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Corwin Perren
b300c76103
These are all design documents that I thought I had lost. It's may make me cringe, but it's still cool to use it to see how far I've come.
92 lines
1.9 KiB
C++
92 lines
1.9 KiB
C++
/*
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* StepperClass.h
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*
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* Created: 8/1/2014 5:13:57 PM
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* Author: corwin
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*
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* MSTEP M2 M1 M0 DEC
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* 1 0 0 0 0
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* 2 0 0 1 1
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* 4 0 1 0 2
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* 8 0 1 1 3
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* 16 1 0 0 4
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* 32 1 0 1 5
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*
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*/
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#ifndef __STEPPERCLASS_H__
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#define __STEPPERCLASS_H__
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#define F_CPU 16000000UL
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#include <util/delay.h>
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#include <avr/io.h>
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#include <inttypes.h>
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#define STEPPER_RPM_CONSTANT (16000000ul/1024)*60)
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class StepperClass
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{
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//variables
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public:
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protected:
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private:
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volatile uint8_t *enPort;
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volatile uint8_t *enDDR;
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int enPin;
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volatile uint8_t *dirPort;
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volatile uint8_t *dirDDR;
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int dirPin;
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volatile uint8_t *stepPort;
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volatile uint8_t *stepDDR;
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int stepPin;
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volatile uint8_t *faultPort;
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volatile uint8_t *faultDDR;
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int faultPin;
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volatile uint8_t *m0Port;
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volatile uint8_t *m0DDR;
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int m0Pin;
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volatile uint8_t *m1Port;
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volatile uint8_t *m1DDR;
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int m1Pin;
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volatile uint8_t *m2Port;
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volatile uint8_t *m2DDR;
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int m2Pin;
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//functions
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public:
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StepperClass(volatile uint8_t *enport, volatile uint8_t *enddr, int enpin,
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volatile uint8_t *dirport, volatile uint8_t *dirddr, int dirpin,
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volatile uint8_t *stepport, volatile uint8_t *stepddr, int steppin,
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volatile uint8_t *faultport, volatile uint8_t *faultddr, int faultpin,
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volatile uint8_t *m0port, volatile uint8_t *m0ddr, int m0pin,
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volatile uint8_t *m1port, volatile uint8_t *m1ddr, int m1pin,
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volatile uint8_t *m2port, volatile uint8_t *m2ddr, int m2pin
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);
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void SetRPM(int rpm);
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void OneStep();
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~StepperClass();
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protected:
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private:
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StepperClass( const StepperClass &c );
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StepperClass& operator=( const StepperClass &c );
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void _setupPinAsOutput(volatile uint8_t *ddr, int pin);
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void _setupPinAsInput(volatile uint8_t *port, volatile uint8_t *ddr, int pin, bool enablePullup);
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void _enableStepper();
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void _disableStepper();
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void _setPinLow(volatile uint8_t *port, int pin);
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void _setPinHigh(volatile uint8_t *port, int pin);
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}; //StepperClass
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#endif //__STEPPERCLASS_H__
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