81 lines
1.9 KiB
C
81 lines
1.9 KiB
C
#ifndef __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
|
|
#define __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__
|
|
|
|
#include <stepper.h>
|
|
|
|
/* Timer frequency */
|
|
#define TIMER_FREQ 748800
|
|
|
|
typedef struct _StepperContext StepperContext;
|
|
typedef struct _StepperState StepperState;
|
|
typedef struct _StepperTimerStep StepperTimerStep;
|
|
|
|
#define MAX_STEPS_PER_PERIOD 40
|
|
#define NUM_STEPPERS 2
|
|
|
|
#define STEPPER_MAX_VELOCITY 4000
|
|
#define STEPPER_MAX_ACCELRATION 4000
|
|
|
|
|
|
#define TIMING_ERRORS
|
|
|
|
struct _StepperState
|
|
{
|
|
long step_count;
|
|
uint32_t io_mask;
|
|
const uint32_t *acc_steps; /* Stepping sequence when accelerating */
|
|
const uint32_t *run_steps; /* Stepping sequence when running */
|
|
const uint32_t *hold_steps; /* Stepping sequence when stationary */
|
|
uint8_t current_step; /* in stepping sequence */
|
|
uint8_t sequence_length;
|
|
|
|
long velocity; /* steps/second * PPS */
|
|
long acceleration; /* steps/second^2 */
|
|
long step_full; /* steps, same as step_count at period boundaries */
|
|
long step_frac; /* (steps * PPS^2 * 2) % steps * PPS^2 */
|
|
|
|
long n_steps; /* full steps to move during this period */
|
|
|
|
StepperAccSeq *acceleration_sequence;
|
|
|
|
#ifdef TIMING_ERRORS
|
|
long err_max;
|
|
long err_min;
|
|
#endif
|
|
};
|
|
|
|
#define STEPPER_POWER_ACC 30
|
|
#define STEPPER_POWER_RUN 20
|
|
#define STEPPER_POWER_HOLD 10
|
|
#define STEPPER_POWER_OFF 0
|
|
|
|
#define STEPPER_DIRECTION_NONE 0
|
|
#define STEPPER_DIRECTION_FORWARD 1
|
|
#define STEPPER_DIRECTION_BACKWARD 2
|
|
|
|
struct _StepperTimerStep
|
|
{
|
|
StepperTimerStep *next;
|
|
StepperState *state;
|
|
uint16_t time;
|
|
uint8_t direction;
|
|
uint8_t power;
|
|
};
|
|
|
|
|
|
struct _StepperContext
|
|
{
|
|
unsigned int flags;
|
|
unsigned long period_count;
|
|
AT91PS_TC timer_channel;
|
|
StepperState steppers[NUM_STEPPERS];
|
|
StepperTimerStep *steps;
|
|
StepperTimerStep *current_step;
|
|
StepperUserCallback user_callback;
|
|
};
|
|
|
|
extern StepperContext stepper_context;
|
|
#endif /* __STEPPER3_INTERRUPT_H__2MHD6D6PQ1__ */
|
|
|
|
void stepper_timer_interrupt(void);
|