106 lines
2.0 KiB
C
106 lines
2.0 KiB
C
/*
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* stepper_driver.c
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* PORTB
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* Created: 10-Mar-21 12:21:47 PM
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* Author: lemms
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*/
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include <util/delay.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include "stepper_driver.h"
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#define BIT(x) (1 << (x))
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// states for stepper to rotate counterclockwise
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uint8_t CCW[8] = {0x09,0x01,0x03,0x02,0x06,0x04,0x0c,0x08};
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// states for stepper to rotate clockwise
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uint8_t CW[8] = {0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09};
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// value for how many steps each turn.
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uint16_t steps_each_turn = 0;
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// value for the amount of steps still to do.
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uint16_t steps_to_do = 0;
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// which of the stepper states is set currently.
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uint8_t stepper_state = 0;
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// current rotation wise. (CW or CCW)
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enum rotation_wise rotation;
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void stepper_rotate_full_rotation_CW();
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void stepper_rotate_full_rotation_CCW();
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void set_stepper_state(uint8_t count){
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if(rotation == ClockWise){
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PORTE = CW[count];
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} else {
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PORTE = CCW[count];
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}
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}
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void (*snap_event)(uint8_t);
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void set_snap_event(void (*snap_event_p)(uint8_t)){
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snap_event = snap_event_p;
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}
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ISR( TIMER2_COMP_vect ){
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TCNT2 = 0;
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set_stepper_state(stepper_state);
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if(stepper_state < 7){
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stepper_state++;
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} else {
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stepper_state = 0;
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if(steps_to_do == 0){
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// change rotation if the steps todo is 0.
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if(rotation == ClockWise){
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rotation = CounterClockWise;
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} else {
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rotation = ClockWise;
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}
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// set the steps to do again.
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steps_to_do = steps_each_turn;
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} else {
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// if the stepper step value is at a multiplier of 32 then make snap event.
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if(steps_to_do % STEPS_EACH_PULSE == 0){
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if(snap_event != NULL)
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snap_event(steps_to_do);
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}
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steps_to_do--;
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}
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}
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}
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void stepper_rotate_angle(uint16_t steps, enum rotation_wise rot){
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steps_to_do = steps;
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steps_each_turn = steps;
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rotation = rot;
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TCCR2 = 0b00001100;
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}
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void stepper_rotate_stop(){
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TCCR2 = 0b00000000;
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}
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void init_stepper_driver(){
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DDRE = 0xff;
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DDRG = 0xff;
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PORTG = 0x01;
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PORTE = 0x00;
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OCR2 = COMPARE_VALUE;
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TIMSK = BIT(7);
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sei();
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} |