mirror of https://github.com/rusefi/rusefi-1.git
44 lines
1.0 KiB
C++
44 lines
1.0 KiB
C++
/**
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* @file stepper.cpp
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*
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* http://rusefi.com/wiki/index.php?title=Hardware:Stepper_motor
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*
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* @date Dec 24, 2014
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* @author Andrey Belomutskiy, (c) 2012-2014
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*/
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#include "stepper.h"
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#include "pin_repository.h"
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#define ST_DELAY_MS 200
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#define ST_COUNT 200
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static msg_t stThread(StepperMotor *motor) {
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chRegSetThreadName("stepper");
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// let's part the motor in a known position to begin with
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for (int i = 0; i < ST_COUNT; i++) {
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motor->pulse();
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}
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}
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void StepperMotor::pulse() {
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palWritePad(stepPort, stepPin, true);
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chThdSleepMilliseconds(ST_DELAY_MS);
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palWritePad(stepPort, stepPin, false);
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chThdSleepMilliseconds(ST_DELAY_MS);
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}
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void StepperMotor::initialize(brain_pin_e stepPin, brain_pin_e directionPin) {
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position = 0;
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stepPort = getHwPort(stepPin);
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this->stepPin = getHwPin(stepPin);
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mySetPadMode("st step", stepPort, this->stepPin, PAL_MODE_OUTPUT_PUSHPULL);
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mySetPadMode2("st dir", directionPin, PAL_MODE_OUTPUT_PUSHPULL);
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chThdCreateStatic(stThreadStack, sizeof(stThreadStack), NORMALPRIO, (tfunc_t) stThread, this);
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}
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