Diff: jmStepper.h

Revision:

0:9112e09912db

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/jmStepper.h	Sat Feb 12 16:50:25 2011 +0000
@@ -0,0 +1,99 @@
+/*************************************************************************
+ * @file	jmStepper.h
+ * @brief	Stepper Control Interface
+ *          You can use 4,5,6 and 8 wire steppers.
+ *          Each output pin must have two drivers. 
+ * 			One driver must be the inverted output pin.
+ *          The other driver is the non inverted output pin.
+ *          This way the steppers operate in full step, full torque mode.
+ *             .
+ * @version	1.0
+ * @date	Feb 12, 2010
+ */
+
+/*
+   * Module Command Line Interface 
+     Format: command name (arg info)min..max values [optional argument]
+      stepper (Stepper number)0..3 (Pin CoilA)0..432 (Pin CoilB)0..432 (Direction)0..1 (Delay)1..255 [(Steps)1..65535] 
+      stepperStop (steppers value)1..15
+
+      Example for stepper on pins Port1.31 Port1.30	  DIP20 DIP19
+	  stepper 0 131 130 1 1     shortest delays between steps (fastest speed) continuous mode
+      stepper 0 131 130 0 1 1   one step in reverse direction 
+      stepper 0 131 130 1 10 5  5 steps in foward direction with 10 unit ticks between steps
+
+   * Module Events
+      GPPST (stepper id)0..3   
+         On Ending steps, Send Message: GPPST id pinA pinB delay status
+
+   *  Module Feedback and Help messages may be enabled/disabled by Command Lines.
+		 feedback (enable/disable)0..1
+         help (enable/disable)0..1
+
+*/
+
+#ifndef jmStepperdef
+  #define jmStepperdef 1
+
+  #define stepperQty 4 // 4 steppers max 
+
+  #include "LPC17xx.h"
+
+  // Module Data Structure
+  extern struct StructStepper{
+   uint8_t cw;  
+   uint8_t active; 
+   uint8_t seq;   
+   uint8_t delay;            
+   uint8_t eggTimer;  
+   uint16_t nSteps;
+   uint16_t pinA;
+   uint16_t pinB;
+   uint32_t CoilA_bitValue;
+   uint32_t CoilB_bitValue;
+   LPC_GPIO_TypeDef *portCoilA;
+   LPC_GPIO_TypeDef *portCoilB;
+ }sStepper[stepperQty];
+
+#endif
+
+// Module Prototypes
+void StepperInit(void);
+void StepperSM(void);
+void cli_Stepper(void);
+void Step(int number, bool CW);
+void cli_StepperStop(void);
+void cli_GPPST(void);
+void rGPPST(unsigned int id);
+void cli_StepSpeed(void);
+
+//-------------------------- CLIG PLUGS --------------------
+// CLIG-INCLUDE
+/*
+#include "jmStepper.h"
+*/
+
+// CLIG-INIT
+/*
+   StepperInit();
+*/
+
+// CLIG-TIMER
+/*
+   // Module jmStepper
+   for(i=0;i<stepperQty;i++)if(sStepper[i].eggTimer>0)sStepper[i].eggTimer--;
+*/
+
+// CLIG-CMD
+/*
+stepper cli_Stepper();
+stepperStop cli_StepperStop();
+GPPST cli_GPPST();
+stepSpeed cli_StepSpeed();
+*/
+
+// CLIG-SM
+/*
+     StepperSM();
+*/
+//-------------------------- END CLIG PLUGS --------------------