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); |
9c5fa39a | 21 | |
203213ae MM |
22 | // Called a great many times per second, to step if we have to now |
23 | inline void tick() { | |
24 | // increase the ( fixed point ) counter by one tick 11t | |
25 | fx_counter += (uint32_t)(1<<16); | |
26 | ||
27 | // if we are to step now 10t | |
28 | if (fx_counter >= fx_ticks_per_step) | |
29 | step(); | |
30 | }; | |
31 | ||
32 | void step(); | |
33 | inline void unstep() { step_pin.set(0); }; | |
9c5fa39a | 34 | |
203213ae | 35 | inline void enable(bool state) { en_pin.set(!state); }; |
9c5fa39a | 36 | |
670fa10b | 37 | void move_finished(); |
feb204be | 38 | void move( bool direction, unsigned int steps ); |
bd0f7508 | 39 | void signal_move_finished(); |
1ad23cd3 | 40 | void set_speed( float speed ); |
672298b2 | 41 | void update_exit_tick(); |
83ecfc46 AW |
42 | void pause(); |
43 | void unpause(); | |
670fa10b | 44 | |
78d0e16a MM |
45 | void change_steps_per_mm(float); |
46 | void change_last_milestone(float); | |
670fa10b | 47 | |
78d0e16a | 48 | int steps_to_target(float); |
670fa10b L |
49 | |
50 | template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ | |
51 | Hook* hook = new Hook(); | |
52 | hook->attach(optr, fptr); | |
53 | this->end_hook = hook; | |
54 | } | |
55 | ||
56 | template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){ | |
57 | this->step_signal_hook->attach(optr, fptr); | |
58 | this->signal_step_number = step; | |
59 | this->signal_step = true; | |
60 | } | |
61 | ||
62 | Hook* end_hook; | |
63 | Hook* step_signal_hook; | |
64 | ||
65 | bool signal_step; | |
66 | uint32_t signal_step_number; | |
67 | ||
feb204be | 68 | StepTicker* step_ticker; |
9c5fa39a MM |
69 | Pin step_pin; |
70 | Pin dir_pin; | |
71 | Pin en_pin; | |
feb204be | 72 | |
1ad23cd3 | 73 | float steps_per_second; |
670fa10b L |
74 | |
75 | volatile bool moving; | |
76 | bool paused; | |
77 | ||
78d0e16a | 78 | float steps_per_mm; |
df6a30f2 | 79 | float max_rate; |
78d0e16a MM |
80 | |
81 | int32_t last_milestone_steps; | |
82 | float last_milestone_mm; | |
83 | ||
670fa10b L |
84 | uint32_t steps_to_move; |
85 | uint32_t stepped; | |
86 | uint32_t fx_counter; | |
87 | uint32_t fx_ticks_per_step; | |
df6a30f2 | 88 | |
9c5fa39a | 89 | bool direction; |
670fa10b L |
90 | |
91 | //bool exit_tick; | |
92 | bool remove_from_active_list_next_reset; | |
93 | ||
bd0f7508 | 94 | bool is_move_finished; // Whether the move just finished |
feb204be AW |
95 | }; |
96 | ||
feb204be AW |
97 | #endif |
98 |