stepper.c File Reference

#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "encoder.h"
#include "stepper.h"
#include "utils.h"
#include "usart.h"

Include dependency graph for stepper.c:

Go to the source code of this file.

Functions
	ISR (PCINT0_vect)
void	stepper_advance ()
void	stepper_cal ()
int8_t	stepper_get_direction ()
uint8_t	stepper_get_latency ()
int16_t	stepper_get_rem_steps ()
void	stepper_init ()
int16_t	stepper_read ()
void	stepper_set (const int16_t target_pos)
void	stepper_set_direction (int8_t dir)
void	stepper_set_latency (const uint8_t lat)
void	stepper_set_rem_steps (const int16_t steps)
Variables
static int16_t	curr_step_num = 0
	AVR includes.
volatile char	indexSet = 0
	contains current counter step number in the encoder
static uint8_t	latency
static int16_t	rem_steps
	flag for detecting index overpassed

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Detailed Description

Code for stepper setup.

Version:

1.0

Author:

Julio Sagardoy

Definition in file stepper.c.

---

Function Documentation

ISR

(

PCINT0_vect

)

External pin change interrupt for Index signal

Definition at line 132 of file stepper.c.

void stepper_advance

(

void

)

Generate step

Definition at line 88 of file stepper.c.

void stepper_cal

(

void

)

Calibration routine. Must be called for a correct operation of counter registers

Definition at line 103 of file stepper.c.

int8_t stepper_get_direction

(

void

)

Get current direction status

Definition at line 46 of file stepper.c.

uint8_t stepper_get_latency

(

)

Definition at line 81 of file stepper.c.

int16_t stepper_get_rem_steps

(

)

Definition at line 73 of file stepper.c.

void stepper_init

(

void

)

Inits stepper.

Definition at line 139 of file stepper.c.

int16_t stepper_read

(

void

)

Retrieve current step counter number

Definition at line 56 of file stepper.c.

void stepper_set

(

const int16_t

target_pos

)

Command stepper to go to desired step position

Definition at line 63 of file stepper.c.

void stepper_set_direction

(

int8_t

dir

)

Change stepper ic controller direction. 1 is CW, 0 is CCW seen from top

Definition at line 36 of file stepper.c.

void stepper_set_latency

(

const uint8_t

lat

)

Definition at line 77 of file stepper.c.

void stepper_set_rem_steps

(

const int16_t

steps

)

Definition at line 69 of file stepper.c.

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Variable Documentation

int16_t curr_step_num = 0 [static]

AVR includes.

Own includes

Definition at line 28 of file stepper.c.

volatile char indexSet = 0

contains current counter step number in the encoder

Definition at line 29 of file stepper.c.

uint8_t latency [static]

Definition at line 31 of file stepper.c.

int16_t rem_steps [static]

flag for detecting index overpassed

Definition at line 30 of file stepper.c.