Merge pull request #1307 from wolfmanjm/upstreamedge

[clinton/Smoothieware.git] / src / libs / StepperMotor.cpp

diff --git a/src/libs/StepperMotor.cpp b/src/libs/StepperMotor.cpp
index 666c966..0638e59 100644 (file)
--- a/src/libs/StepperMotor.cpp
+++ b/src/libs/StepperMotor.cpp
@@ -13,14 +13,11 @@
 #include <math.h>
 #include "mbed.h"
 
-// in steps/sec the default minimum speed (was 20steps/sec hardcoded)
-float StepperMotor::default_minimum_actuator_rate= 20.0F;
-
 StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_pin(dir), en_pin(en)
 {
-    set_high_on_debug(en.port_number, en.pin);
-    // register this motor with the step ticker, and get its index in that array and bit position
-    this->index= THEKERNEL->step_ticker->register_motor(this);
+    if(en.connected()) {
+        set_high_on_debug(en.port_number, en.pin);
+    }
 
     steps_per_mm         = 1.0F;
     max_rate             = 50.0F;
@@ -28,8 +25,14 @@ StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_p
     last_milestone_steps = 0;
     last_milestone_mm    = 0.0F;
     current_position_steps= 0;
-    enable(false);
     moving= false;
+    acceleration= NAN;
+    selected= true;
+    extruder= false;
+
+    enable(false);
+    unstep(); // initialize step pin
+    set_direction(false); // initialize dir pin
 
     this->register_for_event(ON_HALT);
     this->register_for_event(ON_ENABLE);
@@ -45,12 +48,21 @@ void StepperMotor::on_halt(void *argument)
 {
     if(argument == nullptr) {
         enable(false);
+        moving= false;
     }
 }
 
 void StepperMotor::on_enable(void *argument)
 {
-    enable(argument != nullptr);
+    // argument is a uin32_t where bit0 is on or off, and bit 1:X, 2:Y, 3:Z, 4:A, 5:B, 6:C etc
+    // for now if bit0 is 1 we turn all on, if 0 we turn all off otherwise we turn selected axis off
+    uint32_t bm= (uint32_t)argument;
+    if(bm == 0x01) {
+        enable(true);
+
+    }else if(bm == 0 || ((bm&0x01) == 0 && ((bm&(0x02<<motor_id)) != 0)) ) {
+        enable(false);
+    }
 }
 
 void StepperMotor::change_steps_per_mm(float new_steps)
@@ -67,13 +79,28 @@ void StepperMotor::change_last_milestone(float new_milestone)
     current_position_steps = last_milestone_steps;
 }
 
-int  StepperMotor::steps_to_target(float target)
+void StepperMotor::set_last_milestones(float mm, int32_t steps)
+{
+    last_milestone_mm= mm;
+    last_milestone_steps= steps;
+    current_position_steps= last_milestone_steps;
+}
+
+void StepperMotor::update_last_milestones(float mm, int32_t steps)
+{
+    last_milestone_steps += steps;
+    last_milestone_mm = mm;
+}
+
+int32_t StepperMotor::steps_to_target(float target)
 {
-    int target_steps = lroundf(target * steps_per_mm);
+    int32_t target_steps = lroundf(target * steps_per_mm);
     return target_steps - last_milestone_steps;
 }
 
 // Does a manual step pulse, used for direct encoder control of a stepper
+// NOTE this is experimental and may change and/or be reomved in the future, it is an unsupported feature.
+// use at your own risk
 void StepperMotor::manual_step(bool dir)
 {
     if(!is_enabled()) enable(true);