Colony » Colony Scout » Colony Scout OS

extern "C"

{

#include <avr/io.h>

#include <util/delay.h>

}

#include "stepper.h"

/*  Stepper Motor:

 *  Provides interface to stepper motor.

 *  Can set direction. Outputs pulse to stepper upon call of step func

 *  Also provides variable speed sweep

 */

struct step_t {

  unsigned int speed; // time between steps in ms for sweep. Mininum 40ms

  unsigned int sweep_ms; //time between calls to sweep  

  unsigned int time;

  int pos; // position in rotation.

  int dir; // direction. -1 CCW. 1 CW. 0 OFF

  int ccw;

  int cw;

} volatile step;

func step_init(unsigned int call_ms)

{

  /* set update time for sweep */

  step.sweep_ms = call_ms;

  /* init pos, time, and dir to 0 */

  step.pos = 0;

  step.time = 0;

  step.dir = 0;

  //set control pins as output

  DDRD |= ((1<<S_STEP) | (1<<S_DIR));

  DDRB |= ((1<<S_MS));

  //initiate to full steps

  PORTB &= (~(1<<S_MS));

  //initiate the step pin to be low. stepper steps on low to high

  PORTD &= (~(1<<S_STEP));

  //return function pointer to sweep to be called ever sweep_us uS. 

  return &(step_sweep);

}

/* set direction pin */

void step_dir(int dir)

{

  step.dir = dir;

  switch(dir)

  {

    case 1:

         PORTD |= (1<<S_DIR);

      break;

    case -1:

         PORTD &= (~(1<<S_DIR));

      break;

  }

}

void step_halfstep()

{

  if(step.dir==0) return; //do not step if not enabled

  PORTB |= (1<<S_MS); //enable microstepping

  __asm__ __volatile__(

    "nop\n\t"

    "nop\n\t"

    "nop\n\t"

    "nop\n\t"

  ::);//wait 250 ns for microstepping to enable

  PORTD |= (1<<S_STEP); //step once

  _delay_us(1); //conform with step timing

  PORTD &= (~(1<<S_STEP)); //bring the step bin back down

  PORTB &= (~(1<<S_MS)); //disable microstepping

  if(step.dir==1) step.pos++; //keep track of pos. 1/2 step so add/sub 1

  else step.pos--;

}

void step_fullstep()

{

  if(step.dir==0) return; //do not step if not enabled

  PORTD |= (1<<S_STEP); //step once 

  _delay_us(1); //conform with step timing

  PORTD &= (~(1<<S_STEP)); //bring the step bin back down

  if(step.dir==1) step.pos+=2; // full step so add/sub 2

  else step.pos-=2;

}

void step_flush()

{

  PORTD &= (~(1<<S_STEP)); //bring the step bin back down

}

/* tick every speed ms in sweep mode */

void step_sweep_speed(unsigned int speed)

{

  if(speed<40) step.speed = 40;

  else step.speed = speed;

}

//ccw must be less than 0 and cw must be greater than 0

void step_sweep_bounds(int ccw, int cw)

{

  step.ccw = ccw;

  step.cw = cw;

}

void step_sweep()

{

  step.time += step.sweep_ms;

  if(step.time >= step.speed)

  {

    step_fullstep();

    if((step.dir == 1) && (step.cw <= step.pos)) step_dir(-1);

    else if((step.dir == -1) && (step.ccw >= step.pos)) step_dir(1);

    step.time = 0;

  }

}