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 #include "libs/Module.h"
  11 #include "libs/Kernel.h"
  12 #include "Planner.h"
  13 #include "Block.h"
  14
  15 #define microseconds_per_step_pulse_checksum        42333
  16 #define acceleration_ticks_per_second_checksum      25075
  17 #define minimum_steps_per_minute_checksum           9003
  18 #define base_stepping_frequency_checksum            21918
  19 #define alpha_step_pin_checksum                     11468
  20 #define beta_step_pin_checksum                      22114
  21 #define gamma_step_pin_checksum                     1225
  22 #define alpha_dir_pin_checksum                      55887
  23 #define beta_dir_pin_checksum                       28644
  24 #define gamma_dir_pin_checksum                      46412
  25 #define alpha_en_pin_checksum                       35042
  26 #define beta_en_pin_checksum                        34680
  27 #define gamma_en_pin_checksum                       26335
  28
  29
  30 class Stepper : public Module {
  31     public:
  32         Stepper();
  33         void on_module_loaded();
  34         void on_config_reload(void* argument);
  35         void on_block_begin(void* argument);
  36         void on_block_end(void* argument);
  37         void on_gcode_execute(void* argument);
  38         void on_play(void* argument);
  39         void on_pause(void* argument);
  40         uint32_t main_interrupt(uint32_t dummy);
  41         void trapezoid_generator_reset();
  42         void set_step_events_per_minute(double steps_per_minute);
  43         uint32_t trapezoid_generator_tick(uint32_t dummy);
  44         uint32_t stepper_motor_finished_move(uint32_t dummy);
  45         int config_step_timer( int cycles );
  46         uint32_t step_events_completed();
  47
  48
  49         Block* current_block;
  50         int counters[3];
  51         int stepped[3];
  52         int offsets[3];
  53         float counter_alpha;
  54         float counter_beta;
  55         float counter_gamma;
  56         //int step_events_completed;
  57         unsigned int out_bits;
  58         double trapezoid_adjusted_rate;
  59         int trapezoid_tick_cycle_counter;
  60         int cycles_per_step_event;
  61         bool trapezoid_generator_busy;
  62         int microseconds_per_step_pulse;
  63         int acceleration_ticks_per_second;
  64         int minimum_steps_per_minute;
  65         int base_stepping_frequency;
  66         Pin* alpha_step_pin;
  67         Pin* beta_step_pin;
  68         Pin* gamma_step_pin;
  69         Pin* alpha_dir_pin;
  70         Pin* beta_dir_pin;
  71         Pin* gamma_dir_pin;
  72         Pin* alpha_en_pin;
  73         Pin* beta_en_pin;
  74         Pin* gamma_en_pin;
  75         unsigned short step_bits[3];
  76         int counter_increment;
  77         bool paused;
  78
  79         StepperMotor* main_stepper;
  80
  81 };
  82
  83
  84
  85
  86 #endif