diff options
Diffstat (limited to 'software/main/stepper.c')
| -rw-r--r-- | software/main/stepper.c | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/software/main/stepper.c b/software/main/stepper.c new file mode 100644 index 0000000..71ac227 --- /dev/null +++ b/software/main/stepper.c @@ -0,0 +1,99 @@ +#include <stdio.h> +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "driver/gpio.h" +#include "sdkconfig.h" + +#include "../include/stepper.h" + +// FOR L928 DRIVER +// const uint8_t half_steps_phase[8] = {0x09, 0x01, 0x03, 0x02, 0x06, 0x04, 0x0c, 0x08}; + +// void stepper_init(struct stepper_pins_t *stepper_ptr) { +// gpio_set_direction(stepper_ptr->pin1, GPIO_MODE_OUTPUT); +// gpio_set_direction(stepper_ptr->pin2, GPIO_MODE_OUTPUT); +// gpio_set_direction(stepper_ptr->pin3, GPIO_MODE_OUTPUT); +// gpio_set_direction(stepper_ptr->pin4, GPIO_MODE_OUTPUT); + +// printf("stepper init success\n"); +// } + +// void stepper_uninit(struct stepper_pins_t * stepper_ptr) { +// gpio_set_direction(stepper_ptr->pin1, GPIO_MODE_INPUT); +// gpio_set_direction(stepper_ptr->pin2, GPIO_MODE_INPUT); +// gpio_set_direction(stepper_ptr->pin3, GPIO_MODE_INPUT); +// gpio_set_direction(stepper_ptr->pin4, GPIO_MODE_INPUT); +// } + +// void step(struct stepper_pins_t *stepper_ptr, int step) { +// gpio_set_level(stepper_ptr->pin1, step & 1); +// gpio_set_level(stepper_ptr->pin3, (step & 0b10) >> 1); +// gpio_set_level(stepper_ptr->pin2, (step & 0b100) >> 2); +// gpio_set_level(stepper_ptr->pin4, (step & 0b1000) >> 3); +// } + +// void half_steps(struct stepper_pins_t *stepper_ptr, int steps, bool dir) { +// int step_count; +// int phase_index; + +// if(dir) { +// phase_index = 0; +// for(step_count = 0; step_count < steps; step_count++) { +// if(phase_index > 7) +// phase_index = 0; +// step(stepper_ptr, half_steps_phase[phase_index]); +// vTaskDelay(10 / portTICK_PERIOD_MS); +// phase_index++; +// } +// } else { +// phase_index = 7; +// for(step_count = 0; step_count < steps; step_count++) { +// if (phase_index < 0) +// phase_index = 7; +// step(stepper_ptr, half_steps_phase[phase_index]); +// vTaskDelay(10 / portTICK_PERIOD_MS); +// phase_index--; +// } +// } +// } + +// FOR A4988 DRIVER +const uint8_t step_pin = 19; +const uint8_t dir_pin = 18; +const uint8_t en_pin = 5; + +void stepper_init(void) { + gpio_set_direction(en_pin, GPIO_MODE_OUTPUT); + gpio_set_level(en_pin, HIGH); + gpio_set_direction(dir_pin, GPIO_MODE_OUTPUT); + gpio_set_direction(step_pin, GPIO_MODE_OUTPUT); +} + +void stepper_uninit(void) { + gpio_set_level(en_pin, HIGH); + gpio_set_direction(en_pin, GPIO_MODE_DISABLE); + gpio_set_direction(dir_pin, GPIO_MODE_DISABLE); + gpio_set_direction(step_pin, GPIO_MODE_DISABLE); +} + +void stepper_open(void) { + gpio_set_level(en_pin, LOW); + gpio_set_level(dir_pin, HIGH); + for(uint16_t i = 0; i < 1600; i++) { + gpio_set_level(step_pin, HIGH); + vTaskDelay(10 / portTICK_PERIOD_MS); + gpio_set_level(step_pin, LOW); + vTaskDelay(10 / portTICK_PERIOD_MS); + } +} + +void stepper_close(void) { + gpio_set_level(en_pin, LOW); + gpio_set_level(dir_pin, LOW); + for(uint16_t i = 0; i < 1600; i++) { + gpio_set_level(step_pin, HIGH); + vTaskDelay(10 / portTICK_PERIOD_MS); + gpio_set_level(step_pin, LOW); + vTaskDelay(10 / portTICK_PERIOD_MS); + } +}
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