src/libs/StepperMotor.h

   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 STEPPERMOTOR_H
   9 #define STEPPERMOTOR_H
  10
  11 #include "libs/Hook.h"
  12 #include "Pin.h"
  13 #include <atomic>
  14 #include <functional>
  15
  16 class StepTicker;
  17 class Hook;
  18
  19 class StepperMotor {
  20     public:
  21         StepperMotor();
  22         StepperMotor(Pin& step, Pin& dir, Pin& en);
  23         ~StepperMotor();
  24
  25         void step();
  26         inline void unstep() { step_pin.set(0); };
  27
  28         inline void enable(bool state) { en_pin.set(!state); };
  29
  30         bool is_moving() { return moving; }
  31         void move_finished();
  32         StepperMotor* move( bool direction, unsigned int steps, float initial_speed= -1.0F);
  33         void signal_move_finished();
  34         StepperMotor* set_speed( float speed );
  35         void set_moved_last_block(bool flg) { last_step_tick_valid= flg; }
  36         void update_exit_tick();
  37
  38         float get_steps_per_second()  const { return steps_per_second; }
  39         float get_steps_per_mm()  const { return steps_per_mm; }
  40         void change_steps_per_mm(float);
  41         void change_last_milestone(float);
  42         float get_last_milestone(void) const { return last_milestone_mm; }
  43         float get_current_position(void) const { return (float)current_position_steps/steps_per_mm; }
  44         float get_max_rate(void) const { return max_rate; }
  45         void set_max_rate(float mr) { max_rate= mr; }
  46         float get_min_rate(void) const { return minimum_step_rate; }
  47         void set_min_rate(float mr) { minimum_step_rate= mr; }
  48
  49         int  steps_to_target(float);
  50         uint32_t get_steps_to_move() const { return steps_to_move; }
  51         uint32_t get_stepped() const { return stepped; }
  52
  53         template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  54             Hook* hook = new Hook();
  55             hook->attach(optr, fptr);
  56             this->end_hook = hook;
  57         }
  58
  59         friend class StepTicker;
  60         friend class Stepper;
  61         friend class Planner;
  62         friend class Robot;
  63
  64     private:
  65         void init();
  66
  67         int index;
  68         Hook* end_hook;
  69
  70         Pin step_pin;
  71         Pin dir_pin;
  72         Pin en_pin;
  73
  74         float steps_per_second;
  75         float steps_per_mm;
  76         float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder
  77         float minimum_step_rate; // this is the minimum step_rate in steps/sec for this motor for this block
  78         static float default_minimum_actuator_rate;
  79
  80         volatile int32_t current_position_steps;
  81         int32_t last_milestone_steps;
  82         float   last_milestone_mm;
  83
  84         uint32_t steps_to_move;
  85         uint32_t stepped;
  86         uint32_t last_step_tick;
  87         uint32_t signal_step;
  88
  89         // set to 32 bit fixed point, 18:14 bits fractional
  90         static const uint32_t fx_shift= 14;
  91         static const uint32_t fx_increment= ((uint32_t)1<<fx_shift);
  92         uint32_t fx_counter;
  93         uint32_t fx_ticks_per_step;
  94
  95         struct {
  96             bool direction:1;
  97             volatile bool is_move_finished:1; // Whether the move just finished
  98             volatile bool moving:1;
  99             bool last_step_tick_valid:1; // set if the last step tick time is valid (ie the motor moved last block)
 100         };
 101
 102         // Called a great many times per second, to step if we have to now
 103         inline bool tick() {
 104             // increase the ( 32 fixed point 18:14 ) counter by one tick 11t
 105             fx_counter += fx_increment;
 106
 107             // if we are to step now
 108             if (fx_counter >= fx_ticks_per_step){
 109                 step();
 110                 return true;
 111             }
 112             return false;
 113         };
 114 };
 115
 116 #endif
 117