Stepper Ramp Driver

stepper.c

/* USER CODE BEGIN 0 */
void delay_us (uint16_t us)
{
	__HAL_TIM_SET_COUNTER(&htim2,0);  // set the counter value a 0
	while (__HAL_TIM_GET_COUNTER(&htim2) < us);  // wait for the counter to reach the us input in the parameter
}

void simpleAccel(int steps, GPIO_PinState dir)
{
	HAL_GPIO_WritePin(Output1_GPIO_Port, Output1_Pin, dir);
	
  int lowSpeed = 1000;		// Minimum hiz. us cinsinden delay
  int highSpeed = 250;		// Maksinum hiz. us cinsinden delay
  int change = 1;					// Rampalama esnasindaki degisim orani

  int rampUpStop = (lowSpeed - highSpeed) / change;
  if (rampUpStop > steps / 2)
  {
    rampUpStop = steps / 2;
  }

  int rampDownStart = steps - rampUpStop;

  int d = lowSpeed;

  for (int i = 0; i < steps; i++)
  {
    HAL_GPIO_TogglePin(Output2_GPIO_Port, Output2_Pin);
    delay_us(d);
    HAL_GPIO_TogglePin(Output2_GPIO_Port, Output2_Pin);
    delay_us(d);

    if (i < rampUpStop)
    {
			d -= change;
    }
    else if (i > rampDownStart)
    {
      d += change;
    }
  }
}

/* USER CODE END 0 */