void motor_init(){
motor_x_init();
motor_y_init();
motor_z_init();
motor_disable(motor_x);
motor_disable(motor_y);
motor_disable(motor_z);
}
void motor_step_alternative(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);
motor_disable(motor); //disable to prevent controller overheating
}
void motor_init()
{
unsigned long timer;
//configure timer0 for one shot intervals and assign interrupt routine
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_TIMER0);
ROM_TimerConfigure(TIMER0_BASE,TIMER_CFG_ONE_SHOT);
ROM_TimerControlStall(TIMER0_BASE, TIMER_A, true);
TimerIntRegister(TIMER0_BASE, TIMER_A, Timer0A_ISR);
ROM_TimerIntEnable(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
//setup RGB led outputs.
ROM_SysCtlPeripheralEnable(LED_PERIPH);
ROM_GPIOPinTypeGPIOOutput(LED_PORT, LED_R | LED_G | LED_B );
//enable peripherals used for motor
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOB);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
ROM_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOE);
//set motor pins to outputs
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTA_BASE, MOTOR_PORTA_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTB_BASE, MOTOR_PORTB_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTD_BASE, MOTOR_PORTD_PINS );
ROM_GPIOPinTypeGPIOOutput(GPIO_PORTE_BASE, MOTOR_PORTE_PINS );
//make sure motors are disabled and step pins are low
motor_disable();
motor_unstep();
//start the timer. the ISR will run at the minimum rate
//interval until there is a block to execute.
timer=calculate_timer(MIN_STEP_RATE);
ROM_TimerLoadSet(TIMER0_BASE,TIMER_A, timer);
ROM_TimerEnable(TIMER0_BASE,TIMER_A);
}
