src/libs/StepperMotor.cpp

   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 #include "mri.h"
   8 #include "libs/Kernel.h"
   9 #include "StepperMotor.h"
  10 #include "MRI_Hooks.h"
  11
  12 // A StepperMotor represents an actual stepper motor. It is used to generate steps that move the actual motor at a given speed
  13 // TODO : Abstract this into Actuator
  14
  15 StepperMotor::StepperMotor(){
  16     this->moving = false;
  17     this->paused = false;
  18     this->fx_counter = 0;
  19     this->stepped = 0;
  20     this->fx_ticks_per_step = 0;
  21     this->steps_to_move = 0;
  22     this->remove_from_active_list_next_reset = false;
  23     this->is_move_finished = false;
  24     this->signal_step = false;
  25     this->step_signal_hook = new Hook();
  26
  27     last_milestone_steps = 0;
  28     last_milestone_mm    = 0.0F;
  29 }
  30
  31 StepperMotor::StepperMotor(Pin* step, Pin* dir, Pin* en) : step_pin(step), dir_pin(dir), en_pin(en) {
  32     this->moving = false;
  33     this->paused = false;
  34     this->fx_counter = 0;
  35     this->stepped = 0;
  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();
  42
  43     set_high_on_debug(en->port_number, en->pin);
  44
  45     last_milestone_steps = 0;
  46     last_milestone_mm    = 0.0F;
  47 }
  48
  49 // 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
  50 // we also here check if the move is finished etc ...
  51 void StepperMotor::step(){
  52
  53     // output to pins 37t
  54     this->step_pin->set( 1                   );
  55     this->step_ticker->reset_step_pins = true;
  56
  57     // move counter back 11t
  58     this->fx_counter -= this->fx_ticks_per_step;
  59
  60     // we have moved a step 9t
  61     this->stepped++;
  62
  63     // Do we need to signal this step
  64     if( this->stepped == this->signal_step_number && this->signal_step ){
  65         this->step_signal_hook->call();
  66     }
  67
  68     // Is this move finished ?
  69     if( this->stepped == this->steps_to_move ){
  70         // Mark it as finished, then StepTicker will call signal_mode_finished()
  71         // This is so we don't call that before all the steps have been generated for this tick()
  72         this->is_move_finished = true;
  73         this->step_ticker->moves_finished = true;
  74     }
  75
  76 }
  77
  78
  79 // If the move is finished, the StepTicker will call this ( because we asked it to in tick() )
  80 void StepperMotor::signal_move_finished(){
  81
  82             // work is done ! 8t
  83             this->moving = false;
  84             this->steps_to_move = 0;
  85
  86             // signal it to whatever cares 41t 411t
  87             this->end_hook->call();
  88
  89             // We only need to do this if we were not instructed to move
  90             if( this->moving == false ){
  91                 this->update_exit_tick();
  92             }
  93
  94             this->is_move_finished = false;
  95 }
  96
  97 // This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
  98 inline void StepperMotor::update_exit_tick(){
  99     if( !this->moving || this->paused || this->steps_to_move == 0 ){
 100         // We must exit tick() after setting the pins, no bresenham is done
 101         //this->remove_from_active_list_next_reset = true;
 102         this->step_ticker->remove_motor_from_active_list(this);
 103     }else{
 104         // We must do the bresenham in tick()
 105         // We have to do this or there could be a bug where the removal still happens when it doesn't need to
 106         this->step_ticker->add_motor_to_active_list(this);
 107     }
 108 }
 109
 110
 111
 112 // Instruct the StepperMotor to move a certain number of steps
 113 void StepperMotor::move( bool direction, unsigned int steps ){
 114     // We do not set the direction directly, we will set the pin just before the step pin on the next tick
 115     this->dir_pin->set(direction);
 116
 117     // How many steps we have to move until the move is done
 118     this->steps_to_move = steps;
 119
 120     // Zero our tool counters
 121     this->fx_counter = 0;      // Bresenheim counter
 122     this->stepped = 0;
 123
 124     // Do not signal steps until we get instructed to
 125     this->signal_step = false;
 126
 127     // Starting now we are moving
 128     if( steps > 0 ){
 129         this->moving = true;
 130     }else{
 131         this->moving = false;
 132     }
 133     this->update_exit_tick();
 134
 135 }
 136
 137 // Set the speed at which this steper moves
 138 void StepperMotor::set_speed( float speed ){
 139
 140     if (speed < 20.0)
 141         speed = 20.0;
 142
 143     // How many steps we must output per second
 144     this->steps_per_second = speed;
 145
 146     // How many ticks ( base steps ) between each actual step at this speed, in fixed point 64
 147     float ticks_per_step = (float)( (float)this->step_ticker->frequency / speed );
 148     float double_fx_ticks_per_step = (float)(1<<8) * ( (float)(1<<8) * ticks_per_step ); // 8x8 because we had to do 16x16 because 32 did not work
 149     this->fx_ticks_per_step = (uint32_t)( floor(double_fx_ticks_per_step) );
 150
 151 }
 152
 153 // Pause this stepper motor
 154 void StepperMotor::pause(){
 155     this->paused = true;
 156     this->update_exit_tick();
 157 }
 158
 159 // Unpause this stepper motor
 160 void StepperMotor::unpause(){
 161     this->paused = false;
 162     this->update_exit_tick();
 163 }
 164
 165
 166 void StepperMotor::change_steps_per_mm(float new_steps)
 167 {
 168     steps_per_mm = new_steps;
 169     last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
 170 }
 171
 172 void StepperMotor::change_last_milestone(float new_milestone)
 173 {
 174     last_milestone_mm = new_milestone;
 175     last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
 176 }
 177
 178 int  StepperMotor::steps_to_target(float target)
 179 {
 180     int target_steps = target * steps_per_mm;
 181     return target_steps - last_milestone_steps;
 182 }