diff options
Diffstat (limited to 'tuer-rfid/stepper.c')
| -rw-r--r-- | tuer-rfid/stepper.c | 11 |
1 files changed, 6 insertions, 5 deletions
diff --git a/tuer-rfid/stepper.c b/tuer-rfid/stepper.c index 52e902c..e90700c 100644 --- a/tuer-rfid/stepper.c +++ b/tuer-rfid/stepper.c @@ -39,7 +39,8 @@ uint8_t step_table [] = #define STEPPER_PORT PORTF #define STEPPER_DDR DDRF #define STEPPER_FIRST_BIT 4 -#define STEPPER_ENABLE_BIT 1 +#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 )) @@ -50,7 +51,7 @@ stepper_direction_t step_direction = dir_open; inline void stepper_stop(void) { - STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_BIT); + 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 } @@ -91,15 +92,15 @@ static inline uint8_t stepper_handle(void) void stepper_init(void) { - STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_BIT); - STEPPER_DDR |= (0xF << STEPPER_FIRST_BIT) | (1<<STEPPER_ENABLE_BIT); + 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_BIT; + 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 |