bebopr.h

#ifndef _BEBOPR_H
#define _BEBOPR_H

// Define the frequency of the PRUSS clock
#define TIMER_CLOCK	200.0E6

// Identification values for axes
typedef enum {
  x_axis, y_axis, z_axis, e_axis
} axis_e;

// Early init that pushes configuration to subsystems
extern int bebopr_pre_init( void);

// Late init that enables I/O power
extern int bebopr_post_init( void);

// Configuration

extern int config_e_axis_is_always_relative( void);
extern char config_keep_alive_char( void);

// determines stepper driver control
extern int config_use_pololu_drivers( void);

// these all return either 0 for false or 1 for true
extern int config_axis_has_min_limit_switch( axis_e axis);
extern int config_axis_has_max_limit_switch( axis_e axis);
extern int config_min_limit_switch_is_active_low( axis_e axis);
extern int config_max_limit_switch_is_active_low( axis_e axis);
extern int config_reverse_axis( axis_e axis);

// these all return a hardware dimenstion
extern double config_axis_get_min_pos( axis_e axis);
extern double config_axis_get_max_pos( axis_e axis);
extern double config_axis_get_min_limsw_pos( axis_e axis);
extern double config_axis_get_max_limsw_pos( axis_e axis);
extern double config_get_step_size( axis_e axis);

// these all return physical limitations
extern double config_get_max_feed( axis_e axis);
extern double config_get_max_accel( axis_e axis);

// these return preferred settings
extern double config_get_home_max_feed( axis_e axis);
extern double config_get_home_release_feed( axis_e axis);

// workaround for defines from pinio until removed from code
/* the axis enable signals are handled in the PRUSS code! */
#define	x_enable()	do { /* void */ } while (0)
#define	y_enable()	do { /* void */ } while (0)
#define	z_enable()	do { /* void */ } while (0)
#define	e_enable()	do { /* void */ } while (0)
#define	x_disable()	do { /* void */ } while (0)
#define	y_disable()	do { /* void */ } while (0)
#define	z_disable()	do { /* void */ } while (0)
#define	e_disable()	do { /* void */ } while (0)
#define	power_on()	do { /* void */ } while (0)
#define	power_off()	do { /* void */ } while (0)

#endif