309 lines
7.4 KiB
C
309 lines
7.4 KiB
C
/**
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* \file
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* <!--
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* This file is part of BeRTOS.
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*
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* Bertos is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* As a special exception, you may use this file as part of a free software
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* library without restriction. Specifically, if other files instantiate
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* templates or use macros or inline functions from this file, or you compile
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* this file and link it with other files to produce an executable, this
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* file does not by itself cause the resulting executable to be covered by
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* the GNU General Public License. This exception does not however
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* invalidate any other reasons why the executable file might be covered by
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* the GNU General Public License.
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*
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* Copyright 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 Stepper hardware-specific definitions
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*
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*
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* \author Daniele Basile <asterix@develer.com>
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*/
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#ifndef HW_STEPPER_H
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#define HW_STEPPER_H
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#include <hw/hw_cpufreq.h>
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#include <cfg/macros.h>
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#include <drv/timer.h>
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#warning TODO:This is an example implentation, you must implement it!
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#define STEPPER_STROBE_INIT \
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do { \
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/* put init code for strobe */ \
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} while (0)
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#define STEPPER_STROBE_ON do { /* Implement me! */ } while(0)
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#define STEPPER_STROBE_OFF do { /* Implement me! */ } while(0)
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/**
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* CPU clock frequency is divided by 2^STEPPER_PRESCALER_LOG2 to
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* obtain stepper clock.
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*/
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#define STEPPER_PRESCALER_LOG2 1
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/**
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* Stepper timer clock frequency.
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*/
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#define STEPPER_CLOCK ((CPU_FREQ) >> STEPPER_PRESCALER_LOG2)
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/**
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* us delay to reset a stepper motor.
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* This is the time neccessary to reset
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* the stepper controll chip. (see datasheet for more detail).
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*/
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#define STEPPER_RESET_DELAY 1
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/*
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* Pins define for each stepper
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*/
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#define STEPPER_1_CW_CCW_PIN 0
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#define STEPPER_1_HALF_FULL_PIN 0
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#define STEPPER_1_CONTROL_PIN 0
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#define STEPPER_1_ENABLE_PIN 0
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#define STEPPER_1_RESET_PIN 0
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/* put here other stepper motor */
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#define STEPPER_1_SET do { /* Implement me! */ } while(0)
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/* add here the set for other stepper motor */
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#define STEPPER_1_CLEAR do { /* Implement me! */ } while(0)
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/* add here the clear for other stepper motor */
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/*
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* Generic macro definition
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*/
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/*
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* Stepper init macro
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*/
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#define STEPPER_PIN_INIT_MACRO(port, index) do { \
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/* Add here init pin code */ \
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} while (0)
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/*
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* Stepper commands macros
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*/
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#define STEPPER_SET_CW(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_CCW(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_HALF(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_FULL(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_CONTROL_LOW(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_CONTROL_HIGHT(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_ENABLE(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_DISABLE(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_RESET_ENABLE(index) do { /* Implement me! */ } while (0)
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#define STEPPER_SET_RESET_DISABLE(index) do { /* Implement me! */ } while (0)
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/*
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* Reset stepper macro
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*/
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#define STEPPER_RESET_MACRO(index) do { \
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STEPPER_SET_RESET_ENABLE(index); \
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timer_udelay(STEPPER_RESET_DELAY); \
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STEPPER_SET_RESET_DISABLE(index); \
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} while (0)
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/*
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* Set half or full step macro
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*/
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#define STEPPER_SET_STEP_MODE_MACRO(index, flag) do { \
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if (flag) \
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STEPPER_SET_HALF(index); \
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else \
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STEPPER_SET_FULL(index); \
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} while (0)
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/*
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* Set control status macro
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*/
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#warning TODO: This macro is not implemented (see below)
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#define STEPPER_SET_CONTROL_BIT_MACRO(index, flag) do { \
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/* if (flag) */ \
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/* WARNING This macros not implemented */ \
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/* else */ \
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/* WARNING This macros not implemented */ \
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} while (0)
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/*
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* Set current power macro
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*/
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#warning TODO: This macro is not implemented (see below)
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#define STEPPER_SET_POWER_CURRENT_MACRO(index, flag) do { \
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/* if (flag) */ \
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/* WARNING This macrois not implemented */ \
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/* else */ \
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/* WARNING This macrois not implemented */ \
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} while (0)
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/*
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* Set rotation of stepper motor
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* - dir = 1: positive rotation
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* - dir = 0: no motor moviment
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* - dir = -1: negative rotation
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*
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*/
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#define STEPPER_SET_DIRECTION_MACRO(index, dir) do { \
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switch (dir) \
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{ \
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case 1: \
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STEPPER_SET_CW(index); \
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break; \
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case -1: \
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STEPPER_SET_CCW(index); \
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break; \
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case 0: \
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break; \
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} \
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} while (0)
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/*
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* Define macros for manage low level of stepper.
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*/
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#define STEPPER_INIT() do { \
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STEPPER_PIN_INIT_MACRO(A, 1); \
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/* Add here code for other stepper motor */ \
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} while (0)
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/*
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* Enable select stepper motor
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*/
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#define STEPPER_ENABLE(index) do { \
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switch (index) \
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{ \
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case 1: \
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STEPPER_SET_ENABLE(1); \
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break; \
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/* Add here code for other stepper motor */ \
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} \
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} while (0)
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/*
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* Enable all stepper connect to micro
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*/
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#define STEPPER_ENABLE_ALL() do { \
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STEPPER_SET_ENABLE(1); \
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/* Add here code for other stepper motor */ \
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} while (0)
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/*
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* Disable select stepper motor
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*/
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#define STEPPER_DISABLE(index) do { \
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switch (index) \
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{ \
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case 1: \
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STEPPER_SET_DISABLE(1); \
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break; \
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/* Add here code for other stepper motor */ \
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} \
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} while (0)
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/*
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* Disable all stepper connect to micro
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*/
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#define STEPPER_DISABLE_ALL() do { \
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STEPPER_SET_DISABLE(1); \
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/* Add here code for other stepper motor */ \
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} while (0)
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/*
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* Reset selected stepper motor
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*/
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#define STEPPER_RESET(index) do { \
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switch (index) \
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{ \
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case 1: \
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STEPPER_RESET_MACRO(1); \
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break; \
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/* Add here code for other stepper motor */ \
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} \
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} while (0)
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/*
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* Reset all stepper motor
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*/
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#define STEPPER_RESET_ALL() do { \
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STEPPER_RESET_MACRO(1) \
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/* Add here code for other stepper motor */ \
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} while (0)
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// Set half/full step macros
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#define STEPPER_SET_HALF_STEP(index, flag) do { \
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switch (index) \
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{ \
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case 1: \
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STEPPER_SET_STEP_MODE_MACRO(1, flag); \
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break; \
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/* Add here code for other stepper motor */ \
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} \
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} while (0)
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// Control status
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#define STEPPER_SET_CONTROL_BIT(index, flag) do { \
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switch (index) \
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{ \
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case 1: \
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STEPPER_SET_CONTROL_BIT_MACRO(1, flag); \
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break; \
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/* Add here code for other stepper motor */ \
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} \
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} while (0)
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// Set stepper power current
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#define STEPPER_SET_POWER_CURRENT(index, flag) do { \
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switch (index) \
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{ \
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case 1: \
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STEPPER_SET_POWER_CURRENT_MACRO(1, flag); \
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break; \
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/* Add here code for other stepper motor */ \
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} \
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} while (0)
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// Set rotation dirction of stepper motor
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#define STEPPER_SET_DIRECTION(index, dir) do { \
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switch (index) \
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{ \
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case 1: \
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STEPPER_SET_DIRECTION_MACRO(1, dir); \
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break; \
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/* Add here code for other stepper motor */ \
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} \
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} while (0)
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#endif /* HW_STEPPER_H */
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