void move_stepper(int direction, int s1, int s2, int s3, int s4, int s5)
{
ioport_set_pin_level(STEP,0);
ioport_set_pin_level(DIR, direction);
ioport_set_pin_level(SLEEP,1);
int i=0;
full_step();
for(i=0;i<s1;i++)
{
ioport_set_pin_level(STEP,1);
delay_ms(DELAY_STEP);
ioport_set_pin_level(STEP,0);
delay_ms(DELAY_STEP);
}
half_step();
for(i=0;i<s2;i++)
{
ioport_set_pin_level(STEP,1);
delay_ms(DELAY_STEP);
ioport_set_pin_level(STEP,0);
delay_ms(DELAY_STEP);
}
quarter_step();
for(i=0;i<s3;i++)
{
ioport_set_pin_level(STEP,1);
delay_ms(DELAY_STEP);
ioport_set_pin_level(STEP,0);
delay_ms(DELAY_STEP);
}
either_step();
for(i=0;i<s4;i++)
{
ioport_set_pin_level(STEP,1);
delay_ms(DELAY_STEP);
ioport_set_pin_level(STEP,0);
delay_ms(DELAY_STEP);
}
sixteen_step();
for(i=0;i<s5;i++)
{
ioport_set_pin_level(STEP,1);
delay_ms(DELAY_STEP);
ioport_set_pin_level(STEP,0);
delay_ms(DELAY_STEP);
}
ioport_set_pin_level(SLEEP,0);
}
int
perfect_measure_instruction()
{
int state = STATE_BEFORE_INSTRUCTION;
int c = 0;
for (int i = 0; i < MAX_CYCLES; i++) {
uint16_t ab;
uint8_t db;
BOOL r_w;
full_step(&ab, &db, &r_w);
if (state == STATE_DURING_INSTRUCTION && ab > trigger2) {
/*
* we see the FIRST fetch of the next instruction,
* the test instruction MIGHT be done
*/
state = STATE_FIRST_FETCH;
}
if (state == STATE_DURING_INSTRUCTION) {
instr_rw[c] = r_w;
instr_ab[c] = ab;
instr_db[c] = db;
c++;
}
if (ab == TRIGGER1) {
state = STATE_DURING_INSTRUCTION; /* we're done writing the trigger value; now comes the instruction! */
}
if (ab == TRIGGER3) {
break; /* we're done dumping the CPU state */
}
};
return c;
}
int main (void)
{
init_octopus();
ioport_set_pin_dir(STEP,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(DIR,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(SLEEP,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(MS1,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(MS2,IOPORT_DIR_OUTPUT);
ioport_set_pin_dir(MS3,IOPORT_DIR_OUTPUT);
ioport_set_pin_level(STEP,0);
ioport_set_pin_level(DIR,0);
ioport_set_pin_level(SLEEP,0);
ioport_set_pin_level(MS1,0);
ioport_set_pin_level(MS2,0);
ioport_set_pin_level(MS3,0);
initial_animation();
for (;;)
{
int direction;
int step1;
int step2;
int step3;
int step4;
int step5;
scanf("%1i%4x%4x%4x%4x%4x",&direction,&step1,&step2,&step3,&step4,&step5);
move_stepper(direction,step1,step2,step3,step4,step5);
if(switch_state(SW1) == 0)
{
ioport_set_pin_level(SLEEP,1);
ioport_toggle_pin_level(DIR);
full_step();
for(int i=1;i<1000;i++)
{
ioport_toggle_pin_level(STEP);
delay_ms(1);
}
ioport_set_pin_level(SLEEP,0);
move_stepper(1,300,0,0,0,0);
// ioport_set_pin_level(LED1,1);
// delay_ms(200);
// ioport_set_pin_level(LED2,1);
// delay_ms(200);
// ioport_set_pin_level(LED3,1);
// delay_ms(200);
// ioport_set_pin_level(LED4,1);
// delay_ms(200);
// ioport_set_pin_level(LED5,1);
// delay_ms(200);
// ioport_set_pin_level(LED6,1);
// delay_ms(200);
}
if(switch_state(SW2) == 0)
{
move_stepper(1,120,60,10,5,5);
}
}
}
