+++ /dev/null
-/**
- * \file
- * <!--
- * This file is part of BeRTOS.
- *
- * Bertos is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
- *
- * As a special exception, you may use this file as part of a free software
- * library without restriction. Specifically, if other files instantiate
- * templates or use macros or inline functions from this file, or you compile
- * this file and link it with other files to produce an executable, this
- * file does not by itself cause the resulting executable to be covered by
- * the GNU General Public License. This exception does not however
- * invalidate any other reasons why the executable file might be covered by
- * the GNU General Public License.
- *
- * Copyright 2008 Develer S.r.l. (http://www.develer.com/)
- * All Rights Reserved.
- * -->
- *
- * \brief Stepper hardware-specific definitions
- *
- * \version $Id$
- *
- * \author Daniele Basile <asterix@develer.com>
- */
-
-
-#ifndef HW_STEPPER_H
-#define HW_STEPPER_H
-
-#include <hw/hw_cpufreq.h>
-
-#include <cfg/macros.h>
-
-#include <drv/timer.h>
-
-#warning TODO:This is an example implentation, you must implement it!
-
-#define STEPPER_STROBE_INIT \
-do { \
- /* put init code for strobe */ \
-} while (0)
-
-
-#define STEPPER_STROBE_ON do { /* Implement me! */ } while(0)
-#define STEPPER_STROBE_OFF do { /* Implement me! */ } while(0)
-
-/**
- * CPU clock frequency is divided by 2^STEPPER_PRESCALER_LOG2 to
- * obtain stepper clock.
- */
-#define STEPPER_PRESCALER_LOG2 1
-
-/**
- * Stepper timer clock frequency.
- */
-#define STEPPER_CLOCK ((CPU_FREQ) >> STEPPER_PRESCALER_LOG2)
-
-/**
- * us delay to reset a stepper motor.
- * This is the time neccessary to reset
- * the stepper controll chip. (see datasheet for more detail).
- */
-#define STEPPER_RESET_DELAY 1
-
-/*
- * Pins define for each stepper
- */
-#define STEPPER_1_CW_CCW_PIN 0
-#define STEPPER_1_HALF_FULL_PIN 0
-#define STEPPER_1_CONTROL_PIN 0
-#define STEPPER_1_ENABLE_PIN 0
-#define STEPPER_1_RESET_PIN 0
-
-/* put here other stepper motor */
-
-#define STEPPER_1_SET do { /* Implement me! */ } while(0)
-/* add here the set for other stepper motor */
-
-#define STEPPER_1_CLEAR do { /* Implement me! */ } while(0)
-/* add here the clear for other stepper motor */
-
-/*
- * Generic macro definition
- */
-
-/*
- * Stepper init macro
- */
-#define STEPPER_PIN_INIT_MACRO(port, index) do { \
- /* Add here init pin code */ \
- } while (0)
-
-/*
- * Stepper commands macros
- */
-#define STEPPER_SET_CW(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_CCW(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_HALF(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_FULL(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_CONTROL_LOW(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_CONTROL_HIGHT(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_ENABLE(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_DISABLE(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_RESET_ENABLE(index) do { /* Implement me! */ } while (0)
-#define STEPPER_SET_RESET_DISABLE(index) do { /* Implement me! */ } while (0)
-
-
-/*
- * Reset stepper macro
- */
-
-#define STEPPER_RESET_MACRO(index) do { \
- STEPPER_SET_RESET_ENABLE(index); \
- timer_udelay(STEPPER_RESET_DELAY); \
- STEPPER_SET_RESET_DISABLE(index); \
- } while (0)
-
-/*
- * Set half or full step macro
- */
-#define STEPPER_SET_STEP_MODE_MACRO(index, flag) do { \
- if (flag) \
- STEPPER_SET_HALF(index); \
- else \
- STEPPER_SET_FULL(index); \
- } while (0)
-
-/*
- * Set control status macro
- */
-#warning TODO: This macro is not implemented (see below)
-
-#define STEPPER_SET_CONTROL_BIT_MACRO(index, flag) do { \
- /* if (flag) */ \
- /* WARNING This macros not implemented */ \
- /* else */ \
- /* WARNING This macros not implemented */ \
- } while (0)
-
-/*
- * Set current power macro
- */
-#warning TODO: This macro is not implemented (see below)
-
-#define STEPPER_SET_POWER_CURRENT_MACRO(index, flag) do { \
- /* if (flag) */ \
- /* WARNING This macrois not implemented */ \
- /* else */ \
- /* WARNING This macrois not implemented */ \
- } while (0)
-
-/*
- * Set rotation of stepper motor
- * - dir = 1: positive rotation
- * - dir = 0: no motor moviment
- * - dir = -1: negative rotation
- *
- */
-#define STEPPER_SET_DIRECTION_MACRO(index, dir) do { \
- switch (dir) \
- { \
- case 1: \
- STEPPER_SET_CW(index); \
- break; \
- case -1: \
- STEPPER_SET_CCW(index); \
- break; \
- case 0: \
- break; \
- } \
- } while (0)
-
-
-/*
- * Define macros for manage low level of stepper.
- */
-
-#define STEPPER_INIT() do { \
- STEPPER_PIN_INIT_MACRO(A, 1); \
- /* Add here code for other stepper motor */ \
- } while (0)
-
-
-/*
- * Enable select stepper motor
- */
-#define STEPPER_ENABLE(index) do { \
- switch (index) \
- { \
- case 1: \
- STEPPER_SET_ENABLE(1); \
- break; \
- /* Add here code for other stepper motor */ \
- } \
- } while (0)
-
-/*
- * Enable all stepper connect to micro
- */
-#define STEPPER_ENABLE_ALL() do { \
- STEPPER_SET_ENABLE(1); \
- /* Add here code for other stepper motor */ \
- } while (0)
-
-/*
- * Disable select stepper motor
- */
-#define STEPPER_DISABLE(index) do { \
- switch (index) \
- { \
- case 1: \
- STEPPER_SET_DISABLE(1); \
- break; \
- /* Add here code for other stepper motor */ \
- } \
- } while (0)
-
-/*
- * Disable all stepper connect to micro
- */
-#define STEPPER_DISABLE_ALL() do { \
- STEPPER_SET_DISABLE(1); \
- /* Add here code for other stepper motor */ \
- } while (0)
-
-/*
- * Reset selected stepper motor
- */
-#define STEPPER_RESET(index) do { \
- switch (index) \
- { \
- case 1: \
- STEPPER_RESET_MACRO(1); \
- break; \
- /* Add here code for other stepper motor */ \
- } \
- } while (0)
-
-/*
- * Reset all stepper motor
- */
-#define STEPPER_RESET_ALL() do { \
- STEPPER_RESET_MACRO(1) \
- /* Add here code for other stepper motor */ \
- } while (0)
-
-// Set half/full step macros
-#define STEPPER_SET_HALF_STEP(index, flag) do { \
- switch (index) \
- { \
- case 1: \
- STEPPER_SET_STEP_MODE_MACRO(1, flag); \
- break; \
- /* Add here code for other stepper motor */ \
- } \
- } while (0)
-
-
-// Control status
-#define STEPPER_SET_CONTROL_BIT(index, flag) do { \
- switch (index) \
- { \
- case 1: \
- STEPPER_SET_CONTROL_BIT_MACRO(1, flag); \
- break; \
- /* Add here code for other stepper motor */ \
- } \
- } while (0)
-
-
-// Set stepper power current
-#define STEPPER_SET_POWER_CURRENT(index, flag) do { \
- switch (index) \
- { \
- case 1: \
- STEPPER_SET_POWER_CURRENT_MACRO(1, flag); \
- break; \
- /* Add here code for other stepper motor */ \
- } \
- } while (0)
-
-// Set rotation dirction of stepper motor
-#define STEPPER_SET_DIRECTION(index, dir) do { \
- switch (index) \
- { \
- case 1: \
- STEPPER_SET_DIRECTION_MACRO(1, dir); \
- break; \
- /* Add here code for other stepper motor */ \
- } \
- } while (0)
-
-#endif /* HW_STEPPER_H */
-
-
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