feat: 增加步进电机绝对和相对位置设置函数

.clang-format

@@ -7,8 +7,8 @@ Language: Cpp
 ###################################
 
 UseTab: Never
-IndentWidth: 4
+IndentWidth: 2
-TabWidth: 4
+TabWidth: 2
 ColumnLimit: 0
 AccessModifierOffset: -4
 NamespaceIndentation: All

.vscode/launch.json

@@ -7,7 +7,7 @@
             "request": "launch",
             "name": "openocd",
             "servertype": "openocd",
-            "executable": "build\\BC3D\\BC3D.elf",
+            "executable": "build\\Debug\\BC3D.elf",
             "runToEntryPoint": "main",
             "configFiles": [
                 "interface/cmsis-dap.cfg",

BC3D.ATWP

@@ -36,17 +36,21 @@
             <ModeSub name="EXINT5" value="TRUE"/>
         </Mode>
     </EXINT>
-    <TMR1>
-        <Mode>
-            <ModeSub name="Activated" value="TRUE"/>
-        </Mode>
-    </TMR1>
     <TMR3>
         <Mode>
             <ModeSub name="Multi-Channels" value="Encoder_Mode"/>
             <ModeSub name="Activated" value="TRUE"/>
         </Mode>
     </TMR3>
+    <TMR4>
+        <Mode>
+            <ModeSub name="Activated" value="TRUE"/>
+        </Mode>
+        <Parameters>
+            <ParametersSub name="DividerValue" value="199"/>
+            <ParametersSub name="Period" value="9999"/>
+        </Parameters>
+    </TMR4>
     <TMR10>
         <Mode>
             <ModeSub name="Channel1 mode" value="Output_without_pin"/>
@@ -67,11 +71,9 @@
         <CAN1_RX1_IRQHandler>0;0;0</CAN1_RX1_IRQHandler>
         <CAN1_SE_IRQHandler>0;0;0</CAN1_SE_IRQHandler>
         <EXINT9_5_IRQHandler>0;0;0</EXINT9_5_IRQHandler>
-        <TMR1_BRK_TMR9_IRQHandler>0;0;0</TMR1_BRK_TMR9_IRQHandler>
         <TMR1_OVF_TMR10_IRQHandler>0;0;0</TMR1_OVF_TMR10_IRQHandler>
-        <TMR1_TRG_HALL_TMR11_IRQHandler>0;0;0</TMR1_TRG_HALL_TMR11_IRQHandler>
-        <TMR1_CH_IRQHandler>0;0;0</TMR1_CH_IRQHandler>
         <TMR3_GLOBAL_IRQHandler>0;0;0</TMR3_GLOBAL_IRQHandler>
+        <TMR4_GLOBAL_IRQHandler>1;0;0</TMR4_GLOBAL_IRQHandler>
         <USART2_IRQHandler>0;0;0</USART2_IRQHandler>
     </NVIC>
     <GPIO>
@@ -134,7 +136,7 @@
     </PINInfo>
     <ProjectInfomation>
         <ProjectName>BC3D</ProjectName>
-        <ProjectLocation>C:/Users/ForgotDoge/Desktop/BC2024/firmware</ProjectLocation>
+        <ProjectLocation>C:/Users/evan/Desktop</ProjectLocation>
         <ToolchainIDE>MDK_V5</ToolchainIDE>
         <KeepUserCode>true</KeepUserCode>
         <MinHeapSize>0x200</MinHeapSize>

BC3D.code-workspace

@@ -30,7 +30,7 @@
             "titleBar.activeBackground": "#3B3485",
             "titleBar.activeForeground": "#FCFCFE"
         },
-        "EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe",
+        "EIDE.OpenOCD.ExePath": "C:/toolchains/openocd-arterytek/bin/openocd.exe",
         "cortex-debug.variableUseNaturalFormat": true
     }
 }

app/by_stepper.c

@@ -1,41 +1,166 @@
 #include "by_stepper.h"
 
+#include <math.h>
 #include <string.h>
 #include <dwt_delay.h>
 #include "by_debug.h"
 
+#define GEAR_INDEXING_DIAMETER       (16.0f)                                               // 齿轮分度圆直径
+#define GEAR_MODULUS                 (2.0f)                                                // 齿轮模数
+#define ENCODER_PULSE_PER_CIRCLE     (2048.0f)                                             // 编码器每圈脉冲数
+#define MILLIMETER_PER_CIRCLE        (GEAR_INDEXING_DIAMETER * GEAR_MODULUS)               // 齿轮每圈行走长度
+#define ENCODER_PULSE_PER_MILLIMETER (ENCODER_PULSE_PER_CIRCLE / MILLIMETER_PER_CIRCLE)    // 编码器每毫米脉冲数
+#define STEPPER_STEP_ANGLE           (1.8f)                                                // 步进角度
+#define DRIVER_PULSE_PER_STEP        (16.0f)                                               // 驱动器细分
+#define DRIVER_PULSE_PER_CIRCLE      (360.0f / STEPPER_STEP_ANGLE * DRIVER_PULSE_PER_STEP) // 驱动器每圈脉冲数
+#define DRIVER_PULSE_PER_MILLIMETER  (DRIVER_PULSE_PER_CIRCLE / MILLIMETER_PER_CIRCLE)     // 驱动器每毫米脉冲数
+
+#define ENCODER_ERROR_THRESHOLD      (20)
+
+int64_t position        = 0;
+int64_t position_aim    = 0;
+int64_t position_offset = 0;
+
+uint8_t running_flag = 0;
+
 // TODO 是否增加一个动作列表？一般都比较简单吧
 
 struct by_stepper_t {
-    uint8_t dir;
+  uint8_t dir;
-    stepper_speed_t speed;
+  stepper_speed_t speed;
 };
 
 struct by_stepper_t by_stepper;
 
-void by_stepper_init(void)
+static int64_t abs_s64(int64_t x)
 {
-    memset(&by_stepper, 0x00, sizeof(by_stepper));
+  return x > 0 ? x : -x;
 }
 
 void by_stepper_set_dir(uint8_t dir)
 {
-    by_stepper.dir = dir;
+  by_stepper.dir = dir;
 }
 
 void by_stepper_set_speed(stepper_speed_t speed)
 {
-    by_stepper.speed = speed;
+  by_stepper.speed = speed;
 }
 
 void by_stepper_run(void)
 {
-    // 根据预设条件发送脉冲
+  // 根据预设条件发送脉冲
+  gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE);                    // DIR
+  gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
+  DWT_Delay(40U * (uint16_t)by_stepper.speed);
+}
+
+void by_stepper_stop(uint8_t hold)
+{
+  gpio_bits_write(GPIOA, GPIO_PINS_9, hold ? FALSE : TRUE); // EN
+
+  gpio_bits_write(GPIOA, GPIO_PINS_8, FALSE);  // DIR
+  gpio_bits_write(GPIOB, GPIO_PINS_15, FALSE); // CLK
+}
+
+void by_stepper_set_position_millimeter(float distance)
+{
+  if (!running_flag) {
+    position_aim    = (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
+    position_offset = position_aim - position;
+    running_flag    = 1;
+  }
+}
+
+void by_stepper_add_position_millimeter(float distance)
+{
+  if (!running_flag) {
+    position_aim    = position + (int64_t)(distance * ENCODER_PULSE_PER_MILLIMETER);
+    position_offset = position_aim - position;
+    running_flag    = 1;
+  }
+}
+
+void by_stepper_init(void)
+{
+  uint32_t slow_start_cnt = 30000;
+  LOGD("by_stepper init...");
+
+  memset(&by_stepper, 0x00, sizeof(by_stepper));
+
+  gpio_bits_write(GPIOB, GPIO_PINS_12, TRUE);  // MODE2
+  gpio_bits_write(GPIOB, GPIO_PINS_13, FALSE); // MODE1
+  gpio_bits_write(GPIOB, GPIO_PINS_14, FALSE); // MODE0
+  gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE);  // EN
+  gpio_bits_write(GPIOA, GPIO_PINS_8, TRUE);   // DIR
+  gpio_bits_write(GPIOB, GPIO_PINS_15, FALSE); // CLK
+
+  by_stepper_set_dir(0);
+  by_stepper_set_speed(STEPPER_SPEED_DIV2);
+
+  while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET && slow_start_cnt--) {
     gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE);                    // DIR
     gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
     DWT_Delay(40U * (uint16_t)by_stepper.speed);
+  }
+
+  by_stepper_set_speed(STEPPER_SPEED_DIV1);
+
+  while (gpio_input_data_bit_read(GPIOB, GPIO_PINS_10) == SET) {
+    gpio_bits_write(GPIOA, GPIO_PINS_8, by_stepper.dir ? TRUE : FALSE);                    // DIR
+    gpio_bits_write(GPIOB, GPIO_PINS_15, !gpio_output_data_bit_read(GPIOB, GPIO_PINS_15)); // CLK
+    DWT_Delay(40U * (uint16_t)by_stepper.speed);
+  }
+
+  position = 0; // 位置归零
+  tmr_counter_value_set(TMR3, 0);
+
+  LOGD("by_stepper init ok");
 }
 
-void by_stepper_stop(void)
+void by_stepper_loop(void)
 {
+  int16_t temp = (int16_t)tmr_counter_value_get(TMR3);
+  position += (int64_t)temp;
+  tmr_counter_value_set(TMR3, 0);
+
+  if (running_flag) {
+    if (position_offset > 0) {
+      by_stepper_set_dir(0);
+      by_stepper_run();
+    } else if (position_offset < 0) {
+      by_stepper_set_dir(1);
+      by_stepper_run();
+    }
+
+    // 当定位误差小于阈值时，停止运动。否则重新计算定位误差
+    if (abs_s64(position_aim - position) < ENCODER_ERROR_THRESHOLD) {
+      running_flag    = 0;
+      position_offset = 0;
+    } else {
+      position_offset = position_aim - position;
+    }
+  } else {
+    by_stepper_stop(0);
+  }
+
+  // if (position_offset) {
+  //   if (position_offset > 0) {
+  //     by_stepper_set_dir(0);
+  //     by_stepper_run();
+  //     position_offset -= 1;
+  //   } else if (position_offset++ < 0) {
+  //     by_stepper_set_dir(1);
+  //     by_stepper_run();
+  //     position_offset += 1;
+  //   }
+  // } else {
+  //   by_stepper_stop(0);
+  // }
+}
+
+void by_stpepper_int(void)
+{
+  // position += (int16_t)(tmr_counter_value_get(TMR3));
+  // tmr_counter_value_set(TMR3, 0);
 }

app/by_stepper.h

@@ -1,10 +1,29 @@
+#ifndef _BY_STEPPER_H__
+#define _BY_STEPPER_H__
+
 #include "at32f413.h"
 
 typedef enum stepper_speed_t {
-    STEPPER_SPEED_DIV0  = 0,
+  STEPPER_SPEED_DIV1  = 1,
-    STEPPER_SPEED_DIV2  = 2,
+  STEPPER_SPEED_DIV2  = 2,
-    STEPPER_SPEED_DIV4  = 4,
+  STEPPER_SPEED_DIV4  = 4,
-    STEPPER_SPEED_DIV8  = 8,
+  STEPPER_SPEED_DIV8  = 8,
-    STEPPER_SPEED_DIV16 = 16,
+  STEPPER_SPEED_DIV16 = 16,
-    STEPPER_SPEED_DIV32 = 32
+  STEPPER_SPEED_DIV32 = 32
-} stepper_speed_t;
+} stepper_speed_t;
+
+extern void by_stepper_set_dir(uint8_t dir);
+extern void by_stepper_set_speed(stepper_speed_t speed);
+extern void by_stepper_init(void);
+extern void by_stepper_run(void);
+extern void by_stepper_stop(uint8_t hold);
+extern void by_stepper_set_position_millimeter(float distance);
+extern void by_stepper_add_position_millimeter(float distance);
+extern void by_stepper_loop(void);
+extern void by_stpepper_int(void);
+
+extern int64_t position;
+extern int64_t position_aim;
+extern int64_t position_offset;
+
+#endif

project/inc/at32f413_int.h

@@ -65,6 +65,7 @@ void SVC_Handler(void);
 void DebugMon_Handler(void);
 void PendSV_Handler(void);
 
+void TMR4_GLOBAL_IRQHandler(void);
 /* add user code begin exported functions */
 
 /* add user code end exported functions */

project/inc/at32f413_wk_config.h

@@ -55,6 +55,65 @@ extern "C" {
 
 /* add user code end exported macro */
 
+/* add user code begin dma define */
+/* user can only modify the dma define value */
+//#define DMA1_CHANNEL1_BUFFER_SIZE   0
+//#define DMA1_CHANNEL1_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL1_PERIPHERAL_BASE_ADDR  0
+
+//#define DMA1_CHANNEL2_BUFFER_SIZE   0
+//#define DMA1_CHANNEL2_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL2_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL3_BUFFER_SIZE   0
+//#define DMA1_CHANNEL3_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL3_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL4_BUFFER_SIZE   0
+//#define DMA1_CHANNEL4_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL4_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL5_BUFFER_SIZE   0
+//#define DMA1_CHANNEL5_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL5_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL6_BUFFER_SIZE   0
+//#define DMA1_CHANNEL6_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL6_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA1_CHANNEL7_BUFFER_SIZE   0
+//#define DMA1_CHANNEL7_MEMORY_BASE_ADDR   0
+//#define DMA1_CHANNEL7_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL1_BUFFER_SIZE   0
+//#define DMA2_CHANNEL1_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL1_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL2_BUFFER_SIZE   0
+//#define DMA2_CHANNEL2_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL2_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL3_BUFFER_SIZE   0
+//#define DMA2_CHANNEL3_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL3_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL4_BUFFER_SIZE   0
+//#define DMA2_CHANNEL4_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL4_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL5_BUFFER_SIZE   0
+//#define DMA2_CHANNEL5_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL5_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL6_BUFFER_SIZE   0
+//#define DMA2_CHANNEL6_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL6_PERIPHERAL_BASE_ADDR   0
+
+//#define DMA2_CHANNEL7_BUFFER_SIZE   0
+//#define DMA2_CHANNEL7_MEMORY_BASE_ADDR   0
+//#define DMA2_CHANNEL7_PERIPHERAL_BASE_ADDR   0
+/* add user code end dma define */
+
 /* Private defines -------------------------------------------------------------*/
 #define MODE2_PIN    GPIO_PINS_12
 #define MODE2_GPIO_PORT    GPIOB
@@ -94,12 +153,12 @@ extern "C" {
   /* init usart2 function. */
   void wk_usart2_init(void);
 
-  /* init tmr1 function. */
-  void wk_tmr1_init(void);
-
   /* init tmr3 function. */
   void wk_tmr3_init(void);
 
+  /* init tmr4 function. */
+  void wk_tmr4_init(void);
+
   /* init tmr10 function. */
   void wk_tmr10_init(void);
 

project/src/at32f413_int.c

@@ -29,7 +29,8 @@
 
 /* private includes ----------------------------------------------------------*/
 /* add user code begin private includes */
-
+#include "by_debug.h"
+#include "by_stepper.h"
 /* add user code end private includes */
 
 /* private typedef -----------------------------------------------------------*/
@@ -204,6 +205,25 @@ void PendSV_Handler(void)
   /* add user code end PendSV_IRQ 1 */
 }
 
+/**
+  * @brief  this function handles TMR4 handler.
+  * @param  none
+  * @retval none
+  */
+void TMR4_GLOBAL_IRQHandler(void)
+{
+  /* add user code begin TMR4_GLOBAL_IRQ 0 */
+  if(SET == tmr_interrupt_flag_get(TMR4, TMR_OVF_FLAG)){
+    by_stpepper_int();
+    tmr_flag_clear(TMR4, TMR_OVF_FLAG);
+  }
+
+  /* add user code end TMR4_GLOBAL_IRQ 0 */
+  /* add user code begin TMR4_GLOBAL_IRQ 1 */
+
+  /* add user code end TMR4_GLOBAL_IRQ 1 */
+}
+
 /* add user code begin 1 */
 
 /* add user code end 1 */

project/src/at32f413_wk_config.c

@@ -165,15 +165,15 @@ void wk_periph_clock_config(void)
   /* enable gpiod periph clock */
   crm_periph_clock_enable(CRM_GPIOD_PERIPH_CLOCK, TRUE);
 
-  /* enable tmr1 periph clock */
-  crm_periph_clock_enable(CRM_TMR1_PERIPH_CLOCK, TRUE);
-
   /* enable tmr10 periph clock */
   crm_periph_clock_enable(CRM_TMR10_PERIPH_CLOCK, TRUE);
 
   /* enable tmr3 periph clock */
   crm_periph_clock_enable(CRM_TMR3_PERIPH_CLOCK, TRUE);
 
+  /* enable tmr4 periph clock */
+  crm_periph_clock_enable(CRM_TMR4_PERIPH_CLOCK, TRUE);
+
   /* enable usart2 periph clock */
   crm_periph_clock_enable(CRM_USART2_PERIPH_CLOCK, TRUE);
 
@@ -200,6 +200,8 @@ void wk_debug_config(void)
 void wk_nvic_config(void)
 {
   nvic_priority_group_config(NVIC_PRIORITY_GROUP_4);
+
+  nvic_irq_enable(TMR4_GLOBAL_IRQn, 0, 0);
 }
 
 /**
@@ -284,7 +286,7 @@ void wk_exint_config(void)
   exint_init(&exint_init_struct);
 
   /* add user code begin exint_config 2 */
-
+  exint_interrupt_enable(EXINT_LINE_5, TRUE);
   /* add user code end exint_config 2 */
 }
 
@@ -337,40 +339,6 @@ void wk_usart2_init(void)
   /* add user code end usart2_init 2 */
 }
 
-/**
-  * @brief  init tmr1 function.
-  * @param  none
-  * @retval none
-  */
-void wk_tmr1_init(void)
-{
-  /* add user code begin tmr1_init 0 */
-
-  /* add user code end tmr1_init 0 */
-
-
-  /* add user code begin tmr1_init 1 */
-
-  /* add user code end tmr1_init 1 */
-
-  /* configure counter settings */
-  tmr_base_init(TMR1, 65535, 0);
-  tmr_cnt_dir_set(TMR1, TMR_COUNT_UP);
-  tmr_clock_source_div_set(TMR1, TMR_CLOCK_DIV1);
-  tmr_repetition_counter_set(TMR1, 0);
-  tmr_period_buffer_enable(TMR1, FALSE);
-
-  /* configure primary mode settings */
-  tmr_sub_sync_mode_set(TMR1, FALSE);
-  tmr_primary_mode_select(TMR1, TMR_PRIMARY_SEL_RESET);
-
-  tmr_counter_enable(TMR1, TRUE);
-
-  /* add user code begin tmr1_init 2 */
-
-  /* add user code end tmr1_init 2 */
-}
-
 /**
   * @brief  init tmr3 function.
   * @param  none
@@ -439,6 +407,47 @@ void wk_tmr3_init(void)
   /* add user code end tmr3_init 2 */
 }
 
+/**
+  * @brief  init tmr4 function.
+  * @param  none
+  * @retval none
+  */
+void wk_tmr4_init(void)
+{
+  /* add user code begin tmr4_init 0 */
+
+  /* add user code end tmr4_init 0 */
+
+
+  /* add user code begin tmr4_init 1 */
+
+  /* add user code end tmr4_init 1 */
+
+  /* configure counter settings */
+  tmr_base_init(TMR4, 9999, 1999);
+  tmr_cnt_dir_set(TMR4, TMR_COUNT_UP);
+  tmr_clock_source_div_set(TMR4, TMR_CLOCK_DIV1);
+  tmr_period_buffer_enable(TMR4, FALSE);
+
+  /* configure primary mode settings */
+  tmr_sub_sync_mode_set(TMR4, FALSE);
+  tmr_primary_mode_select(TMR4, TMR_PRIMARY_SEL_RESET);
+
+  tmr_counter_enable(TMR4, TRUE);
+
+  /**
+   * Users need to configure TMR4 interrupt functions according to the actual application.
+   * 1. Call the below function to enable the corresponding TMR4 interrupt.
+   *     --tmr_interrupt_enable(...)
+   * 2. Add the user's interrupt handler code into the below function in the at32f413_int.c file.
+   *     --void TMR4_GLOBAL_IRQHandler(void)
+   */
+
+  /* add user code begin tmr4_init 2 */
+  tmr_interrupt_enable(TMR4, TMR_OVF_INT, TRUE);
+  /* add user code end tmr4_init 2 */
+}
+
 /**
   * @brief  init tmr10 function.
   * @param  none

project/src/main.c

@@ -33,6 +33,7 @@
 
 #include "by_debug.h"
 #include "by_can.h"
+#include "by_stepper.h"
 /* add user code end private includes */
 
 /* private typedef -----------------------------------------------------------*/
@@ -66,15 +67,15 @@
 /* add user code end 0 */
 
 /**
-  * @brief main function.
+ * @brief main function.
-  * @param  none
+ * @param  none
-  * @retval none
+ * @retval none
-  */
+ */
 int main(void)
 {
   /* add user code begin 1 */
-    by_debug_init();
+  by_debug_init();
-    /* add user code end 1 */
+  /* add user code end 1 */
 
   /* system clock config. */
   wk_system_clock_config();
@@ -94,12 +95,12 @@ int main(void)
   /* init exint function. */
   wk_exint_config();
 
-  /* init tmr1 function. */
-  wk_tmr1_init();
-
   /* init tmr3 function. */
   wk_tmr3_init();
 
+  /* init tmr4 function. */
+  wk_tmr4_init();
+
   /* init tmr10 function. */
   wk_tmr10_init();
 
@@ -110,22 +111,14 @@ int main(void)
   wk_gpio_config();
 
   /* add user code begin 2 */
-    DWT_Init();
+  DWT_Init();
+  by_stepper_init();
 
-    LOGD("hello world");
+  /* add user code end 2 */
 
-    gpio_bits_write(GPIOB, GPIO_PINS_12, FALSE); // MODE2
+  while (1) {
-    gpio_bits_write(GPIOB, GPIO_PINS_13, TRUE);  // MODE1
-    gpio_bits_write(GPIOB, GPIO_PINS_14, TRUE);  // MODE0
-    gpio_bits_write(GPIOA, GPIO_PINS_9, FALSE);  // EN
-    gpio_bits_write(GPIOA, GPIO_PINS_8, TRUE);   // DIR
-    gpio_bits_write(GPIOB, GPIO_PINS_15, TRUE);  // CLK
-                                                 /* add user code end 2 */
-
-  while(1)
-  {
     /* add user code begin 3 */
-        DWT_Delay(40);
+    by_stepper_loop();
-        /* add user code end 3 */
+    /* add user code end 3 */
   }
 }