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 #include <atomic>
  14 #include <functional>
  15
  16 class StepTicker;
  17 class Hook;
  18
  19 class StepperMotor {
  20     public:
  21         StepperMotor();
  22         StepperMotor(Pin& step, Pin& dir, Pin& en);
  23         ~StepperMotor();
  24
  25         void step();
  26         inline void unstep() { step_pin.set(0); };
  27
  28         inline void enable(bool state) { en_pin.set(!state); };
  29
  30         bool is_moving() const { return moving; }
  31         bool which_direction() const { return direction; }
  32         void move_finished();
  33         StepperMotor* move( bool direction, unsigned int steps, float initial_speed= -1.0F);
  34         void signal_move_finished();
  35         StepperMotor* set_speed( float speed );
  36         void set_moved_last_block(bool flg) { last_step_tick_valid= flg; }
  37         void update_exit_tick();
  38
  39         float get_steps_per_second()  const { return steps_per_second; }
  40         float get_steps_per_mm()  const { return steps_per_mm; }
  41         void change_steps_per_mm(float);
  42         void change_last_milestone(float);
  43         float get_last_milestone(void) const { return last_milestone_mm; }
  44         float get_current_position(void) const { return (float)current_position_steps/steps_per_mm; }
  45         float get_max_rate(void) const { return max_rate; }
  46         void set_max_rate(float mr) { max_rate= mr; }
  47         float get_min_rate(void) const { return minimum_step_rate; }
  48         void set_min_rate(float mr) { minimum_step_rate= mr; }
  49
  50         int  steps_to_target(float);
  51         uint32_t get_steps_to_move() const { return steps_to_move; }
  52         uint32_t get_stepped() const { return stepped; }
  53
  54         template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  55             Hook* hook = new Hook();
  56             hook->attach(optr, fptr);
  57             this->end_hook = hook;
  58         }
  59
  60         friend class StepTicker;
  61         friend class Stepper;
  62         friend class Planner;
  63         friend class Robot;
  64
  65     private:
  66         void init();
  67
  68         int index;
  69         Hook* end_hook;
  70
  71         Pin step_pin;
  72         Pin dir_pin;
  73         Pin en_pin;
  74
  75         float steps_per_second;
  76         float steps_per_mm;
  77         float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder
  78         float minimum_step_rate; // this is the minimum step_rate in steps/sec for this motor for this block
  79         static float default_minimum_actuator_rate;
  80
  81         volatile int32_t current_position_steps;
  82         int32_t last_milestone_steps;
  83         float   last_milestone_mm;
  84
  85         uint32_t steps_to_move;
  86         uint32_t stepped;
  87         uint32_t last_step_tick;
  88         uint32_t signal_step;
  89
  90         // set to 32 bit fixed point, 18:14 bits fractional
  91         static const uint32_t fx_shift= 14;
  92         static const uint32_t fx_increment= ((uint32_t)1<<fx_shift);
  93         uint32_t fx_counter;
  94         uint32_t fx_ticks_per_step;
  95
  96         struct {
  97             bool direction:1;
  98             volatile bool is_move_finished:1; // Whether the move just finished
  99             volatile bool moving:1;
 100             bool last_step_tick_valid:1; // set if the last step tick time is valid (ie the motor moved last block)
 101         };
 102
 103         // Called a great many times per second, to step if we have to now
 104         inline bool tick() {
 105             // increase the ( 32 fixed point 18:14 ) counter by one tick 11t
 106             fx_counter += fx_increment;
 107
 108             // if we are to step now
 109             if (fx_counter >= fx_ticks_per_step){
 110                 step();
 111                 return true;
 112             }
 113             return false;
 114         };
 115 };
 116
 117 #endif
 118