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
  11 StepperMotor::StepperMotor(){
  12     this->moving = false;
  13     this->paused = false;
  14     this->fx_counter = 0;
  15     this->fx_ticks_per_step = 0;
  16     this->steps_to_move = 0;
  17     this->direction_bit = 0;
  18     this->step_bit = 0;
  19     this->update_exit_tick();
  20     this->dont_remove_from_active_list_yet = false;
  21 }
  22
  23 StepperMotor::StepperMotor(Pin* step, Pin* dir, Pin* en) : step_pin(step), dir_pin(dir), en_pin(en) {
  24     this->moving = false;
  25     this->paused = false;
  26     this->fx_counter = 0;
  27     this->fx_ticks_per_step = 0;
  28     this->steps_to_move = 0;
  29     this->direction_bit = 0;
  30     this->step_bit = 0;
  31     this->update_exit_tick();
  32     this->dont_remove_from_active_list_yet = false;
  33 }
  34
  35 // Called a great many times per second, to step if we have to now
  36 bool StepperMotor::tick(){
  37
  38
  39     // output to pins 37t
  40     this->dir_pin->set(  this->direction_bit );
  41     this->step_pin->set( this->step_bit      );
  42
  43     // ignore inactive steppers 13t
  44     if( this->exit_tick ){
  45         this->step_bit = 0;
  46         return false;
  47     }
  48
  49     // increase the ( fixed point ) counter by one tick 11t
  50     this->fx_counter += (uint64_t)((uint64_t)1<<32);
  51
  52     // if we are to step now 10t
  53     if( this->fx_counter >= this->fx_ticks_per_step ){
  54
  55         // move counter back 11t
  56         this->fx_counter -= this->fx_ticks_per_step;
  57
  58         // we must step, actual output is done at the beginning of this function 8t
  59         this->step_bit = 1;
  60
  61         // we have moved a step 9t
  62         this->stepped++;
  63
  64         // is this move finished ? 11t
  65         if( this->stepped == this->steps_to_move ){
  66
  67             //printf("end\r\n");
  68
  69             // work is done ! 8t
  70             this->moving = false;
  71             this->update_exit_tick();
  72
  73             // signal it to whatever cares 41t 411t
  74             this->end_hook->call();
  75
  76         }
  77
  78     }else{
  79
  80         // we must not step
  81         this->step_bit = 0;
  82     }
  83
  84 }
  85
  86 // This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
  87 inline void StepperMotor::update_exit_tick(){
  88     if( !this->moving || this->paused || this->fx_ticks_per_step == 0 ){
  89         // We must exit tick() after setting the pins, no bresenham is done
  90         if( this->exit_tick == false ){
  91             //printf("set for removal %p \r\n", this);
  92             this->exit_tick = true;
  93             this->dont_remove_from_active_list_yet = true;
  94         }
  95     }else{
  96         // We must do the bresenham in tick()
  97         if( this->exit_tick == true ){
  98             this->exit_tick = false;
  99             //printf("adding motor %p \r\n", this);
 100             this->step_ticker->add_motor_to_active_list(this);
 101         }
 102     }
 103 }
 104
 105
 106
 107 // Instruct the StepperMotor to move a certain number of steps
 108 void StepperMotor::move( bool direction, unsigned int steps ){
 109
 110     // We do not set the direction directly, we will set the pin just before the step pin on the next tick
 111     this->direction_bit = direction;
 112
 113     // How many steps we have to move until the move is done
 114     this->steps_to_move = steps;
 115
 116     // Zero our tool counters
 117     this->fx_counter = 0;      // Bresenheim counter
 118     this->stepped = 0;
 119
 120     // Starting now we are moving
 121     if( steps > 0 ){ this->moving = true; }else{ this->moving = false; }
 122     this->update_exit_tick();
 123
 124 }
 125
 126 // Set the speed at which this steper moves
 127 void StepperMotor::set_speed( double speed ){
 128
 129     if( speed < 0.0001 ){
 130         this->steps_per_second = 0;
 131         this->fx_ticks_per_step = 1>>63;
 132         return;
 133     }
 134
 135     // How many steps we must output per second
 136     this->steps_per_second = speed;
 137
 138     // How many ticks ( base steps ) between each actual step at this speed, in fixed point 64
 139     double ticks_per_step = (double)( (double)this->step_ticker->frequency / speed );
 140     double double_fx_ticks_per_step = (double)(1<<16) * ( (double)(1<<16) * ticks_per_step );
 141     this->fx_ticks_per_step = (uint64_t)( floor(double_fx_ticks_per_step) );
 142     this->update_exit_tick();
 143
 144 }
 145
 146
 147
 148