-/*
+/*
This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
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.
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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
*/
#include "mri.h"
#include "libs/Kernel.h"
#include "StepperMotor.h"
+#include "MRI_Hooks.h"
+
+// A StepperMotor represents an actual stepper motor. It is used to generate steps that move the actual motor at a given speed
+// TODO : Abstract this into Actuator
StepperMotor::StepperMotor(){
this->moving = false;
this->stepped = 0;
this->fx_ticks_per_step = 0;
this->steps_to_move = 0;
- this->direction_bit = 0;
this->remove_from_active_list_next_reset = false;
this->is_move_finished = false;
+ this->signal_step = false;
+ this->step_signal_hook = new Hook();
+
+ last_milestone_steps = 0;
+ last_milestone_mm = 0.0F;
}
StepperMotor::StepperMotor(Pin* step, Pin* dir, Pin* en) : step_pin(step), dir_pin(dir), en_pin(en) {
this->stepped = 0;
this->fx_ticks_per_step = 0;
this->steps_to_move = 0;
- this->direction_bit = 0;
this->remove_from_active_list_next_reset = false;
this->is_move_finished = false;
-}
+ this->signal_step = false;
+ this->step_signal_hook = new Hook();
-// Called a great many times per second, to step if we have to now
-void StepperMotor::tick(){
+ set_high_on_debug(en->port_number, en->pin);
- // increase the ( fixed point ) counter by one tick 11t
- this->fx_counter += (uint64_t)((uint64_t)1<<32);
+ last_milestone_steps = 0;
+ last_milestone_mm = 0.0F;
+}
+
+// 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
+// we also here check if the move is finished etc ...
+void StepperMotor::step(){
- // if we are to step now 10t
- if( this->fx_counter >= this->fx_ticks_per_step ){
-
- // output to pins 37t
- this->dir_pin->set( this->direction_bit );
- this->step_pin->set( 1 );
- this->step_ticker->reset_step_pins = true;
+ // output to pins 37t
+ this->step_pin->set( 1 );
+ this->step_ticker->reset_step_pins = true;
- // move counter back 11t
- this->fx_counter -= this->fx_ticks_per_step;
+ // move counter back 11t
+ this->fx_counter -= this->fx_ticks_per_step;
- // we have moved a step 9t
- this->stepped++;
+ // we have moved a step 9t
+ this->stepped++;
- // is this move finished ? 11t
- if( this->stepped == this->steps_to_move ){
- this->is_move_finished = true;
- this->step_ticker->moves_finished = true;
- }
+ // Do we need to signal this step
+ if( this->stepped == this->signal_step_number && this->signal_step ){
+ this->step_signal_hook->call();
+ }
+ // Is this move finished ?
+ if( this->stepped == this->steps_to_move ){
+ // Mark it as finished, then StepTicker will call signal_mode_finished()
+ // This is so we don't call that before all the steps have been generated for this tick()
+ this->is_move_finished = true;
+ this->step_ticker->moves_finished = true;
}
}
+
// If the move is finished, the StepTicker will call this ( because we asked it to in tick() )
void StepperMotor::signal_move_finished(){
// work is done ! 8t
this->moving = false;
this->steps_to_move = 0;
-
+
// signal it to whatever cares 41t 411t
this->end_hook->call();
// We only need to do this if we were not instructed to move
if( this->moving == false ){
- this->update_exit_tick();
+ this->update_exit_tick();
}
this->is_move_finished = false;
// This is just a way not to check for ( !this->moving || this->paused || this->fx_ticks_per_step == 0 ) at every tick()
inline void StepperMotor::update_exit_tick(){
if( !this->moving || this->paused || this->steps_to_move == 0 ){
- // We must exit tick() after setting the pins, no bresenham is done
- this->step_ticker->remove_motor_from_active_list(this);
+ // We must exit tick() after setting the pins, no bresenham is done
+ //this->remove_from_active_list_next_reset = true;
+ this->step_ticker->remove_motor_from_active_list(this);
}else{
// We must do the bresenham in tick()
// We have to do this or there could be a bug where the removal still happens when it doesn't need to
// Instruct the StepperMotor to move a certain number of steps
void StepperMotor::move( bool direction, unsigned int steps ){
- // We do not set the direction directly, we will set the pin just before the step pin on the next tick
- this->direction_bit = direction;
+ // We do not set the direction directly, we will set the pin just before the step pin on the next tick
+ this->dir_pin->set(direction);
// How many steps we have to move until the move is done
this->steps_to_move = steps;
this->fx_counter = 0; // Bresenheim counter
this->stepped = 0;
+ // Do not signal steps until we get instructed to
+ this->signal_step = false;
+
// Starting now we are moving
- if( steps > 0 ){
- this->moving = true;
- }else{
- this->moving = false;
+ if( steps > 0 ){
+ this->moving = true;
+ }else{
+ this->moving = false;
}
- this->update_exit_tick();
+ this->update_exit_tick();
}
-//#pragma GCC push_options
-//#pragma GCC optimize ("O0")
-
// Set the speed at which this steper moves
-void StepperMotor::set_speed( double speed ){
- if( speed < 0.0001 ){
- //__debugbreak();
- return;
- }
-
+void StepperMotor::set_speed( float speed ){
+
+ if (speed < 20.0)
+ speed = 20.0;
+
// How many steps we must output per second
this->steps_per_second = speed;
// How many ticks ( base steps ) between each actual step at this speed, in fixed point 64
- double ticks_per_step = (double)( (double)this->step_ticker->frequency / speed );
- double double_fx_ticks_per_step = (double)(1<<16) * ( (double)(1<<16) * ticks_per_step );
- this->fx_ticks_per_step = (uint64_t)( floor(double_fx_ticks_per_step) );
+ float ticks_per_step = (float)( (float)this->step_ticker->frequency / speed );
+ 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
+ this->fx_ticks_per_step = (uint32_t)( floor(double_fx_ticks_per_step) );
}
-//#pragma GCC pop_options
-
+// Pause this stepper motor
void StepperMotor::pause(){
this->paused = true;
this->update_exit_tick();
}
+// Unpause this stepper motor
void StepperMotor::unpause(){
this->paused = false;
this->update_exit_tick();
}
+void StepperMotor::change_steps_per_mm(float new_steps)
+{
+ steps_per_mm = new_steps;
+ last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
+}
+
+void StepperMotor::change_last_milestone(float new_milestone)
+{
+ last_milestone_mm = new_milestone;
+ last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
+}
+
+int StepperMotor::steps_to_target(float target)
+{
+ int target_steps = target * steps_per_mm;
+ return target_steps - last_milestone_steps;
+}
HCoop / clinton / Smoothieware.git / blobdiff