mirror of
https://github.com/eddyem/mmpp.git
synced 2025-12-06 10:35:16 +03:00
101 lines
3.4 KiB
C
101 lines
3.4 KiB
C
/*
|
|
* This file is part of the libmmpp project.
|
|
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
|
|
*
|
|
* 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 3 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, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
#ifndef LIBMMPP_H__
|
|
#define LIBMMPP_H__
|
|
|
|
#include <stdbool.h>
|
|
|
|
// default baudrate for communication
|
|
#define BAUD_RATE (9600)
|
|
// amount of tries to establish handshake
|
|
#define HANDSHAKE_TRIES (10)
|
|
// how many fails can we omit when waiting for moving end
|
|
#define FAIL_TRIES (5)
|
|
// steps per full revolution for both rotation stages (1 - polaroid, 2 - waveplate)
|
|
#define STEPSREV1 (36000)
|
|
#define STEPSREV2 (28800)
|
|
|
|
/*
|
|
* MMPP controllers state
|
|
*/
|
|
// motors:
|
|
typedef enum{
|
|
STP_UNKNOWN, // wrong state
|
|
STP_SLEEP, // don't moving
|
|
STP_ACCEL, // start moving with acceleration
|
|
STP_MOVE, // moving with constant speed
|
|
STP_MVSLOW, // moving with slowest constant speed
|
|
STP_DECEL, // moving with deceleration
|
|
STP_STOP, // stop motor right now (by demand)
|
|
STP_STOPZERO, // stop motor and zero its position (on end-switch)
|
|
STP_MOVE0, // move towards 0 endswitch (negative direction)
|
|
STP_MOVE1 // move towards 1 endswitch (positive direction)
|
|
} stp_state;
|
|
// answers on motor commands
|
|
typedef enum{
|
|
SEND_ERR, // communication error
|
|
SEND_ALLOK, // no errors
|
|
SEND_ACTIVE, // motor is still moving
|
|
SEND_TOOBIG, // amount of steps too big
|
|
SEND_ZEROMOVE, // give 0 steps to move
|
|
SEND_ESWITCH, // staying on end-switch & try to move further
|
|
SEND_OTHER
|
|
} ttysend_status;
|
|
// end-switch state
|
|
typedef enum{
|
|
ESW_ERROR, // wrong value
|
|
ESW_RELEASED, // opened
|
|
ESW_HALL, // hall sensor
|
|
ESW_BUTTON // user button
|
|
} ESW_status;
|
|
// reset state
|
|
typedef enum{
|
|
RESET_NONE, // no sw/wd reset occured
|
|
RESET_SW, // software reset have been before last status call
|
|
RESET_WDG // watchdog reset -//-
|
|
} reset_status;
|
|
// motor state
|
|
typedef struct{
|
|
reset_status rst; // reset status (was MCU reseted by watchdog or software?)
|
|
stp_state state[2]; // status of stepper motor
|
|
int stepsleft[2]; // steps left to reach target position
|
|
int curpos[2]; // current position (negative for non-initialized state or error)
|
|
ESW_status ESW_status[2][2];// End-switches status, [i][j], i - motor, j - esw 0 or 1
|
|
} motor_state;
|
|
|
|
int mmpp_tryopen(char *dev, int spd);
|
|
void mmpp_close();
|
|
int mot_handshake();
|
|
bool get_rst(int N, bool clear);
|
|
bool get_alive(int N);
|
|
int stop_all();
|
|
int get_temp(double *t1, double *t2);
|
|
bool mot_getstatus(int Nmcu, motor_state *s);
|
|
int init_motors();
|
|
int mot_wait();
|
|
|
|
char *tty_get();
|
|
int tty_send(char *cmd);
|
|
ttysend_status tty_sendcmd(char *cmd);
|
|
char* tty_sendraw(char *string);
|
|
|
|
|
|
|
|
#endif // LIBMMPP_H__
|