[add] init check

Microcontrollers/Eindopdracht/stepper_driver.c

@@ -0,0 +1,113 @@
+/*
+ * stepper_driver.c
+ * PORTB
+ * Created: 10-Mar-21 12:21:47 PM
+ * Author: lemms
+ */ 
+#define F_CPU 10e6
+
+#include <avr/interrupt.h>
+#include <avr/io.h>
+#include <util/delay.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+#include "stepper_driver.h"
+
+#define BIT(x)			(1 << (x))
+
+uint8_t CCW[8] = {0x09,0x01,0x03,0x02,0x06,0x04,0x0c,0x08};
+uint8_t CW[8] = {0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09};
+
+/*
+ Een timer met interupt routine.
+ 
+ in de interump routine een state machine voor de 8 nibbles
+ elke keer dat de interupt routine wordt geroepen wordt de state
+ incremented. hier houd je ook een var bij om de relatieve
+ positie te weten van de stappenmotor.
+ 
+ Nog een timer voor microstepping.
+ 
+ Timers:
+ timer voor de speed.
+ stappen van 100ms naar 10ms
+ prescaler = 255
+*/
+	
+enum rotation_wise rotation;
+
+void stepper_rotate_full_rotation_CW();
+void stepper_rotate_full_rotation_CCW();
+
+void set_stepper_state(uint8_t count){
+	if(rotation == ClockWise){
+		PORTE = CW[count];
+	} else {
+		PORTE = CCW[count];
+	}
+}
+
+void (*snap_event)(uint8_t);
+
+void set_snap_event(void (*snap_event_p)(uint8_t)){
+	snap_event = snap_event_p;
+}
+
+uint16_t steps_each_turn = 0;
+uint16_t steps_to_do = 0;
+uint8_t stepper_state = 0;
+ISR( TIMER2_COMP_vect ){
+	TCNT2 = 0;
+	
+	set_stepper_state(stepper_state);
+		
+	if(stepper_state < 7){
+		stepper_state++;
+	} else {
+		//OCR2 = ADCH;
+		stepper_state = 0;
+		
+		if(steps_to_do == 0){
+			
+			if(rotation == ClockWise){
+				rotation = CounterClockWise;
+			} else {
+				rotation = ClockWise;
+			}
+			
+			steps_to_do = steps_each_turn;
+			
+		} else {
+			
+			if(steps_to_do % 32 == 0){
+				
+				if(snap_event != NULL)
+					snap_event(steps_to_do);
+			}
+			
+			steps_to_do--;
+		}
+	}
+}
+
+void stepper_rotate_angle(uint16_t steps, enum rotation_wise rot){
+	steps_to_do = steps;
+	steps_each_turn = steps;
+	rotation = rot;
+	TCCR2 = 0b00001100;
+}
+
+void stepper_rotate_stop(){
+	TCCR2 = 0b00000000;
+}
+
+void init_stepper_driver(){
+	DDRE = 0xff;
+	DDRG = 0xff;
+	PORTG = 0x01;
+	PORTE = 0x00;
+	OCR2 = 150;
+	TIMSK = BIT(7);
+	sei();
+}