41 lines
840 B
C
41 lines
840 B
C
#include "by_stepper.h"
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#include <string.h>
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#include <dwt_delay.h>
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#include "by_debug.h"
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// TODO 是否增加一个动作列表？一般都比较简单吧
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struct by_stepper_t {
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uint8_t dir;
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stepper_speed_t speed;
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};
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struct by_stepper_t by_stepper;
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void by_stepper_init(void)
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{
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memset(&by_stepper, 0x00, sizeof(by_stepper));
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}
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void by_stepper_set_dir(uint8_t dir)
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{
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by_stepper.dir = dir;
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}
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void by_stepper_set_speed(stepper_speed_t speed)
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{
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by_stepper.speed = speed;
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}
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void by_stepper_run(void)
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{
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// 根据预设条件发送脉冲
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gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE); // DIR
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gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
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DWT_Delay(40U * (uint16_t)by_stepper.speed);
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}
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void by_stepper_stop(void)
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{
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} |