-/*
- 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/>.
-*/
-#include "StepperMotor.h"
-
-#include "Kernel.h"
-#include "MRI_Hooks.h"
-#include "StepTicker.h"
-
-#include <math.h>
-
-// in steps/sec the default minimum speed (was 20steps/sec hardcoded)
-float StepperMotor::default_minimum_actuator_rate= 20.0F;
-
-// A StepperMotor represents an actual stepper motor. It is used to generate steps that move the actual motor at a given speed
-// TODO : Abstract this into Actuator
-
-StepperMotor::StepperMotor()
-{
- init();
-}
-
-StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_pin(dir), en_pin(en)
-{
- init();
- enable(false);
- set_high_on_debug(en.port_number, en.pin);
-}
-
-StepperMotor::~StepperMotor()
-{
-}
-
-void StepperMotor::init()
-{
- // 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);
- this->moving = false;
- this->paused = false;
- this->fx_counter = 0;
- this->fx_ticks_per_step = 0xFFFFF00000000000ULL; // some big number so we don't start stepping before it is set
- this->stepped = 0;
- this->steps_to_move = 0;
- this->is_move_finished = false;
-
- steps_per_mm = 1.0F;
- max_rate = 50.0F;
- minimum_step_rate = default_minimum_actuator_rate;
-
- last_milestone_steps = 0;
- last_milestone_mm = 0.0F;
- current_position_steps= 0;
-}
-
-
-// This is called ( see the .h file, we had to put a part of things there for obscure inline reasons ) when a step has to be generated
-// we also here check if the move is finished etc ...
-void StepperMotor::step()
-{
- // we can't do anything until the next move has been processed, but we will be able to offset the time by shortening the next step
- if(THEKERNEL->step_ticker->a_move_finished) return;
-
- // output to pins 37t
- this->step_pin.set( 1 );
- THEKERNEL->step_ticker->reset_step_pins = true;
-
- // move counter back 11t
- if(this->fx_counter > this->fx_ticks_per_step) {
- this->fx_counter -= this->fx_ticks_per_step;
- }else{
- this->fx_counter= 0; // can't make it less than 0 as it is a uint, unless we get interrupted I don't think this case is possible
- }
-
- // we have moved a step 9t
- this->stepped++;
-
- // keep track of actuators actual position in steps
- this->current_position_steps += (this->direction ? -1 : 1);
-
- // Is this move finished ?
- if( this->stepped == this->steps_to_move ) {
- // Mark it as finished, then StepTicker will call signal_mode_finished()
- // This is so we don't call that before all the steps have been generated for this tick()
- this->is_move_finished = true;
- THEKERNEL->step_ticker->a_move_finished = true;
- this->fx_counter = 0; // set this to zero here so we don't miss any for next move
- this->fx_ticks_per_step = 0xFFFFF00000000000ULL; // some big number so we don't start stepping before it is set again
- }
-}
-
-
-// If the move is finished, the StepTicker will call this ( because we asked it to in tick() )
-void StepperMotor::signal_move_finished()
-{
- // work is done ! 8t
- this->moving = false;
- this->steps_to_move = 0;
- this->minimum_step_rate = default_minimum_actuator_rate;
-
- // signal it to whatever cares 41t 411t
- this->end_hook->call();
-
- // We only need to do this if we were not instructed to move
- if( this->moving == false ) {
- this->update_exit_tick();
- }
-
- this->is_move_finished = false;
-}
-
-// This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
-void StepperMotor::update_exit_tick()
-{
- if( !this->moving || this->paused || this->steps_to_move == 0 ) {
- // We must exit tick() after setting the pins, no bresenham is done
- THEKERNEL->step_ticker->remove_motor_from_active_list(this);
- } else {
- // We must do the bresenham in tick()
- // We have to do this or there could be a bug where the removal still happens when it doesn't need to
- THEKERNEL->step_ticker->add_motor_to_active_list(this);
- }
-}
-
-// Instruct the StepperMotor to move a certain number of steps
-void StepperMotor::move( bool direction, unsigned int steps, float initial_speed)
-{
- this->dir_pin.set(direction);
- this->direction = direction;
-
- // How many steps we have to move until the move is done
- this->steps_to_move = steps;
-
- // Zero our tool counters
- this->stepped = 0;
-
- // Starting now we are moving
- if( steps > 0 ) {
- if(initial_speed >= 0.0F) set_speed(initial_speed);
- this->moving = true;
- } else {
- this->moving = false;
- }
- this->update_exit_tick();
-}
-
-// this is called to set the step rate based on this blocks rate, we use this instead of set_speed for coordinated moves
-// so that we can floor to a minimum speed which is proportional for all axis. the minimum step rate is set at the start
-// of each block based on the slowest axis of all coordinated axis.
-// the rate passed in is the requested rate, it is scaled for this motor based on steps_to_move and block_steps_event_count
-void StepperMotor::set_step_rate(float requested_rate, uint32_t block_steps_event_count)
-{
- float rate= requested_rate * ((float)steps_to_move / (float)block_steps_event_count);
- if(rate < minimum_step_rate) {
- rate= minimum_step_rate;
- }
- set_speed(rate);
-}
-
-// Set the speed at which this stepper moves in steps/sec, should be called set_step_rate()
-// we need to make sure that we have a minimum speed here and that it fits the 64bit fixed point fx counters
-// Note nothing will really ever go as slow as the minimum speed here, it is just forced to avoid bad errors
-// fx_ticks_per_step is what actually sets the step rate, it is fixed point 32.32
-void StepperMotor::set_speed( float speed )
-{
- if(speed <= 0.0F) { // we can't actually do 0 but we can get close, need to avoid divide by zero later on
- this->fx_ticks_per_step= 0xFFFFF00000000000ULL; // that is 4,294,963,200 10us ticks which is ~11.9 hours for 1 step
- this->steps_per_second = THEKERNEL->step_ticker->frequency / (this->fx_ticks_per_step>>fx_shift);
- return;
- }
-
- // How many steps we must output per second
- this->steps_per_second = speed;
-
- // How many ticks ( base steps ) between each actual step at this speed, in fixed point 64
- // we need to use double here to match the 64bit resolution of the ticker
- double ticks_per_step = (double)THEKERNEL->step_ticker->frequency / speed;
- if(ticks_per_step > 0xFFFFF000UL) { // maximum we can really do and allow a few overflow steps
- ticks_per_step= 0xFFFFF000UL;
- this->steps_per_second = THEKERNEL->step_ticker->frequency / ticks_per_step;
- }
- double double_fx_ticks_per_step = fx_increment * ticks_per_step;
-
- // set the new speed
- this->fx_ticks_per_step = floor(double_fx_ticks_per_step);
-}
-
-// Pause this stepper motor
-void StepperMotor::pause()
-{
- this->paused = true;
- this->update_exit_tick();
-}
-
-// Unpause this stepper motor
-void StepperMotor::unpause()
-{
- this->paused = false;
- this->update_exit_tick();
-}
-
-
-void StepperMotor::change_steps_per_mm(float new_steps)
-{
- steps_per_mm = new_steps;
- last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
- current_position_steps = last_milestone_steps;
-}
-
-void StepperMotor::change_last_milestone(float new_milestone)
-{
- last_milestone_mm = new_milestone;
- last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
- current_position_steps = last_milestone_steps;
-}
-
-int StepperMotor::steps_to_target(float target)
-{
- int target_steps = lround(target * steps_per_mm);
- return target_steps - last_milestone_steps;
-}
+/*
+ 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/>.
+*/
+#include "StepperMotor.h"
+
+#include "Kernel.h"
+#include "MRI_Hooks.h"
+#include "StepTicker.h"
+
+#include <math.h>
+
+// in steps/sec the default minimum speed (was 20steps/sec hardcoded)
+float StepperMotor::default_minimum_actuator_rate= 20.0F;
+
+// A StepperMotor represents an actual stepper motor. It is used to generate steps that move the actual motor at a given speed
+
+StepperMotor::StepperMotor()
+{
+ init();
+}
+
+StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_pin(dir), en_pin(en)
+{
+ init();
+ enable(false);
+ set_high_on_debug(en.port_number, en.pin);
+}
+
+StepperMotor::~StepperMotor()
+{
+}
+
+void StepperMotor::init()
+{
+ // 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);
+ this->moving = false;
+ this->stepped = 0;
+ this->is_move_finished = false;
+ this->force_finish= false;
+
+ steps_per_mm = 1.0F;
+ max_rate = 50.0F;
+
+ last_milestone_steps = 0;
+ last_milestone_mm = 0.0F;
+ current_position_steps= 0;
+}
+
+// // Instruct the StepperMotor to move a certain number of steps
+// StepperMotor* StepperMotor::move( bool direction, unsigned int steps, float initial_speed)
+// {
+// set_direction(direction);
+// this->direction = direction;
+// this->force_finish= false;
+
+// // Zero our tool counters
+// this->stepped = 0;
+// return this;
+// }
+
+void StepperMotor::change_steps_per_mm(float new_steps)
+{
+ steps_per_mm = new_steps;
+ last_milestone_steps = lroundf(last_milestone_mm * steps_per_mm);
+ current_position_steps = last_milestone_steps;
+}
+
+void StepperMotor::change_last_milestone(float new_milestone)
+{
+ last_milestone_mm = new_milestone;
+ last_milestone_steps = lroundf(last_milestone_mm * steps_per_mm);
+ current_position_steps = last_milestone_steps;
+}
+
+int StepperMotor::steps_to_target(float target)
+{
+ int target_steps = lroundf(target * steps_per_mm);
+ return target_steps - last_milestone_steps;
+}