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 this->fx_counter
-= this->fx_ticks_per_step
;
63 // we have moved a step 9t
66 // Do we need to signal this step
67 if( this->stepped
== this->signal_step_number
&& this->signal_step
) {
68 this->step_signal_hook
->call();
71 // keep track of actuators actual position in steps
72 this->current_position_steps
+= (this->direction
? -1 : 1);
74 // Is this move finished ?
75 if( this->stepped
== this->steps_to_move
) {
76 // Mark it as finished, then StepTicker will call signal_mode_finished()
77 // This is so we don't call that before all the steps have been generated for this tick()
78 this->is_move_finished
= true;
79 this->step_ticker
->moves_finished
= true;
84 // If the move is finished, the StepTicker will call this ( because we asked it to in tick() )
85 void StepperMotor::signal_move_finished()
89 this->steps_to_move
= 0;
91 // signal it to whatever cares 41t 411t
92 this->end_hook
->call();
94 // We only need to do this if we were not instructed to move
95 if( this->moving
== false ) {
96 this->update_exit_tick();
99 this->is_move_finished
= false;
102 // This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
103 inline void StepperMotor::update_exit_tick()
105 if( !this->moving
|| this->paused
|| this->steps_to_move
== 0 ) {
106 // We must exit tick() after setting the pins, no bresenham is done
107 //this->remove_from_active_list_next_reset = true;
108 this->step_ticker
->remove_motor_from_active_list(this);
110 // We must do the bresenham in tick()
111 // We have to do this or there could be a bug where the removal still happens when it doesn't need to
112 this->step_ticker
->add_motor_to_active_list(this);
118 // Instruct the StepperMotor to move a certain number of steps
119 void StepperMotor::move( bool direction
, unsigned int steps
)
121 // We do not set the direction directly, we will set the pin just before the step pin on the next tick
122 this->dir_pin
.set(direction
);
123 this->direction
= direction
;
125 // How many steps we have to move until the move is done
126 this->steps_to_move
= steps
;
128 // Zero our tool counters
129 this->fx_counter
= 0; // Bresenheim counter
132 // Do not signal steps until we get instructed to
133 this->signal_step
= false;
135 // Starting now we are moving
139 this->moving
= false;
141 this->update_exit_tick();
145 // Set the speed at which this steper moves
146 void StepperMotor::set_speed( float speed
)
149 // FIXME NOTE this can cause axis to run faster than expected thus making the line incorrect, or on a delta make the effector move wrong
150 // seems we can do... minimum_speed = ceil(step_ticker->frequency/65536.0F), which would be 2 not 20 at 100Khz
154 // How many steps we must output per second
155 this->steps_per_second
= speed
;
157 // 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
158 float ticks_per_step
= (float)( (float)this->step_ticker
->frequency
/ speed
);
159 //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
160 float double_fx_ticks_per_step
= 65536.0F
* ticks_per_step
; // isn't this better on a 32bit machine?
161 this->fx_ticks_per_step
= (uint32_t)( floor(double_fx_ticks_per_step
) );
164 // Pause this stepper motor
165 void StepperMotor::pause()
168 this->update_exit_tick();
171 // Unpause this stepper motor
172 void StepperMotor::unpause()
174 this->paused
= false;
175 this->update_exit_tick();
179 void StepperMotor::change_steps_per_mm(float new_steps
)
181 steps_per_mm
= new_steps
;
182 last_milestone_steps
= lround(last_milestone_mm
* steps_per_mm
);
183 current_position_steps
= last_milestone_steps
;
186 void StepperMotor::change_last_milestone(float new_milestone
)
188 last_milestone_mm
= new_milestone
;
189 last_milestone_steps
= lround(last_milestone_mm
* steps_per_mm
);
190 current_position_steps
= last_milestone_steps
;
193 int StepperMotor::steps_to_target(float target
)
195 int target_steps
= lround(target
* steps_per_mm
);
196 return target_steps
- last_milestone_steps
;