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/*
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* Copyright (C) 2004 Darren Hutchinson (dbh@gbdt.com.au)
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU Library General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or (at your
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* option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public
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* License for more details.
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*
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* You should have received a copy of the GNU Library General Public License
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* along with this software; see the file COPYING. If not, write to
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* the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,
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* MA 02111-1307, USA.
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*
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* $Id: stepper.h,v 1.7 2004/04/05 06:42:15 dbh Exp $
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*/
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#ifndef _STEPPER_H_
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#define _STEPPER_H_
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/* Define the encoding used to hold the exictation values for each
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* stepper coil.
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*/
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#define _EX_ENTRY(c1, c2) (((c1) << 4) | (c2))
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#define _GET_C1(e) ((e) >> 4)
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#define _GET_C2(e) ((e) & 0xf)
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#define EX_0 0x0 // Inactive
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#define EX_P_0_2 0x1 // +0.2 active
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#define EX_P_0_4 0x2 // +0.4 active
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#define EX_P_0_67 0x3 // +0.67 active
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#define EX_P_1 0x4 // +Active
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#define EX_M_0_2 0x9 // -0.2 active
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#define EX_M_0_4 0xa // -0.4 active
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#define EX_M_0_67 0xb // -0.67 active
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#define EX_M_1 0xc // -Active
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/* Define the struture used to pass excitation information from
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* the stepper module to the excitation module
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*/
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struct excitation_s
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{
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uint8_t excitation;
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uint8_t useRelay;
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};
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extern struct excitation_s raExcitation;
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extern struct excitation_s decExcitation;
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/* Define a structure to hold the current "state" for each axis. This
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* allows up to use the same code for both axis, so I don't feel
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* tempted to skimp on the features
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*/
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struct stepState_s
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{
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// Input (from the combiner)
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int8_t reqSpeed; // Rate requested
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// Output (to the driver)
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struct excitation_s *pExcite;
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// Configuration
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uint16_t backlash; // #steps to counteract backlash
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uint8_t finPos; // Finish movement in positive direction
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uint8_t finNeg; // Finish movement in negative direction
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// Machine state
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uint8_t stepCtr; // Current step in cycle
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int8_t curSpeed; // Current rate (when moving after spin)
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void *pState; // State pointer
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uint16_t count; // Counter used in states
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uint8_t *pTable; // Current step table
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// Support function state
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uint8_t clkDivRatio; // Current clock div
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uint8_t divCtr; // Clock division counter
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};
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/* These are held in stepper.c */
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extern struct stepState_s raState;
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extern struct stepState_s decState;
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extern int8_t trackingRate;
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extern uint8_t transRatio;
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/* Prototypes */
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void stepperInit(void);
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void setRaSpeed(int8_t speed);
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void setDecSpeed(int8_t speed);
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void setupRateTable(uint8_t transRatio);
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void setTrackRate(int8_t rate);
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/* DEBUG: Uses half step instread of microstep if true */
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extern uint8_t doHalfStep;
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#endif /* _STEPPER_H_ */
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