Revision 85dff67b
Modified to compile.
| scout_avr/src/stepper.cpp | ||
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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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|
| ... | ... | |
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/* set update time for sweep */ |
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step.sweep_us = call_us; |
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/* init pos and time to 0 */
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/* init pos, time, and dir to 0 */
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step.pos = 0; |
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step.time = 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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void step_halfstep() |
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{
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if(dir==0) return; //do not step if not enabled |
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if(step.dir==0) return; //do not step if not enabled
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PORTB |= (1<<S_MS); //enable microstepping |
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_asm_(
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"nop" |
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"nop" |
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"nop" |
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"nop" |
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);//wait 250 ns for microstepping to enable |
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__asm__ __volatile__(
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"nop\n\t"
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"nop\n\t"
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"nop\n\t"
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"nop\n\t"
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::);//wait 250 ns for microstepping to enable
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PORTD |= (1<<S_STEP); //step once |
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WAIT_US(1); //conform with step timing
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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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PORTB &= (~(1<<S_MS)); //disable microstepping |
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if(dir==1) step.pos++; //keep track of position. 1/2 step so add/sub 1
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if(step.dir==1) step.pos++; //keep track of pos. 1/2 step so add/sub 1
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else step.pos--; |
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} |
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void step_fullstep() |
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{
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if(dir==0) return; //do not step if not enabled |
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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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WAIT_US(2); //conform with step timing
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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(dir==1) step.pos+=2; // full step so add/sub 2 |
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if(step.dir==1) step.pos+=2; // full step so add/sub 2
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else step.pos-=2; |
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} |
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|
| ... | ... | |
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void step_sweep() |
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{
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step.time += sweep_us; |
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if(step.time >= speed) |
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step.time += step.sweep_us;
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if(step.time >= step.speed)
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{
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step_halfstep(); |
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if((dir == 1) && (step.cw <= pos)) dir=-1;
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else if((dir == -1) && (step.ccw >= pos)) dir=1;
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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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} |
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