В LinuxCNC stepgen может работать и в step/dir, и cw/cww и в квадратурном режиме, и еще около десятка режимов
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Some of the stepping types are described below, but for more details (including timing diagrams) see the stepgen section of the HAL reference manual.
type 0: step/dir
Two pins, one for step and one for direction. make-pulses must run at least twice for each step (once to set the step pin true, once to clear it). This limits the maximum step rate to half (or less) of the rate that can be reached by types 2-14. The parameters steplen and stepspace can further lower the maximum step rate. Parameters dirsetup and dirhold also apply to this step type.
type 1: up/down
Two pins, one for ’step up’ and one for ’step down’. Like type 0, make-pulses must run twice per step, which limits the maximum speed.
type 2: quadrature
Two pins, phase-A and phase-B. For forward motion, A leads B. Can advance by one step every time make-pulses runs.
type 3: three phase, full step
Three pins, phase-A, phase-B, and phase-C. Three steps per full cycle, then repeats. Only one phase is high at a time - for forward motion the pattern is A, then B, then C, then A again.
type 4: three phase, half step
Three pins, phases A through C. Six steps per full cycle. First A is high alone, then A and B together, then B alone, then B and C together, etc.
types 5 through 8: four phase, full step
Four pins, phases A through D. Four steps per full cycle. Types 5 and 6 are suitable for use with unipolar steppers, where power is applied to the center tap of each winding, and four open-collector transistors drive the ends. Types 7 and 8 are suitable for bipolar steppers, driven by two H-bridges.
types 9 and 10: four phase, half step
Four pins, phases A through D. Eight steps per full cycle. Type 9 is suitable for unipolar drive, and type 10 for bipolar drive.
types 11 and 12: five phase, full step
Five pins, phases A through E. Five steps per full cycle. See HAL reference manual for the patterns.
types 13 and 14: five phase, half step
Five pins, phases A through E. Ten steps per full cycle. See HAL reference manual for the patterns.
type 15: user-specified
This uses the waveform specified by the user_step_type module parameter, which may have up to 10 steps and 5 phases.