jmStepper.h

00001 /*************************************************************************
00002  * @file    jmStepper.h
00003  * @brief   Stepper Control Interface
00004  *          You can use 4,5,6 and 8 wire steppers.
00005  *          Each output pin must have two drivers. 
00006  *          One driver must be the inverted output pin.
00007  *          The other driver is the non inverted output pin.
00008  *          This way the steppers operate in full step, full torque mode.
00009  *             .
00010  * @version 1.0
00011  * @date    Feb 12, 2010
00012  */
00013 
00014 /*
00015    * Module Command Line Interface 
00016      Format: command name (arg info)min..max values [optional argument]
00017       stepper (Stepper number)0..3 (Pin CoilA)0..432 (Pin CoilB)0..432 (Direction)0..1 (Delay)1..255 [(Steps)1..65535] 
00018       stepperStop (steppers value)1..15
00019 
00020       Example for stepper on pins Port1.31 Port1.30   DIP20 DIP19
00021       stepper 0 131 130 1 1     shortest delays between steps (fastest speed) continuous mode
00022       stepper 0 131 130 0 1 1   one step in reverse direction 
00023       stepper 0 131 130 1 10 5  5 steps in foward direction with 10 unit ticks between steps
00024 
00025    * Module Events
00026       GPPST (stepper id)0..3   
00027          On Ending steps, Send Message: GPPST id pinA pinB delay status
00028 
00029    *  Module Feedback and Help messages may be enabled/disabled by Command Lines.
00030          feedback (enable/disable)0..1
00031          help (enable/disable)0..1
00032 
00033 */
00034 
00035 #ifndef jmStepperdef
00036   #define jmStepperdef 1
00037 
00038   #define stepperQty 4 // 4 steppers max 
00039 
00040   #include "LPC17xx.h"
00041 
00042   // Module Data Structure
00043   extern struct StructStepper{
00044    uint8_t cw;  
00045    uint8_t active; 
00046    uint8_t seq;   
00047    uint8_t delay;            
00048    uint8_t eggTimer;  
00049    uint16_t nSteps;
00050    uint16_t pinA;
00051    uint16_t pinB;
00052    uint32_t CoilA_bitValue;
00053    uint32_t CoilB_bitValue;
00054    LPC_GPIO_TypeDef *portCoilA;
00055    LPC_GPIO_TypeDef *portCoilB;
00056  }sStepper[stepperQty];
00057 
00058 #endif
00059 
00060 // Module Prototypes
00061 void StepperInit(void);
00062 void StepperSM(void);
00063 void cli_Stepper(void);
00064 void Step(int number, bool CW);
00065 void cli_StepperStop(void);
00066 void cli_GPPST(void);
00067 void rGPPST(unsigned int id);
00068 void cli_StepSpeed(void);
00069 
00070 //-------------------------- CLIG PLUGS --------------------
00071 // CLIG-INCLUDE
00072 /*
00073 #include "jmStepper.h"
00074 */
00075 
00076 // CLIG-INIT
00077 /*
00078    StepperInit();
00079 */
00080 
00081 // CLIG-TIMER
00082 /*
00083    // Module jmStepper
00084    for(i=0;i<stepperQty;i++)if(sStepper[i].eggTimer>0)sStepper[i].eggTimer--;
00085 */
00086 
00087 // CLIG-CMD
00088 /*
00089 stepper cli_Stepper();
00090 stepperStop cli_StepperStop();
00091 GPPST cli_GPPST();
00092 stepSpeed cli_StepSpeed();
00093 */
00094 
00095 // CLIG-SM
00096 /*
00097      StepperSM();
00098 */
00099 //-------------------------- END CLIG PLUGS --------------------