tcDspStepper

Introduction

The tcDspStepper class may be used to provide access to a single Stepper core. Each instance of tcDspStepper provides motion control access to 1 stepper motor. The tcDspStepper is intended to server as a base class for various MityDSP microstepping interface chips. Typically, stepper objects should be instantiated using derived classes, such as the tcDspStepper3967.

When created, the constructor requires a valid base address for the stepper core. Optionally, the user may provide a pointer to a tcDspStepperConfig structure to provide pulse initialization parameters. This structure is not referenced (and may be deleted or freed) after initialization.

Note:

The following limitations should be honored when using this core:

• The stepping clock period must be a minimum of 1 micro second.
• There is no limit to the number of instances of tcDspStepper that may be created, aside from the design of the FPGA module.

Note: the Stepper class is not thread safe. It is assumed that only one controlling thread will access any given Stepper object. If multi-thread access is required, the application must provide serialization interlocks.

See also:

MityDSP::tcDspStepper Class Reference

Example

This is a simple example of tcDspStepper creation and usage:

 {
     unsigned int       values;
     unsigned int       my_base_addr = 0xB0000018;
     tcDspStepper*      my_stepper;
     tcDspStepperConfig my_config;
     SEM_Handle         my_Handle;

     // Set up Desired configuration....
     // Override min/max frequencies and default acceleration levels
     my_config.mnAccelRate     = 100;   // Hz / sec
     my_config.mnMinPulseRate  = 100;   // Hz
     my_config.mnMaxPulseRate  = 1000;  // Hz

     // create a Stepper interface
     my_stepper = new tcDspStepper((void *)my_base_addr, &my_config);

     // Seek switch position 2
     my_stepper->LocateSwitchPosition(&my_Handle, eePOSITION2, eeFORWARD);

     // wait for completed operation
     SEM_pend(my_Handle);

     // Move 30 steps forward
     my_stepper->Move(&my_Handle, eeFORWARD, 30);

     // wait for completed operation
     SEM_pend(my_Handle);

     ...
  }