Commit | Line | Data |
---|---|---|
7b49793d | 1 | /* |
feb204be AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
7b49793d | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
feb204be AW |
6 | */ |
7 | ||
8 | #ifndef STEPPERMOTOR_H | |
9 | #define STEPPERMOTOR_H | |
10 | ||
feb204be | 11 | #include "libs/Hook.h" |
5673fe39 | 12 | #include "Pin.h" |
feb204be AW |
13 | |
14 | class StepTicker; | |
5673fe39 | 15 | class Hook; |
feb204be | 16 | |
670fa10b | 17 | class StepperMotor { |
feb204be | 18 | public: |
670fa10b | 19 | StepperMotor(); |
9c5fa39a | 20 | StepperMotor(Pin& step, Pin& dir, Pin& en); |
3494f3d0 | 21 | ~StepperMotor(); |
203213ae MM |
22 | |
23 | void step(); | |
24 | inline void unstep() { step_pin.set(0); }; | |
9c5fa39a | 25 | |
203213ae | 26 | inline void enable(bool state) { en_pin.set(!state); }; |
9c5fa39a | 27 | |
2fa50ca0 | 28 | bool is_moving() { return moving; } |
670fa10b | 29 | void move_finished(); |
f3b48426 | 30 | void move( bool direction, unsigned int steps, float initial_speed= -1.0F); |
bd0f7508 | 31 | void signal_move_finished(); |
1ad23cd3 | 32 | void set_speed( float speed ); |
3494f3d0 JM |
33 | void set_step_rate(float requested_rate, uint32_t block_steps_event_count); |
34 | ||
672298b2 | 35 | void update_exit_tick(); |
83ecfc46 AW |
36 | void pause(); |
37 | void unpause(); | |
670fa10b | 38 | |
2fa50ca0 | 39 | float get_steps_per_second() const { return steps_per_second; } |
2fa50ca0 | 40 | float get_steps_per_mm() const { return steps_per_mm; } |
78d0e16a MM |
41 | void change_steps_per_mm(float); |
42 | void change_last_milestone(float); | |
90f70d46 | 43 | float get_last_milestone(void) const { return last_milestone_mm; } |
58c32991 | 44 | float get_current_position(void) const { return (float)current_position_steps/steps_per_mm; } |
3494f3d0 JM |
45 | float get_max_rate(void) const { return max_rate; } |
46 | void set_max_rate(float mr) { max_rate= mr; } | |
47 | float get_min_rate(void) const { return minimum_step_rate; } | |
48 | void set_min_rate(float mr) { minimum_step_rate= mr; } | |
670fa10b | 49 | |
78d0e16a | 50 | int steps_to_target(float); |
2fa50ca0 JM |
51 | uint32_t get_steps_to_move() const { return steps_to_move; } |
52 | uint32_t get_stepped() const { return stepped; } | |
670fa10b L |
53 | |
54 | template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ | |
55 | Hook* hook = new Hook(); | |
56 | hook->attach(optr, fptr); | |
57 | this->end_hook = hook; | |
58 | } | |
59 | ||
60 | template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ | |
61 | this->step_signal_hook->attach(optr, fptr); | |
62 | this->signal_step_number = step; | |
63 | this->signal_step = true; | |
64 | } | |
65 | ||
2fa50ca0 JM |
66 | friend class StepTicker; |
67 | friend class Stepper; | |
68 | friend class Planner; | |
69 | friend class Robot; | |
70 | ||
71 | private: | |
728477c4 | 72 | void init(); |
3494f3d0 | 73 | |
670fa10b L |
74 | Hook* end_hook; |
75 | Hook* step_signal_hook; | |
76 | ||
670fa10b L |
77 | uint32_t signal_step_number; |
78 | ||
9c5fa39a MM |
79 | Pin step_pin; |
80 | Pin dir_pin; | |
81 | Pin en_pin; | |
feb204be | 82 | |
1ad23cd3 | 83 | float steps_per_second; |
78d0e16a | 84 | float steps_per_mm; |
3494f3d0 JM |
85 | float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder |
86 | float minimum_step_rate; // this is the minimum step_rate in steps/sec for this motor for this block | |
9502f9d5 | 87 | static float default_minimum_actuator_rate; |
78d0e16a | 88 | |
58c32991 | 89 | volatile int32_t current_position_steps; |
78d0e16a MM |
90 | int32_t last_milestone_steps; |
91 | float last_milestone_mm; | |
92 | ||
670fa10b L |
93 | uint32_t steps_to_move; |
94 | uint32_t stepped; | |
3eadcfee JM |
95 | |
96 | // set to 64 bit fixed point, 32:32 bits fractional | |
c9cc5e06 JM |
97 | static const uint32_t fx_shift= 32; |
98 | static const uint64_t fx_increment= ((uint64_t)1<<fx_shift); | |
f095cddd JM |
99 | volatile uint64_t fx_counter; |
100 | volatile uint64_t fx_ticks_per_step; | |
df6a30f2 | 101 | |
728477c4 JM |
102 | struct { |
103 | bool direction:1; | |
f095cddd | 104 | volatile bool is_move_finished:1; // Whether the move just finished |
728477c4 JM |
105 | bool signal_step:1; |
106 | bool paused:1; | |
107 | volatile bool moving:1; | |
108 | }; | |
ec543686 JM |
109 | |
110 | // Called a great many times per second, to step if we have to now | |
111 | inline void tick() { | |
3eadcfee JM |
112 | // increase the ( 64 fixed point 32:32 ) counter by one tick 11t |
113 | fx_counter += fx_increment; | |
ec543686 | 114 | |
66045a90 JM |
115 | // if we are to step now 10t |
116 | if (fx_counter >= fx_ticks_per_step) | |
ec543686 JM |
117 | step(); |
118 | }; | |
feb204be AW |
119 | }; |
120 | ||
feb204be AW |
121 | #endif |
122 |