446 - Linear speed control of stepper motor\n\r\n\r?        - Show help\n\ra [data] - Set acceleration (range: 71 - 32000)\n\rd [data] - Set deceleration (range: 71 - 32000)\n\rs [data] - Set speed (range: 12 - motor limit)\n\rm [data] - Move [data] steps (range: -64000 - 64000)\n\rmove [steps] [accel] [decel] [speed]\n\r         - Move with all parameters given\n\r<enter>  - Repeat last move\n\r\n\r    acc/dec data given in 0.01*rad/sec^2 (100 = 1 rad/sec^2)\n\r    speed data given in 0.01*rad/sec (100 = 1 rad/sec)\n\r--------------------------------------------------------------\n\r"};
+#ifdef __GNUC__
+const prog_char *help_p;
+const prog_char
+#else
+#define pgm_read_byte(prg_str) prg_str
+char *help_p;
+__flash char
+#endif
+Help[] = {"\n\r--------------------------------------------------------------\n\rAtmel AVR446 - Linear speed control of stepper motor\n\r\n\r?        - Show help\n\ra [data] - Set acceleration (range: 71 - 32000)\n\rd [data] - Set deceleration (range: 71 - 32000)\n\rs [data] - Set speed (range: 12 - motor limit)\n\rm [data] - Move [data] steps (range: -64000 - 64000)\n\rmove [steps] [accel] [decel] [speed]\n\r         - Move with all parameters given\n\r<enter>  - Repeat last move\n\r\n\r    acc/dec data given in 0.01*rad/sec^2 (100 = 1 rad/sec^2)\n\r    speed data given in 0.01*rad/sec (100 = 1 rad/sec)\n\r--------------------------------------------------------------\n\r"};
 
 /*! \brief Sends help message.
  *
@@ -172,9 +195,9 @@
  */
 void ShowHelp(void)
 {
-  unsigned int i = 0;
-  while(Help[i] != 0)
-    uart_SendByte(Help[i++]);
+  help_p = Help;
+  while(pgm_read_byte(help_p) != 0)
+    uart_SendByte(pgm_read_byte(help_p++));
 }
 
 /*! \brief Sends out data.
diff -uwr IAR/sm_driver.c src/sm_driver.c
--- IAR/sm_driver.c	2006-05-08 14:25:58.000000000 +0200
+++ src/sm_driver.c	2008-04-24 14:50:08.000000000 +0200
@@ -21,7 +21,11 @@
  * $Date: 2006/05/08 12:25:58 $
  *****************************************************************************/
 
+#ifdef __GNUC__
+#include <avr/io.h>
+#else
 #include <ioavr.h>
+#endif
 #include "global.h"
 #include "sm_driver.h"
 
@@ -32,7 +36,11 @@
 #define BIT_B2 0
 
 //! Table with control signals for stepper motor
-__flash unsigned char steptab[] = {((1<<BIT_A1) | (0<<BIT_A2) | (0<<BIT_B1) | (0<<BIT_B2)),
+#ifdef __GNUC__
+#else
+__flash
+#endif
+ unsigned char steptab[] = {((1<<BIT_A1) | (0<<BIT_A2) | (0<<BIT_B1) | (0<<BIT_B2)),
                                    ((1<<BIT_A1) | (0<<BIT_A2) | (1<<BIT_B1) | (0<<BIT_B2)),
                                    ((0<<BIT_A1) | (0<<BIT_A2) | (1<<BIT_B1) | (0<<BIT_B2)),
                                    ((0<<BIT_A1) | (1<<BIT_A2) | (1<<BIT_B1) | (0<<BIT_B2)),
@@ -50,7 +58,8 @@
 {
   // Init of IO pins
   SM_PORT &= ~((1<<A1) | (1<<A2) | (1<<B1) | (1<<B2)); // Set output pin registers to zero
-  SM_DRIVE |= ((1<<A1) | (1<<A2) | (1<<B1) | (1<<B2)); // Set output pin direction registers to output
+  SM_DRIVE &= 7;
+  //  SM_DRIVE |= ((1<<A1) | (1<<A2) | (1<<B1) | (1<<B2)); // Set output pin direction registers to output
 }
 
 /*! \brief Move the stepper motor one step.
@@ -93,7 +102,9 @@
 
   // Stay within the steptab
   counter &= 0x07;
-  sm_driver_StepOutput(counter);
+  //  sm_driver_StepOutput(counter);
+  SM_PORT = (inc == CCW)?0xc:8;
+  SM_PORT = (inc == CCW)?0x4:0;
   return(counter);
 }
 
diff -uwr IAR/speed_cntr.c src/speed_cntr.c
--- IAR/speed_cntr.c	2006-05-08 14:25:58.000000000 +0200
+++ src/speed_cntr.c	2008-04-24 13:37:47.000000000 +0200
@@ -21,7 +21,12 @@
  * $Date: 2006/05/08 12:25:58 $
  *****************************************************************************/
 
+#ifdef __GNUC__
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#else
 #include <ioavr.h>
+#endif
 #include "global.h"
 #include "sm_driver.h"
 #include "speed_cntr.h"
@@ -81,9 +86,9 @@
     srd.min_delay = A_T_x100 / speed;
 
     // Set accelration by calc the first (c0) step delay .
-    // step_delay = 1/tt * sqrt(2*alpha/accel)
-    // step_delay = ( tfreq*0.676/100 )*100 * sqrt( (2*alpha*10000000000) / (accel*100) )/10000
-    srd.step_delay = (T1_FREQ_148 * sqrt(A_SQ / accel))/100;
+    // step_delay = 1/tt * l_sqrt(2*alpha/accel)
+    // step_delay = ( tfreq*0.676/100 )*100 * l_sqrt( (2*alpha*10000000000) / (accel*100) )/10000
+    srd.step_delay = (T1_FREQ_148 * l_sqrt(A_SQ / accel))/100;
 
     // Find out after how many steps does the speed hit the max speed limit.
     // max_s_lim = speed^2 / (2*alpha*accel)
@@ -160,8 +165,14 @@
  *  A new step delay is calculated to follow wanted speed profile
  *  on basis of accel/decel parameters.
  */
+#ifdef __GNUC__
+//void TIMER1_COMPA_vect (void) __attribute__((interrupt));
+//void TIMER1_COMPA_vect (void)
+ISR(TIMER1_COMPA_vect)
+#else
 #pragma vector=TIMER1_COMPA_vect
 __interrupt void speed_cntr_TIMER1_COMPA_interrupt( void )
+#endif
 {
   // Holds next delay period.
   unsigned int new_step_delay;
@@ -241,7 +252,7 @@
  *  \param x  Value to find square root of.
  *  \return  Square root of x.
  */
-static unsigned long sqrt(unsigned long x)
+static unsigned long l_sqrt(unsigned long x)
 {
   register unsigned long xr;  // result register
   register unsigned long q2;  // scan-bit register
diff -uwr IAR/speed_cntr.h src/speed_cntr.h
--- IAR/speed_cntr.h	2006-05-08 14:25:58.000000000 +0200
+++ src/speed_cntr.h	2008-04-22 19:08:39.000000000 +0200
@@ -50,7 +50,9 @@
  * the timer1 frequency is the clock frequency divided by 8.
  */
 // Timer/Counter 1 running on 3,686MHz / 8 = 460,75kHz (2,17uS). (T1-FREQ 460750)
-#define T1_FREQ 460750
+//#define T1_FREQ 460750
+// Timer/Counter 1 running on 16MHz / 8 = 2000kHz (0.5uS). (T1-FREQ 460750)
+#define T1_FREQ 2000000
 
 //! Number of (full)steps per round on stepper motor in use.
 #define FSPR 200
@@ -73,7 +75,7 @@
 #define ALPHA (2*3.14159/SPR)                    // 2*pi/spr
 #define A_T_x100 ((long)(ALPHA*T1_FREQ*100))     // (ALPHA / T1_FREQ)*100
 #define T1_FREQ_148 ((int)((T1_FREQ*0.676)/100)) // divided by 100 and scaled by 0.676
-#define A_SQ (long)(ALPHA*2*10000000000)         // ALPHA*2*10000000000
+#define A_SQ (long long )(ALPHA*2*10000000000LL)         // ALPHA*2*10000000000
 #define A_x20000 (int)(ALPHA*20000)              // ALPHA*20000
 
 // Speed ramp states
@@ -84,7 +86,7 @@
 
 void speed_cntr_Move(signed int step, unsigned int accel, unsigned int decel, unsigned int speed);
 void speed_cntr_Init_Timer1(void);
-static unsigned long sqrt(unsigned long v);
+static unsigned long l_sqrt(unsigned long v);
 unsigned int min(unsigned int x, unsigned int y);
 
 //! Global status flags
Nur in src/: stepper.fus.
diff -uwr IAR/uart.c src/uart.c
--- IAR/uart.c	2006-05-08 14:25:58.000000000 +0200
+++ src/uart.c	2008-04-24 13:36:22.000000000 +0200
@@ -17,7 +17,12 @@
  * $RCSfile: uart.c,v $
  * $Date: 2006/05/08 12:25:58 $
  *****************************************************************************/
+#ifdef __GNUC__
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#else
 #include <ioavr.h>
+#endif
 #include "global.h"
 #include "uart.h"
 #include "sm_driver.h"
@@ -44,10 +49,12 @@
  */
 void InitUART(void)
 {
+  // Set baud rate. 19.2 kbps trasfer speed running at 16 MHz.
+#define BAUD 51
   // Set baud rate. 19.2 kbps trasfer speed running at 8 MHz.
 //#define BAUD 25
   // Set baud rate. 19.2 kbps trasfer speed running at 3.6864 MHz.
-#define BAUD 11
+  //#define BAUD 11
 
   UBRR0H = (unsigned char)(BAUD>>8);
   UBRR0L = (unsigned char)BAUD;
@@ -142,8 +149,14 @@
  *  RX interrupt handler.
  *  RX interrupt always enabled.
  */
+#ifdef __GNUC__
+//void  USART0_RX_vect (void) __attribute__((interrupt));
+//void  USART0_RX_vect (void)
+ISR(SIG_UART0_RECV)
+#else
 #pragma vector=USART_RX_vect
 __interrupt void UART_RX_interrupt( void )
+#endif
 {
   unsigned char data;
 
@@ -190,14 +203,23 @@
   }
 }
 
+
 /*! \brief TX interrupt handler.
  *
  *  TX interrupt handler.
  *  TX interrupt turned on by uart_SendByte,
  *  turned off when TX buffer is empty.
  */
+#ifdef __GNUC__
+void   USART0_TX_vect (void) __attribute__((interrupt));
+void   USART0_TX_vect (void) {}
+//void   USART0_UDRE_vect (void) __attribute__((interrupt));
+//void   USART0_UDRE_vect (void) 
+ISR(SIG_UART0_DATA)
+#else
 #pragma vector=USART_UDRE_vect
 __interrupt void UART_TX_interrupt( void )
+#endif
 {
   unsigned char UART_TxTail_tmp;
    UART_TxTail_tmp = UART_TxTail;
diff -uwr IAR/uart.h src/uart.h
--- IAR/uart.h	2006-05-08 14:25:58.000000000 +0200
+++ src/uart.h	2008-04-24 14:59:47.000000000 +0200
@@ -45,9 +45,12 @@
 //! Buffer with received string from uart.
 extern unsigned char UART_RxBuffer[UART_RX_BUFFER_SIZE];
 
+#ifdef __GNUC__
+#else
 #pragma vector=USART_RX_vect
 __interrupt void UART_RX_interrupt( void );
 #pragma vector=USART_UDRE_vect
 __interrupt void UART_TX_interrupt( void );
+#endif
 
 #endif