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81 lines
1.9 KiB
C
81 lines
1.9 KiB
C
#ifndef __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
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#define __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
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#include <stepper.h>
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/* Timer frequency */
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#define TIMER_FREQ 748800
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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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#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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#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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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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extern StepperContext stepper_context;
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#endif /* __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__ */
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void stepper_timer_interrupt(void);
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