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72 lines
2.4 KiB
C
72 lines
2.4 KiB
C
/*
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* geany_encoding=koi8-r
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* steppers.h
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*
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* Copyright 2017 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#pragma once
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#ifndef STEPPERS_H__
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#define STEPPERS_H__
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#include "stm32f0.h"
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#include <stdint.h>
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// the lowest speed equal to [max speed] / LOWEST_SPEED_DIV
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#define LOWEST_SPEED_DIV (30)
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// minimal value of ACCDECSTEPS
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#define ACCDECSTEPS_MIN (30)
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extern int32_t mot_position[];
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extern uint32_t steps_left[];
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// stepper states
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typedef enum{
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STP_SLEEP, // don't moving
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STP_ACCEL, // start moving with acceleration
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STP_MOVE, // moving with constant speed
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STP_MVSLOW, // moving with slowest constant speed
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STP_DECEL, // moving with deceleration
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STP_STOP, // stop motor right now (by demand)
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STP_STOPZERO, // stop motor and zero its position (on end-switch)
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STP_MOVE0, // move towards 0 endswitch (negative direction)
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STP_MOVE1, // move towards 1 endswitch (positive direction)
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} stp_state;
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typedef enum{
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STPS_ALLOK, // no errors
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STPS_ACTIVE, // motor is still moving
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STPS_TOOBIG, // amount of steps too big
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STPS_ZEROMOVE, // give 0 steps to move
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STPS_ONESW // staying on end-switch & try to move further
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} stp_status;
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#define stp_position(n) (mot_position[n])
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#define stp_stepsleft(n) (steps_left[n])
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stp_state stp_getstate(int motnum);
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void stp_setup(void);
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void stp_chspd(void);
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stp_status stp_move(int nmotor, int32_t steps);
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void stp_stop(int n);
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void stp_process(void);
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void stp_disable(void);
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void stp_chARR(int n, int32_t val);
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#endif // STEPPERS_H__
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