diff options
Diffstat (limited to 'usb-i2c-sl018/stepper.c')
| -rw-r--r-- | usb-i2c-sl018/stepper.c | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/usb-i2c-sl018/stepper.c b/usb-i2c-sl018/stepper.c index f8f2991..4258da7 100644 --- a/usb-i2c-sl018/stepper.c +++ b/usb-i2c-sl018/stepper.c @@ -95,8 +95,11 @@ void init_stepper(void) STEPPER_DDR |= (0xF << STEPPER_FIRST_BIT) | (1<<STEPPER_ENABLE_BIT); } -void start_stepper(stepper_direction_t direction) +uint8_t start_stepper(stepper_direction_t direction) { + if(TCCR1B) + return 0; + step_cnt = 0; step_direction = direction; STEPPER_PORT |= 1<<STEPPER_ENABLE_BIT; @@ -108,6 +111,8 @@ void start_stepper(stepper_direction_t direction) //OCR1A = 155; // (1+155)*256 = 40000 -> 2 ms @ 20 MHz TCNT1 = 0; // reseting timer TIMSK1 = 1<<OCIE1A; // enable Interrupt + + return 1; } |