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     steps_per_mm         = 1.0F;
  28     max_rate             = 50.0F;
  29
  30     last_milestone_steps = 0;
  31     last_milestone_mm    = 0.0F;
  32 }
  33
  34 StepperMotor::StepperMotor(Pin& step, Pin& dir, Pin& en) : step_pin(step), dir_pin(dir), en_pin(en) {
  35     this->moving = false;
  36     this->paused = false;
  37     this->fx_counter = 0;
  38     this->stepped = 0;
  39     this->fx_ticks_per_step = 0;
  40     this->steps_to_move = 0;
  41     this->remove_from_active_list_next_reset = false;
  42     this->is_move_finished = false;
  43     this->signal_step = false;
  44     this->step_signal_hook = new Hook();
  45
  46     enable(false);
  47     set_high_on_debug(en.port_number, en.pin);
  48
  49     steps_per_mm         = 1.0F;
  50     max_rate             = 50.0F;
  51
  52     last_milestone_steps = 0;
  53     last_milestone_mm    = 0.0F;
  54 }
  55
  56 // 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
  57 // we also here check if the move is finished etc ...
  58 void StepperMotor::step(){
  59
  60     // output to pins 37t
  61     this->step_pin.set( 1                   );
  62     this->step_ticker->reset_step_pins = true;
  63
  64     // move counter back 11t
  65     this->fx_counter -= this->fx_ticks_per_step;
  66
  67     // we have moved a step 9t
  68     this->stepped++;
  69
  70     // Do we need to signal this step
  71     if( this->stepped == this->signal_step_number && this->signal_step ){
  72         this->step_signal_hook->call();
  73     }
  74
  75     // Is this move finished ?
  76     if( this->stepped == this->steps_to_move ){
  77         // Mark it as finished, then StepTicker will call signal_mode_finished()
  78         // This is so we don't call that before all the steps have been generated for this tick()
  79         this->is_move_finished = true;
  80         this->step_ticker->moves_finished = true;
  81     }
  82
  83 }
  84
  85
  86 // If the move is finished, the StepTicker will call this ( because we asked it to in tick() )
  87 void StepperMotor::signal_move_finished(){
  88
  89             // work is done ! 8t
  90             this->moving = false;
  91             this->steps_to_move = 0;
  92
  93             // signal it to whatever cares 41t 411t
  94             this->end_hook->call();
  95
  96             // We only need to do this if we were not instructed to move
  97             if( this->moving == false ){
  98                 this->update_exit_tick();
  99             }
 100
 101             this->is_move_finished = false;
 102 }
 103
 104 // This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
 105 inline void StepperMotor::update_exit_tick(){
 106     if( !this->moving || this->paused || this->steps_to_move == 0 ){
 107         // We must exit tick() after setting the pins, no bresenham is done
 108         //this->remove_from_active_list_next_reset = true;
 109         this->step_ticker->remove_motor_from_active_list(this);
 110     }else{
 111         // We must do the bresenham in tick()
 112         // We have to do this or there could be a bug where the removal still happens when it doesn't need to
 113         this->step_ticker->add_motor_to_active_list(this);
 114     }
 115 }
 116
 117
 118
 119 // Instruct the StepperMotor to move a certain number of steps
 120 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;
 124
 125     // How many steps we have to move until the move is done
 126     this->steps_to_move = steps;
 127
 128     // Zero our tool counters
 129     this->fx_counter = 0;      // Bresenheim counter
 130     this->stepped = 0;
 131
 132     // Do not signal steps until we get instructed to
 133     this->signal_step = false;
 134
 135     // Starting now we are moving
 136     if( steps > 0 ){
 137         this->moving = true;
 138     }else{
 139         this->moving = false;
 140     }
 141     this->update_exit_tick();
 142
 143 }
 144
 145 // Set the speed at which this steper moves
 146 void StepperMotor::set_speed( float speed ){
 147
 148     if (speed < 20.0)
 149         speed = 20.0;
 150
 151     // How many steps we must output per second
 152     this->steps_per_second = speed;
 153
 154     // How many ticks ( base steps ) between each actual step at this speed, in fixed point 64
 155     float ticks_per_step = (float)( (float)this->step_ticker->frequency / speed );
 156     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
 157     this->fx_ticks_per_step = (uint32_t)( floor(double_fx_ticks_per_step) );
 158
 159 }
 160
 161 // Pause this stepper motor
 162 void StepperMotor::pause(){
 163     this->paused = true;
 164     this->update_exit_tick();
 165 }
 166
 167 // Unpause this stepper motor
 168 void StepperMotor::unpause(){
 169     this->paused = false;
 170     this->update_exit_tick();
 171 }
 172
 173
 174 void StepperMotor::change_steps_per_mm(float new_steps)
 175 {
 176     steps_per_mm = new_steps;
 177     last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
 178 }
 179
 180 void StepperMotor::change_last_milestone(float new_milestone)
 181 {
 182     last_milestone_mm = new_milestone;
 183     last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
 184 }
 185
 186 int  StepperMotor::steps_to_target(float target)
 187 {
 188     int target_steps = lround(target * steps_per_mm);
 189     return target_steps - last_milestone_steps;
 190 }