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[add] cw and ccw

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This commit is contained in:
stijn
2021-03-31 09:51:36 +02:00
parent 956e25bc6a
commit 5c775c52fc
2 changed files with 31 additions and 5 deletions
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32
Microcontrollers/GLCDdriver/stepper_driver.c
View File

@@ -33,10 +33,22 @@ uint8_t CW[8] = {0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09};
prescaler = 255
*/
void stepper_rotate_full_rotation();
enum rotation_wise{
CW,
CCW
};
rotation_wise rotation;
void stepper_rotate_full_rotation_CW();
void stepper_rotate_full_rotation_CCW();
void set_stepper_state(uint8_t count){
PORTE = CW[count];
if(rotation == CW){
PORTE = CW[count];
} else {
PORTE = CCW[count];
}
}
void (*snap_event)(uint8_t);
@@ -60,7 +72,11 @@ ISR( TIMER2_COMP_vect ){
if(steps_to_do == 0){
TCCR2 = 0b00000000;
stepper_rotate_full_rotation();
if(rotation == CW){
stepper_rotate_full_rotation_CW();
} else {
stepper_rotate_full_rotation_CCW();
}
} else {
if(steps_to_do % 32 == 0){
@@ -80,8 +96,15 @@ ISR( TIMER2_COMP_vect ){
}
}
void stepper_rotate_full_rotation(){
void stepper_rotate_full_rotation_CW(){
steps_to_do = 512;
rotation_wise = CW;
TCCR2 = 0b00001100;
}
void stepper_rotate_full_rotation_CCW(){
steps_to_do = 512;
rotation_wise = CCW;
TCCR2 = 0b00001100;
}
@@ -91,6 +114,7 @@ void stepper_rotate(uint16_t steps){
}
void init_stepper_driver(){
rotation = CW;
DDRE = 0xff;
DDRG = 0xff;
PORTG = 0x01;

4
Microcontrollers/GLCDdriver/stepper_driver.h
View File

@@ -11,7 +11,9 @@
#include <stdbool.h>
void stepper_rotate(uint16_t steps);
void init_stepper_driver();
void stepper_rotate(uint16_t steps);
void stepper_rotate_full_rotation_CW();
void stepper_rotate_full_rotation_CCW();
#endif /* STEPPER_DRIVER_H_ */