3 files changed, 27 insertions, 9 deletions
diff --git a/usb-i2c-sl018/stepper.c b/usb-i2c-sl018/stepper.c
index 868fff0..4264a42 100644
--- a/usb-i2c-sl018/stepper.c
+++ b/usb-i2c-sl018/stepper.c
@@ -46,10 +46,18 @@ uint8_t step_table [] =
 #define STEPPER_OUTPUT_BITMASK (~(0xF << STEPPER_FIRST_BIT ))
 
 volatile uint16_t step_cnt = 0;
-static uint16_t step_cnt_max = LENGTH_STEP_TABLE*20;
+static uint16_t step_cnt_max = LENGTH_STEP_TABLE*200;
 stepper_direction_t step_direction = dir_open;
 
-void handle_step(void)
+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
+}
+
+inline uint8_t handle_step(void)
 {
   if(step_cnt < step_cnt_max)
   {
@@ -57,8 +65,10 @@ void handle_step(void)
     uint8_t stepper_output=step_table[step_cnt % LENGTH_STEP_TABLE];
     stepper_output<<=STEPPER_FIRST_BIT;
     STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output;
+    return 1;
   } else {
     stop_stepper();
+    return 0;
   }
 }
 
@@ -74,12 +84,17 @@ void start_stepper(stepper_direction_t direction)
   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
 }
 
-void stop_stepper(void)
+
+ISR(TIMER1_COMPA_vect)
 {
-  // stop timer here
-  STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_BIT);
+  handle_step();
 }
-
-
diff --git a/usb-i2c-sl018/stepper.h b/usb-i2c-sl018/stepper.h
index 7cc5f3b..257f81b 100644
--- a/usb-i2c-sl018/stepper.h
+++ b/usb-i2c-sl018/stepper.h
@@ -26,9 +26,9 @@
 
 typedef enum { dir_open = 0, dir_close = 1 } stepper_direction_t;
 
-void handle_step(void);
+//uint8_t handle_step(void);
 void init_stepper(void);
 void start_stepper(stepper_direction_t direction);
-void stop_stepper(void);
+//void stop_stepper(void);
 
 #endif
diff --git a/usb-i2c-sl018/tuer-rfid.c b/usb-i2c-sl018/tuer-rfid.c
index 7f41798..c77b6f2 100644
--- a/usb-i2c-sl018/tuer-rfid.c
+++ b/usb-i2c-sl018/tuer-rfid.c
@@ -439,8 +439,11 @@ int main(void)
   CDC_Device_CreateStream(&VirtualSerial_CDC_Interface,&usb_stream);
 
   init_heartbeat();
+  init_stepper();
   
   sl018_reset();
+  start_stepper(dir_close);
+
   for(;;) {
     CDC_Device_USBTask(&VirtualSerial_CDC_Interface);
     USB_USBTask();