src/modules/robot/Stepper.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 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        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")
  19
  20 class Stepper : public Module {
  21     public:
  22         Stepper();
  23         void on_module_loaded();
  24         void on_config_reload(void* argument);
  25         void on_block_begin(void* argument);
  26         void on_block_end(void* argument);
  27         void on_gcode_received(void* argument);
  28         void on_gcode_execute(void* argument);
  29         void on_play(void* argument);
  30         void on_pause(void* argument);
  31         uint32_t main_interrupt(uint32_t dummy);
  32         void trapezoid_generator_reset();
  33         void set_step_events_per_minute(float steps_per_minute);
  34         uint32_t trapezoid_generator_tick(uint32_t dummy);
  35         uint32_t stepper_motor_finished_move(uint32_t dummy);
  36         int config_step_timer( int cycles );
  37         void turn_enable_pins_on();
  38         void turn_enable_pins_off();
  39         uint32_t synchronize_acceleration(uint32_t dummy);
  40
  41         Block* current_block;
  42         int counters[3];
  43         int stepped[3];
  44         int offsets[3];
  45         float counter_alpha;
  46         float counter_beta;
  47         float counter_gamma;
  48         //int step_events_completed;
  49         unsigned int out_bits;
  50         float trapezoid_adjusted_rate;
  51         int trapezoid_tick_cycle_counter;
  52         int cycles_per_step_event;
  53         bool trapezoid_generator_busy;
  54         int microseconds_per_step_pulse;
  55         int acceleration_ticks_per_second;
  56         unsigned int minimum_steps_per_minute;
  57         int base_stepping_frequency;
  58         unsigned short step_bits[3];
  59         int counter_increment;
  60         bool paused;
  61         bool force_speed_update;
  62         bool enable_pins_status;
  63         Hook* acceleration_tick_hook;
  64
  65         StepperMotor* main_stepper;
  66
  67 };
  68
  69
  70
  71
  72 #endif