Diff: modules/robot/Stepper.h

Revision:

0:31e91bb0ef3c

Child:

2:1df0b61d3b5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/modules/robot/Stepper.h	Tue Jul 31 21:11:18 2012 +0000
@@ -0,0 +1,83 @@
+/*  
+      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/>. 
+*/
+
+#ifndef STEPPER_H
+#define STEPPER_H
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "Planner.h"
+#include "Block.h"
+
+#define microseconds_per_step_pulse_checksum        42333
+#define acceleration_ticks_per_second_checksum      25075
+#define minimum_steps_per_minute_checksum           9003
+#define base_stepping_frequency_checksum            21918
+#define alpha_step_pin_checksum                     11468
+#define beta_step_pin_checksum                      22114
+#define gamma_step_pin_checksum                     1225
+#define alpha_dir_pin_checksum                      55887
+#define beta_dir_pin_checksum                       28644
+#define gamma_dir_pin_checksum                      46412
+#define alpha_en_pin_checksum                       35042  
+#define beta_en_pin_checksum                        34680 
+#define gamma_en_pin_checksum                       26335 
+
+
+class Stepper : public Module {
+    public:
+        Stepper();
+        virtual void on_module_loaded();
+        virtual void on_config_reload(void* argument);
+        virtual void on_block_begin(void* argument);
+        virtual void on_block_end(void* argument);
+        virtual void on_gcode_execute(void* argument);
+        virtual void on_play(void* argument);
+        virtual void on_pause(void* argument);
+        uint32_t main_interrupt(uint32_t dummy);
+        void trapezoid_generator_reset();
+        void set_step_events_per_minute(double steps_per_minute);
+        uint32_t trapezoid_generator_tick(uint32_t dummy);
+        uint32_t reset_step_pins(uint32_t dummy);
+        void update_offsets();
+        int config_step_timer( int cycles );
+
+        Block* current_block;
+        int counters[3];
+        int stepped[3]; 
+        int offsets[3]; 
+        float counter_alpha;
+        float counter_beta;
+        float counter_gamma;
+        int step_events_completed; 
+        unsigned int out_bits; 
+        double trapezoid_adjusted_rate;
+        int trapezoid_tick_cycle_counter;
+        int cycles_per_step_event; 
+        bool trapezoid_generator_busy;
+        int microseconds_per_step_pulse; 
+        int acceleration_ticks_per_second;
+        int divider;
+        int minimum_steps_per_minute;
+        int base_stepping_frequency;
+        Pin* alpha_step_pin;
+        Pin* beta_step_pin;
+        Pin* gamma_step_pin;
+        Pin* alpha_dir_pin;
+        Pin* beta_dir_pin;
+        Pin* gamma_dir_pin;
+        Pin* alpha_en_pin;
+        Pin* beta_en_pin;
+        Pin* gamma_en_pin;
+        unsigned short step_bits[3];
+        int counter_increment;
+        bool paused;
+};
+
+
+
+
+#endif