Fork of Smoothie to port to mbed non-LPC targets.
Fork of Smoothie by
libs/StepperMotor.cpp
- Committer:
- Bigcheese
- Date:
- 2014-03-02
- Revision:
- 3:f151d08d335c
- Parent:
- 2:1df0b61d3b5a
File content as of revision 3:f151d08d335c:
/* 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" // 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->paused = false; this->fx_counter = 0; this->stepped = 0; this->fx_ticks_per_step = 0; this->steps_to_move = 0; this->remove_from_active_list_next_reset = false; this->is_move_finished = false; this->signal_step = false; this->step_signal_hook = new Hook(); steps_per_mm = 1.0F; max_rate = 50.0F; 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->moving = false; this->paused = false; this->fx_counter = 0; this->stepped = 0; this->fx_ticks_per_step = 0; this->steps_to_move = 0; this->remove_from_active_list_next_reset = false; this->is_move_finished = false; this->signal_step = false; this->step_signal_hook = new Hook(); enable(false); 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; } // 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 ); this->step_ticker->reset_step_pins = true; // move counter back 11t this->fx_counter -= this->fx_ticks_per_step; // 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(); } // 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->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->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 this->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 ){ // 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); 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 ){ this->moving = true; }else{ this->moving = false; } this->update_exit_tick(); } // Set the speed at which this steper moves 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 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) ); } // 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 = lround(target * steps_per_mm); return target_steps - last_milestone_steps; }