Commit | Line | Data |
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df27a6a3 | 1 | /* |
4cff3ded AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
3 | 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. | |
4 | 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. | |
df27a6a3 | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | #ifndef STEPPER_H | |
9 | #define STEPPER_H | |
10 | #include "libs/Module.h" | |
11 | #include "libs/Kernel.h" | |
12 | #include "Planner.h" | |
13 | #include "Block.h" | |
14 | ||
d4f93cf4 AG |
15 | #define microseconds_per_step_pulse_checksum CHECKSUM("microseconds_per_step_pulse") |
16 | #define acceleration_ticks_per_second_checksum CHECKSUM("acceleration_ticks_per_second") | |
17 | #define minimum_steps_per_minute_checksum CHECKSUM("minimum_steps_per_minute") | |
18 | #define base_stepping_frequency_checksum CHECKSUM("base_stepping_frequency") | |
4cff3ded AW |
19 | |
20 | class Stepper : public Module { | |
21 | public: | |
22 | Stepper(); | |
23 | void on_module_loaded(); | |
da24d6ae | 24 | void on_config_reload(void* argument); |
3a4fa0c1 AW |
25 | void on_block_begin(void* argument); |
26 | void on_block_end(void* argument); | |
31e600f6 | 27 | void on_gcode_received(void* argument); |
15908331 | 28 | void on_gcode_execute(void* argument); |
befcf5cc AW |
29 | void on_play(void* argument); |
30 | void on_pause(void* argument); | |
8b8b3339 | 31 | uint32_t main_interrupt(uint32_t dummy); |
4cff3ded | 32 | void trapezoid_generator_reset(); |
da947c62 | 33 | void set_step_events_per_second(float); |
8b8b3339 | 34 | uint32_t trapezoid_generator_tick(uint32_t dummy); |
feb204be | 35 | uint32_t stepper_motor_finished_move(uint32_t dummy); |
4cff3ded | 36 | int config_step_timer( int cycles ); |
831bade1 AW |
37 | void turn_enable_pins_on(); |
38 | void turn_enable_pins_off(); | |
2f7d3dba | 39 | uint32_t synchronize_acceleration(uint32_t dummy); |
3a4fa0c1 | 40 | |
4cff3ded | 41 | Block* current_block; |
4cff3ded | 42 | int counters[3]; |
df27a6a3 MM |
43 | int stepped[3]; |
44 | int offsets[3]; | |
4cff3ded AW |
45 | float counter_alpha; |
46 | float counter_beta; | |
47 | float counter_gamma; | |
df27a6a3 MM |
48 | //int step_events_completed; |
49 | unsigned int out_bits; | |
1ad23cd3 | 50 | float trapezoid_adjusted_rate; |
4cff3ded | 51 | int trapezoid_tick_cycle_counter; |
df27a6a3 | 52 | int cycles_per_step_event; |
4cff3ded | 53 | bool trapezoid_generator_busy; |
df27a6a3 | 54 | int microseconds_per_step_pulse; |
4cff3ded | 55 | int acceleration_ticks_per_second; |
da947c62 | 56 | unsigned int minimum_steps_per_second; |
4cff3ded | 57 | int base_stepping_frequency; |
a2cd92c0 AW |
58 | unsigned short step_bits[3]; |
59 | int counter_increment; | |
81b547a1 | 60 | bool paused; |
1013f6a3 | 61 | bool force_speed_update; |
831bade1 | 62 | bool enable_pins_status; |
2f7d3dba | 63 | Hook* acceleration_tick_hook; |
feb204be | 64 | |
670fa10b | 65 | StepperMotor* main_stepper; |
feb204be | 66 | |
4cff3ded AW |
67 | }; |
68 | ||
69 | ||
70 | ||
71 | ||
72 | #endif |