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