99 lines
2.2 KiB
C
99 lines
2.2 KiB
C
#ifndef __STEPPER_H__JPA916UOFT__
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#define __STEPPER_H__JPA916UOFT__
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#include <AT91SAM7S64.h>
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#include <inttypes.h>
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#include <limits.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 _StepperAccSeq StepperAccSeq;
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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 STEPPER_MAX_VELOCITY 4000
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#define STEPPER_MAX_ACCELRATION 4000
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typedef void (*StepperUserCallback)(unsigned int stepper_index,
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unsigned long period);
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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 /* __STEPPER_H__JPA916UOFT__ */
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