mirror of https://github.com/rusefi/rusefi-1.git
57 lines
1.4 KiB
C++
57 lines
1.4 KiB
C++
/**
|
|
* @file stepper.cpp
|
|
*
|
|
* http://rusefi.com/wiki/index.php?title=Hardware:Stepper_motor
|
|
*
|
|
* @date Dec 24, 2014
|
|
* @author Andrey Belomutskiy, (c) 2012-2015
|
|
*/
|
|
|
|
#include "stepper.h"
|
|
#include "pin_repository.h"
|
|
|
|
#define ST_DELAY_MS 10
|
|
|
|
#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() {
|
|
palWritePad(stepPort, stepPin, true);
|
|
chThdSleepMilliseconds(ST_DELAY_MS);
|
|
palWritePad(stepPort, stepPin, false);
|
|
chThdSleepMilliseconds(ST_DELAY_MS);
|
|
}
|
|
|
|
void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin) {
|
|
position = 0;
|
|
|
|
stepPort = getHwPort(stepPin);
|
|
this->stepPin = getHwPin(stepPin);
|
|
|
|
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);
|
|
}
|