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https://github.com/eddyem/zeiss_utils.git
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71 lines
2.3 KiB
C
71 lines
2.3 KiB
C
/*
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* This file is part of the Zphocus project.
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* Copyright 2019 Edward V. Emelianov <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 3 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, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#ifndef HW_DEPENDENT__
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#define HW_DEPENDENT__
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#include "motor_cancodes.h"
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// amount of encoder's counts when stop = rawspeed^2/STOPPING_COEFF
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#define STOPPING_COEFF (117500L)
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// direction of motor rotation positive to encoder (1 - negative)
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#define MOTOR_REVERSE (0)
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// End switches (lowest bit - DI00)
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// clockwise: DI4
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#define ESW_CW (1<<4)
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// counterclockwise: DI5
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#define ESW_CCW (1<<5)
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// parameter indexes of esw:
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#define PAR_CW_IDX PAR_DI04_IDX
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#define PAR_CCW_IDX PAR_DI05_IDX
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// constants
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// translate raw values to revolutions per minute
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#define REVMIN(x) (x/5)
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// rev/min to raw speed value
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#define RAWSPEED(x) (x*5)
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// max/min speed (rev/min)
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#define MAXSPEED 1200
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#define MINSPEED 130
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// moving timeout (*0.01s)
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#define MOVING_TIMEOUT 5000
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// raw position precision
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#define RAWPOS_TOLERANCE 20
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// raw dF value for accurate focussing
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#define dF0 100
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// minimal & maximal focus positions (should be >min+dF0 & <max-dF0)
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#define FOCMIN 200
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#define FOCMAX 320000
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// the same in mm
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#define FOCMIN_MM 0.1
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#define FOCMAX_MM 76.0
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// permitted distance to end-switch
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#define ESW_DIST_ALLOW 1.0
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// constants for focus conversion: foc_mm = (foc_raw - FOCRAW_MM0) / FOCSCALE_MM
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#define FOCSCALE_MM 4096.
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#define FOCRAW_MM0 0
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#define FOC_RAW2MM(x) ((x-FOCRAW_MM0)/FOCSCALE_MM)
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#define FOC_MM2RAW(x) (FOCRAW_MM0+x*FOCSCALE_MM)
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#endif // HW_DEPENDENT__
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