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160 lines
3.8 KiB
C
160 lines
3.8 KiB
C
#ifndef __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
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#define __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
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#include <AT91SAM7S64.h>
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#include <inttypes.h>
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/* Define periods/second */
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#define PPS 128
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/* Scaling factor for distance */
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#define DIST_SCALE (2 * PPS * PPS)
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/* Scaling factor for velocity */
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#define VEL_SCALE PPS
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typedef struct _StepperContext StepperContext;
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typedef struct _StepperState StepperState;
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typedef struct _StepperTimerStep StepperTimerStep;
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typedef struct _StepperAccSeq StepperAccSeq;
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#define MAX_STEPS_PER_PERIOD 40
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#define NUM_STEPPERS 2
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#define STEPPER_MAX_VELOCITY 4000
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#define STEPPER_MAX_ACCELRATION 4000
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struct _StepperAccSeq
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{
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StepperAccSeq *next;
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unsigned long period;
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long acceleration;
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};
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#define STEPPER_ACC_INVALID LONG_MAX
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#define TIMING_ERRORS
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struct _StepperState
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{
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long step_count;
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uint32_t io_mask;
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const uint32_t *acc_steps; /* Stepping sequence when accelerating */
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const uint32_t *run_steps; /* Stepping sequence when running */
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const uint32_t *hold_steps; /* Stepping sequence when stationary */
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uint8_t current_step; /* in stepping sequence */
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uint8_t sequence_length;
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long velocity; /* steps/second * PPS */
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long acceleration; /* steps/second^2 */
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long step_full; /* steps, same as step_count at period boundaries */
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long step_frac; /* (steps * PPS^2 * 2) % steps * PPS^2 */
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long n_steps; /* full steps to move during this period */
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StepperAccSeq *acceleration_sequence;
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#ifdef TIMING_ERRORS
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long err_max;
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long err_min;
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#endif
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};
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#define STEPPER_POWER_ACC 30
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#define STEPPER_POWER_RUN 20
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#define STEPPER_POWER_HOLD 10
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#define STEPPER_POWER_OFF 0
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#define STEPPER_DIRECTION_NONE 0
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#define STEPPER_DIRECTION_FORWARD 1
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#define STEPPER_DIRECTION_BACKWARD 2
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struct _StepperTimerStep
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{
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StepperTimerStep *next;
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StepperState *state;
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uint16_t time;
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uint8_t direction;
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uint8_t power;
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};
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typedef void (*StepperUserCallback)(unsigned int stepper_index,
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unsigned long period);
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struct _StepperContext
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{
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unsigned int flags;
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unsigned long period_count;
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AT91PS_TC timer_channel;
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StepperState steppers[NUM_STEPPERS];
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StepperTimerStep *steps;
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StepperTimerStep *current_step;
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StepperUserCallback user_callback;
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};
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typedef unsigned int StepperResult;
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#define STEPPER_OK 0
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#define STEPPER_ERR_MEM 1
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#define STEPPER_ERR_TOO_LATE 2
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#define STEPPER_ERR_INDEX 3
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void
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stepper_init(AT91PS_TC timer, unsigned int id);
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void
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stepper_init_io(unsigned int stepper_index, uint32_t mask,
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const uint32_t *acc, const uint32_t *run,
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const uint32_t *hold, unsigned int nsteps);
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/* Returns true if the new sequence was actually added or false
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if the index is illegal or the first step in the sequence is too soon */
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StepperResult
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stepper_add_acc_seq(unsigned int stepper_index, StepperAccSeq *new_seq);
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StepperResult
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stepper_add_acc(unsigned int stepper_index, unsigned int period, long acc);
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StepperResult
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stepper_insert_callback(unsigned int stepper_index, unsigned int period);
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void
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stepper_set_callback_proc(StepperUserCallback callback);
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unsigned long
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stepper_current_period();
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long
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stepper_current_step(unsigned int stepper_index);
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long long
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stepper_step_frac(unsigned int stepper_index);
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long
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stepper_current_velocity(unsigned int stepper_index);
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unsigned long
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stepper_velocity(unsigned int stepper_index, unsigned long period);
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StepperResult
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stepper_state_at(unsigned int stepper_index, unsigned long period,
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long *velocity, long long *position);
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StepperResult
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stepper_set_velocity(unsigned int stepper_index, unsigned long *periodp,
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unsigned long max_acc, long final_speed);
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StepperAccSeq *
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stepper_allocate_seq();
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void
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stepper_free_seq(StepperAccSeq *seq);
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#ifdef TIMING_ERRORS
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void
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stepper_timing_errors(unsigned int stepper_index, long *min, long *max);
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#endif
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#endif /* __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__ */
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