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/* 
 * 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_ */