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speed_cntr.h
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speed_cntr.h
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/*This file has been prepared for Doxygen automatic documentation generation.*/
/*! \file *********************************************************************
*
* \brief Header file for speed_cntr.c.
*
* - File: speed_cntr.h
* - Compiler: IAR EWAAVR 4.11A
* - Supported devices: All devices with a 16 bit timer can be used.
* The example is written for ATmega48
* - AppNote: AVR446 - Linear speed control of stepper motor
*
* \author Atmel Corporation: http://www.atmel.com \n
* Support email: [email protected]
*
* $Name: RELEASE_1_0 $
* $Revision: 1.2 $
* $RCSfile: speed_cntr.h,v $
* $Date: 2006/05/08 12:25:58 $
*****************************************************************************/
#ifndef SPEED_CNTR_H
#define SPEED_CNTR_H
/*! \brief Holding data used by timer interrupt for speed ramp calculation.
*
* Contains data used by timer interrupt to calculate speed profile.
* Data is written to it by move(), when stepper motor is moving (timer
* interrupt running) data is read/updated when calculating a new step_delay
*/
typedef struct {
//! What part of the speed ramp we are in.
unsigned char run_state : 3;
//! Direction stepper motor should move.
unsigned char dir : 1;
//! Peroid of next timer delay. At start this value set the accelration rate.
unsigned int step_delay;
//! What step_pos to start decelaration
unsigned int decel_start;
//! Sets deceleration rate.
signed int decel_val;
//! Minimum time delay (max speed)
signed int min_delay;
//! Counter used when accelerateing/decelerateing to calculate step_delay.
signed int accel_count;
} speedRampData;
/*! \Brief Frequency of timer1 in [Hz].
*
* Modify this according to frequency used. Because of the prescaler setting,
* the timer1 frequency is the clock frequency divided by 8.
*/
// Timer/Counter 1 running on 3,686MHz / 8 = 460,75kHz (2,17uS). (T1-FREQ 460750)
//#define T1_FREQ 460750
// Timer/Counter 1 running on 16MHz / 8 = 2000kHz (0.5uS). (T1-FREQ 2000000)
//#define T1_FREQ 2000000
// Timer/Counter 1 running on 8MHz / 8 = 1000kHz (1uS). (T1-FREQ 1000000)
//#define T1_FREQ (F_CPU / 8)
// Timer/Counter 1 running on 8MHz / 64 = 125kHz (8uS). (T1-FREQ 125000)
#define T1_FREQ (F_CPU / 64)
//! Number of (full)steps per round on stepper motor in use.
#define FSPR 200
#ifdef HALFSTEPS
#define SPR (FSPR*2)
#pragma message("[speed_cntr.c] *** Using Halfsteps ***")
#endif
#ifdef FULLSTEPS
#define SPR FSPR
#pragma message("[speed_cntr.c] *** Using Fullsteps ***")
#endif
#ifndef HALFSTEPS
#ifndef FULLSTEPS
#error FULLSTEPS/HALFSTEPS not defined!
#endif
#endif
// Maths constants. To simplify maths when calculating in speed_cntr_Move().
#define ALPHA (2*3.14159/SPR) // 2*pi/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 long )(ALPHA*2*10000000000LL) // ALPHA*2*10000000000
#define A_x20000 (int)(ALPHA*20000) // ALPHA*20000
// Speed ramp states
#define STOP 0
#define ACCEL 1
#define DECEL 2
#define RUN 3
void speed_cntr_Move(signed int step, unsigned int accel, unsigned int decel, unsigned int speed);
void speed_cntr_Init_Timer1(void);
unsigned int min(unsigned int x, unsigned int y);
//! Global status flags
extern struct GLOBAL_FLAGS status;
#endif