diff options
| author | Christian Pointner <equinox@spreadspace.org> | 2013-08-17 22:12:29 +0000 |
|---|---|---|
| committer | Christian Pointner <equinox@spreadspace.org> | 2013-08-17 22:12:29 +0000 |
| commit | 23fb37004d70e86bb7fda6626d7c4db38c5e6b0f (patch) | |
| tree | 2e7f6ec0f6fb74e54251c4648e1bdfd5d7eb4fda /tuer-rfid | |
| parent | added reset function for some examples (diff) | |
less jitter for stepper
switched to half steps
git-svn-id: https://svn.spreadspace.org/avr/trunk@224 aa12f405-d877-488e-9caf-2d797e2a1cc7
Diffstat (limited to 'tuer-rfid')
| -rw-r--r-- | tuer-rfid/stepper.c | 25 |
1 files changed, 18 insertions, 7 deletions
diff --git a/tuer-rfid/stepper.c b/tuer-rfid/stepper.c index e90700c..256ad75 100644 --- a/tuer-rfid/stepper.c +++ b/tuer-rfid/stepper.c @@ -30,10 +30,21 @@ uint8_t step_table [] = { + /* full steps */ + /* 10, // 1010 */ + /* 9, // 1001 */ + /* 5, // 0101 */ + /* 6, // 0110 */ + + /* half steps */ 10, // 1010 + 8, // 1000 9, // 1001 + 1, // 0001 5, // 0101 + 4, // 0100 6, // 0110 + 2, // 0010 }; #define STEPPER_PORT PORTF @@ -45,8 +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*400) -#define STEP_CNT_OFF (STEP_CNT_STOP + 125) +#define STEP_CNT_STOP (LENGTH_STEP_TABLE*800) +#define STEP_CNT_OFF (STEP_CNT_STOP + 250) stepper_direction_t step_direction = dir_open; inline void stepper_stop(void) @@ -60,6 +71,10 @@ static inline uint8_t stepper_handle(void) { static uint8_t step_idx = 0; + uint8_t stepper_output = step_table[step_idx]; + stepper_output <<= STEPPER_FIRST_BIT; + STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output; + limits_t l = limits_get(); if((step_direction == dir_open && l == open) || (step_direction == dir_close && l == close) || l == both) @@ -73,10 +88,6 @@ static inline uint8_t stepper_handle(void) return 0; } - uint8_t stepper_output = step_table[step_idx]; - stepper_output <<= STEPPER_FIRST_BIT; - STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output; - step_cnt++; if(step_cnt >= STEP_CNT_OFF) { if(step_direction == dir_open) @@ -103,7 +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 = 124; // (1+124)*256 = 32000 -> 2 ms @ 16 MHz + OCR1A = 42; // this value should be between 40 and 85 TCNT1 = 0; TIMSK1 = 1<<OCIE1A; |