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https://github.com/eddyem/STM8_samples.git
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127 lines
3.6 KiB
C
127 lines
3.6 KiB
C
/*
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* stepper.c
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*
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* Copyright 2014 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*/
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#include "ports_definition.h"
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#include "stepper.h"
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U8 Ustepping = 4; // 2^Ustepping = N of microsteps
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volatile long Nsteps = 0; // Number of steps
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U8 Motor_number = 5; // Number of motor to move, 5 -- not moving
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U16 Stepper_speed = 0; // length of one MICROstep in us
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/**
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* Setup pins of stepper motor (all - PP out)
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*/
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void setup_stepper_pins(){
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// CLK
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PORT(STP_CLK_PORT, DDR) |= STP_CLK_PIN;
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PORT(STP_CLK_PORT, CR1) |= STP_CLK_PIN;
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// EN
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PORT(STP_EN_PORT, DDR) |= STP_EN_MASK;
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PORT(STP_EN_PORT, CR1) |= STP_EN_MASK;
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// DIR
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PORT(STP_DIR_PORT, DDR) |= STP_DIR_PIN;
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PORT(STP_DIR_PORT, CR1) |= STP_DIR_PIN;
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}
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/**
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* Set speed of stepper motor
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* @param Sps - period (in us) of one MICROstep
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*/
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void set_stepper_speed(U16 SpS){
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Stepper_speed = SpS;
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// Configure timer 2 to generate signals for CLK
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TIM2_PSCR = 4; // 1MHz
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//SpS >>= Ustepping; // divide to microsteps
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TIM2_ARRH = SpS >> 8; // set speed
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TIM2_ARRL = SpS & 0xff;
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SpS >>= 1;// divide to 2 - 50% duty cycle
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TIM2_CCR1H = SpS >> 8;
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TIM2_CCR1L = SpS & 0xff;
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// channel 1 generates PWM pulses
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TIM2_CCMR1 = 0x60; // OC1M = 110b - PWM mode 1 ( 1 -> 0)
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TIM2_CCER1 = 1; // Channel 1 is on. Active is high
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//TIM2_IER = TIM_IER_UIE | TIM_IER_CC1IE; // update interrupt enable
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TIM2_IER = TIM_IER_UIE; // update interrupt enable
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TIM2_CR1 |= TIM_CR1_APRE | TIM_CR1_URS; // auto reload + interrupt on overflow & RUN
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}
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void move_motor(int Steps){
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if(Motor_number > 4) return;
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if(Steps < 0){
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PORT(STP_DIR_PORT, ODR) &= ~STP_DIR_PIN; // dir to left
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Steps *= -1;
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}
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Nsteps = (long)Steps << Ustepping;
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PORT(STP_EN_PORT, ODR) |= 1 << Motor_number; // enable moving
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TIM2_CR1 |= TIM_CR1_CEN; // turn on timer
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}
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void stop_motor(){
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TIM2_CR1 &= ~TIM_CR1_CEN; // Turn off timer
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PORT(STP_EN_PORT, ODR) &= ~STP_EN_MASK; // disable moving
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PORT(STP_DIR_PORT, ODR) |= STP_DIR_PIN; // turn off DIR
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Nsteps = 0;
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Motor_number = 5; // All OK. Motors are stopped
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uart_write("stop\n");
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}
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void pause_resume(){
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if(Nsteps == 0) return; // motor is stopped
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if(TIM2_CR1 & TIM_CR1_CEN){ // pause
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TIM2_CR1 &= ~TIM_CR1_CEN;
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uart_write("pause\n");
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}else{ // resume
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TIM2_CR1 |= TIM_CR1_CEN;
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uart_write("resume\n");
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}
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}
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void add_steps(int Steps){
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long S;
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U8 sign = 0;
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// pause
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TIM2_CR1 &= ~TIM_CR1_CEN;
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if(Motor_number == 5){ // motors are stopped - just move last active motor
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move_motor(Steps);
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return;
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}
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// if(PORT(STP_DIR_PORT, IDR) & STP_DIR_PIN) // left direction
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// Nsteps *= -1L;
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if(Steps < 0){
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sign = 1;
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Steps *= -1;
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}
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S = (long)Steps << Ustepping;
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if(sign)
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S *= -1L;
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Nsteps += S;
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// now change direction
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if(Nsteps < 0){
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uart_write("reverce\n");
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PORT(STP_DIR_PORT, ODR) ^= STP_DIR_PIN; // go to the opposite side
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Nsteps *= -1L;
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}
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// resume if Nsteps != 0
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if(Nsteps)
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TIM2_CR1 |= TIM_CR1_CEN;
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}
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