src/libs/StepTicker.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
   9
  10 #pragma once
  11
  12 #include <stdint.h>
  13 #include <array>
  14 #include <bitset>
  15 #include <functional>
  16 #include <atomic>
  17
  18 #include "ActuatorCoordinates.h"
  19
  20 class StepperMotor;
  21 class Block;
  22
  23 class StepTicker{
  24     public:
  25         StepTicker();
  26         ~StepTicker();
  27         void set_frequency( float frequency );
  28         void signal_a_move_finished();
  29         void set_unstep_time( float microseconds );
  30         int register_motor(StepperMotor* motor);
  31         float get_frequency() const { return frequency; }
  32         void unstep_tick();
  33
  34         void TIMER0_IRQHandler (void);
  35         void PendSV_IRQHandler (void);
  36
  37         void start();
  38         void copy_block(Block *block);
  39         void set_next_block(Block *block) { next_block= block; }
  40         bool is_next_block() const { return next_block != nullptr; }
  41
  42         // whatever setup the block should register this to know when it is done
  43         std::function<void()> finished_fnc{nullptr};
  44
  45         static StepTicker *getInstance() { return instance; }
  46
  47     private:
  48         static StepTicker *instance;
  49
  50         float frequency;
  51         uint32_t period;
  52         std::array<StepperMotor*, k_max_actuators> motor;
  53         std::atomic_uchar do_move_finished;
  54         std::bitset<k_max_actuators> unstep;
  55
  56         // this is tick info needed for this block. applies to all motors
  57         struct block_info_t {
  58             uint32_t accelerate_until;
  59             uint32_t decelerate_after;
  60             uint32_t maximum_rate;
  61             uint32_t deceleration_per_tick;
  62             uint32_t total_move_ticks;
  63         };
  64         block_info_t block_info;
  65         Block *next_block{nullptr};
  66
  67         // this is the data needed to determine when each motor needs to be issued a step
  68         struct tickinfo_t {
  69             float steps_per_tick; // 2.30 fixed point
  70             float counter; // 2.30 fixed point
  71             float acceleration_change; // 1.30 fixed point signed
  72             float axis_ratio;
  73             uint32_t steps_to_move;
  74             uint32_t step_count;
  75             uint32_t next_accel_event;
  76         };
  77         std::array<tickinfo_t, k_max_actuators> tick_info;
  78
  79         struct {
  80             volatile bool move_issued:1;
  81             uint8_t num_motors:4;
  82         };
  83 };