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51 lines
1.8 KiB
C
51 lines
1.8 KiB
C
/*
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* steppers.h
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*
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* Copyright 2015 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 __STEPPERS_H__
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#define __STEPPERS_H__
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#include "main.h"
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// minimal period - 100us (10000ticks per second)
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#define STEPPER_MIN_PERIOD (99)
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// default period
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#define STEPPER_DEFAULT_PERIOD (1299)
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// high (off) pulse length: 70us (minimum value according documentation is 0.5us)
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#define STEPPER_PULSE_LEN (69)
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// TIM2 have 16bit ARR register, so max P with fixed prescaler is 65536
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#define STEPPER_TIM_MAX_ARRVAL (65536)
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// max period allowed: 6553600us = 6.5s
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#define STEPPER_MAX_PERIOD (6553601)
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// default prescaler for 1MHz
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#define STEPPER_TIM_DEFAULT_PRESCALER (71)
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// prescaler for 100kHz
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#define STEPPER_TIM_HUNDR_PRESCALER (7199)
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void steppers_init();
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uint8_t set_stepper_speed(int32_t Period);
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uint8_t move_stepper(int32_t Nsteps);
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void stop_stepper();
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extern volatile int32_t Glob_steps;
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#define stepper_get_steps() (Glob_steps)
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extern int32_t stepper_period;
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int32_t stepper_get_period();
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#endif // __STEPPERS_H__
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