void Motors::turnOff() {
// Turn off motors
ioport_set_pin_level(MOTORS_ENABLE_PIN, IOPORT_PIN_LEVEL_HIGH);
pwm_set_duty_cycle_percent(&motorXVrefPwm, 0);
pwm_set_duty_cycle_percent(&motorYVrefPwm, 0);
pwm_set_duty_cycle_percent(&motorZVrefPwm, 0);
pwm_set_duty_cycle_percent(&motorEVrefPwm, 0);
}
/**
* \brief PWM channel 1 interrupt callback function
*/
static void pwm_callback_1 (void)
{
/* Increase (and wrap at 100) the duty cycle */
if (duty_cycle_percent_1++ >= 100) {
duty_cycle_percent_1 = 0;
}
/* Set new duty cycle value */
pwm_set_duty_cycle_percent(&pwm_1_cfg, duty_cycle_percent_1);
}
/**
* \brief Start a PWM channel
*
* This function enables a channel with a given duty cycle.
*
* \param *config Pointer to the PWM configuration struct
* \param duty_cycle_scale Duty cycle as a value between 0 and 100.
*/
void pwm_start(struct pwm_config *config, uint8_t duty_cycle_scale)
{
/* Set given duty cycle */
pwm_set_duty_cycle_percent(config, duty_cycle_scale);
/* Set correct TC period */
tc_write_period(config->tc, config->period);
/* Enable CC channel for this TC */
tc_enable_cc_channels(config->tc, config->cc_mask);
/* Enable TC by setting correct clock prescaler */
tc_write_clock_source(config->tc, config->clk_sel);
}
void Motors::move(const Gcode &command) {
// Motor X test
turnOn();
pwm_set_duty_cycle_percent(&motorXVrefPwm, MOTOR_X_VREF_VOLTAGE * 100 / 3.3);
}