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 #ifndef STEPPERMOTOR_H
   9 #define STEPPERMOTOR_H
  10
  11 #include "libs/Hook.h"
  12 #include "Pin.h"
  13
  14 class StepTicker;
  15 class Hook;
  16
  17 class StepperMotor {
  18     public:
  19         StepperMotor();
  20         StepperMotor(Pin& step, Pin& dir, Pin& en);
  21
  22         // Called a great many times per second, to step if we have to now
  23         inline void tick() {
  24             // increase the ( fixed point ) counter by one tick 11t
  25             fx_counter += (uint32_t)(1<<16);
  26
  27             // if we are to step now 10t
  28             if (fx_counter >= fx_ticks_per_step)
  29                 step();
  30         };
  31
  32         void step();
  33         inline void unstep() { step_pin.set(0); };
  34
  35         inline void enable(bool state) { en_pin.set(!state); };
  36
  37         void move_finished();
  38         void move( bool direction, unsigned int steps );
  39         void signal_move_finished();
  40         void set_speed( float speed );
  41         void update_exit_tick();
  42         void pause();
  43         void unpause();
  44
  45         void change_steps_per_mm(float);
  46         void change_last_milestone(float);
  47
  48         int  steps_to_target(float);
  49
  50         template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  51             Hook* hook = new Hook();
  52             hook->attach(optr, fptr);
  53             this->end_hook = hook;
  54         }
  55
  56         template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  57             this->step_signal_hook->attach(optr, fptr);
  58             this->signal_step_number = step;
  59             this->signal_step = true;
  60         }
  61
  62         Hook* end_hook;
  63         Hook* step_signal_hook;
  64
  65         bool signal_step;
  66         uint32_t signal_step_number;
  67
  68         StepTicker* step_ticker;
  69         Pin step_pin;
  70         Pin dir_pin;
  71         Pin en_pin;
  72
  73         float steps_per_second;
  74
  75         volatile bool moving;
  76         bool paused;
  77
  78         float steps_per_mm;
  79         float max_rate;
  80
  81         int32_t last_milestone_steps;
  82         float   last_milestone_mm;
  83
  84         uint32_t steps_to_move;
  85         uint32_t stepped;
  86         uint32_t fx_counter;
  87         uint32_t fx_ticks_per_step;
  88
  89         bool     direction;
  90
  91         //bool exit_tick;
  92         bool remove_from_active_list_next_reset;
  93
  94         bool is_move_finished; // Whether the move just finished
  95 };
  96
  97 #endif
  98