--- /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: hw_stepper.h 2488 2009-04-10 17:52:12Z batt $
+ *
+ * \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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