| 1 | /* |
| 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. |
| 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
| 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 | |
| 15 | #define microseconds_per_step_pulse_checksum 42333 |
| 16 | #define acceleration_ticks_per_second_checksum 25075 |
| 17 | #define minimum_steps_per_minute_checksum 9003 |
| 18 | #define base_stepping_frequency_checksum 21918 |
| 19 | #define alpha_step_pin_checksum 11468 |
| 20 | #define beta_step_pin_checksum 22114 |
| 21 | #define gamma_step_pin_checksum 1225 |
| 22 | #define alpha_dir_pin_checksum 55887 |
| 23 | #define beta_dir_pin_checksum 28644 |
| 24 | #define gamma_dir_pin_checksum 46412 |
| 25 | #define alpha_en_pin_checksum 35042 |
| 26 | #define beta_en_pin_checksum 34680 |
| 27 | #define gamma_en_pin_checksum 26335 |
| 28 | |
| 29 | |
| 30 | class Stepper : public Module { |
| 31 | public: |
| 32 | Stepper(); |
| 33 | void on_module_loaded(); |
| 34 | void on_config_reload(void* argument); |
| 35 | void on_block_begin(void* argument); |
| 36 | void on_block_end(void* argument); |
| 37 | void on_gcode_execute(void* argument); |
| 38 | void on_play(void* argument); |
| 39 | void on_pause(void* argument); |
| 40 | uint32_t main_interrupt(uint32_t dummy); |
| 41 | void trapezoid_generator_reset(); |
| 42 | void set_step_events_per_minute(double steps_per_minute); |
| 43 | uint32_t trapezoid_generator_tick(uint32_t dummy); |
| 44 | uint32_t stepper_motor_finished_move(uint32_t dummy); |
| 45 | int config_step_timer( int cycles ); |
| 46 | uint32_t step_events_completed(); |
| 47 | |
| 48 | |
| 49 | Block* current_block; |
| 50 | int counters[3]; |
| 51 | int stepped[3]; |
| 52 | int offsets[3]; |
| 53 | float counter_alpha; |
| 54 | float counter_beta; |
| 55 | float counter_gamma; |
| 56 | //int step_events_completed; |
| 57 | unsigned int out_bits; |
| 58 | double trapezoid_adjusted_rate; |
| 59 | int trapezoid_tick_cycle_counter; |
| 60 | int cycles_per_step_event; |
| 61 | bool trapezoid_generator_busy; |
| 62 | int microseconds_per_step_pulse; |
| 63 | int acceleration_ticks_per_second; |
| 64 | int minimum_steps_per_minute; |
| 65 | int base_stepping_frequency; |
| 66 | Pin* alpha_step_pin; |
| 67 | Pin* beta_step_pin; |
| 68 | Pin* gamma_step_pin; |
| 69 | Pin* alpha_dir_pin; |
| 70 | Pin* beta_dir_pin; |
| 71 | Pin* gamma_dir_pin; |
| 72 | Pin* alpha_en_pin; |
| 73 | Pin* beta_en_pin; |
| 74 | Pin* gamma_en_pin; |
| 75 | unsigned short step_bits[3]; |
| 76 | int counter_increment; |
| 77 | bool paused; |
| 78 | |
| 79 | StepperMotor* main_stepper; |
| 80 | |
| 81 | }; |
| 82 | |
| 83 | |
| 84 | |
| 85 | |
| 86 | #endif |