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49 lines
1.3 KiB
C
49 lines
1.3 KiB
C
/*
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* stepper.h
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*
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* Copyright 2014 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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#pragma once
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#ifndef __STEPPER_H__
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#define __STEPPER_H__
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#include "ports_definition.h"
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#define MIN_STEP_LENGTH 125 // max speed == 1/(125us*16) = 500 steps per second
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extern volatile U8 chk_esw;
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extern U8 cur_motor;
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extern volatile int Steps_left;
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extern U16 Stepper_speed;
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extern volatile char Dir;
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extern U8 *usteps;
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void setup_stepper_pins();
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U8 stepper_ch_speed(char *spd);
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U8 stepper_move(U8 Nmotor, int Nsteps);
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void stop_motor();
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U8 check_endsw();
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void stepper_get_esw(U8 Nmotor);
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U8 chk_stpr_cmd(char N);
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#endif // __STEPPER_H__
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