-/*
- This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
- 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.
- 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.
- 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
-
-#include "libs/Kernel.h"
-#include "libs/Hook.h"
-
-class StepTicker;
-
-class StepperMotor {
- public:
- StepperMotor();
- StepperMotor(Pin& step, Pin& dir, Pin& en);
-
- // 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();
- };
-
- void step();
- inline void unstep() { step_pin.set(0); };
-
- inline void enable(bool state) { en_pin.set(!state); };
-
- 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();
-
- void change_steps_per_mm(float);
- void change_last_milestone(float);
-
- int steps_to_target(float);
-
- 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;
- }
-
- 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;
- }
-
- Hook* end_hook;
- Hook* step_signal_hook;
-
- bool signal_step;
- uint32_t signal_step_number;
-
- StepTicker* step_ticker;
- Pin step_pin;
- Pin dir_pin;
- Pin en_pin;
-
- float steps_per_second;
-
- volatile bool moving;
- bool paused;
-
- float steps_per_mm;
- float max_rate;
-
- 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;
-
- bool direction;
-
- //bool exit_tick;
- bool remove_from_active_list_next_reset;
-
- bool is_move_finished; // Whether the move just finished
-};
-
-#endif
-
+/*
+ This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#pragma once
+
+#include "Module.h"
+#include "Pin.h"
+
+class StepperMotor : public Module {
+ public:
+ 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 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; }
+
+ void manual_step(bool dir);
+
+ bool which_direction() const { return direction; }
+
+ float get_steps_per_second() const { return steps_per_second; }
+ 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; }
+
+ int32_t steps_to_target(float);
+
+
+ private:
+ void on_halt(void *argument);
+ void on_enable(void *argument);
+
+ int index;
+
+ Pin step_pin;
+ Pin dir_pin;
+ Pin en_pin;
+
+ float steps_per_second;
+ float steps_per_mm;
+ 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;
+
+ volatile struct {
+ volatile bool direction:1;
+ volatile bool moving:1;
+ bool selected:1;
+ };
+};
+
HCoop / clinton / Smoothieware.git / blobdiff