Revision 2853d46b
Changed stepper to always step in step_sweep
Also added whole/half step as a separate setting, with a single
step_do_step function. Also added stepper to main.cpp.
| scout_avr/src/stepper.cpp | ||
|---|---|---|
| 12 | 12 |
*/ |
| 13 | 13 |
|
| 14 | 14 |
struct step_t {
|
| 15 |
unsigned int speed; // time between steps in ms for sweep. Mininum 40ms |
|
| 16 |
unsigned int sweep_ms; //time between calls to sweep |
|
| 17 |
unsigned int time; |
|
| 18 | 15 |
int pos; // position in rotation. |
| 19 | 16 |
int dir; // direction. -1 CCW. 1 CW. 0 OFF |
| 17 |
int step_size; // amount to add to position each step |
|
| 20 | 18 |
int ccw; |
| 21 | 19 |
int cw; |
| 22 |
} volatile step;
|
|
| 20 |
} step; |
|
| 23 | 21 |
|
| 24 | 22 |
|
| 25 |
func step_init(unsigned int call_ms)
|
|
| 23 |
void step_init()
|
|
| 26 | 24 |
{
|
| 27 |
/* set update time for sweep */ |
|
| 28 |
step.sweep_ms = call_ms; |
|
| 29 |
|
|
| 30 |
/* init pos, time, and dir to 0 */ |
|
| 25 |
/* init pos and dir to 0 */ |
|
| 31 | 26 |
step.pos = 0; |
| 32 |
step.time = 0; |
|
| 33 | 27 |
step.dir = 0; |
| 34 | 28 |
|
| 35 | 29 |
//set control pins as output |
| ... | ... | |
| 37 | 31 |
DDRB |= ((1<<S_MS)); |
| 38 | 32 |
|
| 39 | 33 |
//initiate to full steps |
| 40 |
PORTB &= (~(1<<S_MS));
|
|
| 34 |
step_set_size(STEP_WHOLE);
|
|
| 41 | 35 |
|
| 42 | 36 |
//initiate the step pin to be low. stepper steps on low to high |
| 43 | 37 |
PORTD &= (~(1<<S_STEP)); |
| 38 |
} |
|
| 44 | 39 |
|
| 45 |
//return function pointer to sweep to be called ever sweep_us uS. |
|
| 46 |
return &(step_sweep); |
|
| 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 |
} |
|
| 47 | 52 |
} |
| 48 | 53 |
|
| 49 | 54 |
/* set direction pin */ |
| ... | ... | |
| 53 | 58 |
switch(dir) |
| 54 | 59 |
{
|
| 55 | 60 |
case 1: |
| 56 |
PORTD |= (1<<S_DIR);
|
|
| 61 |
PORTD |= (1<<S_DIR); |
|
| 57 | 62 |
break; |
| 58 | 63 |
case -1: |
| 59 |
PORTD &= (~(1<<S_DIR));
|
|
| 64 |
PORTD &= (~(1<<S_DIR)); |
|
| 60 | 65 |
break; |
| 61 | 66 |
} |
| 62 | 67 |
} |
| 63 | 68 |
|
| 64 |
void step_halfstep() |
|
| 65 |
{
|
|
| 66 |
if(step.dir==0) return; //do not step if not enabled |
|
| 67 |
PORTB |= (1<<S_MS); //enable microstepping |
|
| 68 |
__asm__ __volatile__( |
|
| 69 |
"nop\n\t" |
|
| 70 |
"nop\n\t" |
|
| 71 |
"nop\n\t" |
|
| 72 |
"nop\n\t" |
|
| 73 |
::);//wait 250 ns for microstepping to enable |
|
| 74 |
PORTD |= (1<<S_STEP); //step once |
|
| 75 |
_delay_us(1); //conform with step timing |
|
| 76 |
PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
|
| 77 |
PORTB &= (~(1<<S_MS)); //disable microstepping |
|
| 78 |
if(step.dir==1) step.pos++; //keep track of pos. 1/2 step so add/sub 1 |
|
| 79 |
else step.pos--; |
|
| 80 |
} |
|
| 81 |
|
|
| 82 |
void step_fullstep() |
|
| 69 |
void step_do_step() |
|
| 83 | 70 |
{
|
| 84 | 71 |
if(step.dir==0) return; //do not step if not enabled |
| 85 | 72 |
PORTD |= (1<<S_STEP); //step once |
| 86 | 73 |
_delay_us(1); //conform with step timing |
| 87 | 74 |
PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
| 88 |
if(step.dir==1) step.pos+=2; // full step so add/sub 2
|
|
| 89 |
else step.pos-=2;
|
|
| 75 |
if(step.dir==1) step.pos += step.step_size;
|
|
| 76 |
else step.pos -= step.step_size;
|
|
| 90 | 77 |
} |
| 91 | 78 |
|
| 92 | 79 |
void step_flush() |
| ... | ... | |
| 94 | 81 |
PORTD &= (~(1<<S_STEP)); //bring the step bin back down |
| 95 | 82 |
} |
| 96 | 83 |
|
| 97 |
/* tick every speed ms in sweep mode */ |
|
| 98 |
void step_sweep_speed(unsigned int speed) |
|
| 99 |
{
|
|
| 100 |
if(speed<40) step.speed = 40; |
|
| 101 |
else step.speed = speed; |
|
| 102 |
} |
|
| 103 |
|
|
| 104 |
|
|
| 105 | 84 |
//ccw must be less than 0 and cw must be greater than 0 |
| 106 | 85 |
void step_sweep_bounds(int ccw, int cw) |
| 107 | 86 |
{
|
| ... | ... | |
| 111 | 90 |
|
| 112 | 91 |
void step_sweep() |
| 113 | 92 |
{
|
| 114 |
step.time += step.sweep_ms; |
|
| 115 |
if(step.time >= step.speed) |
|
| 116 |
{
|
|
| 117 |
step_fullstep(); |
|
| 118 |
if((step.dir == 1) && (step.cw <= step.pos)) step_dir(-1); |
|
| 119 |
else if((step.dir == -1) && (step.ccw >= step.pos)) step_dir(1); |
|
| 120 |
step.time = 0; |
|
| 121 |
} |
|
| 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); |
|
| 122 | 96 |
} |
Also available in: Unified diff