git.rot13.org Git - simavr/blob - examples/board_reprap/src/stepper.c

   1 /*
   2         stepper.c
   3
   4         Copyright 2008-2012 Michel Pollet <buserror@gmail.com>
   5
   6         This file is part of simavr.
   7
   8         simavr is free software: you can redistribute it and/or modify
   9         it under the terms of the GNU General Public License as published by
  10         the Free Software Foundation, either version 3 of the License, or
  11         (at your option) any later version.
  12
  13         simavr is distributed in the hope that it will be useful,
  14         but WITHOUT ANY WARRANTY; without even the implied warranty of
  15         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16         GNU General Public License for more details.
  17
  18         You should have received a copy of the GNU General Public License
  19         along with simavr.  If not, see <http://www.gnu.org/licenses/>.
  20  */
  21
  22 #include <stdlib.h>
  23 #include <string.h>
  24 #include <stdio.h>
  25
  26 #include "sim_avr.h"
  27 #include "stepper.h"
  28
  29 static void
  30 stepper_dir_hook(
  31                 struct avr_irq_t * irq,
  32                 uint32_t value,
  33                 void * param )
  34 {
  35         stepper_p p = (stepper_p)param;
  36         printf("%s (%s) %d\n", __func__, p->name, value);
  37         p->dir = !!value;
  38 }
  39
  40 static void
  41 stepper_enable_hook(
  42                 struct avr_irq_t * irq,
  43                 uint32_t value,
  44                 void * param )
  45 {
  46         stepper_p p = (stepper_p)param;
  47         p->enable = !!value;
  48         printf("%s (%s) %d pos %.4f\n", __func__, p->name, p->enable != 0, p->position);
  49         avr_raise_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, p->position == p->endstop);
  50 }
  51
  52 static void
  53 stepper_step_hook(
  54                 struct avr_irq_t * irq,
  55                 uint32_t value,
  56                 void * param )
  57 {
  58         stepper_p p = (stepper_p)param;
  59         if (!p->enable)
  60                 return;
  61         if (value)
  62                 return;
  63         p->position += (p->dir ? -1.0 : 1.0) / p->steps_per_mm;
  64         if (p->position < 0)
  65                 p->position = 0;
  66         if (p->max_position > 0 && p->position > p->max_position)
  67                 p->position = p->max_position;
  68         printf("%s (%s) %.4f\n", __func__, p->name, p->position);
  69         union {
  70                 float f;
  71                 uint32_t i;
  72         } m = { .f = p->position };
  73         avr_raise_irq(p->irq + IRQ_STEPPER_POSITION_OUT, m.i);
  74         avr_raise_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, p->position == p->endstop);
  75 }
  76
  77 static const char * irq_names[IRQ_STEPPER_COUNT] = {
  78         [IRQ_STEPPER_DIR_IN] = "1<stepper.direction",
  79         [IRQ_STEPPER_STEP_IN] = "1>stepper.step",
  80         [IRQ_STEPPER_ENABLE_IN] = "1<stepper.enable",
  81         [IRQ_STEPPER_POSITION_OUT] = "32<stepper.position",
  82         [IRQ_STEPPER_ENDSTOP_OUT] = "1<stepper.endstop",
  83 };
  84
  85 void
  86 stepper_init(
  87                 struct avr_t * avr,
  88                 stepper_p p,
  89                 char * name,
  90                 float steps_per_mm,
  91                 float start_position,
  92                 float max_position,
  93                 float endstop_position)
  94 {
  95         p->avr = avr;
  96         strcpy(p->name, name);
  97         p->irq = avr_alloc_irq(&avr->irq_pool, 0, IRQ_STEPPER_COUNT, irq_names);
  98         avr_irq_register_notify(p->irq + IRQ_STEPPER_DIR_IN, stepper_dir_hook, p);
  99         avr_irq_register_notify(p->irq + IRQ_STEPPER_STEP_IN, stepper_step_hook, p);
 100         avr_irq_register_notify(p->irq + IRQ_STEPPER_ENABLE_IN, stepper_enable_hook, p);
 101
 102         p->steps_per_mm = steps_per_mm;
 103         p->position = start_position;
 104         p->max_position = max_position;
 105         p->endstop = endstop_position;
 106 }
 107
 108 void
 109 stepper_connect(
 110                 stepper_p p,
 111                 avr_irq_t *     step,
 112                 avr_irq_t *     dir,
 113                 avr_irq_t *     enable,
 114                 avr_irq_t *     endstop,
 115                 uint16_t flags)
 116 {
 117         avr_connect_irq(step, p->irq + IRQ_STEPPER_STEP_IN);
 118         avr_connect_irq(dir, p->irq + IRQ_STEPPER_DIR_IN);
 119         avr_connect_irq(enable, p->irq + IRQ_STEPPER_ENABLE_IN);
 120         p->irq[IRQ_STEPPER_ENDSTOP_OUT].flags |= IRQ_FLAG_FILTERED;
 121         if (endstop) {
 122                 avr_connect_irq(p->irq + IRQ_STEPPER_ENDSTOP_OUT, endstop);
 123                 if (flags & stepper_endstop_inverted)
 124                         p->irq[IRQ_STEPPER_ENDSTOP_OUT].flags |= IRQ_FLAG_NOT;
 125         }
 126 }