1 files changed, 0 insertions, 127 deletions
diff --git a/tuer-rfid/stepper.c b/tuer-rfid/stepper.c
deleted file mode 100644
index b477419..0000000
--- a/tuer-rfid/stepper.c
+++ /dev/null
@@ -1,127 +0,0 @@
-/*
- *  spreadspace avr utils
- *
- *
- *  Copyright (C) 2013-2014 Christian Pointner <equinox@spreadspace.org>
- *                     Othmar Gsenger <otti@wirdorange.org>
- *
- *  This file is part of spreadspace avr utils.
- *
- *  spreadspace avr utils is free software: you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation, either version 3 of the License, or
- *  any later version.
- *
- *  spreadspace avr utils is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <avr/sfr_defs.h>
-#include <avr/interrupt.h>
-
-#include "stepper.h"
-#include "limits.h"
-#include "eventqueue.h"
-
-uint8_t step_table [] =
-{
-    /* full steps */
-  /* 6,  // 0110 */
-  /* 5,  // 0101 */
-  /* 9,  // 1001 */
-  /* 10, // 1010 */
-
-    /* half steps */
-  2,  // 0010
-  6,  // 0110
-  4,  // 0100
-  5,  // 0101
-  1,  // 0001
-  9,  // 1001
-  8,  // 1000
-  10, // 1010
-};
-
-#define STEPPER_PORT PORTF
-#define STEPPER_DDR DDRF
-#define STEPPER_FIRST_BIT 4
-#define STEPPER_ENABLE_A_BIT 0
-#define STEPPER_ENABLE_B_BIT 1
-#define LENGTH_STEP_TABLE (sizeof(step_table)/sizeof(uint8_t))
-#define STEPPER_OUTPUT_BITMASK (~(0xF << STEPPER_FIRST_BIT ))
-
-volatile uint16_t step_cnt = 0;
-#define STEP_CNT_STOP (LENGTH_STEP_TABLE*172)
-#define STEP_CNT_STOP_PLUS_EXTRA  (STEP_CNT_STOP + (LENGTH_STEP_TABLE*20))
-stepper_direction_t step_direction = dir_open;
-
-inline void stepper_stop(void)
-{
-  STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_A_BIT | 1<<STEPPER_ENABLE_B_BIT);
-  TCCR1B = 0; // no clock source
-  TIMSK1 = 0; // disable timer interrupt
-
-  if(step_direction == dir_open)
-    eventqueue_push(open_fin);
-  else
-    eventqueue_push(close_fin);
-}
-
-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;
-  step_idx += (step_direction == dir_open) ? 1 : -1;
-  step_idx %= LENGTH_STEP_TABLE;
-
-  if(step_cnt < STEP_CNT_STOP) {
-    limits_t l = limits_get();
-    if((step_direction == dir_open && l == open) ||
-       (step_direction == dir_close && l == close) || l == both)
-      step_cnt = STEP_CNT_STOP + 1;
-
-  } else if(step_cnt == STEP_CNT_STOP) {
-    eventqueue_push(move_timeout);
-    return 0; //stop
-  }
-
-  step_cnt++;
-  if(step_cnt >= STEP_CNT_STOP_PLUS_EXTRA)
-    return 0; //stop
-
-  return 1; // continue running
-}
-
-void stepper_init(void)
-{
-  STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_A_BIT | 1<<STEPPER_ENABLE_B_BIT);
-  STEPPER_DDR |= (0xF << STEPPER_FIRST_BIT) | (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT);
-}
-
-uint8_t stepper_start(stepper_direction_t direction)
-{
-  step_cnt = 0;
-  step_direction = 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 = 150;
-  TCNT1 = 0;
-  TIMSK1 = 1<<OCIE1A;
-
-  return 1;
-}
-
-ISR(TIMER1_COMPA_vect)
-{
-  if(!stepper_handle())
-    stepper_stop();
-}