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 | ||
a3bb687b | 8 | #pragma once |
feb204be | 9 | |
9e6014a6 | 10 | #include "Module.h" |
5673fe39 | 11 | #include "Pin.h" |
feb204be | 12 | |
9e6014a6 | 13 | class StepperMotor : public Module { |
feb204be | 14 | public: |
9c5fa39a | 15 | StepperMotor(Pin& step, Pin& dir, Pin& en); |
3494f3d0 | 16 | ~StepperMotor(); |
203213ae | 17 | |
d1d120e1 | 18 | // called from step ticker ISR |
c8bac202 | 19 | inline bool step() { step_pin.set(1); current_position_steps += (direction?-1:1); return moving; } |
d1d120e1 | 20 | // called from unstep ISR |
8b260c2c | 21 | inline void unstep() { step_pin.set(0); } |
d1d120e1 JM |
22 | // called from step ticker ISR |
23 | inline void set_direction(bool f) { dir_pin.set(f); direction= f; } | |
9c5fa39a | 24 | |
203213ae | 25 | inline void enable(bool state) { en_pin.set(!state); }; |
9e6014a6 | 26 | inline bool is_enabled() const { return !en_pin.get(); }; |
d1d120e1 | 27 | inline bool is_moving() const { return moving; }; |
c8bac202 | 28 | void stop_moving() { moving= false; } |
9c5fa39a | 29 | |
58b69de8 | 30 | void manual_step(bool dir); |
9c5fa39a | 31 | |
eab91f11 | 32 | bool which_direction() const { return direction; } |
670fa10b | 33 | |
2fa50ca0 | 34 | float get_steps_per_second() const { return steps_per_second; } |
2fa50ca0 | 35 | float get_steps_per_mm() const { return steps_per_mm; } |
78d0e16a MM |
36 | void change_steps_per_mm(float); |
37 | void change_last_milestone(float); | |
90f70d46 | 38 | float get_last_milestone(void) const { return last_milestone_mm; } |
58c32991 | 39 | float get_current_position(void) const { return (float)current_position_steps/steps_per_mm; } |
d1d120e1 | 40 | uint32_t get_current_step(void) const { return current_position_steps; } |
3494f3d0 JM |
41 | float get_max_rate(void) const { return max_rate; } |
42 | void set_max_rate(float mr) { max_rate= mr; } | |
670fa10b | 43 | |
78d0e16a | 44 | int steps_to_target(float); |
670fa10b | 45 | |
2fa50ca0 JM |
46 | friend class StepTicker; |
47 | friend class Stepper; | |
48 | friend class Planner; | |
49 | friend class Robot; | |
50 | ||
51 | private: | |
9e6014a6 JM |
52 | void on_halt(void *argument); |
53 | void on_enable(void *argument); | |
3494f3d0 | 54 | |
1fce036c | 55 | int index; |
670fa10b | 56 | |
9c5fa39a MM |
57 | Pin step_pin; |
58 | Pin dir_pin; | |
59 | Pin en_pin; | |
feb204be | 60 | |
1ad23cd3 | 61 | float steps_per_second; |
78d0e16a | 62 | float steps_per_mm; |
3494f3d0 | 63 | float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder |
78d0e16a | 64 | |
58c32991 | 65 | volatile int32_t current_position_steps; |
78d0e16a MM |
66 | int32_t last_milestone_steps; |
67 | float last_milestone_mm; | |
68 | ||
778093ce | 69 | volatile struct { |
d1d120e1 JM |
70 | volatile bool direction:1; |
71 | volatile bool moving:1; | |
ec543686 | 72 | }; |
feb204be AW |
73 | }; |
74 |