37 lines
1015 B
C++
Executable File
37 lines
1015 B
C++
Executable File
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#ifndef STEPGEN
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#define STEPGEN
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#include <HardwareTimer.h>
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class StepGen
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{
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public:
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volatile uint8_t timerIsRunning;
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volatile int32_t timerStepPosition;
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volatile int32_t timerStepDirection;
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volatile int32_t timerStepPositionAtEnd;
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volatile int32_t timerNewEndStepPosition;
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volatile uint32_t timerNewCycleTime;
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volatile double_t actualPosition;
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volatile double_t requestedPosition;
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HardwareTimer *MyTim;
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uint16_t stepsPerMM;
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static uint32_t sync0CycleTime;
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uint8_t dirPin;
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PinName stepPin;
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uint32_t timerChan;
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const uint32_t maxFreq = 100000;
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volatile uint32_t prevFreq1 = 0;
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volatile uint32_t prevFreq2 = 0;
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StepGen(TIM_TypeDef *Timer, uint32_t timerChannel, PinName stepPin, uint8_t dirPin, void irq(void));
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void reqPos(double_t pos);
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double reqPos();
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void actPos(double_t pos);
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double actPos();
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void handleStepper(void);
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void timerCB();
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void setScale(int16_t spm);
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};
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#endif |