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     enable(false);
  44     set_high_on_debug(en.port_number, en.pin);
  45
  46     last_milestone_steps = 0;
  47     last_milestone_mm    = 0.0F;
  48 }
  49
  50 // 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
  51 // we also here check if the move is finished etc ...
  52 void StepperMotor::step(){
  53
  54     // output to pins 37t
  55     this->step_pin.set( 1                   );
  56     this->step_ticker->reset_step_pins = true;
  57
  58     // move counter back 11t
  59     this->fx_counter -= this->fx_ticks_per_step;
  60
  61     // we have moved a step 9t
  62     this->stepped++;
  63
  64     // Do we need to signal this step
  65     if( this->stepped == this->signal_step_number && this->signal_step ){
  66         this->step_signal_hook->call();
  67     }
  68
  69     // Is this move finished ?
  70     if( this->stepped == this->steps_to_move ){
  71         // Mark it as finished, then StepTicker will call signal_mode_finished()
  72         // This is so we don't call that before all the steps have been generated for this tick()
  73         this->is_move_finished = true;
  74         this->step_ticker->moves_finished = true;
  75     }
  76
  77 }
  78
  79
  80 // If the move is finished, the StepTicker will call this ( because we asked it to in tick() )
  81 void StepperMotor::signal_move_finished(){
  82
  83             // work is done ! 8t
  84             this->moving = false;
  85             this->steps_to_move = 0;
  86
  87             // signal it to whatever cares 41t 411t
  88             this->end_hook->call();
  89
  90             // We only need to do this if we were not instructed to move
  91             if( this->moving == false ){
  92                 this->update_exit_tick();
  93             }
  94
  95             this->is_move_finished = false;
  96 }
  97
  98 // This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
  99 inline void StepperMotor::update_exit_tick(){
 100     if( !this->moving || this->paused || this->steps_to_move == 0 ){
 101         // We must exit tick() after setting the pins, no bresenham is done
 102         //this->remove_from_active_list_next_reset = true;
 103         this->step_ticker->remove_motor_from_active_list(this);
 104     }else{
 105         // We must do the bresenham in tick()
 106         // We have to do this or there could be a bug where the removal still happens when it doesn't need to
 107         this->step_ticker->add_motor_to_active_list(this);
 108     }
 109 }
 110
 111
 112
 113 // Instruct the StepperMotor to move a certain number of steps
 114 void StepperMotor::move( bool direction, unsigned int steps ){
 115     // We do not set the direction directly, we will set the pin just before the step pin on the next tick
 116     this->dir_pin.set(direction);
 117     this->direction = direction;
 118
 119     // How many steps we have to move until the move is done
 120     this->steps_to_move = steps;
 121
 122     // Zero our tool counters
 123     this->fx_counter = 0;      // Bresenheim counter
 124     this->stepped = 0;
 125
 126     // Do not signal steps until we get instructed to
 127     this->signal_step = false;
 128
 129     // Starting now we are moving
 130     if( steps > 0 ){
 131         this->moving = true;
 132     }else{
 133         this->moving = false;
 134     }
 135     this->update_exit_tick();
 136
 137 }
 138
 139 // Set the speed at which this steper moves
 140 void StepperMotor::set_speed( float speed ){
 141
 142     if (speed < 20.0)
 143         speed = 20.0;
 144
 145     // How many steps we must output per second
 146     this->steps_per_second = speed;
 147
 148     // How many ticks ( base steps ) between each actual step at this speed, in fixed point 64
 149     float ticks_per_step = (float)( (float)this->step_ticker->frequency / speed );
 150     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
 151     this->fx_ticks_per_step = (uint32_t)( floor(double_fx_ticks_per_step) );
 152
 153 }
 154
 155 // Pause this stepper motor
 156 void StepperMotor::pause(){
 157     this->paused = true;
 158     this->update_exit_tick();
 159 }
 160
 161 // Unpause this stepper motor
 162 void StepperMotor::unpause(){
 163     this->paused = false;
 164     this->update_exit_tick();
 165 }
 166
 167
 168 void StepperMotor::change_steps_per_mm(float new_steps)
 169 {
 170     steps_per_mm = new_steps;
 171     last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
 172 }
 173
 174 void StepperMotor::change_last_milestone(float new_milestone)
 175 {
 176     last_milestone_mm = new_milestone;
 177     last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
 178 }
 179
 180 int  StepperMotor::steps_to_target(float target)
 181 {
 182     int target_steps = lround(target * steps_per_mm);
 183     return target_steps - last_milestone_steps;
 184 }