void stepper_set_next_timer(uint32_t velocity) {
if(velocity == 0) {
if(stepper_state == STEPPER_STATE_DRIVE) {
// In drive mode we have a transition from backward to forward here.
// Wait 10ms in that case
velocity = 100;
} else {
// In step mode this should not happen, stop tc
stepper_running = false;
tc_channel_stop(&STEPPER_TC_CHANNEL);
return;
}
}
int8_t i;
for(i = 4; i > 0; i--) {
if(velocity <= stepper_timer_velocity[i-1]) {
break;
}
}
STEPPER_TC_CHANNEL.TC_CMR = i | TC_CMR_CPCTRG;
STEPPER_COUNTER = stepper_timer_frequency[i] / velocity;
if(!stepper_is_currently_running()) {
stepper_running = true;
tc_channel_start(&STEPPER_TC_CHANNEL);
}
}
void set_steps(uint8_t com, const SetSteps *data) {
if(stepper_is_currently_running() || stepper_state == STEPPER_STATE_OFF) {
return;
}
stepper_state = STEPPER_STATE_STEPS;
stepper_steps = data->steps;
stepper_make_step_speedramp(data->steps);
}
void set_target_position(uint8_t com, const SetTargetPosition *data) {
if(stepper_is_currently_running() || stepper_state == STEPPER_STATE_OFF) {
return;
}
stepper_state = STEPPER_STATE_TARGET;
stepper_target_position = data->position;
stepper_make_step_speedramp(stepper_target_position - stepper_position);
}
void stepper_make_drive_speedramp(uint8_t state) {
stepper_state = STEPPER_STATE_DRIVE;
stepper_speedramp_state = state;
if(!stepper_is_currently_running()) {
// call drive speedramp one time, to get it going
// (i.e. make velocity != 0)
stepper_drive_speedramp();
TC0_IrqHandler();
}
}
void set_steps(const ComType com, const SetSteps *data) {
if(stepper_is_currently_running() || stepper_state == STEPPER_STATE_OFF) {
com_return_setter(com, data);
return;
}
stepper_state = STEPPER_STATE_STEPS;
stepper_steps = data->steps;
stepper_make_step_speedramp(data->steps);
com_return_setter(com, data);
}
void set_target_position(const ComType com, const SetTargetPosition *data) {
if(stepper_is_currently_running() || stepper_state == STEPPER_STATE_OFF) {
com_return_setter(com, data);
return;
}
stepper_state = STEPPER_STATE_TARGET;
stepper_target_position = data->position;
stepper_make_step_speedramp(stepper_target_position - stepper_position);
com_return_setter(com, data);
}