00001
00024 #ifndef DRV_STEPPER_H
00025 #define DRV_STEPPER_H
00026 
00027 #include <cfg/compiler.h>
00028
00029 #include <algo/ramp.h>
00030
00031 // Forward declaration
00032 struct Stepper;
00033
00035 #define STEPS_INFINITE_POSITIVE        ((int16_t)0xFFFF)
00036 #define STEPS_INFINITE_NEGATIVE        ((int16_t)0x8FFF)
00037 
00039 #define MAX_STEPS                      0x7FFF
00040 
00042 #define MOTOR_NO_LEVEL_SENSOR          0xFFFF
00043 
00045 #define MOTOR_NO_HOME_SENSOR           0xFFFF
00046 
00048 #define DEAFSTEPS_DEFAULT              MAX_STEPS
00049 
00051 //\{
00052 #define SPEED_STOPPED                  0xFFFF    ///< motor is stopped
00053 #define SPEED_HOMING                   0xFFFE    ///< motor is homing
00054 //\}
00055
00056 // default values for steps inside and outside home sensor
00057 #define MOTOR_INSIDE_HOME_STEPS        10
00058 #define MOTOR_OUTSIDE_HOME_STEPS       40
00059 
00060 // default value for home sensor tolerance
00061 #define MOTOR_TOLERANCE_HOME_STEPS      2
00062 
00063 // default value for consecutive error
00064 #define MOTOR_CONSECUTIVE_ERROR_STEPS   3
00065 
00066 // values for the home control enabling
00067 enum MotorHomeSensorCheck
00068 {
00069     MOTOR_HOMESENSOR_NOCHECK = 0,
00070     MOTOR_HOMESENSOR_INCHECK,
00071     MOTOR_HOMESENSOR_OUTCHECK
00072 };
00073
00074 // default value in ms for home procedure timeout
00075 #define MOTOR_TIMEOUT_HOME              20000
00076 
00080 enum MotorDirection
00081 {
00082     DIR_POSITIVE = 1,
00083     DIR_NONE = 0,
00084     DIR_NEGATIVE = -1
00085 };
00086
00087 #define STEPPER_MAX_STATES    32
00088 
00089
00093 enum StepperState
00094 {
00095     MSTS_UNINIT,
00096     MSTS_RUN,
00097     MSTS_IDLE,
00098     MSTS_PREIDLE,
00099     MSTS_PRERUN,
00100
00101 // Home procedure
00102     MSTS_PREINIT,
00103     MSTS_INIT,
00104     MSTS_ENTERING,
00105     MSTS_LEAVING,
00106     MSTS_OUTHOME,
00107
00108     MSTS_ERROR,
00109
00111     MSTS_DUMMY_ALIGN = STEPPER_MAX_STATES - 1
00112 };
00113
00115 typedef enum StepperState (*fsm_state)(struct Stepper* );
00116
00118 typedef void (*stepper_isr_t)(struct Stepper* );
00119
00121 typedef uint16_t stepper_time_t;
00122
00126 struct StepperConfig
00127 {
00128     struct Ramp ramp;
00129     uint16_t pulse;
00130
00131     fsm_state states[STEPPER_MAX_STATES];
00132
00133     int16_t stepsInHome;
00134     int16_t stepsOutHome;
00135     uint16_t clocksHome;
00136
00137     int16_t stepsTollOutHome;
00138     int16_t stepsTollInHome;
00139
00140     int16_t timeoutHome;
00141
00142     uint8_t powerRun;
00143     uint8_t powerIdle;
00144
00145     uint16_t homeSensorIndex;
00146     uint16_t levelSensorIndex;
00147
00148     struct
00149     {
00150         bool homeInverted : 1;
00151         bool halfStep : 1;
00152         bool axisInverted : 1;
00153         bool levelInverted : 1;
00154         bool controlBit : 1;
00155         bool controlMoveBit : 1;
00156         bool highcurrentBit : 1;
00157     } flags;
00158 };
00159
00160
00164 struct Stepper
00165 {
00166     const struct StepperConfig *cfg;
00167     fsm_state state;
00168
00169     struct TimerCounter *timer;
00170     uint16_t index;
00171
00172     volatile int16_t step;
00173     volatile int16_t rampStep;
00174 #if RAMP_USE_FLOATING_POINT
00175     float rampValue;
00176     float rampClock;
00177 #else
00178     uint16_t rampValue;
00179     uint32_t rampClock;
00180 #endif
00181 
00182     enum MotorDirection dir;
00183     uint8_t power;
00184
00185     uint16_t speed;
00186     int16_t stepToReach;
00187
00188     int16_t skipIrqs;
00189     int16_t changeCurrentIrqs;
00190
00191     int8_t  enableCheckHome;
00192     int8_t  stepsErrorHome;
00193     int16_t stepsTollMax;
00194     int16_t stepsTollMin;
00195
00196     int16_t stepsDeaf;
00197     int16_t stepsLevel;
00198
00199     int16_t stepCircular;
00200 };
00201
00202
00203 void stepper_init(void);
00204 void stepper_end(void);
00205 struct Stepper *stepper_setup(int index, struct StepperConfig *cfg);
00206 void stepper_disable(void);
00207 void stepper_reset(struct Stepper *motor);
00208 void stepper_home(struct Stepper *motor);
00209 void stepper_setStep(struct Stepper *motor, int16_t step);
00210 int16_t stepper_getStep(struct Stepper *motor);
00211 int16_t stepper_move(struct Stepper *motor, int16_t step, uint16_t speed, int16_t deafstep);
00212 void stepper_stop(struct Stepper *motor);
00213 void stepper_break(struct Stepper *motor, enum StepperState state);
00214 bool stepper_idle(struct Stepper *motor);
00215 bool stepper_readHome(struct Stepper *motor);
00216 bool stepper_readLevel(struct Stepper *motor);
00217 void stepper_updateHalfStep(struct Stepper *motor);
00218 void stepper_updateControlBit(struct Stepper *motor);
00219 void stepper_updateControlMoveBit(struct Stepper *motor);
00220 bool stepper_error(struct Stepper *motor);
00221 bool stepper_inhome(struct Stepper *motor);
00222 int16_t stepper_getLevelStep(struct Stepper *motor);
00223 void stepper_set_stepCircular(struct Stepper *motor, int16_t steps);
00224 int16_t stepper_get_stepCircular(struct Stepper *motor);
00225 int16_t stepper_scaleSteps(struct Stepper *motor, int16_t dir);
00226
00227 #endif /* DRV_STEPPER_H */