| 0,0 → 1,103 |
|---|
| /* |
| * Copyright (C) 2004 Darren Hutchinson (dbh@gbdt.com.au) |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU Library General Public License as published by |
| * the Free Software Foundation; either version 2 of the License, or (at your |
| * option) any later version. |
| * |
| * This program is distributed in the hope that it will be useful, but |
| * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY |
| * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Library General Public |
| * License for more details. |
| * |
| * You should have received a copy of the GNU Library General Public License |
| * along with this software; see the file COPYING. If not, write to |
| * the Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, |
| * MA 02111-1307, USA. |
| * |
| * $Id: stepper.h,v 1.7 2004/04/05 06:42:15 dbh Exp $ |
| */ |
| |
| #ifndef _STEPPER_H_ |
| #define _STEPPER_H_ |
| |
| /* Define the encoding used to hold the exictation values for each |
| * stepper coil. |
| */ |
| #define _EX_ENTRY(c1, c2) (((c1) << 4) | (c2)) |
| #define _GET_C1(e) ((e) >> 4) |
| #define _GET_C2(e) ((e) & 0xf) |
| |
| #define EX_0 0x0 // Inactive |
| #define EX_P_0_2 0x1 // +0.2 active |
| #define EX_P_0_4 0x2 // +0.4 active |
| #define EX_P_0_67 0x3 // +0.67 active |
| #define EX_P_1 0x4 // +Active |
| |
| #define EX_M_0_2 0x9 // -0.2 active |
| #define EX_M_0_4 0xa // -0.4 active |
| #define EX_M_0_67 0xb // -0.67 active |
| #define EX_M_1 0xc // -Active |
| |
| /* Define the struture used to pass excitation information from |
| * the stepper module to the excitation module |
| */ |
| struct excitation_s |
| { |
| uint8_t excitation; |
| uint8_t useRelay; |
| }; |
| |
| extern struct excitation_s raExcitation; |
| extern struct excitation_s decExcitation; |
| |
| /* Define a structure to hold the current "state" for each axis. This |
| * allows up to use the same code for both axis, so I don't feel |
| * tempted to skimp on the features |
| */ |
| struct stepState_s |
| { |
| // Input (from the combiner) |
| int8_t reqSpeed; // Rate requested |
| |
| // Output (to the driver) |
| struct excitation_s *pExcite; |
| |
| // Configuration |
| uint16_t backlash; // #steps to counteract backlash |
| uint8_t finPos; // Finish movement in positive direction |
| uint8_t finNeg; // Finish movement in negative direction |
| |
| // Machine state |
| uint8_t stepCtr; // Current step in cycle |
| int8_t curSpeed; // Current rate (when moving after spin) |
| void *pState; // State pointer |
| uint16_t count; // Counter used in states |
| |
| uint8_t *pTable; // Current step table |
| |
| // Support function state |
| uint8_t clkDivRatio; // Current clock div |
| uint8_t divCtr; // Clock division counter |
| }; |
| |
| /* These are held in stepper.c */ |
| extern struct stepState_s raState; |
| extern struct stepState_s decState; |
| extern int8_t trackingRate; |
| extern uint8_t transRatio; |
| |
| /* Prototypes */ |
| void stepperInit(void); |
| void setRaSpeed(int8_t speed); |
| void setDecSpeed(int8_t speed); |
| |
| void setupRateTable(uint8_t transRatio); |
| void setTrackRate(int8_t rate); |
| |
| /* DEBUG: Uses half step instread of microstep if true */ |
| extern uint8_t doHalfStep; |
| |
| #endif /* _STEPPER_H_ */ |
| |