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/*
* spreadspace avr utils
*
*
* Copyright (C) 2014 Christian Pointner <equinox@spreadspace.org>
*
* This file is part of spreadspace avr utils.
*
* spreadspace avr utils is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* any later version.
*
* spreadspace avr utils is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with spreadspace avr utils. If not, see <http://www.gnu.org/licenses/>.
*/
#include <avr/sfr_defs.h>
#include <avr/interrupt.h>
#include <util/atomic.h>
#include <math.h>
#include "stepper.h"
uint8_t step_table [] =
{
2, // 0010
6, // 0110
4, // 0100
5, // 0101
1, // 0001
9, // 1001
8, // 1000
10, // 1010
};
#define STEPPER_PORT PORTF
#define STEPPER_DDR DDRF
#define STEPPER_FIRST_BIT 4
#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 ))
volatile uint16_t target_speed;
uint16_t current_speed;
stepper_state_t current_state;
void stepper_init(void)
{
target_speed = STEPPER_SPEED_DEFAULT;
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);
stepper_stop();
}
void stepper_start(void)
{
if(current_state == stepper_running) return;
current_speed = STEPPER_SPEED_MIN;
STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT);
TCNT1 = 0;
OCR1A = current_speed;
TCCR1A = 0; // prescaler 1:64, WGM = 4 (CTC)
TCCR1B = 1<<WGM12 | 1<<CS11 | 1<<CS10; //
TIMSK1 = 1<<OCIE1A;
current_state = stepper_running;
}
void stepper_stop(void)
{
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
current_state = stepper_stopped;
}
static inline void stepper_handle(void)
{
static uint8_t step_idx = 0;
uint8_t stepper_output = step_table[step_idx];
stepper_output <<= STEPPER_FIRST_BIT;
STEPPER_PORT = (STEPPER_PORT & STEPPER_OUTPUT_BITMASK ) | stepper_output;
step_idx++;
step_idx %= LENGTH_STEP_TABLE;
if(step_idx != 0 && step_idx % 8) {
if(current_speed > target_speed)
OCR1A = (uint16_t)((STEPPER_SPEED_CONVERT_VALUE/(--current_speed)) - 1);
else if(current_speed < target_speed)
OCR1A = (uint16_t)((STEPPER_SPEED_CONVERT_VALUE/(++current_speed)) - 1);
}
}
ISR(TIMER1_COMPA_vect)
{
stepper_handle();
}
stepper_state_t stepper_get_state(void)
{
return current_state;
}
const char* stepper_state_to_string(stepper_state_t state)
{
switch(state) {
case stepper_running: return "running";
case stepper_stopped: return "stopped";
}
return "?";
}
void stepper_set_speed(uint16_t new_speed)
{
if(new_speed >= STEPPER_SPEED_MIN && new_speed <= STEPPER_SPEED_MAX) {
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
target_speed = new_speed;
}
}
}
void stepper_inc_speed(void)
{
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
target_speed = (target_speed >= STEPPER_SPEED_MAX) ? STEPPER_SPEED_MAX : target_speed + 1;
}
}
void stepper_dec_speed(void)
{
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
target_speed = (target_speed <= STEPPER_SPEED_MIN) ? STEPPER_SPEED_MIN : target_speed - 1;
}
}
uint16_t stepper_get_speed(void)
{
return target_speed;
}
void stepper_set_speed_rpm(uint8_t new_rpm)
{
stepper_set_speed( (uint16_t)lround( ( (double)(64.0 * 800.0 * (double)STEPPER_SPEED_CONVERT_VALUE) / (double)(60.0 * (double)F_CPU) ) * (double)new_rpm) );
}
uint8_t stepper_get_speed_rpm(void)
{
return (uint8_t)lround( ( (double)(60.0 * (double)F_CPU) / (double)(64.0 * 800.0 * (double)STEPPER_SPEED_CONVERT_VALUE) ) * (double)(target_speed) );
}
void stepper_inc_speed_rpm(void)
{
uint8_t rpm = stepper_get_speed_rpm();
stepper_set_speed_rpm((rpm >= 255) ? 255 : rpm+1);
}
void stepper_dec_speed_rpm(void)
{
uint8_t rpm = stepper_get_speed_rpm();
stepper_set_speed_rpm((rpm <= 1) ? 1 : rpm-1);
}
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