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stepper.h

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Jul 17th, 2012
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  1. //---------------------------------------------------------------------------
  2. #include "sio_util.h"
  3.  
  4. //--------------------- Stepper Module specific stuff ---------------------------
  5. typedef struct _STEPMOD {
  6. long pos; //current position
  7. byte ad; //a/d value
  8. unsigned short int st; //current step time
  9. byte inbyte; //input bits
  10. long home; //home position
  11.  
  12. //The following data is stored locally for reference
  13. long cmdpos; //last commanded position
  14. byte cmdspeed; //last commanded speed
  15. byte cmdacc; //last commanded acceleration
  16. short int cmdst; //last commanded step time
  17. double st_period;
  18. byte move_mode; //last commanded move mode
  19. byte min_speed; //minimum running speed
  20. byte stopctrl; //stop control byte
  21. byte outbyte; //output bits
  22. byte homectrl; //homing control byte
  23. byte ctrlmode; //operating control mode byte
  24. byte run_pwm; //pwm for running current limit
  25. byte hold_pwm; //pwm for holding current limit
  26. byte therm_limit; //thermal limit
  27. byte emergency_acc;
  28. byte stat_io; //IO byte, returned in status packet
  29. } STEPMOD;
  30.  
  31.  
  32. //Step Module Command set:
  33. #define RESET_POS 0x00 //Reset encoder counter to 0 (0 bytes)
  34. #define SET_ADDR 0x01 //Set address and group address (2 bytes)
  35. #define DEF_STAT 0x02 //Define status items to return (1 byte)
  36. #define READ_STAT 0x03 //Read value of current status items
  37. #define LOAD_TRAJ 0x04 //Load trajectory data
  38. #define START_MOVE 0x05 //Start pre-loaded trajectory (0 bytes)
  39. #define SET_PARAM 0x06 //Set operating parameters (6 bytes)
  40. #define STOP_MOTOR 0x07 //Stop motor (1 byte)
  41. #define SET_OUTPUTS 0x08 //Set output bits (1 byte)
  42. #define SET_HOMING 0x09 //Define homing mode (1 byte)
  43. #define SET_BAUD 0x0A //Set the baud rate (1 byte)
  44. #define RESERVED 0x0B //
  45. #define SAVE_AS_HOME 0x0C //Store the input bytes and timer val (0 bytes)
  46. #define NOT_USED 0x0D
  47. #define NOP 0x0E //No operation - returns prev. defined status (0 bytes)
  48. #define HARD_RESET 0x0F //RESET - no status is returned
  49.  
  50. //Step Module STATUSITEMS bit definitions:
  51. #define SEND_POS 0x01 //4 bytes data
  52. #define SEND_AD 0x02 //1 byte
  53. #define SEND_ST 0x04 //2 bytes
  54. #define SEND_INBYTE 0x08 //1 byte
  55. #define SEND_HOME 0x10 //4 bytes
  56. #define SEND_ID 0x20 //2 bytes
  57. #define SEND_OUT 0x40 //1 byte
  58.  
  59. //Step Module LOAD_TRAJ control byte bit definitions:
  60. #define LOAD_POS 0x01 //+4 bytes
  61. #define LOAD_SPEED 0x02 //+1 bytes
  62. #define LOAD_ACC 0x04 //+1 bytes
  63. #define LOAD_ST 0x08 //+3 bytes
  64. #define STEP_REV 0x10 //reverse dir
  65. #define START_NOW 0x80 //1 = start now, 0 = wait for START_MOVE command
  66.  
  67. //Step Module SET_PARAM operating mode byte bit definitions:
  68. #define SPEED_8X 0x00 //use 8x timing
  69. #define SPEED_4X 0x01 //use 4x timing
  70. #define SPEED_2X 0x02 //use 2x timing
  71. #define SPEED_1X 0x03 //use 1x timing
  72. #define IGNORE_LIMITS 0x04 //Do not stop automatically on limit switches
  73. #define MOFF_LIMIT 0x08 //Turn Off Motor on Limit
  74. #define MOFF_STOP 0x10 //Turn Off motor on Stop
  75.  
  76. //Step Module STOP_MOTOR control byte bit definitions:
  77. #define STP_ENABLE_AMP 0x01 //1 = raise amp enable output, 0 = lower amp enable
  78. #define STOP_ABRUPT 0x04 //set to stop motor immediately
  79. #define STOP_SMOOTH 0x08 //set to decellerate motor smoothly
  80.  
  81. //Step Module SET_HOMING control byte bit definitions:
  82. #define ON_LIMIT1 0x01 //home on change in limit 1
  83. #define ON_LIMIT2 0x02 //home on change in limit 2
  84. #define HOME_MOTOR_OFF 0x04 //turn motor off when homed
  85. #define ON_HOMESW 0x08 //home on change in index
  86. #define HOME_STOP_ABRUPT 0x10 //stop abruptly when homed
  87. #define HOME_STOP_SMOOTH 0x20 //stop smoothly when homed
  88.  
  89. //Step Module Status byte bit definitions:
  90. #define MOTOR_MOVING 0x01 //Set when motor is moving
  91. #define CKSUM_ERROR 0x02 //checksum error in received command
  92. #define STP_AMP_ENABLED 0x04 //set if amplifier is enabled
  93. #define POWER_ON 0x08 //set when motor power is on
  94. #define AT_SPEED 0x10 //set if the commanded velocity is reached.
  95. #define VEL_MODE 0x20 //set when in velocity profile mode
  96. #define TRAP_MODE 0x40 //set when in trap. profile mode
  97. #define HOME_IN_PROG 0x80 //set while searching for home, cleared when home found
  98.  
  99. //Step Module Input byte bit definitions:
  100. #define ESTOP 0x01 //emergency stop input
  101. #define AUX_IN1 0x02 //auxilliary input #1
  102. #define AUX_IN2 0x04 //auxilliary input #2
  103. #define FWD_LIMIT 0x08 //forward limit switch
  104. #define REV_LIMIT 0x10 //reverse limit switch
  105. #define HOME_SWITCH 0x20 //homing limit switch
  106.  
  107. //Step module function prototypes:
  108. STEPMOD * StepNewMod();
  109.  
  110. DLLENTRY(BOOL) StepGetStat(byte addr);
  111. DLLENTRY(long) StepGetPos(byte addr);
  112. DLLENTRY(byte) StepGetAD(byte addr);
  113. DLLENTRY(unsigned short int) StepGetStepTime(byte addr);
  114. DLLENTRY(byte) StepGetInbyte(byte addr);
  115. DLLENTRY(long) StepGetHome(byte addr);
  116. DLLENTRY(byte) StepGetIObyte(byte addr);
  117. DLLENTRY(byte) StepGetMvMode(byte addr);
  118. DLLENTRY(long) StepGetCmdPos(byte addr);
  119. DLLENTRY(byte) StepGetCmdSpeed(byte addr);
  120. DLLENTRY(byte) StepGetCmdAcc(byte addr);
  121. DLLENTRY(unsigned short int) StepGetCmdST(byte addr);
  122. DLLENTRY(double) StepGetStepPeriod(byte addr);
  123.  
  124. DLLENTRY(byte) StepGetCtrlMode(byte addr);
  125. DLLENTRY(byte) StepGetMinSpeed(byte addr);
  126. DLLENTRY(byte) StepGetRunCurrent(byte addr);
  127. DLLENTRY(byte) StepGetHoldCurrent(byte addr);
  128. DLLENTRY(byte) StepGetThermLimit(byte addr);
  129. DLLENTRY(byte) StepGetEmAcc(byte addr);
  130.  
  131. DLLENTRY(byte) StepGetOutputs(byte addr);
  132. DLLENTRY(byte) StepGetHomeCtrl(byte addr);
  133. DLLENTRY(byte) StepGetStopCtrl(byte addr);
  134.  
  135. DLLENTRY(BOOL) StepSetParam(byte addr, byte mode,
  136. byte minspeed, byte runcur, byte holdcur, byte thermlim, byte em_acc = 255);
  137. DLLENTRY(BOOL) StepLoadTraj(byte addr, byte mode, long pos, byte speed, byte acc, unsigned short int steptime);
  138. DLLENTRY(BOOL) StepLoadUnprofiledTraj(byte addr, byte mode, long pos, double step_period);
  139. DLLENTRY(BOOL) StepResetPos(byte addr);
  140. DLLENTRY(BOOL) StepStopMotor(byte addr, byte mode);
  141. DLLENTRY(BOOL) StepSetOutputs(byte addr, byte outbyte);
  142. DLLENTRY(BOOL) StepSetHoming(byte addr, byte mode);
  143.  
  144. DLLENTRY(int) StepsPerSec2StepTime(double StepsPerSecond, int SpeedFactor);
  145. DLLENTRY(double) StepTime2StepsPerSec(int InitialTimerCount, int SpeedFactor);
  146. DLLENTRY(double) StepsPerSec2mSecPerStep(double StepsPerSecond);
  147. DLLENTRY(double) mSecPerStep2StepsPerSec(double mSecPerStep);
  148.  
  149. DLLENTRY(double) MinStepPeriod(int SpeedFactor);
  150. DLLENTRY(double) MaxStepPeriod(int SpeedFactor);
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