void motor_y_step_p(){
//GPIO_ResetBits(Y_ENABLE_PORT, Y_ENABLE_PIN);
GPIO_SetBits(Y_DIR_PORT, Y_DIR_PIN);
motor_delay(Motor_Delay);
GPIO_ResetBits(Y_STEP_PORT, Y_STEP_PIN);
motor_delay(Motor_Delay); //need change
GPIO_ToggleBits(Y_STEP_PORT, Y_STEP_PIN);
motor_delay(Motor_Delay);
//GPIO_SetBits(Y_ENABLE_PORT, Y_ENABLE_PIN);
}
void motor_z_step_n(){
// GPIO_ResetBits(Z_ENABLE_PORT, Z_ENABLE_PIN);
GPIO_ResetBits(Z_DIR_PORT, Z_DIR_PIN);
motor_delay(Motor_Delay);
GPIO_ResetBits(Z_STEP_PORT, Z_STEP_PIN);
motor_delay(Motor_Delay); //need change
GPIO_ToggleBits(Z_STEP_PORT, Z_STEP_PIN);
motor_delay(Motor_Delay);
// GPIO_SetBits(Z_ENABLE_PORT, Z_ENABLE_PIN);
}
void motor_x_step_n(){
//GPIO_ResetBits(X_ENABLE_PORT, X_ENABLE_PIN);
GPIO_ResetBits(X_DIR_PORT, X_DIR_PIN);
motor_delay(Motor_Delay);
GPIO_ResetBits(X_STEP_PORT, X_STEP_PIN);
motor_delay(Motor_Delay);
GPIO_ToggleBits(X_STEP_PORT, X_STEP_PIN);
motor_delay(Motor_Delay);
//GPIO_SetBits(X_ENABLE_PORT, X_ENABLE_PIN);
}
/*
motor - x, y or z motor, can be 'motor_x', 'motor_y' or 'motor_z'
dir - direction, can be 'positive' or 'negative'
speed - speed, number in mm/s
*/
void motor_step(Motor_Typedef motor, Motor_Direction dir, float speed){
uint32_t delay;
delay = (int)((float)1/(((float)speed/2)*200)*1000000); //Need change if different stepping methods implemented
if(dir == positive)
GPIO_SetBits(MOTOR_DIR_PORT[motor], MOTOR_DIR_PIN[motor]);
if(dir == negative)
GPIO_ResetBits(MOTOR_DIR_PORT[motor], MOTOR_DIR_PIN[motor]);
motor_enable(motor); //enable
GPIO_ResetBits(MOTOR_STEP_PORT[motor], MOTOR_STEP_PIN[motor]);
motor_delay(delay/2); //need change
GPIO_ToggleBits(MOTOR_STEP_PORT[motor], MOTOR_STEP_PIN[motor]);
motor_delay(delay/2);
}
void Go()
{ //步进电机控制程序四线双极性单四拍工作
PH1 = 0;
I01 = 0;
I11 = 0;
PH2 = 0;
I02 = 1;
I12 = 1;
motor_delay(speed);
PH1 = 0;
I01 = 1;
I11 = 1;
PH2 = 1;
I02 = 0;
I12 = 0;
motor_delay(speed);
PH1 = 1;
I01 = 0;
I11 = 0;
PH2 = 1;
I02 = 1;
I12 = 1;
motor_delay(speed);
PH1 = 1;
I01 = 1;
I11 = 1;
PH2 = 0;
I02 = 0;
I12 = 0;
motor_delay(speed);
}