//-----------------------------------------------------------------------------
// Note
//  ステッピングモータの回転(1-2相励磁)
//  PICの周波数を32Mhzに設定
//-----------------------------------------------------------------------------
#include <xc.h>
#include <stdio.h>
#include <stdlib.h>

#define _XTAL_FREQ 32000000

// コンフィグレーションBIT1 設定
#pragma config FOSC = INTOSC    // Oscillator Selection (INTOSC oscillator: I/O function on CLKIN pin)
#pragma config WDTE = OFF       // Watchdog Timer Enable (WDT disabled)
#pragma config PWRTE = ON       // Power-up Timer Enable (PWRT enabled)
#pragma config MCLRE = OFF      // MCLR Pin Function Select (MCLR/VPP pin function is MCLR)
#pragma config CP = OFF         // Flash Program Memory Code Protection (Program memory code protection is disabled)
#pragma config CPD = OFF        // Data Memory Code Protection (Data memory code protection is disabled)
#pragma config BOREN = OFF      // Brown-out Reset Enable (Brown-out Reset disabled)
#pragma config CLKOUTEN = OFF   // Clock Out Enable (CLKOUT function is disabled. I/O or oscillator function on the CLKOUT pin)
#pragma config IESO = OFF       // Internal/External Switchover (Internal/External Switchover mode is disabled)
#pragma config FCMEN = OFF      // Fail-Safe Clock Monitor Enable (Fail-Safe Clock Monitor is disabled)

// コンフィグレーションBIT2 設定
#pragma config WRT = OFF        // Flash Memory Self-Write Protection (Write protection off)
#pragma config PLLEN = ON       // PLL Enable (4x PLL enabled)
#pragma config STVREN = ON      // Stack Overflow/Underflow Reset Enable (Stack Overflow or Underflow will cause a Reset)
#pragma config BORV = HI        // Brown-out Reset Voltage Selection (Brown-out Reset Voltage (Vbor), high trip point selected.)
#pragma config LVP = OFF        // Low-Voltage Programming Enable (High-voltage on MCLR/VPP must be used for programming)

// IOの定義
#define STEP_MOTOR_X   LATA0
#define STEP_MOTOR_NX  LATA1
#define STEP_MOTOR_Y   LATA2
#define STEP_MOTOR_NY  LATA4


int main(int argc, char** argv)
{
    short seq = 0;
    short spd = 200;
    short cnt = 0;
    short i;

    OSCCON = 0b01110000 ;    // 内部クロック8ＭＨｚ

    ANSELA = 0b00000000 ;    // すべてデジタルI/Oに割当てる
    TRISA  = 0b00001000 ;    // RA3を入力とする


    for(;;)
    {
        switch(seq)
        {
            case 0:
                STEP_MOTOR_X = 1;
                STEP_MOTOR_Y = 0;
                STEP_MOTOR_NX = 0;
                STEP_MOTOR_NY = 0;
                break;

            case 1:
                STEP_MOTOR_X = 1;
                STEP_MOTOR_Y = 1;
                STEP_MOTOR_NX = 0;
                STEP_MOTOR_NY = 0;
                break;

            case 2:
                STEP_MOTOR_X = 0;
                STEP_MOTOR_Y = 1;
                STEP_MOTOR_NX = 0;
                STEP_MOTOR_NY = 0;
                break;

            case 3:
                STEP_MOTOR_X = 0;
                STEP_MOTOR_Y = 1;
                STEP_MOTOR_NX = 1;
                STEP_MOTOR_NY = 0;
                break;

            case 4:
                STEP_MOTOR_X = 0;
                STEP_MOTOR_Y = 0;
                STEP_MOTOR_NX = 1;
                STEP_MOTOR_NY = 0;
                break;

            case 5:
                STEP_MOTOR_X = 0;
                STEP_MOTOR_Y = 0;
                STEP_MOTOR_NX = 1;
                STEP_MOTOR_NY = 1;
                break;

            case 6:
                STEP_MOTOR_X = 0;
                STEP_MOTOR_Y = 0;
                STEP_MOTOR_NX = 0;
                STEP_MOTOR_NY = 1;
                break;

            case 7:
                STEP_MOTOR_X = 1;
                STEP_MOTOR_Y = 0;
                STEP_MOTOR_NX = 0;
                STEP_MOTOR_NY = 1;
                break;
        }

        seq++;
        if(seq >= 8)
            seq = 0;

        cnt++;
        if( cnt > 10 )
        {
            cnt = 0;
            spd -= 10;

            if( spd <= 0 )
                spd = 1;
        }

        for( i=0; i<spd; i++ )
            __delay_ms(1);
    }

    return (EXIT_SUCCESS);
}