drivers/motor/stepper/stepper.h

   1 /**************************************************************************/
   2 /*!
   3     @file     stepper.h
   4     @author   K. Townsend (microBuilder.eu)
   5
   6     @section LICENSE
   7
   8     Software License Agreement (BSD License)
   9
  10     Copyright (c) 2010, microBuilder SARL
  11     All rights reserved.
  12
  13     Redistribution and use in source and binary forms, with or without
  14     modification, are permitted provided that the following conditions are met:
  15     1. Redistributions of source code must retain the above copyright
  16     notice, this list of conditions and the following disclaimer.
  17     2. Redistributions in binary form must reproduce the above copyright
  18     notice, this list of conditions and the following disclaimer in the
  19     documentation and/or other materials provided with the distribution.
  20     3. Neither the name of the copyright holders nor the
  21     names of its contributors may be used to endorse or promote products
  22     derived from this software without specific prior written permission.
  23
  24     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
  25     EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
  26     WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  27     DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
  28     DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
  29     (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
  30     LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
  31     ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
  32     (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  33     SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  34 */
  35 /**************************************************************************/
  36
  37 #ifndef _STEPPER_H_
  38 #define _STEPPER_H_
  39
  40 #include "projectconfig.h"
  41
  42 #define STEPPER_IN1_PORT   (3)
  43 #define STEPPER_IN1_PIN    (0)
  44 #define STEPPER_IN2_PORT   (3)
  45 #define STEPPER_IN2_PIN    (1)
  46 #define STEPPER_IN3_PORT   (3)
  47 #define STEPPER_IN3_PIN    (2)
  48 #define STEPPER_IN4_PORT   (3)
  49 #define STEPPER_IN4_PIN    (3)
  50
  51 void     stepperInit( uint32_t steps );
  52 void     stepperSetSpeed( uint32_t rpm );
  53 int64_t  stepperGetPosition();
  54 uint32_t stepperGetRotation();
  55 void     stepperMoveHome();
  56 void     stepperSetHome();
  57 void     stepperMoveZero();
  58 void     stepperSetZero();
  59 void     stepperStep( int32_t steps );
  60
  61 #endif