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https://github.com/eddyem/STM8_samples.git
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100 lines
2.5 KiB
C
100 lines
2.5 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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volatile long Nsteps = 0; // Number of steps
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volatile char Dir = 0; // direction of moving: 0/1
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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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// PB0..3
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PORT(STP_PORT, DDR) |= 0x0f;
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PORT(STP_PORT, CR1) |= 0x0f;
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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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TIM2_ARRH = SpS >> 8; // set speed
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TIM2_ARRL = SpS & 0xff;
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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(Steps < 0){
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Dir = 1;
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Steps *= -1;
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}else
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Dir = 0;
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Nsteps = (long)Steps; // multiply by 3 (to get number of full steps)
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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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Nsteps = 0;
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PORT(STP_PORT, ODR) &= 0xf0; // turn off power
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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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// pause
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TIM2_CR1 &= ~TIM_CR1_CEN;
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if(Nsteps == 0){ // motor is stopped - just move it
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move_motor(Steps);
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return;
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}
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S = (long)Steps;
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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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Dir = !Dir; // invert direction
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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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