src/modules/robot/Stepper.cpp

   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) with additions from Sungeun K. Jeon (https://github.com/chamnit/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 #include "Stepper.h"
   9
  10 #include "libs/Module.h"
  11 #include "libs/Kernel.h"
  12 #include "Planner.h"
  13 #include "Conveyor.h"
  14 #include "StepperMotor.h"
  15 #include "Robot.h"
  16 #include "checksumm.h"
  17 #include "SlowTicker.h"
  18 #include "Config.h"
  19 #include "ConfigValue.h"
  20 #include "Gcode.h"
  21 #include "Block.h"
  22 #include "StepTicker.h"
  23
  24 #include <functional>
  25
  26 #include "libs/nuts_bolts.h"
  27 #include "libs/Hook.h"
  28
  29 #include <mri.h>
  30
  31 // The stepper reacts to blocks that have XYZ movement to transform them into actual stepper motor moves
  32 Stepper::Stepper()
  33 {
  34     this->current_block = NULL;
  35 }
  36
  37 //Called when the module has just been loaded
  38 void Stepper::on_module_loaded()
  39 {
  40     this->register_for_event(ON_BLOCK_BEGIN);
  41     this->register_for_event(ON_BLOCK_END);
  42     this->register_for_event(ON_GCODE_RECEIVED);
  43     this->register_for_event(ON_HALT);
  44
  45     // Get onfiguration
  46     this->on_config_reload(this);
  47
  48     // Attach to the end_of_move stepper event
  49     THEKERNEL->step_ticker->finished_fnc= std::bind( &Stepper::stepper_motor_finished_move, this);
  50 }
  51
  52 // Get configuration from the config file
  53 void Stepper::on_config_reload(void *argument)
  54 {
  55     // Steppers start off by default
  56     this->turn_enable_pins_off();
  57 }
  58
  59 void Stepper::on_halt(void *argument)
  60 {
  61     if(argument == nullptr) {
  62         this->turn_enable_pins_off();
  63     }
  64 }
  65
  66 void Stepper::on_gcode_received(void *argument)
  67 {
  68     Gcode *gcode = static_cast<Gcode *>(argument);
  69
  70     if( gcode->has_m) {
  71         if( gcode->m == 17 ) {
  72             this->turn_enable_pins_on();
  73
  74         }else if( (gcode->m == 84 || gcode->m == 18) && !gcode->has_letter('E') ) {
  75             THEKERNEL->conveyor->wait_for_empty_queue();
  76             this->turn_enable_pins_off();
  77         }
  78     }
  79 }
  80
  81 // Enable steppers
  82 void Stepper::turn_enable_pins_on()
  83 {
  84     for (auto a : THEKERNEL->robot->actuators)
  85         a->enable(true);
  86     this->enable_pins_status = true;
  87     THEKERNEL->call_event(ON_ENABLE, (void*)1);
  88 }
  89
  90 // Disable steppers
  91 void Stepper::turn_enable_pins_off()
  92 {
  93     for (auto a : THEKERNEL->robot->actuators)
  94         a->enable(false);
  95     this->enable_pins_status = false;
  96     THEKERNEL->call_event(ON_ENABLE, nullptr);
  97 }
  98
  99 // A new block is popped from the queue
 100 void Stepper::on_block_begin(void *argument)
 101 {
 102     Block *block  = static_cast<Block *>(argument);
 103
 104     // Mark the new block as of interrest to us, handle blocks that have no axis moves properly (like Extrude blocks etc)
 105     bool take = false;
 106     if (block->millimeters > 0.0F) {
 107         for (size_t s = 0; !take && s < THEKERNEL->robot->actuators.size(); s++) {
 108             take = block->steps[s] > 0;
 109         }
 110     }
 111     if(!take) return;
 112
 113     block->take();
 114
 115     // We can't move with the enable pins off
 116     if( this->enable_pins_status == false ) {
 117         this->turn_enable_pins_on();
 118     }
 119
 120     this->current_block = block;
 121
 122     // setup stepticker to execute this block
 123     THEKERNEL->step_ticker->add_job(block);
 124 }
 125
 126 // Current block is discarded
 127 void Stepper::on_block_end(void *argument)
 128 {
 129     this->current_block = NULL; //stfu !
 130 }
 131
 132 // When all moves in a block have finished this is called by step ticker (in the pendsv ISR)
 133 void Stepper::stepper_motor_finished_move()
 134 {
 135     // This block is finished, release it
 136     if( this->current_block != NULL ) {
 137         this->current_block->release();
 138     }
 139 }