src/modules/robot/Stepper.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 STEPPER_H
   9 #define STEPPER_H
  10
  11 #include "libs/Module.h"
  12 #include <stdint.h>
  13
  14 class Block;
  15 class StepperMotor;
  16
  17 class Stepper : public Module
  18 {
  19 public:
  20     Stepper();
  21     void on_module_loaded();
  22     void on_config_reload(void *argument);
  23     void on_block_begin(void *argument);
  24     void on_block_end(void *argument);
  25     void on_gcode_received(void *argument);
  26     void on_gcode_execute(void *argument);
  27     void on_play(void *argument);
  28     void on_pause(void *argument);
  29     void on_halt(void *argument);
  30     uint32_t main_interrupt(uint32_t dummy);
  31     void trapezoid_generator_reset();
  32     void set_step_events_per_second(float);
  33     void trapezoid_generator_tick(void);
  34     uint32_t stepper_motor_finished_move(uint32_t dummy);
  35     int config_step_timer( int cycles );
  36     void turn_enable_pins_on();
  37     void turn_enable_pins_off();
  38
  39     float get_trapezoid_adjusted_rate() const { return trapezoid_adjusted_rate; }
  40     const Block *get_current_block() const { return current_block; }
  41
  42 private:
  43     Block *current_block;
  44     float trapezoid_adjusted_rate;
  45     StepperMotor *main_stepper;
  46
  47     struct {
  48         bool enable_pins_status:1;
  49         bool force_speed_update:1;
  50         bool paused:1;
  51         bool halted:1;
  52     };
  53
  54 };
  55
  56
  57
  58
  59 #endif