speeduino/speeduino/idle.h

#ifndef IDLE_H
#define IDLE_H

#include "globals.h"
#include "table.h"

#define STEPPER_FORWARD 0
#define STEPPER_BACKWARD 1
#define IDLE_TABLE_SIZE 10

enum StepperStatus {SOFF, STEPPING, COOLING}; //The 2 statuses that a stepper can have. STEPPING means that a high pulse is currently being sent and will need to be turned off at some point.

struct StepperIdle
{
  unsigned int curIdleStep; //Tracks the current location of the stepper
  unsigned int targetIdleStep; //What the targetted step is
  volatile StepperStatus stepperStatus;
  volatile unsigned long stepStartTime; //The time the curren
};

#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega2561__)
  #define IDLE_COUNTER TCNT4
  #define IDLE_COMPARE OCR4C

  #define IDLE_TIMER_ENABLE() TIMSK4 |= (1 << OCIE4C)
  #define IDLE_TIMER_DISABLE() TIMSK4 &= ~(1 << OCIE4C)

#elif defined(CORE_TEENSY)
  #define IDLE_COUNTER FTM2_CNT
  #define IDLE_COMPARE FTM2_C0V

  #define IDLE_TIMER_ENABLE() FTM2_C0SC |= FTM_CSC_CHIE
  #define IDLE_TIMER_DISABLE() FTM2_C0SC &= ~FTM_CSC_CHIE

#endif

struct table2D iacClosedLoopTable;
struct table2D iacPWMTable;
struct table2D iacStepTable;
//Open loop tables specifically for cranking
struct table2D iacCrankStepsTable;
struct table2D iacCrankDutyTable;

struct StepperIdle idleStepper;
bool idleOn; //Simply tracks whether idle was on last time around
byte idleInitComplete = 99; //TRacks which idle method was initialised. 99 is a method that will never exist
unsigned int iacStepTime;
unsigned int completedHomeSteps;

volatile byte *idle_pin_port;
volatile byte idle_pin_mask;
volatile byte *idle2_pin_port;
volatile byte idle2_pin_mask;
volatile bool idle_pwm_state;
unsigned int idle_pwm_max_count; //Used for variable PWM frequency
volatile unsigned int idle_pwm_cur_value;
long idle_pid_target_value;
long idle_pwm_target_value;
long idle_cl_target_rpm;

void initialiseIdle();
static inline void disableIdle();
static inline void enableIdle();
static inline byte isStepperHomed();
static inline byte checkForStepping();
static inline void doStep();

#endif