''Step driver

VAR
  long  Stack[20]
  long  Cog
  long  pinPz
  long  low_time
  long  cRamp
  long  cInc
  long  count1
  long  count2
  long  count3
  long  cSteps
  long  cfinished
  
PUB start(pin, lowSp, ramp, rampInc, steps) : oKay

    pinPz     := |< pin
    low_time  := lowSp
    cRamp     := ramp
    cInc      := rampInc
    cSteps    := steps
    count1    := ramp
    count2    := steps-(ramp * 2)+1
    count3    := steps
    cfinished  := 0
    stop
    okay := cog := cognew(@entry, @pinPz) + 1 

PUB stop
  if Cog
    cogstop(Cog~ - 1)
    
PUB done : fnd

  fnd := cfinished
  
DAT

entry
                      
                      mov     p,par 

                      rdlong  _pinPz,p
                      add     p,#4                
                      rdlong  _low_time,p      
                      add     p,#4
                      rdlong  _cRamp,p
                      add     p,#4
                      rdlong  _cInc,p
                      add     p,#4
                      rdlong  _count1,p
                      add     p,#4
                      rdlong  _count2,p
                      add     p,#4
                      rdlong  _count3,p
                      add     p,#4
                      rdlong  _finished,p
                      mov     pf,p
                      
                      mov    _pinmask,_pinPz
                      or     dira, _pinmask
                      or     outa, _pinmask

                      mov    time,cnt       
                      add    time,_low_time   

:acel                 waitcnt time,sec
                      xor     outa ,_pinmask  
                      sub     _count1,#1   wz
                      sub     _count3,#1 
                      waitcnt time,_low_time  
                      xor     outa,_pinmask   
                      sub     _low_time, _cInc
                      tjnz    _count1, #:acel

:slu                 waitcnt time,sec  
                      xor     outa ,_pinmask  
                      sub     _count2,#1  wz
                      sub     _count3,#1   
                      waitcnt time,_low_time   
                      xor     outa,_pinmask   
                      tjnz    _count2, #:slu

                      

 :decel               waitcnt time,sec
                      xor     outa ,_pinmask  
                      sub     _count3,#1  
                      waitcnt time,_low_time   
                      xor     outa,_pinmask   
                      add     _low_time, _cInc
                      tjnz    _count3, #:decel

                      mov     _finished,_cInc
                      wrlong  _finished,pf
                      
                      
                      or    dira,#15
                      or    outa,#15
                      waitcnt time,_cInc
                      cogId   Cognum
                      cogStop cognum
                                          
                                       
'  data
sec                  long    800
Cognum               long    0
time                 res     1
_pinmask             res     1
_pinPz               res     1
_low_time            res     1
_cRamp               res     1
_cInc                res     1
p                    res     1
_count1              res     1
_count2              res     1
_count3              res     1
pf                   res     1
_finished            res     1
      