4 Copyright 2008-2012 Michel Pollet <buserror@gmail.com>
6 This file is part of simavr.
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.
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.
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/>.
23 #ifndef __STEPPER_H___
24 #define __STEPPER_H___
29 IRQ_STEPPER_DIR_IN = 0,
31 IRQ_STEPPER_ENABLE_IN,
32 IRQ_STEPPER_POSITION_OUT,
33 IRQ_STEPPER_ENDSTOP_OUT,
37 typedef struct stepper_t {
38 avr_irq_t * irq; // irq list
39 struct avr_t *avr; // keep it around so we can pause it
41 int enable : 1, dir : 1, trace : 1;
43 uint64_t position; // in steps
44 uint64_t max_position;
46 avr_cycle_count_t timer_period;
47 } stepper_t, *stepper_p;
55 float start_position, // mm
56 float max_position, // mm
57 float endstop_position); // mm
60 stepper_endstop_inverted = (1 << 0),
71 #endif /* __STEPPER_H___ */