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2026-03-21 09:11:02 +03:00 · 2014-03-19 00:38:10 +04:00
commit 7919850a6d
103 changed files with 15718 additions and 0 deletions
--- a/stepper/stepper.c
+++ b/stepper/stepper.c
@@ -0,0 +1,126 @@
+/*
+ * stepper.c
+ *
+ * Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "ports_definition.h"
+#include "stepper.h"
+
+U8 Ustepping = 4;          // 2^Ustepping = N of microsteps
+volatile long Nsteps = 0;           // Number of steps
+U8 Motor_number = 5;       // Number of motor to move, 5 -- not moving
+U16 Stepper_speed = 0;     // length of one MICROstep in us
+
+/**
+ * Setup pins of stepper motor (all - PP out)
+ */
+void setup_stepper_pins(){
+	// CLK
+	PORT(STP_CLK_PORT, DDR) |= STP_CLK_PIN;
+	PORT(STP_CLK_PORT, CR1) |= STP_CLK_PIN;
+	// EN
+	PORT(STP_EN_PORT, DDR)  |= STP_EN_MASK;
+	PORT(STP_EN_PORT, CR1)  |= STP_EN_MASK;
+	// DIR
+	PORT(STP_DIR_PORT, DDR) |= STP_DIR_PIN;
+	PORT(STP_DIR_PORT, CR1) |= STP_DIR_PIN;
+}
+
+/**
+ * Set speed of stepper motor
+ * @param Sps - period (in us) of one MICROstep
+ */
+void set_stepper_speed(U16 SpS){
+	Stepper_speed = SpS;
+	// Configure timer 2 to generate signals for CLK
+	TIM2_PSCR = 4; // 1MHz
+	//SpS >>= Ustepping; // divide to microsteps
+	TIM2_ARRH = SpS >> 8; // set speed
+	TIM2_ARRL = SpS & 0xff;
+	SpS >>= 1;// divide to 2 - 50% duty cycle
+	TIM2_CCR1H = SpS >> 8;
+	TIM2_CCR1L = SpS & 0xff;
+	// channel 1 generates PWM pulses
+	TIM2_CCMR1 = 0x60; // OC1M = 110b - PWM mode 1 ( 1 -> 0)
+	TIM2_CCER1 = 1; // Channel 1 is on. Active is high
+	//TIM2_IER = TIM_IER_UIE | TIM_IER_CC1IE; // update interrupt enable
+	TIM2_IER = TIM_IER_UIE; // update interrupt enable
+	TIM2_CR1 |= TIM_CR1_APRE | TIM_CR1_URS; // auto reload + interrupt on overflow & RUN
+}
+
+void move_motor(int Steps){
+	if(Motor_number > 4) return;
+	if(Steps < 0){
+		PORT(STP_DIR_PORT, ODR) &= ~STP_DIR_PIN; // dir to left
+		Steps *= -1;
+	}
+	Nsteps = (long)Steps << Ustepping;
+	PORT(STP_EN_PORT, ODR) |= 1 << Motor_number; // enable moving
+	TIM2_CR1 |= TIM_CR1_CEN; // turn on timer
+}
+
+void stop_motor(){
+	TIM2_CR1 &= ~TIM_CR1_CEN; // Turn off timer
+	PORT(STP_EN_PORT, ODR)  &= ~STP_EN_MASK; // disable moving
+	PORT(STP_DIR_PORT, ODR) |= STP_DIR_PIN; // turn off DIR
+	Nsteps = 0;
+	Motor_number = 5; // All OK. Motors are stopped
+	uart_write("stop\n");
+}
+
+void pause_resume(){
+	if(Nsteps == 0) return; // motor is stopped
+	if(TIM2_CR1 & TIM_CR1_CEN){ // pause
+		TIM2_CR1 &= ~TIM_CR1_CEN;
+		uart_write("pause\n");
+	}else{ // resume
+		TIM2_CR1 |= TIM_CR1_CEN;
+		uart_write("resume\n");
+	}
+}
+
+void add_steps(int Steps){
+	long S;
+	U8 sign = 0;
+	// pause
+	TIM2_CR1 &= ~TIM_CR1_CEN;
+	if(Motor_number == 5){ // motors are stopped - just move last active motor
+		move_motor(Steps);
+		return;
+	}
+//	if(PORT(STP_DIR_PORT, IDR) & STP_DIR_PIN) // left direction
+//		Nsteps *= -1L;
+	if(Steps < 0){
+		sign = 1;
+		Steps *= -1;
+	}
+	S = (long)Steps << Ustepping;
+	if(sign)
+		S *= -1L;
+	Nsteps += S;
+	// now change direction
+	if(Nsteps < 0){
+		uart_write("reverce\n");
+		PORT(STP_DIR_PORT, ODR) ^= STP_DIR_PIN; // go to the opposite side
+		Nsteps *= -1L;
+	}
+	// resume if Nsteps != 0
+	if(Nsteps)
+		TIM2_CR1 |= TIM_CR1_CEN;
+}