1 #include <AT91SAM7S64.h>
4 #define MIN(a,b) (((a) > (b)) ? (b) : (a))
8 #define STEPPER0_I00 AT91C_PIO_PA17
9 #define STEPPER0_I01 AT91C_PIO_PA18
10 #define STEPPER0_PHASE0 AT91C_PIO_PA19
12 #define STEPPER0_I10 AT91C_PIO_PA21
13 #define STEPPER0_I11 AT91C_PIO_PA22
14 #define STEPPER0_PHASE1 AT91C_PIO_PA23
17 #define STEPPER1_I00 AT91C_PIO_PA24
18 #define STEPPER1_I01 AT91C_PIO_PA25
19 #define STEPPER1_PHASE0 AT91C_PIO_PA26
21 #define STEPPER1_I10 AT91C_PIO_PA27
22 #define STEPPER1_I11 AT91C_PIO_PA28
23 #define STEPPER1_PHASE1 AT91C_PIO_PA29
26 #define STEPPER_INHIBIT AT91C_PIO_PA7
29 #define STEPPER_IOMASK(s) (STEPPER##s##_I00 | STEPPER##s##_I01 | STEPPER##s##_PHASE0 \
30 | STEPPER##s##_I10 | STEPPER##s##_I11 | STEPPER##s##_PHASE1)
31 #define STEPPER_PHASE(s,p,l) ((((l) < 2) ? (STEPPER##s##_I##p##1) : 0) | (((l) & 1) ? 0 : (STEPPER##s##_I##p##0)))
33 #define STEPPER_STEP(s, l0, l1) (\
34 ((l0 >= 0) ? STEPPER_PHASE(s,0, l0):(STEPPER_PHASE(s,0, -(l0))|STEPPER##s##_PHASE0)) | \
35 ((l1 >= 0) ? STEPPER_PHASE(s,1, l1):(STEPPER_PHASE(s,1,-(l1))|STEPPER##s##_PHASE1)))
38 #define FULL_STEP_BOTH(s,l) {\
39 STEPPER_STEP(s,(l),(l)), \
40 STEPPER_STEP(s,(l),-(l)), \
41 STEPPER_STEP(s,-(l),-(l)), \
42 STEPPER_STEP(s,-(l),(l))}
45 #define FULL_STEP_SINGLE(s,l) {\
46 STEPPER_STEP(s,0,(l)), \
47 STEPPER_STEP(s,(l),0), \
48 STEPPER_STEP(s,0,-(l)), \
49 STEPPER_STEP(s,-(l),0)}
51 #define HALF_STEP(s,l) {\
52 STEPPER_STEP(s,0,(l)), \
53 STEPPER_STEP(s,(l),(l)), \
54 STEPPER_STEP(s,(l),0), \
55 STEPPER_STEP(s,(l),-(l)), \
56 STEPPER_STEP(s,0,-(l)), \
57 STEPPER_STEP(s,-(l),-(l)), \
58 STEPPER_STEP(s,-(l),0), \
59 STEPPER_STEP(s,-(l),(l))}
62 #define MINI_STEP(s,l) {\
63 STEPPER_STEP(s,0,(l)), \
64 STEPPER_STEP(s,1,MIN((l),2)), \
65 STEPPER_STEP(s,MIN((l),2),1), \
66 STEPPER_STEP(s,(l),0), \
67 STEPPER_STEP(s,MIN((l),2),-1), \
68 STEPPER_STEP(s,1,-MIN((l),2)), \
69 STEPPER_STEP(s,0,-(l)), \
70 STEPPER_STEP(s,-1,-MIN((l),2)), \
71 STEPPER_STEP(s,-MIN((l),2),-1), \
72 STEPPER_STEP(s,-(l),0), \
73 STEPPER_STEP(s,-MIN((l),2),1), \
74 STEPPER_STEP(s,-1,MIN((l),2))}
76 #define MICRO_STEP(s,l) {\
77 STEPPER_STEP(s,0,(l)), \
78 STEPPER_STEP(s,1,(l)), \
79 STEPPER_STEP(s,MIN((l),2),(l)), \
80 STEPPER_STEP(s,(l),(l)), \
81 STEPPER_STEP(s,(l),MIN((l),2)), \
82 STEPPER_STEP(s,(l),1), \
83 STEPPER_STEP(s,(l),0), \
84 STEPPER_STEP(s,(l),-1), \
85 STEPPER_STEP(s,(l),-MIN((l),2)), \
86 STEPPER_STEP(s,(l),-(l)), \
87 STEPPER_STEP(s,MIN((l),2),-(l)), \
88 STEPPER_STEP(s,1,-(l)), \
89 STEPPER_STEP(s,0,-(l)), \
90 STEPPER_STEP(s,-1,-(l)), \
91 STEPPER_STEP(s,-MIN((l),2),-(l)), \
92 STEPPER_STEP(s,-(l),-(l)), \
93 STEPPER_STEP(s,-(l),-MIN((l),2)), \
94 STEPPER_STEP(s,-(l),-1), \
95 STEPPER_STEP(s,-(l),0), \
96 STEPPER_STEP(s,-(l),1), \
97 STEPPER_STEP(s,-(l),MIN((l),2)), \
98 STEPPER_STEP(s,-(l),(l)), \
99 STEPPER_STEP(s,-MIN((l),2),(l)), \
100 STEPPER_STEP(s,-1,(l))}
102 #define STEPPER_ENABLE() (*AT91C_PIOA_SODR = STEPPER_INHIBIT)
103 #define STEPPER_DISABLE() (*AT91C_PIOA_CODR = STEPPER_INHIBIT)
