Exemple #1
0
/*! \brief Move the stepper motor one step.
 *
 *  Makes the stepcounter inc/dec one value and outputs this to the
 *  steppermotor.
 *  This function works like a stepper motor controller, a call to the function
 *  is the stepping pulse, and parameter 'inc' is the direction signal.
 *
 *  \param inc  Direction to move.
 *  \return  Stepcounter value.
 */
unsigned char sm_driver_StepCounter(signed char inc)
{
  // Counts 0-1-...-6-7 in halfstep, 0-2-4-6 in fullstep
  static unsigned char counter = 0;
  // Update
  if(inc == CCW){
    stepPosition--;
  }
  else{
    stepPosition++;
  }

#ifdef HALFSTEPS
  if(inc){
    counter++;
  }
  else{
    counter--;
  }
#else
  if(inc){
    counter += 2;
  }
  else{
    counter -= 2;
  }
#endif

  // Stay within the steptab
  counter &= 0x07;
  sm_driver_StepOutput(counter);
  return(counter);
}
Exemple #2
0
/*! \brief Init of peripheral devices.
 *
 *  Setup IO, uart, stepper, timer and interrupt.
 */
void Init(void)
{
  // Init of IO pins
  sm_driver_Init_IO();
  // Init of uart
  InitUART();

  // Set stepper motor driver output
  sm_driver_StepOutput(0);

  // Init of Timer/Counter1
  speed_cntr_Init_Timer1();

  __enable_interrupt();
}