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step_moter.h
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#include "device_registers.h"
// #include "S32K144.h"
#include "lpit.h"
#include "port.h"
#define STEP_MAX 128
volatile int STEP_LAST;
/* TODO:
STEP_LAST 부터 시작해서 target까지 움직이는 거로
이러면 각도를 정하는게 아니라 끝을 그냥 0 ~ 180도가 맞는듯
*/
void step_init()
{
STEP_PORTN->PCR[STEP_IN_1] = PORT_PCR_MUX(1);
STEP_PORTN->PCR[STEP_IN_2] = PORT_PCR_MUX(1);
STEP_PORTN->PCR[STEP_IN_3] = PORT_PCR_MUX(1);
STEP_PORTN->PCR[STEP_IN_4] = PORT_PCR_MUX(1);
STEP_PTN->PDDR |= 1 << STEP_IN_1 | 1 << STEP_IN_2 | 1 << STEP_IN_3 | 1 << STEP_IN_4;
STEP_LAST = 0;
}
void step_clear()
{
STEP_PTN->PCOR = 1 << STEP_IN_1;
STEP_PTN->PCOR = 1 << STEP_IN_2;
STEP_PTN->PCOR = 1 << STEP_IN_3;
STEP_PTN->PCOR = 1 << STEP_IN_4;
}
void step_open(int ms)
{
// int target_rotate = 512 * ((double) angle / 360);
for (STEP_LAST; STEP_LAST < STEP_MAX; STEP_LAST++)
{
for (int j = 0; j < 4; j++)
{
if (j == 0)
{
STEP_PTN->PSOR = 1 << STEP_IN_1;
STEP_PTN->PSOR = 1 << STEP_IN_2;
STEP_PTN->PCOR = 1 << STEP_IN_3;
STEP_PTN->PCOR = 1 << STEP_IN_4;
}
else if (j == 1)
{
STEP_PTN->PCOR = 1 << STEP_IN_1;
STEP_PTN->PSOR = 1 << STEP_IN_2;
STEP_PTN->PSOR = 1 << STEP_IN_3;
STEP_PTN->PCOR = 1 << STEP_IN_4;
}
else if (j == 2)
{
STEP_PTN->PCOR = 1 << STEP_IN_1;
STEP_PTN->PCOR = 1 << STEP_IN_2;
STEP_PTN->PSOR = 1 << STEP_IN_3;
STEP_PTN->PSOR = 1 << STEP_IN_4;
}
else if (j == 3)
{
STEP_PTN->PSOR = 1 << STEP_IN_1;
STEP_PTN->PCOR = 1 << STEP_IN_2;
STEP_PTN->PCOR = 1 << STEP_IN_3;
STEP_PTN->PSOR = 1 << STEP_IN_4;
}
delay_ms(ms);
}
}
step_clear();
}
void step_close(int ms)
{
// int target_rotate = 512 * ((double) angle / 360);
for (STEP_LAST; STEP_LAST > 0; STEP_LAST--)
{
for (int j = 3; j >= 0; j--)
{
if (j == 0)
{
STEP_PTN->PSOR = 1 << STEP_IN_1;
STEP_PTN->PSOR = 1 << STEP_IN_2;
STEP_PTN->PCOR = 1 << STEP_IN_3;
STEP_PTN->PCOR = 1 << STEP_IN_4;
}
else if (j == 1)
{
STEP_PTN->PCOR = 1 << STEP_IN_1;
STEP_PTN->PSOR = 1 << STEP_IN_2;
STEP_PTN->PSOR = 1 << STEP_IN_3;
STEP_PTN->PCOR = 1 << STEP_IN_4;
}
else if (j == 2)
{
STEP_PTN->PCOR = 1 << STEP_IN_1;
STEP_PTN->PCOR = 1 << STEP_IN_2;
STEP_PTN->PSOR = 1 << STEP_IN_3;
STEP_PTN->PSOR = 1 << STEP_IN_4;
}
else if (j == 3)
{
STEP_PTN->PSOR = 1 << STEP_IN_1;
STEP_PTN->PCOR = 1 << STEP_IN_2;
STEP_PTN->PCOR = 1 << STEP_IN_3;
STEP_PTN->PSOR = 1 << STEP_IN_4;
}
delay_ms(ms);
}
}
step_clear();
}