228 lines
7.8 KiB
C
228 lines
7.8 KiB
C
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/**
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* \file
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* <!--
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* Copyright 2004, 2008 Develer S.r.l. (http://www.develer.com/)
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* All Rights Reserved.
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* -->
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*
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* \brief Driver to control stepper motor
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*
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*
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* \author Francesco Michelini <francesco.michelini@seacfi.com>
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* \author Giovanni Bajo <rasky@develer.com>
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* \author Bernie Innocenti <bernie@codewiz.org>
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* \author Simone Zinanni <s.zinanni@develer.com>
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* \author Daniele Basile <asterix@develer.com>
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*
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* $WIZ$ module_name = "stepper"
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* $WIZ$ module_depends = "timer", "ramp"
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* $WIZ$ module_configuration = "bertos/cfg/cfg_stepper.h"
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* $WIZ$ module_hw = "bertos/hw/hw_stepper.h"
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* $WIZ$ module_supports = "not avr"
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*/
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#ifndef DRV_STEPPER_H
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#define DRV_STEPPER_H
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#include <cfg/compiler.h>
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#include <algo/ramp.h>
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// Forward declaration
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struct Stepper;
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///< Special value for steps to move the motor continuously
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#define STEPS_INFINITE_POSITIVE ((int16_t)0xFFFF)
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#define STEPS_INFINITE_NEGATIVE ((int16_t)0x8FFF)
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///< Maximum value for stepper steps
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#define MAX_STEPS 0x7FFF
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///< Default value -> no level sensor associated to the motor
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#define MOTOR_NO_LEVEL_SENSOR 0xFFFF
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///< Default value -> no home sensor associated to the motor
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#define MOTOR_NO_HOME_SENSOR 0xFFFF
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///< Default value for deafsteps in normal movement (no level sensor)
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#define DEAFSTEPS_DEFAULT MAX_STEPS
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///< Out-of-band values for speed
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//\{
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#define SPEED_STOPPED 0xFFFF ///< motor is stopped
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#define SPEED_HOMING 0xFFFE ///< motor is homing
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//\}
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// default values for steps inside and outside home sensor
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#define MOTOR_INSIDE_HOME_STEPS 10
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#define MOTOR_OUTSIDE_HOME_STEPS 40
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// default value for home sensor tolerance
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#define MOTOR_TOLERANCE_HOME_STEPS 2
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// default value for consecutive error
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#define MOTOR_CONSECUTIVE_ERROR_STEPS 3
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// values for the home control enabling
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enum MotorHomeSensorCheck
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{
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MOTOR_HOMESENSOR_NOCHECK = 0,
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MOTOR_HOMESENSOR_INCHECK,
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MOTOR_HOMESENSOR_OUTCHECK
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};
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// default value in ms for home procedure timeout
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#define MOTOR_TIMEOUT_HOME 20000
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/**
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* Motor direction
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*/
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enum MotorDirection
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{
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DIR_POSITIVE = 1, ///< moving away from zero (which is the home)
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DIR_NONE = 0, ///< no movement
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DIR_NEGATIVE = -1 ///< moving towards towards zero (which is the home)
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};
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#define STEPPER_MAX_STATES 32
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/**
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* Stepper state-machine conditions
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*/
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enum StepperState
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{
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MSTS_UNINIT, ///< stepper_init() not yet called
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MSTS_RUN, ///< running
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MSTS_IDLE, ///< waiting for a command
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MSTS_PREIDLE, ///< waiting before going low-current
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MSTS_PRERUN, ///< waiting after high-current
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// Home procedure
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MSTS_PREINIT, ///< preparing to initialize ;-)
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MSTS_INIT, ///< initializing home procedure
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MSTS_ENTERING, ///< entering home sensor
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MSTS_LEAVING, ///< moving away from home (inside the sensor)
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MSTS_OUTHOME, ///< moving away from home (outside the sensor)
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MSTS_ERROR, ///< error status
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///< Dummy entry to guarantee the right underlying size for the enum
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MSTS_DUMMY_ALIGN = STEPPER_MAX_STATES - 1
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};
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///< Pointer to a function handling a state of the FSM driving the motor
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typedef enum StepperState (*fsm_state)(struct Stepper* );
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///< Pointer to a isr stepper function
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typedef void (*stepper_isr_t)(struct Stepper* );
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///< Time for steppers motor
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typedef uint16_t stepper_time_t;
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/**
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* Stepper configuration
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*/
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struct StepperConfig
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{
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struct Ramp ramp; ///< Acceleration ramp
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uint16_t pulse; ///< (clocks) Length of the clock pulse used to drive the motor
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fsm_state states[STEPPER_MAX_STATES]; ///< Custom FSM states (or NULL for default handling)
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int16_t stepsInHome; ///< Additional steps to do after home detection
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int16_t stepsOutHome; ///< Additional steps to do leaving sensor in home procedure
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uint16_t clocksHome; ///< Clock ticks for steps done when searching home
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int16_t stepsTollOutHome; ///< tolerance steps leaving home sensor control while moving
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int16_t stepsTollInHome; ///< tolerance steps leaving home sensor control while moving
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int16_t timeoutHome; ///< timeout in ms in home procedure
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uint8_t powerRun; ///< Vref voltage when motor runs (0-255)
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uint8_t powerIdle; ///< Vref voltage when motor is idle (0-255)
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uint16_t homeSensorIndex; ///< Home Sensor index in the sensor list
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uint16_t levelSensorIndex; ///< Level Sensor index in the sensor list
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struct
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{
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bool homeInverted : 1; ///< True for inverted home sensor
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bool halfStep : 1; ///< True for half-step mode
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bool axisInverted : 1; ///< True if the CW/CCW are inverted from default
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bool levelInverted : 1; ///< True for inverted level sensor
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bool controlBit : 1; ///< Control bit status
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bool controlMoveBit : 1; ///< Control bit status in movement
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bool highcurrentBit : 1; ///< Mantain high current bit status
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} flags;
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};
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/**
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* Motor context structure
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*/
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struct Stepper
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{
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const struct StepperConfig *cfg; ///< Configuration of this stepper
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fsm_state state; ///< Motor FSM state function
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struct TimerCounter *timer; ///< HW timer bound to this motor
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uint16_t index; ///< Index of the motor
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volatile int16_t step; ///< Steps counter (used in interrupt)
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volatile int16_t rampStep; ///< Current position in acceleration ramp (used in intrrupt)
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#if RAMP_USE_FLOATING_POINT
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float rampValue; ///< Nr of Ticks for current step in ramp
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float rampClock; ///< Cumulative nr of ticks for current step in ramp
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#else
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uint16_t rampValue;
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uint32_t rampClock;
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#endif
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enum MotorDirection dir; ///< Current direction
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uint8_t power; ///< Current power
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uint16_t speed; ///< Timer compare value to reach
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int16_t stepToReach; ///< Final position to reach when running
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int16_t skipIrqs; ///< Counter used to skip IRQs (delay state changes)
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int16_t changeCurrentIrqs; ///< Counter used to change current level (delay state changes)
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int8_t enableCheckHome; ///< enable the home sensor control during movement
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int8_t stepsErrorHome; ///< number of consecutive steps in error
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int16_t stepsTollMax; ///< home sensor out max position
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int16_t stepsTollMin; ///< home sensor in max position
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int16_t stepsDeaf; ///< Position after which start the level check
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int16_t stepsLevel; ///< Position of level contact
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int16_t stepCircular; ///< Steps corresponding to 360 degrees (rotating motor)
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};
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void stepper_init(void);
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void stepper_end(void);
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struct Stepper *stepper_setup(int index, struct StepperConfig *cfg);
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void stepper_disable(void);
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void stepper_reset(struct Stepper *motor);
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void stepper_home(struct Stepper *motor);
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void stepper_setStep(struct Stepper *motor, int16_t step);
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int16_t stepper_getStep(struct Stepper *motor);
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int16_t stepper_move(struct Stepper *motor, int16_t step, uint16_t speed, int16_t deafstep);
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void stepper_stop(struct Stepper *motor);
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void stepper_break(struct Stepper *motor, enum StepperState state);
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bool stepper_idle(struct Stepper *motor);
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bool stepper_readHome(struct Stepper *motor);
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bool stepper_readLevel(struct Stepper *motor);
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void stepper_updateHalfStep(struct Stepper *motor);
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void stepper_updateControlBit(struct Stepper *motor);
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void stepper_updateControlMoveBit(struct Stepper *motor);
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bool stepper_error(struct Stepper *motor);
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bool stepper_inhome(struct Stepper *motor);
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int16_t stepper_getLevelStep(struct Stepper *motor);
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void stepper_set_stepCircular(struct Stepper *motor, int16_t steps);
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int16_t stepper_get_stepCircular(struct Stepper *motor);
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int16_t stepper_scaleSteps(struct Stepper *motor, int16_t dir);
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#endif /* DRV_STEPPER_H */
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