mirror of
https://github.com/eddyem/scorpio.git
synced 2025-12-06 02:35:13 +03:00
50 lines
1.7 KiB
C
50 lines
1.7 KiB
C
/*
|
|
* geany_encoding=koi8-r
|
|
* motors.h
|
|
*
|
|
* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 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 __MOTORS_H__
|
|
#define __MOTORS_H__
|
|
|
|
// default speed @ start - 200 steps per second
|
|
#define DEFAULT_USTEP_PERIOD (2500)
|
|
// max speed == 1/(800us*2) = 625 steps per second
|
|
#define MIN_USTEP_PERIOD (800)
|
|
// min speed as 16-bit timer can - 65535 - near 7.6 steps per second
|
|
// default min speed - 25 steps per second
|
|
#define MAX_USTEP_PERIOD (20000)
|
|
// amount of steps to pull off the switch
|
|
#define PULLOFFTHESW_STEPS (100)
|
|
// amount of microsteps for acceleration calculation (50 full steps)
|
|
#define ACCEL_USTEPS (100)
|
|
|
|
//extern unsigned char irq_flag;
|
|
|
|
void motors_init();
|
|
void show_motors_help();
|
|
void motor_command(const char *cmd, char **bufptr);
|
|
|
|
void stepper_interrupt(unsigned char motor_num);
|
|
|
|
//void process_stepper(unsigned char stepno);
|
|
|
|
#endif // __MOTORS_H__
|