reprap: Steppers use proper logic

[simavr] / examples / board_reprap / src / stepper.h

diff --git a/examples/board_reprap/src/stepper.h b/examples/board_reprap/src/stepper.h
index fce47a1..9f450ac 100644 (file)
--- a/examples/board_reprap/src/stepper.h
+++ b/examples/board_reprap/src/stepper.h
@@ -40,9 +40,10 @@ typedef struct stepper_t {
        char name[32];
        int enable : 1, dir : 1, trace : 1;
        double steps_per_mm;
-       double position;
-       double max_position;
-       double endstop;
+       uint64_t        position;       // in steps
+       uint64_t max_position;
+       uint64_t endstop;
+       avr_cycle_count_t timer_period;
 } stepper_t, *stepper_p;
 
 void
@@ -51,9 +52,9 @@ stepper_init(
                stepper_p p,
                char * name,
                float steps_per_mm,
-               float start_position,
-               float max_position,
-               float endstop_position);
+               float start_position,           // mm
+               float max_position,                     // mm
+               float endstop_position);        // mm
 
 enum {
        stepper_endstop_inverted = (1 << 0),
@@ -67,4 +68,8 @@ stepper_connect(
                avr_irq_t *     endstop,
                uint16_t flags);
 
+float
+stepper_get_position_mm(
+               stepper_p p);
+
 #endif /* __STEPPER_H___ */