src/libs/StepTicker.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
   9
  10 #pragma once
  11
  12 #include <stdint.h>
  13 #include <array>
  14 #include <bitset>
  15 #include <functional>
  16 #include <atomic>
  17
  18 #include "ActuatorCoordinates.h"
  19 #include "TSRingBuffer.h"
  20
  21 class StepperMotor;
  22 class Block;
  23
  24 // handle 2.30 Fixed point
  25 #define STEPTICKER_FPSCALE (1<<30)
  26 #define STEPTICKER_TOFP(x) ((int32_t)roundf((float)(x)*STEPTICKER_FPSCALE))
  27 #define STEPTICKER_FROMFP(x) ((float)(x)/STEPTICKER_FPSCALE)
  28
  29 class StepTicker{
  30     public:
  31         StepTicker();
  32         ~StepTicker();
  33         void set_frequency( float frequency );
  34         void set_unstep_time( float microseconds );
  35         int register_motor(StepperMotor* motor);
  36         float get_frequency() const { return frequency; }
  37         void unstep_tick();
  38         const Block *get_current_block() const { return current_block; }
  39
  40         void step_tick (void);
  41         void handle_finish (void);
  42         void start();
  43
  44         // whatever setup the block should register this to know when it is done
  45         std::function<void()> finished_fnc{nullptr};
  46
  47         static StepTicker *getInstance() { return instance; }
  48
  49     private:
  50         static StepTicker *instance;
  51
  52         bool start_next_block();
  53
  54         float frequency;
  55         uint32_t period;
  56         std::array<StepperMotor*, k_max_actuators> motor;
  57         std::bitset<k_max_actuators> unstep;
  58
  59         Block *current_block;
  60         uint32_t current_tick{0};
  61
  62         struct {
  63             volatile bool running:1;
  64             uint8_t num_motors:4;
  65         };
  66 };