From 68ff56a8b1f81e1a900a1f75434e084997912b42 Mon Sep 17 00:00:00 2001
From: Simen Svale Skogsrud <simen@bengler.no>
Date: Mon, 21 Feb 2011 10:00:16 +0100
Subject: [PATCH] stepper enable pin now toggles to reflect the active/passive
 state of the stepper subsystem

---
 stepper.c | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/stepper.c b/stepper.c
index 9eb5d7d..f011a6a 100644
--- a/stepper.c
+++ b/stepper.c
@@ -82,6 +82,7 @@ static uint32_t trapezoid_adjusted_rate;      // The current rate of step_events
 static void set_step_events_per_minute(uint32_t steps_per_minute);
 
 void st_wake_up() {
+  STEPPERS_ENABLE_PORT |= (1<<STEPPERS_ENABLE_BIT);
   ENABLE_STEPPER_DRIVER_INTERRUPT();  
 }
 
@@ -153,6 +154,8 @@ SIGNAL(TIMER1_COMPA_vect)
       counter_z = counter_x;
       step_events_completed = 0;
     } else {
+      // set enable pin     
+      STEPPERS_ENABLE_PORT &= ~(1<<STEPPERS_ENABLE_BIT);
       DISABLE_STEPPER_DRIVER_INTERRUPT();
     }    
   } 
@@ -229,12 +232,11 @@ void st_init()
   TIMSK2 |= (1<<TOIE2);      
   
   set_step_events_per_minute(6000);
-  DISABLE_STEPPER_DRIVER_INTERRUPT();  
   trapezoid_tick_cycle_counter = 0;
-  
-  // set enable pin     
-  STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
-     
+
+  STEPPERS_ENABLE_PORT &= ~(1<<STEPPERS_ENABLE_BIT);
+  DISABLE_STEPPER_DRIVER_INTERRUPT();  
+       
   sei();
 }