CAvrStepper.h

Go to the documentation of this file.

/*This file has been prepared for Doxygen automatic documentation generation.*/
#pragma once

// Timer/Counter 1 running on 3,686MHz / 8 = 460,75kHz (2,17uS). (T1-FREQ 460750)
//#define T1_FREQ 460750
// Timer1 16MHz / 8
#define T1_FREQ  (2000000L)

#define FSPR 200                        // 1.8 deg/step motor
#define SPR  (FSPR * 2)         // 2x microstepping

// Maths constants. To simplify maths when calculating in speed_cntr_Move().
#define ALPHA           (1.0 / SPR)                                             // 1 rev/spr
#define A_T_x100        ((long)(ALPHA * T1_FREQ * 100)) // (ALPHA / T1_FREQ)*100
#define T1_FREQ_148 ((int)((T1_FREQ *0.676) / 100)) // divided by 100 and scaled by 0.676
#define A_SQ            (long)(ALPHA * 2 * 100000000)   // ALPHA*2*10000000000
#define A_x20000        ((int)(ALPHA * 20000))          // ALPHA*20000

class CAvrStepper
{
#if 0
public: // Should be private! KJD
        // Speed ramp states
        static const char STOP  = 0;
        static const char ACCEL = 1;
        static const char DECEL = 2;
        static const char RUN   = 3;
        static const char NEED_INIT = 4;
        static const char STOPPING = 5;
#endif
// Direction of stepper motor movement
private:
    volatile unsigned char runState;    
        unsigned int  stepDelay;                        // Period of next timer delay
        unsigned char continuousFlag;           // Set flag for continuous run
                                                                                // At start this value set the accelration rate.
        unsigned int  decelStart;                       // What step_pos to start decelaration
        int                       decelVal;                             // Sets deceleration rate.
        unsigned int  minDelay;                         // Minimum time delay (max speed)
        int                       accelCount;                   // Counter used when accel/decel
                                                                                //  to calculate step_delay.
        unsigned int  stepCount;                        // Counting steps in accel/decel modes
        unsigned int  runCount;                         // Counting steps in run mode
        int                       lastStepCount;                // When I want to know how many steps took place
        int                       lastRunCount;                 // For debug right now.
        unsigned int  maxSpeedLimit;            // Number of steps before max speed.
        unsigned int  remainder;                        // Remainder from nextPeriod() to incrase accurancy
private:
        CProfile      *profile;                         // Reference to axis profile
        void nextPeriod(void);                          // Calculates stepDelay for next step
        unsigned long squareRoot(unsigned long x);      // Calculates long square root
public:
        void setProfile(CProfile *profile);
        void move(int step);
        void doStep(void);
        void changeSpeed(CProfile &profile);
        void setContinuous(unsigned int x);
        char readRunState(void);
};

inline void CAvrStepper::setProfile(CProfile *profile)
{
        this->profile = profile;
}

inline char CAvrStepper::readRunState(void)
{
        return runState;
}

inline int CAvrStepper::readLastStepCount(void)
{
        return lastStepCount;
}

inline int CAvrStepper::readLastRunCount(void)
{
        return lastRunCount;
}