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This commit is contained in:
rusEfi 2015-01-04 12:04:12 -06:00
parent a1bdc8b919
commit 0779d7b4fa
2 changed files with 18 additions and 5 deletions
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19
firmware/hw_layer/stepper.cpp
View File

@ -10,17 +10,27 @@
#include "stepper.h"
#include "pin_repository.h"
#define ST_DELAY_MS 200
#define ST_DELAY_MS 10
#define ST_COUNT 200
#define ST_COUNT 100
static msg_t stThread(StepperMotor *motor) {
chRegSetThreadName("stepper");
palWritePad(motor->directionPort, motor->directionPin, true);
// let's part the motor in a known position to begin with
for (int i = 0; i < ST_COUNT; i++) {
motor->pulse();
}
palWritePad(motor->directionPort, motor->directionPin, false);
// let's part the motor in a known position to begin with
for (int i = 0; i < ST_COUNT / 2; i++) {
motor->pulse();
}
}
void StepperMotor::pulse() {
@ -36,7 +46,10 @@ void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin) {
stepPort = getHwPort(stepPin);
this->stepPin = getHwPin(stepPin);
mySetPadMode("st step", stepPort, this->stepPin, PAL_MODE_OUTPUT_PUSHPULL);
directionPort = getHwPort(directionPin);
this->directionPin = getHwPin(directionPin);
mySetPadMode2("st step", stepPin, PAL_MODE_OUTPUT_PUSHPULL);
mySetPadMode2("st dir", directionPin, PAL_MODE_OUTPUT_PUSHPULL);
chThdCreateStatic(stThreadStack, sizeof(stThreadStack), NORMALPRIO, (tfunc_t) stThread, this);

4
firmware/hw_layer/stepper.h
View File

@ -13,12 +13,12 @@ class StepperMotor {
public:
void initialize(brain_pin_e stepPin, brain_pin_e directionPin);
void pulse();
GPIO_TypeDef * directionPort;
ioportmask_t directionPin;
private:
GPIO_TypeDef * stepPort;
ioportmask_t stepPin;
GPIO_TypeDef * directionPort;
ioportmask_t directionPin;
int position;