34 lines
1.2 KiB
C
34 lines
1.2 KiB
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_TIMER_CLOCK 64 // 64Mhz
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#define PSE_STEPPER_SCREW_PITCH 1000 // M6 : 1000µm / rotation
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#define PSE_STEPPER_STEPS_PER_ROTATION 3200 // NEMA17 200 steps/rotation with 16x microstepping
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#define PSE_STEPPER_JOG_PRESC 64 // jog step frequency 50kHz
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#define PSE_STEPPER_JOG_PERIOD 25 // 64Mhz / 64 / 10 / 2
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#define PSE_STEPPER_WARN_MAX_KSPS 10 // maximum (kilo) steps per second before we issue a warning
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void pse_sp_start_axis(pse_stepper_conf* conf, pse_stepper_status* status);
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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* unit);
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void pse_sp_jog_speed(pse_stepper_conf* conf, pse_stepper_status* sta, int status);
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void pse_sp_set_dir_all(pse_unit* units, int unit_num, int dir);
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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_stepper_planer_compute_sps(pse_unit* unit);
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#endif /* INC_PSE_STEPPER_PLANER_H_ */
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