57 lines
1.5 KiB
C
57 lines
1.5 KiB
C
|
//sm4.h - simple 4-axis stepper control
|
||
|
|
#ifndef _SM4_H
|
||
|
|
#define _SM4_H
|
||
|
|
|
||
|
|
#include <inttypes.h>
|
||
|
|
#include "config.h"
|
||
|
|
|
||
|
|
|
||
|
|
#if defined(__cplusplus)
|
||
|
|
extern "C" {
|
||
|
|
#endif //defined(__cplusplus)
|
||
|
|
|
||
|
|
|
||
|
|
// callback prototype for stop condition (return 0 - continue, return 1 - stop)
|
||
|
|
typedef uint8_t (*sm4_stop_cb_t)();
|
||
|
|
|
||
|
|
// callback prototype for updating position counters
|
||
|
|
typedef void (*sm4_update_pos_cb_t)(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
|
||
|
|
|
||
|
|
// callback prototype for calculating delay
|
||
|
|
typedef uint16_t (*sm4_calc_delay_cb_t)(uint16_t nd, uint16_t dd);
|
||
|
|
|
||
|
|
|
||
|
|
// callback pointer - stop
|
||
|
|
extern sm4_stop_cb_t sm4_stop_cb;
|
||
|
|
|
||
|
|
// callback pointer - update_pos
|
||
|
|
extern sm4_update_pos_cb_t sm4_update_pos_cb;
|
||
|
|
|
||
|
|
// callback pointer - calc_delay
|
||
|
|
extern sm4_calc_delay_cb_t sm4_calc_delay_cb;
|
||
|
|
|
||
|
|
|
||
|
|
// returns direction for single axis (0 - positive, 1 - negative)
|
||
|
|
extern uint8_t sm4_get_dir(uint8_t axis);
|
||
|
|
|
||
|
|
// set direction for single axis (0 - positive, 1 - negative)
|
||
|
|
extern void sm4_set_dir(uint8_t axis, uint8_t dir);
|
||
|
|
|
||
|
|
// returns direction of all axes as bitmask (0 - positive, 1 - negative)
|
||
|
|
extern uint8_t sm4_get_dir_bits(void);
|
||
|
|
|
||
|
|
// set direction for all axes as bitmask (0 - positive, 1 - negative)
|
||
|
|
extern void sm4_set_dir_bits(uint8_t dir_bits);
|
||
|
|
|
||
|
|
// step axes by bitmask
|
||
|
|
extern void sm4_do_step(uint8_t axes_mask);
|
||
|
|
|
||
|
|
// xyze linear-interpolated relative move, returns remaining diagonal steps (>0 means stoped)
|
||
|
|
extern uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
|
||
|
|
|
||
|
|
|
||
|
|
#if defined(__cplusplus)
|
||
|
|
}
|
||
|
|
#endif //defined(__cplusplus)
|
||
|
|
#endif //_SM4_H
|