contiki/platform/stepper-robot/stepper/stepper-steps.h
2007-08-21 09:06:23 +00:00

104 lines
2.9 KiB
C

#include <AT91SAM7S64.h>
#ifndef MAX
#define MIN(a,b) (((a) > (b)) ? (b) : (a))
#endif
/* Pins for stepper 0 */
#define STEPPER0_I00 AT91C_PIO_PA17
#define STEPPER0_I01 AT91C_PIO_PA18
#define STEPPER0_PHASE0 AT91C_PIO_PA19
#define STEPPER0_I10 AT91C_PIO_PA21
#define STEPPER0_I11 AT91C_PIO_PA22
#define STEPPER0_PHASE1 AT91C_PIO_PA23
/* Pins for stepper 1 */
#define STEPPER1_I00 AT91C_PIO_PA24
#define STEPPER1_I01 AT91C_PIO_PA25
#define STEPPER1_PHASE0 AT91C_PIO_PA26
#define STEPPER1_I10 AT91C_PIO_PA27
#define STEPPER1_I11 AT91C_PIO_PA28
#define STEPPER1_PHASE1 AT91C_PIO_PA29
/* Common pins */
#define STEPPER_INHIBIT AT91C_PIO_PA7
#define STEPPER_IOMASK(s) (STEPPER##s##_I00 | STEPPER##s##_I01 | STEPPER##s##_PHASE0 \
| STEPPER##s##_I10 | STEPPER##s##_I11 | STEPPER##s##_PHASE1)
#define STEPPER_PHASE(s,p,l) ((((l) < 2) ? (STEPPER##s##_I##p##1) : 0) | (((l) & 1) ? 0 : (STEPPER##s##_I##p##0)))
#define STEPPER_STEP(s, l0, l1) (\
((l0 >= 0) ? STEPPER_PHASE(s,0, l0):(STEPPER_PHASE(s,0, -(l0))|STEPPER##s##_PHASE0)) | \
((l1 >= 0) ? STEPPER_PHASE(s,1, l1):(STEPPER_PHASE(s,1,-(l1))|STEPPER##s##_PHASE1)))
#define FULL_STEP_BOTH(s,l) {\
STEPPER_STEP(s,(l),(l)), \
STEPPER_STEP(s,(l),-(l)), \
STEPPER_STEP(s,-(l),-(l)), \
STEPPER_STEP(s,-(l),(l))}
#define FULL_STEP_SINGLE(s,l) {\
STEPPER_STEP(s,0,(l)), \
STEPPER_STEP(s,(l),0), \
STEPPER_STEP(s,0,-(l)), \
STEPPER_STEP(s,-(l),0)}
#define HALF_STEP(s,l) {\
STEPPER_STEP(s,0,(l)), \
STEPPER_STEP(s,(l),(l)), \
STEPPER_STEP(s,(l),0), \
STEPPER_STEP(s,(l),-(l)), \
STEPPER_STEP(s,0,-(l)), \
STEPPER_STEP(s,-(l),-(l)), \
STEPPER_STEP(s,-(l),0), \
STEPPER_STEP(s,-(l),(l))}
#define MINI_STEP(s,l) {\
STEPPER_STEP(s,0,(l)), \
STEPPER_STEP(s,1,MIN((l),2)), \
STEPPER_STEP(s,MIN((l),2),1), \
STEPPER_STEP(s,(l),0), \
STEPPER_STEP(s,MIN((l),2),-1), \
STEPPER_STEP(s,1,-MIN((l),2)), \
STEPPER_STEP(s,0,-(l)), \
STEPPER_STEP(s,-1,-MIN((l),2)), \
STEPPER_STEP(s,-MIN((l),2),-1), \
STEPPER_STEP(s,-(l),0), \
STEPPER_STEP(s,-MIN((l),2),1), \
STEPPER_STEP(s,-1,MIN((l),2))}
#define MICRO_STEP(s,l) {\
STEPPER_STEP(s,0,(l)), \
STEPPER_STEP(s,1,(l)), \
STEPPER_STEP(s,MIN((l),2),(l)), \
STEPPER_STEP(s,(l),(l)), \
STEPPER_STEP(s,(l),MIN((l),2)), \
STEPPER_STEP(s,(l),1), \
STEPPER_STEP(s,(l),0), \
STEPPER_STEP(s,(l),-1), \
STEPPER_STEP(s,(l),-MIN((l),2)), \
STEPPER_STEP(s,(l),-(l)), \
STEPPER_STEP(s,MIN((l),2),-(l)), \
STEPPER_STEP(s,1,-(l)), \
STEPPER_STEP(s,0,-(l)), \
STEPPER_STEP(s,-1,-(l)), \
STEPPER_STEP(s,-MIN((l),2),-(l)), \
STEPPER_STEP(s,-(l),-(l)), \
STEPPER_STEP(s,-(l),-MIN((l),2)), \
STEPPER_STEP(s,-(l),-1), \
STEPPER_STEP(s,-(l),0), \
STEPPER_STEP(s,-(l),1), \
STEPPER_STEP(s,-(l),MIN((l),2)), \
STEPPER_STEP(s,-(l),(l)), \
STEPPER_STEP(s,-MIN((l),2),(l)), \
STEPPER_STEP(s,-1,(l))}
#define STEPPER_ENABLE() (*AT91C_PIOA_SODR = STEPPER_INHIBIT)
#define STEPPER_DISABLE() (*AT91C_PIOA_CODR = STEPPER_INHIBIT)