src/modules/robot/Stepper.h

   1 /*
   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.
   5       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
   6 */
   7
   8 #ifndef STEPPER_H
   9 #define STEPPER_H
  10
  11 #include "libs/Module.h"
  12
  13 class Block;
  14 class Hook;
  15 class StepperMotor;
  16
  17 #define microseconds_per_step_pulse_checksum        CHECKSUM("microseconds_per_step_pulse")
  18 #define acceleration_ticks_per_second_checksum      CHECKSUM("acceleration_ticks_per_second")
  19 #define minimum_steps_per_minute_checksum           CHECKSUM("minimum_steps_per_minute")
  20 #define base_stepping_frequency_checksum            CHECKSUM("base_stepping_frequency")
  21
  22 class Stepper : public Module {
  23     public:
  24         Stepper();
  25         void on_module_loaded();
  26         void on_config_reload(void* argument);
  27         void on_block_begin(void* argument);
  28         void on_block_end(void* argument);
  29         void on_gcode_received(void* argument);
  30         void on_gcode_execute(void* argument);
  31         void on_play(void* argument);
  32         void on_pause(void* argument);
  33         uint32_t main_interrupt(uint32_t dummy);
  34         void trapezoid_generator_reset();
  35         void set_step_events_per_second(float);
  36         uint32_t trapezoid_generator_tick(uint32_t dummy);
  37         uint32_t stepper_motor_finished_move(uint32_t dummy);
  38         int config_step_timer( int cycles );
  39         void turn_enable_pins_on();
  40         void turn_enable_pins_off();
  41         uint32_t synchronize_acceleration(uint32_t dummy);
  42
  43         Block* current_block;
  44         int counters[3];
  45         int stepped[3];
  46         int offsets[3];
  47         float counter_alpha;
  48         float counter_beta;
  49         float counter_gamma;
  50         //int step_events_completed;
  51         unsigned int out_bits;
  52         float trapezoid_adjusted_rate;
  53         int trapezoid_tick_cycle_counter;
  54         int cycles_per_step_event;
  55         bool trapezoid_generator_busy;
  56         int microseconds_per_step_pulse;
  57         int acceleration_ticks_per_second;
  58         unsigned int minimum_steps_per_second;
  59         int base_stepping_frequency;
  60         unsigned short step_bits[3];
  61         int counter_increment;
  62         bool paused;
  63         bool force_speed_update;
  64         bool enable_pins_status;
  65         Hook* acceleration_tick_hook;
  66
  67         StepperMotor* main_stepper;
  68
  69 };
  70
  71
  72
  73
  74 #endif