diff options
| author | Christian Pointner <equinox@spreadspace.org> | 2013-09-21 21:16:55 +0000 |
|---|---|---|
| committer | Christian Pointner <equinox@spreadspace.org> | 2013-09-21 21:16:55 +0000 |
| commit | 73b634533948ee215edee742a5fb5df379134b60 (patch) | |
| tree | d0b47a5613c16b9135e8c9da044c97ff6acfed69 | |
| parent | less jitter for stepper (diff) | |
some timing fixed for stepper table
git-svn-id: https://svn.spreadspace.org/avr/trunk@225 aa12f405-d877-488e-9caf-2d797e2a1cc7
| -rw-r--r-- | tuer-rfid/stepper.c | 26 |
1 files changed, 13 insertions, 13 deletions
diff --git a/tuer-rfid/stepper.c b/tuer-rfid/stepper.c index 256ad75..f267645 100644 --- a/tuer-rfid/stepper.c +++ b/tuer-rfid/stepper.c @@ -31,20 +31,20 @@ uint8_t step_table [] = { /* full steps */ - /* 10, // 1010 */ - /* 9, // 1001 */ - /* 5, // 0101 */ /* 6, // 0110 */ + /* 5, // 0101 */ + /* 9, // 1001 */ + /* 10, // 1010 */ /* half steps */ - 10, // 1010 - 8, // 1000 - 9, // 1001 - 1, // 0001 - 5, // 0101 - 4, // 0100 - 6, // 0110 2, // 0010 + 6, // 0110 + 4, // 0100 + 5, // 0101 + 1, // 0001 + 9, // 1001 + 8, // 1000 + 10, // 1010 }; #define STEPPER_PORT PORTF @@ -56,8 +56,8 @@ uint8_t step_table [] = #define STEPPER_OUTPUT_BITMASK (~(0xF << STEPPER_FIRST_BIT )) volatile uint16_t step_cnt = 0; -#define STEP_CNT_STOP (LENGTH_STEP_TABLE*800) -#define STEP_CNT_OFF (STEP_CNT_STOP + 250) +#define STEP_CNT_STOP (LENGTH_STEP_TABLE*210) +#define STEP_CNT_OFF (STEP_CNT_STOP + 100) stepper_direction_t step_direction = dir_open; inline void stepper_stop(void) @@ -114,7 +114,7 @@ uint8_t stepper_start(stepper_direction_t direction) STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT); TCCR1A = 0; // prescaler 1:256, WGM = 4 (CTC) TCCR1B = 1<<WGM12 | 1<<CS12; // - OCR1A = 42; // this value should be between 40 and 85 + OCR1A = 150; TCNT1 = 0; TIMSK1 = 1<<OCIE1A; |