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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"
uint8_t step_table [] =
{
10, // 1010
8, // 1000
9, // 1001
1, // 0001
5, // 0101
4, // 0100
6, // 0110
2, // 0010
};
#define STEPPER_PORT PORTF
#define STEPPER_DDR DDRF
#define STEPPER_FIRST_BIT 4
#define STEPPER_ENABLE_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;
static uint16_t step_cnt_max = LENGTH_STEP_TABLE*20;
stepper_direction_t step_direction = dir_open;
void handle_step(void)
{
if(step_cnt < step_cnt_max)
{
step_cnt++;
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;
} else {
stop_stepper();
}
}
void init_stepper(void)
{
STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_BIT);
STEPPER_DDR |= (0xF << STEPPER_FIRST_BIT) | (1<<STEPPER_ENABLE_BIT);
}
void start_stepper(stepper_direction_t direction)
{
step_cnt = 0;
step_direction = direction;
STEPPER_PORT |= 1<<STEPPER_ENABLE_BIT;
//start timer here
}
void stop_stepper(void)
{
// stop timer here
STEPPER_PORT &= ~(0xF << STEPPER_FIRST_BIT | 1<<STEPPER_ENABLE_BIT);
}
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