Inital rewrite of stepticker and associated code to implement accleration per tick.

[clinton/Smoothieware.git] / src / modules / robot / Stepper.h

diff --git a/src/modules/robot/Stepper.h b/src/modules/robot/Stepper.h
index ef78cac..4fb741f 100644 (file)
--- a/src/modules/robot/Stepper.h
+++ b/src/modules/robot/Stepper.h
@@ -12,7 +12,6 @@
 #include <stdint.h>
 
 class Block;
-class Hook;
 class StepperMotor;
 
 class Stepper : public Module
@@ -24,52 +23,20 @@ public:
     void on_block_begin(void *argument);
     void on_block_end(void *argument);
     void on_gcode_received(void *argument);
-    void on_gcode_execute(void *argument);
-    void on_play(void *argument);
-    void on_pause(void *argument);
     void on_halt(void *argument);
-    uint32_t main_interrupt(uint32_t dummy);
-    void trapezoid_generator_reset();
-    void set_step_events_per_second(float);
-    uint32_t trapezoid_generator_tick(uint32_t dummy);
-    uint32_t stepper_motor_finished_move(uint32_t dummy);
-    int config_step_timer( int cycles );
+
     void turn_enable_pins_on();
     void turn_enable_pins_off();
-    uint32_t synchronize_acceleration(uint32_t dummy);
 
-    int get_acceleration_ticks_per_second() const { return acceleration_ticks_per_second; }
-    unsigned int get_minimum_steps_per_second() const { return minimum_steps_per_second; }
-    float get_trapezoid_adjusted_rate() const { return trapezoid_adjusted_rate; }
     const Block *get_current_block() const { return current_block; }
 
 private:
+    void stepper_motor_finished_move();
+
     Block *current_block;
-    int counters[3];
-    int stepped[3];
-    int offsets[3];
-    float counter_alpha;
-    float counter_beta;
-    float counter_gamma;
-    unsigned int out_bits;
-    float trapezoid_adjusted_rate;
-    int trapezoid_tick_cycle_counter;
-    int cycles_per_step_event;
-    int microseconds_per_step_pulse;
-    int acceleration_ticks_per_second;
-    unsigned int minimum_steps_per_second;
-    int base_stepping_frequency;
-    unsigned short step_bits[3];
-    int counter_increment;
-    Hook *acceleration_tick_hook;
-    StepperMotor *main_stepper;
 
     struct {
         bool enable_pins_status:1;
-        bool force_speed_update:1;
-        bool paused:1;
-        bool trapezoid_generator_busy:1;
-        bool halted:1;
     };
 
 };