stepper.h

在linux下通过298N控制的步进电机驱动程序

//Copyright (C) Apr 5 ,2006 by chenggang SHan
//function headers
#ifndef _stepper_h
#define _stepper_h

typedef  struct Stepper {
	/* status fields */
	int current_phase; // the current phase position
	int total_steps;  // the total number of steps eg: 200 for KP39
	int current_step; // the step where the motor is positioned

	/* motor and control setup */
	int sleep_mode; // 0 = usleep(), 1 = loop
	int delay;  // busy loop how much times?
	int curve; //step by curve
	int turn; //turn left/right

	int half_stepping; // if true, enables smoother phase switching
	int short_path; // when going from step 199 to 1, move only 2 step instead of all the way around
	int accelerate; // if true, accelerate and decelerate motor when delay is over accelerate
	int accelerate_from; // the speed to start with when accelerating. eg: 10000
	int accelerate_min; // the minimum speed to use acceleration. eg: 12000.
	//If delay<12000 then USE_ACCELERATION else START AT delay speed
	int accelerate_step;	
	
	int accelerate_conststeps;//the mininum distance (steps) ,overrun it to use acceleration.

	unsigned int  io_address; // PD[0-7]  ioport

} Stepper;



#define  Stepper_Driver  "scg stepper driver v1.0"


#define rPCOND		0x1d2001c
#define rPDATD		0x1d20020
#define rPUPD		0x1d20024

#define rPCONC          0x1d20010
#define rPDATC          0x1d20014
#define rPUPC           0x1d20018
  
#define Major		254

#include<linux/ioctl.h> /*幻数*/

int steps,a;
/* 
 * Function command codes for io_ctl.
 */

// IOCTL字应该是标准的，0, 1,3这样肯定不行的，有IOCTL幻数

/* Use   'g'  as  magic  number */
#define  STEPPER_IOC_MAGIC   'g'

#define  Stepper_On			_IO(STEPPER_IOC_MAGIC,  0)
#define  Stepper_Off			_IO(STEPPER_IOC_MAGIC,  1)
#define  Stepper_Front		_IOW(STEPPER_IOC_MAGIC,  2, steps)
#define  Stepper_Back	 	_IOW(STEPPER_IOC_MAGIC,  3, steps)
#define  Stepper_Left			_IOW(STEPPER_IOC_MAGIC,  4, steps)
#define  Stepper_Right		_IOW(STEPPER_IOC_MAGIC,  5, steps)
#define  Stepper_Left_Curve	_IOW(STEPPER_IOC_MAGIC,  6, steps)
#define  Stepper_Right_Curve	_IOW(STEPPER_IOC_MAGIC,  7, steps)
#define  Stepper_Half			_IO(STEPPER_IOC_MAGIC,  8)
#define  Stepper_Full			_IO(STEPPER_IOC_MAGIC,  9)
#define  Use_Accel			_IOW(STEPPER_IOC_MAGIC,  10, a)
#define  Accel_From			_IOW(STEPPER_IOC_MAGIC,  11, a)
#define  Accel_Min			_IOW(STEPPER_IOC_MAGIC,  12, a)
#define  Accel_Step			_IOW(STEPPER_IOC_MAGIC,  13, a)
#define  Limit_Speed 			_IOW(STEPPER_IOC_MAGIC,  14, a)
#define  Average_Speed		_IOW(STEPPER_IOC_MAGIC,  15, a)
#define  Set_ShortPath		_IOW(STEPPER_IOC_MAGIC,  16, a)
#define  Set_Zero				_IO(STEPPER_IOC_MAGIC,  17)
#define  Goto_Step			_IOW(STEPPER_IOC_MAGIC,  18, steps)

#endif /* _stepper_h */