root / scout_avr / src / stepper.cpp @ 2853d46b
History | View | Annotate | Download (1.79 KB)
1 |
extern "C" |
---|---|
2 |
{ |
3 |
#include <avr/io.h> |
4 |
#include <util/delay.h> |
5 |
} |
6 |
#include "stepper.h" |
7 |
|
8 |
/* Stepper Motor:
|
9 |
* Provides interface to stepper motor.
|
10 |
* Can set direction. Outputs pulse to stepper upon call of step func
|
11 |
* Also provides variable speed sweep
|
12 |
*/
|
13 |
|
14 |
struct step_t {
|
15 |
int pos; // position in rotation. |
16 |
int dir; // direction. -1 CCW. 1 CW. 0 OFF |
17 |
int step_size; // amount to add to position each step |
18 |
int ccw;
|
19 |
int cw;
|
20 |
} step; |
21 |
|
22 |
|
23 |
void step_init()
|
24 |
{ |
25 |
/* init pos and dir to 0 */
|
26 |
step.pos = 0;
|
27 |
step.dir = 0;
|
28 |
|
29 |
//set control pins as output
|
30 |
DDRD |= ((1<<S_STEP) | (1<<S_DIR)); |
31 |
DDRB |= ((1<<S_MS));
|
32 |
|
33 |
//initiate to full steps
|
34 |
step_set_size(STEP_WHOLE); |
35 |
|
36 |
//initiate the step pin to be low. stepper steps on low to high
|
37 |
PORTD &= (~(1<<S_STEP));
|
38 |
} |
39 |
|
40 |
void step_set_size(char size) |
41 |
{ |
42 |
if (size == STEP_WHOLE)
|
43 |
{ |
44 |
PORTB &= ~_BV(S_MS); |
45 |
step.step_size = 2;
|
46 |
} |
47 |
else
|
48 |
{ |
49 |
PORTB |= _BV(S_MS); |
50 |
step.step_size = 1;
|
51 |
} |
52 |
} |
53 |
|
54 |
/* set direction pin */
|
55 |
void step_dir(int dir) |
56 |
{ |
57 |
step.dir = dir; |
58 |
switch(dir)
|
59 |
{ |
60 |
case 1: |
61 |
PORTD |= (1<<S_DIR);
|
62 |
break;
|
63 |
case -1: |
64 |
PORTD &= (~(1<<S_DIR));
|
65 |
break;
|
66 |
} |
67 |
} |
68 |
|
69 |
void step_do_step()
|
70 |
{ |
71 |
if(step.dir==0) return; //do not step if not enabled |
72 |
PORTD |= (1<<S_STEP); //step once |
73 |
_delay_us(1); //conform with step timing |
74 |
PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
75 |
if(step.dir==1) step.pos += step.step_size; |
76 |
else step.pos -= step.step_size;
|
77 |
} |
78 |
|
79 |
void step_flush()
|
80 |
{ |
81 |
PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
82 |
} |
83 |
|
84 |
//ccw must be less than 0 and cw must be greater than 0
|
85 |
void step_sweep_bounds(int ccw, int cw) |
86 |
{ |
87 |
step.ccw = ccw; |
88 |
step.cw = cw; |
89 |
} |
90 |
|
91 |
void step_sweep()
|
92 |
{ |
93 |
step_do_step(); |
94 |
if((step.dir == 1) && (step.cw <= step.pos)) step_dir(-1); |
95 |
else if((step.dir == -1) && (step.ccw >= step.pos)) step_dir(1); |
96 |
} |