src/libs/StepperMotor.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 #pragma once
   9
  10 #include "Module.h"
  11 #include "Pin.h"
  12
  13 class StepperMotor  : public Module {
  14     public:
  15         StepperMotor(Pin& step, Pin& dir, Pin& en);
  16         ~StepperMotor();
  17
  18         // called from step ticker ISR
  19         inline void step() { step_pin.set(1); current_position_steps += (direction?-1:1); }
  20         // called from unstep ISR
  21         inline void unstep() { step_pin.set(0); }
  22         // called from step ticker ISR
  23         inline void set_direction(bool f) { dir_pin.set(f); direction= f; }
  24
  25         inline void enable(bool state) { en_pin.set(!state); };
  26         inline bool is_enabled() const { return !en_pin.get(); };
  27         inline bool is_moving() const { return moving; };
  28
  29         bool which_direction() const { return direction; }
  30
  31         float get_steps_per_second()  const { return steps_per_second; }
  32         float get_steps_per_mm()  const { return steps_per_mm; }
  33         void change_steps_per_mm(float);
  34         void change_last_milestone(float);
  35         float get_last_milestone(void) const { return last_milestone_mm; }
  36         float get_current_position(void) const { return (float)current_position_steps/steps_per_mm; }
  37         uint32_t get_current_step(void) const { return current_position_steps; }
  38         float get_max_rate(void) const { return max_rate; }
  39         void set_max_rate(float mr) { max_rate= mr; }
  40
  41         int  steps_to_target(float);
  42
  43         friend class StepTicker;
  44         friend class Stepper;
  45         friend class Planner;
  46         friend class Robot;
  47
  48     private:
  49         void on_halt(void *argument);
  50         void on_enable(void *argument);
  51
  52         int index;
  53
  54         Pin step_pin;
  55         Pin dir_pin;
  56         Pin en_pin;
  57
  58         float steps_per_second;
  59         float steps_per_mm;
  60         float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder
  61         static float default_minimum_actuator_rate;
  62
  63         volatile int32_t current_position_steps;
  64         int32_t last_milestone_steps;
  65         float   last_milestone_mm;
  66
  67         volatile struct {
  68             volatile bool direction:1;
  69             volatile bool moving:1;
  70         };
  71 };
  72