diff options
Diffstat (limited to 'usb-i2c-sl018/stepper.c')
| -rw-r--r-- | usb-i2c-sl018/stepper.c | 33 |
1 files changed, 6 insertions, 27 deletions
diff --git a/usb-i2c-sl018/stepper.c b/usb-i2c-sl018/stepper.c index 4258da7..d6508e7 100644 --- a/usb-i2c-sl018/stepper.c +++ b/usb-i2c-sl018/stepper.c @@ -25,21 +25,7 @@ #include <avr/interrupt.h> #include "stepper.h" -//half steps -/* -uint8_t step_table [] = -{ - 10, // 1010 - 8, // 1000 - 9, // 1001 - 1, // 0001 - 5, // 0101 - 4, // 0100 - 6, // 0110 - 2, // 0010 -}; -*/ -//Full steps + uint8_t step_table [] = { 10, // 1010 @@ -62,7 +48,6 @@ stepper_direction_t step_direction = dir_open; inline void stop_stepper(void) { - // stop timer here STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_BIT); TCCR1B = 0; // no clock source TIMSK1 = 0; // disable timer interrupt @@ -82,9 +67,8 @@ inline uint8_t handle_step(void) STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output; step_cnt++; - if(step_cnt >= STEP_CNT_OFF) { + if(step_cnt >= STEP_CNT_OFF) return 0; - } return 1; } @@ -103,22 +87,17 @@ uint8_t start_stepper(stepper_direction_t direction) step_cnt = 0; step_direction = direction; STEPPER_PORT |= 1<<STEPPER_ENABLE_BIT; - //start timer here - // timer 1: 2 ms, between stepper output state changes TCCR1A = 0; // prescaler 1:256, WGM = 4 (CTC) TCCR1B = 1<<WGM12 | 1<<CS12; // - OCR1A = 124; // (1+124)*256 = 32000 -> 2 ms @ 16 MHz - //OCR1A = 155; // (1+155)*256 = 40000 -> 2 ms @ 20 MHz - TCNT1 = 0; // reseting timer - TIMSK1 = 1<<OCIE1A; // enable Interrupt + OCR1A = 124; // (1+124)*256 = 32000 -> 2 ms @ 16 MHz + TCNT1 = 0; + TIMSK1 = 1<<OCIE1A; return 1; } - ISR(TIMER1_COMPA_vect) { - if(!handle_step()) { + if(!handle_step()) stop_stepper(); - } } |