Hardware Reference
In-Depth Information
29 static int position = 0; /
Stepper position
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30 static int on_off = 0; /
Motor drive on/off
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31
32 static int quit = 0; /
Exit program if set
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33
34 /
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35
Await so many fractional seconds
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36
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37 static void
38 await(float seconds) {
39 long sec, usec;
40
41 sec = floor(seconds); /
Seconds to wait
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42 usec = floor((seconds_sec)
1000000); /
Microseconds
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43 timed_wait(sec,usec,0); /
Wait
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44 }
45
46 /
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47
Set motor drive mode
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48
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49 static void
50 set_mode(int mode) {
51 int micro_steps = mode < 2 ? 1 : 2;
52
53 step_no = 0;
54 drive_mode = mode;
55 steps_per_r = steps_per_360
micro_steps;
56 printf("Drive mode %d\n",drive_mode);
57 }
58
59 /
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60
Drive all fields according to bit pattern in pins
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61
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62 static void
63 drive(int pins) {
64 short x;
65 for ( x=0; x<4; ++x )
66 gpio_write(gpios [x],pins & (8>>x) ? 1 : 0);
67 }
68
69 /
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70
Advance motor:
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71
dir = -1 Step counter_clockwise
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72
dir = 0 Turn on existing fields
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73
dir = +1 Step clockwise
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74
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