31 lines
927 B
C
31 lines
927 B
C
/*
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* pse_stepper_planer.h
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*
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* Created on: Aug 14, 2023
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* Author: leo
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*/
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#ifndef INC_PSE_STEPPER_PLANER_H_
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#define INC_PSE_STEPPER_PLANER_H_
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#include "PSE_unit.h"
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#define PSE_STEPPER_INTERRUPT_RATE 20000 // 64Mhz (Presc 64, count 50) : 20kHz
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#define PSE_STEPPER_SCREW_PITCH 1000 // M6 : 1000µm / rotation
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#define PSE_STEPPER_STEPS_PER_ROTATION 6400 // NEMA17 200 steps/rotation with 32x microstepping
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void pse_sp_start_axis(pse_stepper_conf* conf);
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void pse_sp_stop_axis(pse_stepper_conf* conf);
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void pse_sp_set_dir(pse_stepper_conf* conf, int dir);
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//int pse_sp_get_dir(pse_stepper_conf* conf);
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void pse_stepper_planer_tick(pse_unit* units, uint8_t units_num);
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void pse_sp_start_all(pse_unit* units, int unit_num);
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void pse_sp_stop_all(pse_unit* units, int unit_num);
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void pse_sp_set_timer(TIM_HandleTypeDef* tim);
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void pse_stepper_planer_compute_sps(pse_unit* unit);
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#endif /* INC_PSE_STEPPER_PLANER_H_ */
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