Jean Mercier
/
jmAll
Command all jmCLIG modules from serial port
jmStepper.h
- Committer:
- jm
- Date:
- 2011-02-12
- Revision:
- 0:9112e09912db
File content as of revision 0:9112e09912db:
/************************************************************************* * @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 --------------------