From 7ebd33cb40aa50f187d7eaa7e44ce3499a6a2a3b Mon Sep 17 00:00:00 2001
From: Christian Pointner <equinox@spreadspace.org>
Date: Wed, 6 Feb 2013 01:17:12 +0000
Subject: cleanup

git-svn-id: https://svn.spreadspace.org/avr/trunk@124 aa12f405-d877-488e-9caf-2d797e2a1cc7
---
 usb-i2c-sl018/stepper.c | 33 ++++++---------------------------
 1 file changed, 6 insertions(+), 27 deletions(-)

(limited to 'usb-i2c-sl018/stepper.c')

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();
-  }
 }
-- 
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