scoutos / scout_avr / src / stepper.cpp @ 53349043
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| 1 | a07a0b55 | Julian Binder | extern "C" |
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| 2 | {
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| 3 | #include <avr/io.h> |
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| 4 | 85dff67b | Julian Binder | #include <util/delay.h> |
| 5 | a07a0b55 | Julian Binder | } |
| 6 | #include "stepper.h" |
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| 7 | |||
| 8 | /* Stepper Motor:
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| 9 | * Provides interface to stepper motor.
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| 10 | * Can set direction. Outputs pulse to stepper upon call of step func
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| 11 | * Also provides variable speed sweep
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| 12 | */
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| 13 | |||
| 14 | struct step_t {
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| 15 | int pos; // position in rotation. |
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| 16 | int dir; // direction. -1 CCW. 1 CW. 0 OFF |
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| 17 | 2853d46b | Tom Mullins | int step_size; // amount to add to position each step |
| 18 | a07a0b55 | Julian Binder | int ccw;
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| 19 | int cw;
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| 20 | 2853d46b | Tom Mullins | } step; |
| 21 | a07a0b55 | Julian Binder | |
| 22 | |||
| 23 | 2853d46b | Tom Mullins | void step_init()
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| 24 | a07a0b55 | Julian Binder | {
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| 25 | 2853d46b | Tom Mullins | /* init pos and dir to 0 */
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| 26 | a07a0b55 | Julian Binder | step.pos = 0;
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| 27 | 85dff67b | Julian Binder | step.dir = 0;
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| 28 | a07a0b55 | Julian Binder | |
| 29 | //set control pins as output
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| 30 | DDRD |= ((1<<S_STEP) | (1<<S_DIR)); |
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| 31 | DDRB |= ((1<<S_MS));
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| 32 | 64aea12e | Tom Mullins | |
| 33 | /* this is connected to ENABLE temporarily */
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| 34 | DDRF |= _BV(S_EN); |
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| 35 | step_disable(); |
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| 36 | a07a0b55 | Julian Binder | |
| 37 | //initiate to full steps
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| 38 | 2853d46b | Tom Mullins | step_set_size(STEP_WHOLE); |
| 39 | a07a0b55 | Julian Binder | |
| 40 | //initiate the step pin to be low. stepper steps on low to high
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| 41 | PORTD &= (~(1<<S_STEP));
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| 42 | 2853d46b | Tom Mullins | } |
| 43 | a07a0b55 | Julian Binder | |
| 44 | 64aea12e | Tom Mullins | void step_enable()
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| 45 | {
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| 46 | 53349043 | Tom Mullins | return; // stepper is temporarily disabled for demo |
| 47 | 64aea12e | Tom Mullins | PORTF &= ~_BV(S_EN); |
| 48 | } |
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| 49 | |||
| 50 | void step_disable()
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| 51 | {
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| 52 | PORTF |= _BV(S_EN); |
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| 53 | } |
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| 54 | |||
| 55 | 2853d46b | Tom Mullins | void step_set_size(char size) |
| 56 | {
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| 57 | if (size == STEP_WHOLE)
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| 58 | {
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| 59 | PORTB &= ~_BV(S_MS); |
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| 60 | step.step_size = 2;
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| 61 | } |
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| 62 | else
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| 63 | {
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| 64 | PORTB |= _BV(S_MS); |
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| 65 | step.step_size = 1;
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| 66 | } |
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| 67 | a07a0b55 | Julian Binder | } |
| 68 | |||
| 69 | /* set direction pin */
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| 70 | void step_dir(int dir) |
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| 71 | {
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| 72 | step.dir = dir; |
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| 73 | switch(dir)
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| 74 | {
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| 75 | case 1: |
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| 76 | 2853d46b | Tom Mullins | PORTD |= (1<<S_DIR);
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| 77 | a07a0b55 | Julian Binder | break;
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| 78 | case -1: |
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| 79 | 2853d46b | Tom Mullins | PORTD &= (~(1<<S_DIR));
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| 80 | a07a0b55 | Julian Binder | break;
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| 81 | } |
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| 82 | } |
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| 83 | |||
| 84 | 2853d46b | Tom Mullins | void step_do_step()
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| 85 | a07a0b55 | Julian Binder | {
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| 86 | 53349043 | Tom Mullins | return; // stepper is temporarily disabled for demo |
| 87 | 85dff67b | Julian Binder | if(step.dir==0) return; //do not step if not enabled |
| 88 | a07a0b55 | Julian Binder | PORTD |= (1<<S_STEP); //step once |
| 89 | 85dff67b | Julian Binder | _delay_us(1); //conform with step timing |
| 90 | a07a0b55 | Julian Binder | PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
| 91 | 2853d46b | Tom Mullins | if(step.dir==1) step.pos += step.step_size; |
| 92 | else step.pos -= step.step_size;
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| 93 | a07a0b55 | Julian Binder | } |
| 94 | |||
| 95 | void step_flush()
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| 96 | {
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| 97 | PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
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| 98 | } |
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| 99 | |||
| 100 | //ccw must be less than 0 and cw must be greater than 0
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| 101 | void step_sweep_bounds(int ccw, int cw) |
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| 102 | {
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| 103 | step.ccw = ccw; |
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| 104 | step.cw = cw; |
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| 105 | } |
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| 106 | |||
| 107 | void step_sweep()
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| 108 | {
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| 109 | 2853d46b | Tom Mullins | step_do_step(); |
| 110 | if((step.dir == 1) && (step.cw <= step.pos)) step_dir(-1); |
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| 111 | else if((step.dir == -1) && (step.ccw >= step.pos)) step_dir(1); |
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| 112 | a07a0b55 | Julian Binder | } |
| 113 | daf6a575 | Tom Mullins | |
| 114 | int step_get_pos()
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| 115 | {
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| 116 | return step.pos;
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| 117 | } |