Silicon Laboratories Stepper Machine Manuale Utente Scaricare il pdf (Pagina 20)

AN155

20 Rev. 1.1

Figure D3. Timer ISR

Timer_ISR

forward ?

increment StepIndex.

increment position.

done ?

get value from table.

multiply by Tzero.

write value to timer.

decrement StepIndex.

decrement position.

decrement

slewCount.

Return from

Interrupt

Y

Y

N

get StepPattern using index.

write pattern to P0.

evaluate motor state.

accelerate?

else

decelerate?

decrement

TableIndex.

increment

TableIndex.

set ET0

clear ET0.

stop T0.

turn-off LED.

set doneFlag.

Y

Y

else

slewing?

Y

N

N

N

N

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