smc.h

00001 /**
00002  * @file    SMC.h
00003  * @brief   Stepper motor control module
00004  *
00005  * @author  Jeroen Lodder
00006  * @date        Oktober 2013
00007  *
00008  * @{
00009  */
00010 #ifndef StepperMotorControl_H_
00011 #define StepperMotorControl_H_
00012 
00013 #include <stdint.h>
00014 
00015 /**
00016  * @brief Motor control microstepping with Sine or Triangle
00017  * @{
00018  */
00019 #define LUT_SINE                1
00020 #define LUT_TRIANGLE        0
00021 #if (LUT_SINE == LUT_TRIANGLE)
00022     #error At least one LUT needs to Enabled or Disabled, not both.
00023 #endif
00024  /**
00025   * @}
00026     */
00027 
00028 /* Api */
00029 void SMC_init(void);
00030 int SMC_step(int steps, uint8_t dir, uint32_t time_ms, uint8_t free);
00031 uint32_t SMC_idle(void);
00032 void SMC_deinit(void);
00033 void SMC_brake(void);
00034 void SMC_free(void);
00035 void SMC_pause(void);
00036 void SMC_continue(void);
00037 int SMC_getState(void);
00038 void SMC_egg(void);
00039 
00040 /* Example of MOSFET bridges
00041  * ------------------------ V+
00042  * |            |            |          |       
00043  * \H1      \H2      \H3        \H4 
00044  * |--MA--|          |--MB--|       
00045  * \L1      \L2      \L3        \L4 
00046  * |            |            |          |       
00047  * ------------------------ V- 
00048  */
00049 
00050 /** 
00051  * @brief Motor control lookup tables 
00052  * @{
00053  */
00054 const uint16_t LUT_H1[32] = {
00055 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
00056 0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1
00057 };
00058 
00059 const uint16_t LUT_H2[32] = {
00060 0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,
00061 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
00062 };
00063 
00064 const uint16_t LUT_H3[32] = {
00065 1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0,
00066 0,0,0,0,0,0,0,0,0,1,1,1,1,1,1,1
00067 };
00068 
00069 const uint16_t LUT_H4[32] = {
00070 0,0,0,0,0,0,0,0,0,1,1,1,1,1,1,1,
00071 1,1,1,1,1,1,1,1,0,0,0,0,0,0,0,0,
00072 };   
00073 
00074 #if (LUT_SINE == 1)  
00075     const uint16_t LUT_L1[32] = {
00076     0       ,102    ,194    ,286 ,
00077     363     ,424    ,471    ,501 ,
00078     512     ,501    ,471    ,424 ,
00079     363     ,286    ,194    ,102 ,
00080     0     ,0    ,0    ,0   ,
00081     0     ,0    ,0    ,0   ,
00082     0     ,0    ,0    ,0   ,
00083     0     ,0    ,0    ,0   
00084     };
00085 
00086     const uint16_t LUT_L2[32] = {
00087     0      ,0      ,0      ,0      ,
00088     0      ,0      ,0      ,0      ,
00089     0      ,0      ,0      ,0      ,
00090     0      ,0      ,0      ,0      ,
00091     0      ,102  ,194,286 ,
00092     363 ,424 ,471 ,501 ,
00093     512    ,501 ,471 ,424 ,
00094     363 ,286 ,194 ,102.  
00095     };
00096 
00097     const uint16_t LUT_L3[32] =  {
00098     0      ,0      ,0      ,0      ,
00099     0      ,0      ,0      ,0      ,
00100     0      ,102 ,194 ,286 ,
00101     363 ,424 ,471 ,501 ,
00102     512 ,501 ,471 ,424 ,
00103     363 ,286 ,194 ,102  ,
00104     0      ,0      ,0      ,0      ,
00105     0      ,0      ,0      ,0
00106     };
00107 
00108     const uint16_t LUT_L4[32] =  {
00109     512 ,501,471 ,424 ,
00110     363 ,286,194 ,102 ,
00111     0   ,0  ,0   ,0   ,
00112     0   ,0  ,0   ,0   ,
00113     0   ,0  ,0   ,0   ,
00114     0   ,0  ,0   ,0   ,
00115     0   ,102,194 ,286 ,
00116     363 ,424,471 ,501
00117     };
00118 #endif // LUT_SINE
00119 #if (LUT_TRIANGLE == 1)  
00120     const uint16_t LUT_L1[32] = {
00121     0  ,
00122     64 ,
00123     128,
00124     192,
00125     256,
00126     320,
00127     384,
00128     448,
00129     512,
00130     448,
00131     384,
00132     320,
00133     256,
00134     192,
00135     128,
00136     64 ,
00137     0  ,
00138     0  ,
00139     0  ,
00140     0  ,
00141     0  ,
00142     0  ,
00143     0  ,
00144     0  ,
00145     0  ,
00146     0  ,
00147     0  ,
00148     0  ,
00149     0  ,
00150     0  ,
00151     0  ,
00152     0   
00153     };
00154 
00155     const uint16_t LUT_L2[32] = {
00156     0  ,
00157     0  ,
00158     0  ,
00159     0  ,
00160     0  ,
00161     0  ,
00162     0  ,
00163     0  ,
00164     0  ,
00165     0  ,
00166     0  ,
00167     0  ,
00168     0  ,
00169     0  ,
00170     0  ,
00171     0  ,
00172     0  ,
00173     64 ,
00174     128,
00175     192,
00176     256,
00177     320,
00178     384,
00179     448,
00180     512,
00181     448,
00182     384,
00183     320,
00184     256,
00185     192,
00186     128,
00187     64   
00188     };
00189 
00190     const uint16_t LUT_L3[32] =  {
00191     0  ,
00192     0  ,
00193     0  ,
00194     0  ,
00195     0  ,
00196     0  ,
00197     0  ,
00198     0  ,
00199     0  ,
00200     64 ,
00201     128,
00202     192,
00203     256,
00204     320,
00205     384,
00206     448,
00207     512,
00208     448,
00209     384,
00210     320,
00211     256,
00212     192,
00213     128,
00214     64 ,
00215     0  ,
00216     0  ,
00217     0  ,
00218     0  ,
00219     0  ,
00220     0  ,
00221     0  ,
00222     0  
00223     };
00224 
00225     const uint16_t LUT_L4[32] =  {
00226     512,
00227     448,
00228     384,
00229     320,
00230     256,
00231     192,
00232     128,
00233     64 ,
00234     0  ,
00235     0  ,
00236     0  ,
00237     0  ,
00238     0  ,
00239     0  ,
00240     0  ,
00241     0  ,
00242     0  ,
00243     0  ,
00244     0  ,
00245     0  ,
00246     0  ,
00247     0  ,
00248     0  ,
00249     0  ,
00250     0  ,
00251     64 ,
00252     128,
00253     192,
00254     256,
00255     320,
00256     384,
00257     448
00258     };
00259 #endif //LUT_TRIANGLE
00260  /**
00261   * @}
00262     */
00263 #endif //StepperMotorControl_H_
00264 /**
00265  *@}
00266  */
00267