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-rw-r--r--tuer-rfid/stepper.c25
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;