You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
-#ifndef STEPPERMOTOR_H
-#define STEPPERMOTOR_H
+#pragma once
-#include "libs/Hook.h"
+#include "Module.h"
#include "Pin.h"
-class StepTicker;
-class Hook;
-
-class StepperMotor {
+class StepperMotor : public Module {
public:
- StepperMotor();
StepperMotor(Pin& step, Pin& dir, Pin& en);
+ ~StepperMotor();
+ // called from step ticker ISR
+ inline bool step() { step_pin.set(1); current_position_steps += (direction?-1:1); return moving; }
+ // called from unstep ISR
+ inline void unstep() { step_pin.set(0); }
+ // called from step ticker ISR
+ inline void set_direction(bool f) { dir_pin.set(f); direction= f; }
- void step();
- inline void unstep() { step_pin.set(0); };
+ void enable(bool state) { en_pin.set(!state); };
+ bool is_enabled() const { return !en_pin.get(); };
+ bool is_moving() const { return moving; };
+ void start_moving() { moving= true; }
+ void stop_moving() { moving= false; }
- inline void enable(bool state) { en_pin.set(!state); };
+ void manual_step(bool dir);
- bool is_moving() { return moving; }
- void move_finished();
- void move( bool direction, unsigned int steps );
- void signal_move_finished();
- void set_speed( float speed );
- void update_exit_tick();
- void pause();
- void unpause();
+ bool which_direction() const { return direction; }
float get_steps_per_second() const { return steps_per_second; }
- void set_steps_per_second(float ss) { steps_per_second= ss; }
float get_steps_per_mm() const { return steps_per_mm; }
void change_steps_per_mm(float);
void change_last_milestone(float);
+ void set_last_milestones(float, int32_t);
+ void update_last_milestones(float mm, int32_t steps);
float get_last_milestone(void) const { return last_milestone_mm; }
+ int32_t get_last_milestone_steps(void) const { return last_milestone_steps; }
float get_current_position(void) const { return (float)current_position_steps/steps_per_mm; }
+ uint32_t get_current_step(void) const { return current_position_steps; }
+ float get_max_rate(void) const { return max_rate; }
+ void set_max_rate(float mr) { max_rate= mr; }
+ void set_acceleration(float a) { acceleration= a; }
+ float get_acceleration() const { return acceleration; }
+ bool is_selected() const { return selected; }
+ void set_selected(bool b) { selected= b; }
- int steps_to_target(float);
- uint32_t get_steps_to_move() const { return steps_to_move; }
- uint32_t get_stepped() const { return stepped; }
-
- template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
- Hook* hook = new Hook();
- hook->attach(optr, fptr);
- this->end_hook = hook;
- }
+ int32_t steps_to_target(float);
- template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
- this->step_signal_hook->attach(optr, fptr);
- this->signal_step_number = step;
- this->signal_step = true;
- }
-
- friend class StepTicker;
- friend class Stepper;
- friend class Planner;
- friend class Robot;
private:
- void init();
- Hook* end_hook;
- Hook* step_signal_hook;
+ void on_halt(void *argument);
+ void on_enable(void *argument);
- uint32_t signal_step_number;
+ int index;
- StepTicker* step_ticker;
Pin step_pin;
Pin dir_pin;
Pin en_pin;
float steps_per_second;
float steps_per_mm;
- float max_rate;
+ float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder
+ float acceleration;
volatile int32_t current_position_steps;
int32_t last_milestone_steps;
float last_milestone_mm;
- uint32_t steps_to_move;
- uint32_t stepped;
- uint32_t fx_counter;
- uint32_t fx_ticks_per_step;
-
- struct {
- bool direction:1;
- bool remove_from_active_list_next_reset:1;
- bool is_move_finished:1; // Whether the move just finished
- bool signal_step:1;
- bool paused:1;
+ volatile struct {
+ volatile bool direction:1;
volatile bool moving:1;
- };
-
- // Called a great many times per second, to step if we have to now
- inline void tick() {
- // increase the ( fixed point ) counter by one tick 11t
- fx_counter += (uint32_t)(1<<16);
-
- // if we are to step now 10t
- if (fx_counter >= fx_ticks_per_step)
- step();
+ bool selected:1;
};
};
-#endif
-