CStepPeriod.h

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

#include "CProfile.h"

//const long timerFreq = F_CPU / 8;                     // 8 is timer prescaler
//const int   T1_FREQ_148 = timerFreq * 0.676 / 100;    // divided by 100 and scaled by 0.676

struct coefficients
{
        const long A_T_x100;
        const long A_SQ;
        const int  A_x20000;
};

class CStepPeriod
{
public:
        static const long timerFreq = F_CPU / 8;                        // 8 is timer prescaler
private:
        static const int  T1_FREQ_148 = timerFreq * 0.676 / 100;        // divided by 100 and scaled by 0.676

        static struct coefficients c[];
        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  maxSpeedLimit;            // Number of steps before max speed.
        unsigned int  remainder;                        // Remainder from nextPeriod() to incrase accurancy

        CProfile      *profile;                         // Reference to axis profile
        CRunProfile   *pRunProfile;                     // Reference to axis run profile

        void nextPeriod(void);                          // Calculates stepDelay for next step
        unsigned long squareRoot(unsigned long x);      // Calculates long square root

public:
        void init(CProfile *, CRunProfile *);
        void move(int step);
        void doStep(void);
        void changeSpeed(void);
        void off(void);
};