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/>.
7 #include "StepperMotor.h"
10 #include "MRI_Hooks.h"
11 #include "StepTicker.h"
15 // A StepperMotor represents an actual stepper motor. It is used to generate steps that move the actual motor at a given speed
16 // TODO : Abstract this into Actuator
18 StepperMotor::StepperMotor()
23 StepperMotor::StepperMotor(Pin
&step
, Pin
&dir
, Pin
&en
) : step_pin(step
), dir_pin(dir
), en_pin(en
)
27 set_high_on_debug(en
.port_number
, en
.pin
);
30 void StepperMotor::init()
36 this->fx_ticks_per_step
= 0;
37 this->steps_to_move
= 0;
38 this->remove_from_active_list_next_reset
= false;
39 this->is_move_finished
= false;
40 this->signal_step
= false;
41 this->step_signal_hook
= new Hook();
46 current_position_steps
= 0;
47 last_milestone_steps
= 0;
48 last_milestone_mm
= 0.0F
;
52 // 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
53 // we also here check if the move is finished etc ...
54 void StepperMotor::step()
57 this->step_pin
.set( 1 );
58 this->step_ticker
->reset_step_pins
= true;
60 // move counter back 11t
61 if(this->fx_counter
> this->fx_ticks_per_step
) {
62 this->fx_counter
-= this->fx_ticks_per_step
;
64 this->fx_counter
= 0; // can't make it less than 0 as it is a uint
67 // we have moved a step 9t
70 // Do we need to signal this step
71 if( this->stepped
== this->signal_step_number
&& this->signal_step
) {
72 this->step_signal_hook
->call();
75 // keep track of actuators actual position in steps
76 this->current_position_steps
+= (this->direction
? -1 : 1);
78 // Is this move finished ?
79 if( this->stepped
== this->steps_to_move
) {
80 // Mark it as finished, then StepTicker will call signal_mode_finished()
81 // This is so we don't call that before all the steps have been generated for this tick()
82 this->is_move_finished
= true;
83 this->step_ticker
->moves_finished
= true;
88 // If the move is finished, the StepTicker will call this ( because we asked it to in tick() )
89 void StepperMotor::signal_move_finished()
93 this->steps_to_move
= 0;
95 // signal it to whatever cares 41t 411t
96 this->end_hook
->call();
98 // We only need to do this if we were not instructed to move
99 // NOTE this is always true
100 if( this->moving
== false ) {
101 this->update_exit_tick();
104 this->is_move_finished
= false;
107 // This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
108 inline void StepperMotor::update_exit_tick()
110 if( !this->moving
|| this->paused
|| this->steps_to_move
== 0 ) {
111 // We must exit tick() after setting the pins, no bresenham is done
112 //this->remove_from_active_list_next_reset = true;
113 this->step_ticker
->remove_motor_from_active_list(this);
115 // We must do the bresenham in tick()
116 // We have to do this or there could be a bug where the removal still happens when it doesn't need to
117 this->step_ticker
->add_motor_to_active_list(this);
121 // Instruct the StepperMotor to move a certain number of steps
122 void StepperMotor::move( bool direction
, unsigned int steps
, float initial_speed
)
124 // We do not set the direction directly, we will set the pin just before the step pin on the next tick
125 this->dir_pin
.set(direction
);
126 this->direction
= direction
;
128 // How many steps we have to move until the move is done
129 this->steps_to_move
= steps
;
131 // Zero our tool counters
132 this->fx_counter
= 0; // Bresenheim counter
135 // Do not signal steps until we get instructed to
136 this->signal_step
= false;
138 // Starting now we are moving
140 set_speed(initial_speed
);
143 this->moving
= false;
145 this->update_exit_tick();
148 // Set the speed at which this steper moves
149 void StepperMotor::set_speed( float speed
)
151 float slowest_speed
= ceil(this->step_ticker
->frequency
/65536.0F
);
153 if(speed
< slowest_speed
) { // this is the slowest it can be
154 speed
= slowest_speed
;
157 // How many steps we must output per second
158 this->steps_per_second
= speed
;
160 // How many ticks ( base steps ) between each actual step at this speed, in fixed point 64 <--- REALLY? I don't think it is at the moment looks like 32bit fixed point
161 float ticks_per_step
= (float)( (float)this->step_ticker
->frequency
/ speed
);
162 float double_fx_ticks_per_step
= 65536.0F
* ticks_per_step
; // isn't this better on a 32bit machine?
165 this->fx_ticks_per_step
= (uint32_t)( floor(double_fx_ticks_per_step
) );
168 // Pause this stepper motor
169 void StepperMotor::pause()
172 this->update_exit_tick();
175 // Unpause this stepper motor
176 void StepperMotor::unpause()
178 this->paused
= false;
179 this->update_exit_tick();
183 void StepperMotor::change_steps_per_mm(float new_steps
)
185 steps_per_mm
= new_steps
;
186 last_milestone_steps
= lround(last_milestone_mm
* steps_per_mm
);
187 current_position_steps
= last_milestone_steps
;
190 void StepperMotor::change_last_milestone(float new_milestone
)
192 last_milestone_mm
= new_milestone
;
193 last_milestone_steps
= lround(last_milestone_mm
* steps_per_mm
);
194 current_position_steps
= last_milestone_steps
;
197 int StepperMotor::steps_to_target(float target
)
199 int target_steps
= lround(target
* steps_per_mm
);
200 return target_steps
- last_milestone_steps
;