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
  14 class StepTicker;
  15 class Hook;
  16
  17 class StepperMotor {
  18     public:
  19         StepperMotor();
  20         StepperMotor(Pin& step, Pin& dir, Pin& en);
  21         ~StepperMotor();
  22
  23         void step();
  24         inline void unstep() { step_pin.set(0); };
  25
  26         inline void enable(bool state) { en_pin.set(!state); };
  27
  28         bool is_moving() { return moving; }
  29         void move_finished();
  30         void move( bool direction, unsigned int steps, float initial_speed= -1.0F);
  31         void signal_move_finished();
  32         void set_speed( float speed );
  33         void set_step_rate(float requested_rate, uint32_t block_steps_event_count);
  34
  35         void update_exit_tick();
  36         void pause();
  37         void unpause();
  38
  39         float get_steps_per_second()  const { return steps_per_second; }
  40         float get_steps_per_mm()  const { return steps_per_mm; }
  41         void change_steps_per_mm(float);
  42         void change_last_milestone(float);
  43         float get_last_milestone(void) const { return last_milestone_mm; }
  44         float get_current_position(void) const { return (float)current_position_steps/steps_per_mm; }
  45         float get_max_rate(void) const { return max_rate; }
  46         void set_max_rate(float mr) { max_rate= mr; }
  47         float get_min_rate(void) const { return minimum_step_rate; }
  48         void set_min_rate(float mr) { minimum_step_rate= mr; }
  49
  50         int  steps_to_target(float);
  51         uint32_t get_steps_to_move() const { return steps_to_move; }
  52         uint32_t get_stepped() const { return stepped; }
  53
  54         template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  55             Hook* hook = new Hook();
  56             hook->attach(optr, fptr);
  57             this->end_hook = hook;
  58         }
  59
  60         template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  61             this->step_signal_hook->attach(optr, fptr);
  62             this->signal_step_number = step;
  63             this->signal_step = true;
  64         }
  65
  66         friend class StepTicker;
  67         friend class Stepper;
  68         friend class Planner;
  69         friend class Robot;
  70
  71     private:
  72         void init();
  73
  74         Hook* end_hook;
  75         Hook* step_signal_hook;
  76
  77         uint32_t signal_step_number;
  78
  79         Pin step_pin;
  80         Pin dir_pin;
  81         Pin en_pin;
  82
  83         float steps_per_second;
  84         float steps_per_mm;
  85         float max_rate; // this is not really rate it is in mm/sec, misnamed used in Robot and Extruder
  86         float minimum_step_rate; // this is the minimum step_rate in steps/sec for this motor for this block
  87         static float default_minimum_actuator_rate;
  88
  89         volatile int32_t current_position_steps;
  90         int32_t last_milestone_steps;
  91         float   last_milestone_mm;
  92
  93         uint32_t steps_to_move;
  94         uint32_t stepped;
  95
  96         // set to 64 bit fixed point, 32:32 bits fractional
  97         static const uint32_t fx_shift= 32;
  98         static const uint64_t fx_increment= ((uint64_t)1<<fx_shift);
  99         uint64_t fx_counter;
 100         uint64_t fx_ticks_per_step;
 101
 102         struct {
 103             bool direction:1;
 104             bool is_move_finished:1; // Whether the move just finished
 105             bool signal_step:1;
 106             bool paused:1;
 107             volatile bool moving:1;
 108         };
 109
 110         // Called a great many times per second, to step if we have to now
 111         inline void tick() {
 112             // increase the ( 64 fixed point 32:32 ) counter by one tick 11t
 113             fx_counter += fx_increment;
 114
 115             // if we are to step now 10t
 116             if (fx_counter >= fx_ticks_per_step)
 117                 step();
 118         };
 119 };
 120
 121 #endif
 122