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/Kernel.h"
  12 #include "libs/Hook.h"
  13
  14 class StepTicker;
  15
  16 class StepperMotor {
  17     public:
  18         StepperMotor();
  19         StepperMotor(Pin& step, Pin& dir, Pin& en);
  20         void tick();
  21         void step();
  22         void unstep();
  23
  24         void enable(bool);
  25
  26
  27         void move_finished();
  28         void move( bool direction, unsigned int steps );
  29         void signal_move_finished();
  30         void set_speed( float speed );
  31         void update_exit_tick();
  32         void pause();
  33         void unpause();
  34
  35         void change_steps_per_mm(float);
  36         void change_last_milestone(float);
  37
  38         int  steps_to_target(float);
  39
  40         template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  41             Hook* hook = new Hook();
  42             hook->attach(optr, fptr);
  43             this->end_hook = hook;
  44         }
  45
  46         template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
  47             this->step_signal_hook->attach(optr, fptr);
  48             this->signal_step_number = step;
  49             this->signal_step = true;
  50         }
  51
  52         Hook* end_hook;
  53         Hook* step_signal_hook;
  54
  55         bool signal_step;
  56         uint32_t signal_step_number;
  57
  58         StepTicker* step_ticker;
  59         Pin step_pin;
  60         Pin dir_pin;
  61         Pin en_pin;
  62
  63         float steps_per_second;
  64
  65         volatile bool moving;
  66         bool paused;
  67
  68         float steps_per_mm;
  69         float max_rate;
  70
  71         int32_t last_milestone_steps;
  72         float   last_milestone_mm;
  73
  74         uint32_t steps_to_move;
  75         uint32_t stepped;
  76         uint32_t fx_counter;
  77         uint32_t fx_ticks_per_step;
  78
  79         bool     direction;
  80
  81         //bool exit_tick;
  82         bool remove_from_active_list_next_reset;
  83
  84         bool is_move_finished; // Whether the move just finished
  85 };
  86
  87
  88 // Called a great many times per second, to step if we have to now
  89 inline void StepperMotor::tick(){
  90
  91     // increase the ( fixed point ) counter by one tick 11t
  92     this->fx_counter += (uint32_t)(1<<16);
  93
  94     // if we are to step now 10t
  95     if( this->fx_counter >= this->fx_ticks_per_step ){ this->step(); }
  96
  97 }
  98
  99 inline void StepperMotor::unstep()
 100 {
 101     step_pin.set(0);
 102 }
 103
 104 inline void StepperMotor::enable(bool state)
 105 {
 106     en_pin.set(!state);
 107 }
 108
 109
 110 #endif
 111