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  1. /*
  2.   Stepper motor state machine - pc test code
  3. */
  4.  
  5. #include <stdio.h>
  6. #include "binary.h"
  7. #include "itob.h"
  8.  
  9. #define setForward(m) (((m)->State) &= 0x03)
  10. #define setReverse(m) (((m)->State) |= 0x04)
  11.  
  12. typedef struct stepper4ph_t {    
  13.       unsigned State      :4;      
  14. } stepper4ph ;
  15.  
  16.  
  17.  
  18. unsigned char stateTable[] = {  
  19.     (3)+(b0101<<4),                    
  20.     (0)+(b0110<<4),
  21.     (1)+(b1010<<4),
  22.     (2)+(b1001<<4),
  23.     (5)+(b0001<<4),                    
  24.     (6)+(b0010<<4),
  25.     (7)+(b0100<<4),
  26.     (4)+(b1000<<4)      
  27.  };  
  28.  
  29.  
  30. unsigned char stepmotor (stepper4ph * motor) ;   
  31.  
  32.  
  33. int main(void) {
  34.  
  35.   stepper4ph motor;
  36.   int i;
  37.  
  38.   motor.State     = 0;
  39.   setForward(&motor);
  40.  
  41.   for (i = 0;i < 30; i++) {
  42.  
  43.     if (i > 12) setReverse(&motor);
  44.  
  45.     printf("%s\n", itob4[stepmotor(&motor)]);
  46.   }  
  47.  
  48.   return 0;
  49. }
  50.  
  51.  
  52.  
  53.  
  54. unsigned char stepmotor (stepper4ph * motor) {         
  55.    unsigned char index;
  56.  
  57.    index = stateTable[motor->State];
  58.  
  59.    motor->State  = (index & 0x0F); // calc next state      
  60.    return          (index & 0xF0) >> 4; // calc motor bits   
  61.  
  62. }
  63.  
  64.  
Not running #stdin #stdout 0s 0KB
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https://ideone.com/9Jnr6I
language:
C (gcc 8.3)
created:
11 years ago
visibility:
public

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