mirror of
https://github.com/eddyem/IR-controller.git
synced 2025-12-06 02:35:14 +03:00
85 lines
3.5 KiB
C
85 lines
3.5 KiB
C
/*
|
|
* stepper_motors.h
|
|
*
|
|
* Copyright 2014 Edward V. Emelianoff <eddy@sao.ru>
|
|
*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program; if not, write to the Free Software
|
|
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
|
|
* MA 02110-1301, USA.
|
|
*/
|
|
#pragma once
|
|
#ifndef __STEPPER_MOTORS_H__
|
|
#define __STEPPER_MOTORS_H__
|
|
|
|
#include <libopencm3/stm32/timer.h>
|
|
|
|
// default pause to make sure that turret is on position
|
|
#define TURRETS_PAUSE_US 30000
|
|
// max amount of steps to add to turret for moving to next position
|
|
#define TURRETS_NEXT_POS_STEPS 300
|
|
|
|
#ifndef CONCAT
|
|
#define CONCAT(A, B) A ## B
|
|
#endif
|
|
|
|
// check status of end-switches and Halls
|
|
// Motor 0 == turret 0, PD0..PD3
|
|
#define _CHECK_EP0 ((~GPIO_IDR(GPIOD)) & 0x0f)
|
|
// Motor 1 == turret 1, PD4..PD6
|
|
#define _CHECK_EP1 (((~GPIO_IDR(GPIOD)) >> 4) & 0x07)
|
|
// Motor 2 == turret 2, PD7, PB6, PB7
|
|
#define _CHECK_EP2 ((((~GPIO_IDR(GPIOD)) >> 7) & 0x01) | (((~GPIO_IDR(GPIOB))>> 6) & 0x03))
|
|
// Motor 3 == long (VPHG, pupil stop) stage, PC7/PC8 (down/up)
|
|
#define _CHECK_EP3 (((~GPIO_IDR(GPIOC)) >> 7) & 0x03)
|
|
// Motor 4 == short (focus) stage, PC9/PA8 (down/up)
|
|
#define _CHECK_EP4 ((((~GPIO_IDR(GPIOC)) >> 9) & 0x01) | (((~GPIO_IDR(GPIOA)) >> 8) & 0x01))
|
|
// this macro returns end-switches & Hall status: 0 - not active, 1 - active
|
|
#define CHECK_EP(X) CONCAT(_CHECK_EP, X)
|
|
// end-switches for motors 3,4 (stage 1 and stage 2): stop when direction positive/negative
|
|
#define EP3PLUS 2
|
|
#define EP3MINUS 1
|
|
#define EP4PLUS 2
|
|
#define EP4MINUS 1
|
|
#define STAGE_CHECK(N, DIR) CONCAT(EP ## N, DIR)
|
|
|
|
// setup ports: PA8, PB6, PB7, PC7..PC9, PD0..PD7
|
|
/*
|
|
#define SETUP_ESW() do{gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO8); \
|
|
gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO6|GPIO7); \
|
|
gpio_set_mode(GPIOC, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, (uint16_t)0x0380);\
|
|
gpio_set_mode(GPIOD, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, (uint16_t)0xff); \
|
|
}while(0)
|
|
*/
|
|
#define SETUP_ESW() do{gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO8); \
|
|
gpio_set(GPIOA, GPIO8); \
|
|
gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO6|GPIO7); \
|
|
gpio_set(GPIOB, GPIO6|GPIO7); \
|
|
gpio_set_mode(GPIOC, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, (uint16_t)0x0380);\
|
|
gpio_set(GPIOC, (uint16_t)0x0380);\
|
|
gpio_set_mode(GPIOD, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, (uint16_t)0xff); \
|
|
gpio_set(GPIOD, (uint16_t)0xff); \
|
|
}while(0)
|
|
|
|
extern uint8_t move2pos[]; // export this array for ability of moving turret to given position from outside
|
|
|
|
void steppers_init();
|
|
void process_stepper_motors();
|
|
uint8_t move_motor(uint8_t num, int32_t steps);
|
|
void stop_motor(uint8_t num);
|
|
void set_motor_period(uint8_t num, uint16_t period);
|
|
uint8_t check_ep(uint8_t num);
|
|
|
|
|
|
#endif // __STEPPER_MOTORS_H__
|