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/*
* spreadspace avr utils
*
*
* Copyright (C) 2013 Christian Pointner <equinox@spreadspace.org>
* Othmar Gsenger <otti@wirdorange.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 "stepper.h"
#include "limits.h"
#include "eventqueue.h"
uint8_t step_table [] =
{
/* full steps */
/* 6, // 0110 */
/* 5, // 0101 */
/* 9, // 1001 */
/* 10, // 1010 */
/* half steps */
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 step_cnt = 0;
#define STEP_CNT_STOP (LENGTH_STEP_TABLE*172)
#define STEP_CNT_STOP_PLUS_EXTRA (STEP_CNT_STOP + (LENGTH_STEP_TABLE*20))
stepper_direction_t step_direction = dir_open;
inline 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
if(step_direction == dir_open)
eventqueue_push(open_fin);
else
eventqueue_push(close_fin);
}
static inline uint8_t 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_direction == dir_open) ? 1 : -1;
step_idx %= LENGTH_STEP_TABLE;
if(step_cnt < STEP_CNT_STOP) {
limits_t l = limits_get();
if((step_direction == dir_open && l == open) ||
(step_direction == dir_close && l == close) || l == both)
step_cnt = STEP_CNT_STOP + 1;
} else if(step_cnt == STEP_CNT_STOP) {
eventqueue_push(move_timeout);
return 0; //stop
}
step_cnt++;
if(step_cnt >= STEP_CNT_STOP_PLUS_EXTRA)
return 0; //stop
return 1; // continue running
}
void stepper_init(void)
{
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);
}
uint8_t stepper_start(stepper_direction_t direction)
{
step_cnt = 0;
step_direction = direction;
STEPPER_PORT |= (1<<STEPPER_ENABLE_A_BIT) | (1<<STEPPER_ENABLE_B_BIT);
TCCR1A = 0; // prescaler 1:256, WGM = 4 (CTC)
TCCR1B = 1<<WGM12 | 1<<CS12; //
OCR1A = 150;
TCNT1 = 0;
TIMSK1 = 1<<OCIE1A;
return 1;
}
ISR(TIMER1_COMPA_vect)
{
if(!stepper_handle())
stepper_stop();
}
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