-/*
- 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/>.
-*/
-#include "StepperMotor.h"
-
-#include "Kernel.h"
-#include "MRI_Hooks.h"
-#include "StepTicker.h"
-
-#include <math.h>
-
-// in steps/sec the default minimum speed (was 20steps/sec hardcoded)
-float StepperMotor::default_minimum_actuator_rate= 20.0F;
-
-// 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()
-{
- init();
-}
-
-StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_pin(dir), en_pin(en)
-{
- init();
- enable(false);
- set_high_on_debug(en.port_number, en.pin);
-}
-
-StepperMotor::~StepperMotor()
-{
- delete step_signal_hook;
-}
-
-void StepperMotor::init()
-{
- this->moving = false;
- this->paused = false;
- this->fx_counter = 0;
- this->stepped = 0;
- this->fx_ticks_per_step = 0;
- this->steps_to_move = 0;
- this->is_move_finished = false;
- this->signal_step = false;
- this->step_signal_hook = new Hook();
-
- steps_per_mm = 1.0F;
- max_rate = 50.0F;
- minimum_step_rate = default_minimum_actuator_rate;
-
- last_milestone_steps = 0;
- last_milestone_mm = 0.0F;
- current_position_steps= 0;
-}
-
-
-// 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()
-{
- // output to pins 37t
- this->step_pin.set( 1 );
- THEKERNEL->step_ticker->reset_step_pins = true;
-
- // move counter back 11t
- if(this->fx_counter > this->fx_ticks_per_step) {
- this->fx_counter -= this->fx_ticks_per_step;
- }else{
- this->fx_counter= 0; // can't make it less than 0 as it is a uint, unless we get interrupted I don't think this case is possible
- }
-
- // we have moved a step 9t
- this->stepped++;
-
- // Do we need to signal this step
- if( this->stepped == this->signal_step_number && this->signal_step ) {
- this->step_signal_hook->call();
- }
-
- // keep track of actuators actual position in steps
- this->current_position_steps += (this->direction ? -1 : 1);
-
- // 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;
- THEKERNEL->step_ticker->a_move_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;
- this->minimum_step_rate = default_minimum_actuator_rate;
-
- // 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->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
- THEKERNEL->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
- THEKERNEL->step_ticker->add_motor_to_active_list(this);
- }
-}
-
-// Instruct the StepperMotor to move a certain number of steps
-void StepperMotor::move( bool direction, unsigned int steps, float initial_speed)
-{
- // INCORRECT: We do not set the direction directly, we will set the pin just before the step pin on the next tick
- // FIXME really? looks a lot like the pin is set here not in the next step
- this->dir_pin.set(direction);
- this->direction = direction;
-
- // How many steps we have to move until the move is done
- this->steps_to_move = steps;
-
- // Zero our tool counters
- 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 ) {
- if(initial_speed >= 0.0F) set_speed(initial_speed);
- this->moving = true;
- } else {
- this->moving = false;
- }
- this->update_exit_tick();
-}
-
-// this is called to set the step rate based on this blocks rate, we use this instead of set_speed for coordinated moves
-// so that we can floor to a minimum speed which is proportional for all axis. the minimum step rate is set at the start
-// of each block based on the slowest axis of all coordinated axis.
-// the rate passed in is the requested rate, it is scaled for this motor based on steps_to_move and block_steps_event_count
-void StepperMotor::set_step_rate(float requested_rate, uint32_t block_steps_event_count)
-{
- float rate= requested_rate * ((float)steps_to_move / (float)block_steps_event_count);
- if(rate < minimum_step_rate) {
- rate= minimum_step_rate;
- }
- set_speed(rate);
-}
-
-// Set the speed at which this stepper moves in steps/sec, should be called set_step_rate()
-// we need to make sure that we have a minimum speed here and that it fits the 64bit fixed point fx counters
-// Note nothing will really ever go as slow as the minimum speed here, it is just forced to avoid bad errors
-// fx_ticks_per_step is what actually sets the step rate, it is fixed point 32.32
-void StepperMotor::set_speed( float speed )
-{
- if(speed <= 0.0F) { // we can't actually do 0 but we can get close, need to avoid divide by zero later on
- this->fx_ticks_per_step= 0xFFFFF00000000000ULL; // that is 4,294,963,200 10us ticks which is ~11.9 hours for 1 step
- this->steps_per_second = THEKERNEL->step_ticker->frequency / (this->fx_ticks_per_step>>fx_shift);
- return;
- }
-
- // 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
- // we need to use double here to match the 64bit resolution of the ticker
- double ticks_per_step = (double)THEKERNEL->step_ticker->frequency / speed;
- if(ticks_per_step > 0xFFFFF000UL) { // maximum we can really do and allow a few overflow steps
- ticks_per_step= 0xFFFFF000UL;
- this->steps_per_second = THEKERNEL->step_ticker->frequency / ticks_per_step;
- }
- double double_fx_ticks_per_step = fx_increment * ticks_per_step;
-
- // set the new speed
- this->fx_ticks_per_step = floor(double_fx_ticks_per_step);
-}
-
-// 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);
- current_position_steps = last_milestone_steps;
-}
-
-void StepperMotor::change_last_milestone(float new_milestone)
-{
- last_milestone_mm = new_milestone;
- last_milestone_steps = lround(last_milestone_mm * steps_per_mm);
- current_position_steps = last_milestone_steps;
-}
-
-int StepperMotor::steps_to_target(float target)
-{
- int target_steps = lround(target * steps_per_mm);
- return target_steps - last_milestone_steps;
-}
+/*
+ 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/>.
+*/
+#include "StepperMotor.h"
+
+#include "Kernel.h"
+#include "MRI_Hooks.h"
+#include "StepTicker.h"
+
+#include <math.h>
+#include "mbed.h"
+
+StepperMotor::StepperMotor(Pin &step, Pin &dir, Pin &en) : step_pin(step), dir_pin(dir), en_pin(en)
+{
+ set_high_on_debug(en.port_number, en.pin);
+
+ steps_per_mm = 1.0F;
+ max_rate = 50.0F;
+
+ last_milestone_steps = 0;
+ last_milestone_mm = 0.0F;
+ current_position_steps= 0;
+ enable(false);
+ moving= false;
+ acceleration= NAN;
+ selected= true;
+
+ this->set_direction(false);
+
+ this->register_for_event(ON_HALT);
+ this->register_for_event(ON_ENABLE);
+}
+
+StepperMotor::~StepperMotor()
+{
+ THEKERNEL->unregister_for_event(ON_HALT, this);
+ THEKERNEL->unregister_for_event(ON_ENABLE, this);
+}
+
+void StepperMotor::on_halt(void *argument)
+{
+ if(argument == nullptr) {
+ enable(false);
+ moving= false;
+ }
+}
+
+void StepperMotor::on_enable(void *argument)
+{
+ enable(argument != nullptr);
+}
+
+void StepperMotor::change_steps_per_mm(float new_steps)
+{
+ steps_per_mm = new_steps;
+ last_milestone_steps = lroundf(last_milestone_mm * steps_per_mm);
+ current_position_steps = last_milestone_steps;
+}
+
+void StepperMotor::change_last_milestone(float new_milestone)
+{
+ last_milestone_mm = new_milestone;
+ last_milestone_steps = lroundf(last_milestone_mm * steps_per_mm);
+ current_position_steps = last_milestone_steps;
+}
+
+void StepperMotor::set_last_milestones(float mm, int32_t steps)
+{
+ last_milestone_mm= mm;
+ last_milestone_steps= steps;
+ current_position_steps= last_milestone_steps;
+}
+
+void StepperMotor::update_last_milestones(float mm, int32_t steps)
+{
+ last_milestone_steps += steps;
+ last_milestone_mm = mm;
+}
+
+int32_t StepperMotor::steps_to_target(float target)
+{
+ int32_t target_steps = lroundf(target * steps_per_mm);
+ return target_steps - last_milestone_steps;
+}
+
+// Does a manual step pulse, used for direct encoder control of a stepper
+// NOTE this is experimental and may change and/or be reomved in the future, it is an unsupported feature.
+// use at your own risk
+void StepperMotor::manual_step(bool dir)
+{
+ if(!is_enabled()) enable(true);
+
+ // set direction if needed
+ if(this->direction != dir) {
+ this->direction= dir;
+ this->dir_pin.set(dir);
+ wait_us(1);
+ }
+
+ // pulse step pin
+ this->step_pin.set(1);
+ wait_us(3);
+ this->step_pin.set(0);
+
+
+ // keep track of actuators actual position in steps
+ this->current_position_steps += (dir ? -1 : 1);
+}
HCoop / clinton / Smoothieware.git / blobdiff