CLmd18245.h

#pragma once

#include "CBitio.h"
#include "CMotor.h"

// This is the step data tables
//  Nibbles are [B Data][A Data]
const char fullStepData[] =
        { 0x0F, 0xF0};
const char halfStepWTData[] =
        //{ 0x0F, 0xFF, 0xF0, 0xFF };
        { 0x0F, 0xBB, 0xF0, 0xBB };
const char quarterStepWTData[] =
        { 0x0F, 0x6E, 0xBB, 0xE6, 0xF0, 0xE6, 0xBB, 0x6E };
const char eigthStepWTData[] =
        { 0x0F, 0x3F, 0x6E, 0x8C, 0xBB, 0xC8, 0xE6, 0xF3,
          0xF0, 0xF3, 0xE6, 0xC8, 0xBB, 0x8C, 0x6E, 0x3F };
const char sixteenthStepWTData[] =
        { 0x0F, 0x1F, 0x3F, 0x4E, 0x6E, 0x7D, 0x8C, 0xAC,
          0xBB, 0xCA, 0xC8, 0xD7, 0xE6, 0xE4, 0xF3, 0xF1,
          0xF0, 0xF1, 0xF3, 0xE4, 0xE6, 0xD7, 0xC8, 0xCA,
          0xBB, 0xAC, 0x8C, 0x7D, 0x6E, 0x4E, 0x3F, 0x1F };

class CLmd18245:public CMotor                   // Define hardware interface to LMD18245 devices
{
#define DATA_PORT       PORTD                           // Define the data port
CBit(B, 6, WO) dirA;    // Define the direction A bit
CBit(B, 5, WO) dirB;    // Define the direction B bit
CBit(B, 4, WO) brake;   // Brake output bit - here for initialization to 0

public:
        void init(CProfile *pProfile, CRunProfile *pRunProfile);        // Initialize device
        void initHardware(void);
        void setBrakeType(char x);                      // 0 clear H-bridge data, 1 short coils, 2 nothing
        void brakeOn(void);                                     // Turn on brake
        void brakeOff(void);                            // Turn off brake

        void profileChanged(void);                      // Process new profile settings
        void changeDirection(void);                     // Change current direction
        void setDirection(void);
        void step(void);                                        // Do a step (within a sequence of many)
        void singleStep(void);                          // Do one step
};