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 #include "libs/Module.h"
  11 #include "libs/Kernel.h"
  12 #include "Planner.h"
  13 #include "Block.h"
  14
  15 #define microseconds_per_step_pulse_ckeckusm        42333
  16 #define acceleration_ticks_per_second_checksum      25075
  17 #define minimum_steps_per_minute_checksum           9003
  18 #define base_stepping_frequency_checksum            21918
  19 #define step_gpio_port_checksum                     29939
  20 #define dir_gpio_port_checksum                      39286
  21 #define alpha_step_pin_checksum                     11468
  22 #define beta_step_pin_checksum                      22114
  23 #define gamma_step_pin_checksum                     1225
  24 #define alpha_dir_pin_checksum                      55887
  25 #define beta_dir_pin_checksum                       28644
  26 #define gamma_dir_pin_checksum                      46412
  27
  28 class Stepper : public Module {
  29     public:
  30         Stepper();
  31         void on_module_loaded();
  32         void on_config_reload(void* argument);
  33         void on_block_begin(void* argument);
  34         void on_block_end(void* argument);
  35         void on_play(void* argument);
  36         void on_pause(void* argument);
  37         void main_interrupt();
  38         void trapezoid_generator_reset();
  39         void set_step_events_per_minute(double steps_per_minute);
  40         void trapezoid_generator_tick();
  41         void reset_step_pins();
  42         void update_offsets();
  43         int config_step_timer( int cycles );
  44
  45         Block* current_block;
  46         int counters[3];
  47         int stepped[3];
  48         int offsets[3];
  49         float counter_alpha;
  50         float counter_beta;
  51         float counter_gamma;
  52         int step_events_completed;
  53         unsigned int out_bits;
  54         double trapezoid_adjusted_rate;
  55         int trapezoid_tick_cycle_counter;
  56         int cycles_per_step_event;
  57         bool trapezoid_generator_busy;
  58         int microseconds_per_step_pulse;
  59         int acceleration_ticks_per_second;
  60         int divider;
  61         int minimum_steps_per_minute;
  62         int base_stepping_frequency;
  63         LPC_GPIO_TypeDef* step_gpio_port;
  64         LPC_GPIO_TypeDef* dir_gpio_port;
  65         unsigned short alpha_step_pin;
  66         unsigned short beta_step_pin;
  67         unsigned short gamma_step_pin;
  68         unsigned short alpha_dir_pin;
  69         unsigned short beta_dir_pin;
  70         unsigned short gamma_dir_pin;
  71         unsigned int step_mask;
  72         unsigned int dir_mask;
  73         unsigned int step_invert_mask;
  74         unsigned int dir_invert_mask;
  75         unsigned short step_bits[3];
  76         int counter_increment;
  77 };
  78
  79
  80
  81
  82 #endif