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312 Kevin 1 
#include "defines.h"
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#include "STEPPER.h"
315 Kevin 3 
#include "OLED_SSD1306.h"
316 Kevin 4 
#include "ADC.h"
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#include "TIMER.h"
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315 Kevin 7 
static STEPPER_MICROSTEP currStep = STEP_1_1;
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static uint8_t autoOn = 0;
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312 Kevin 10 
void STEPPER_Set_Microstep(STEPPER_MICROSTEP step) {
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#ifdef DVR8825
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    if (step == STEP_1_1) {
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        M0_LAT = 0;
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        M1_LAT = 0;
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        M2_LAT = 0;
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    } else if (step == STEP_1_2) {
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        M0_LAT = 1;
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        M1_LAT = 0;
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        M2_LAT = 0;
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    } else if (step == STEP_1_4) {
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        M0_LAT = 0;
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        M1_LAT = 1;
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        M2_LAT = 0;
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    } else if (step == STEP_1_8) {
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        M0_LAT = 1;
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        M1_LAT = 1;
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        M2_LAT = 0;
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    } else if (step == STEP_1_16) {
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        M0_LAT = 0;
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        M1_LAT = 0;
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        M2_LAT = 1;
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    } else if (step == STEP_1_32) {
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        M0_LAT = 1;
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        M1_LAT = 0;
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        M2_LAT = 1;
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    }
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#endif
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}
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315 Kevin 40 
void STEPPER_Set_Next_Step() {
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    switch (currStep) {
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        case STEP_1_1:
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            currStep = STEP_1_2;
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            break;
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        case STEP_1_2:
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            currStep = STEP_1_4;
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            break;
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        case STEP_1_4:
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            currStep = STEP_1_8;
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            break;
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        case STEP_1_8:
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            currStep = STEP_1_16;
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            break;
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        case STEP_1_16:
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            currStep = STEP_1_32;
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            break;
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        case STEP_1_32:
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        default:
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            currStep = STEP_1_1;
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            break;
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    }
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    STEPPER_Set_Microstep(currStep);
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}
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STEPPER_MICROSTEP STEPPER_Get_Cur_Step(void) {
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    return currStep;
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}
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void STEPPER_Toggle_Auto() {
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    if (autoOn == 0) {
316 Kevin 71 
        // Turn on automatic stepping
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        TIMER_2_Init(STEPPER_Step);
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        TIMER_2_Set_Delay((ADC_Read(POT_ADC_CHANNEL) >> 4) + 1);
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        TIMER_2_Start();
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        autoOn = 1;
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    } else {
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        // Turn off automatic stepping
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        TIMER_2_Stop();
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        autoOn = 0;
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    }
315 Kevin 81 
}
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void STEPPER_Step() {
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    // Toggle step pin
315 Kevin 85 
    STEP_LAT = 1;
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    __delay_us(2);
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    STEP_LAT = 0;
316 Kevin 88 
    // Set the timer delay for the next step
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    TIMER_2_Set_Delay((ADC_Read(POT_ADC_CHANNEL) >> 4) + 1);
315 Kevin 90 
}