scoutos / scout_avr / src / stepper.cpp @ 53349043
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extern "C" |
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{ |
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#include <avr/io.h> |
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#include <util/delay.h> |
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} |
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#include "stepper.h" |
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/* Stepper Motor:
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* Provides interface to stepper motor.
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* Can set direction. Outputs pulse to stepper upon call of step func
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* Also provides variable speed sweep
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*/
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struct step_t {
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int pos; // position in rotation. |
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int dir; // direction. -1 CCW. 1 CW. 0 OFF |
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int step_size; // amount to add to position each step |
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int ccw;
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int cw;
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} step; |
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void step_init()
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{ |
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/* init pos and dir to 0 */
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step.pos = 0;
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step.dir = 0;
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//set control pins as output
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DDRD |= ((1<<S_STEP) | (1<<S_DIR)); |
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DDRB |= ((1<<S_MS));
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/* this is connected to ENABLE temporarily */
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DDRF |= _BV(S_EN); |
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step_disable(); |
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//initiate to full steps
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step_set_size(STEP_WHOLE); |
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//initiate the step pin to be low. stepper steps on low to high
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PORTD &= (~(1<<S_STEP));
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} |
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void step_enable()
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{ |
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return; // stepper is temporarily disabled for demo |
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PORTF &= ~_BV(S_EN); |
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} |
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void step_disable()
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{ |
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PORTF |= _BV(S_EN); |
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} |
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void step_set_size(char size) |
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{ |
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if (size == STEP_WHOLE)
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{ |
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PORTB &= ~_BV(S_MS); |
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step.step_size = 2;
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} |
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else
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{ |
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PORTB |= _BV(S_MS); |
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step.step_size = 1;
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} |
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} |
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/* set direction pin */
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void step_dir(int dir) |
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{ |
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step.dir = dir; |
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switch(dir)
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{ |
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case 1: |
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PORTD |= (1<<S_DIR);
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break;
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case -1: |
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PORTD &= (~(1<<S_DIR));
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break;
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} |
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} |
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void step_do_step()
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{ |
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return; // stepper is temporarily disabled for demo |
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if(step.dir==0) return; //do not step if not enabled |
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PORTD |= (1<<S_STEP); //step once |
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_delay_us(1); //conform with step timing |
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PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
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if(step.dir==1) step.pos += step.step_size; |
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else step.pos -= step.step_size;
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} |
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void step_flush()
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{ |
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PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
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} |
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//ccw must be less than 0 and cw must be greater than 0
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void step_sweep_bounds(int ccw, int cw) |
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{ |
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step.ccw = ccw; |
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step.cw = cw; |
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} |
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void step_sweep()
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{ |
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step_do_step(); |
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if((step.dir == 1) && (step.cw <= step.pos)) step_dir(-1); |
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else if((step.dir == -1) && (step.ccw >= step.pos)) step_dir(1); |
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} |
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int step_get_pos()
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{ |
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return step.pos;
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} |