Michael Spencer / Smoothie

Fork of Smoothie to port to mbed non-LPC targets.

Dependencies:   mbed

Fork of Smoothie by Stéphane Cachat

libs/StepperMotor.h@3:f151d08d335c, 2014-03-02 (annotated)

Committer:
Bigcheese
Date:
Sun Mar 02 06:33:08 2014 +0000
Revision:
3:f151d08d335c
Parent:
2:1df0b61d3b5a 
Bunch of stuff. Need to locally merge in updated USB changes.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Michael J. Spencer 2:1df0b61d3b5a 1 /*
Michael J. Spencer 2:1df0b61d3b5a 2 This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
Michael J. Spencer 2:1df0b61d3b5a 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.
Michael J. Spencer 2:1df0b61d3b5a 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.
Michael J. Spencer 2:1df0b61d3b5a 5 You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
Michael J. Spencer 2:1df0b61d3b5a 6 */
Michael J. Spencer 2:1df0b61d3b5a 7
Michael J. Spencer 2:1df0b61d3b5a 8 #ifndef STEPPERMOTOR_H
Michael J. Spencer 2:1df0b61d3b5a 9 #define STEPPERMOTOR_H
Michael J. Spencer 2:1df0b61d3b5a 10
Michael J. Spencer 2:1df0b61d3b5a 11 #include "libs/Hook.h"
Michael J. Spencer 2:1df0b61d3b5a 12 #include "Pin.h"
Michael J. Spencer 2:1df0b61d3b5a 13
Michael J. Spencer 2:1df0b61d3b5a 14 class StepTicker;
Michael J. Spencer 2:1df0b61d3b5a 15 class Hook;
Michael J. Spencer 2:1df0b61d3b5a 16
Michael J. Spencer 2:1df0b61d3b5a 17 class StepperMotor {
Michael J. Spencer 2:1df0b61d3b5a 18 public:
Michael J. Spencer 2:1df0b61d3b5a 19 StepperMotor();
Michael J. Spencer 2:1df0b61d3b5a 20 StepperMotor(Pin& step, Pin& dir, Pin& en);
Michael J. Spencer 2:1df0b61d3b5a 21
Michael J. Spencer 2:1df0b61d3b5a 22 // Called a great many times per second, to step if we have to now
Michael J. Spencer 2:1df0b61d3b5a 23 inline void tick() {
Michael J. Spencer 2:1df0b61d3b5a 24 // increase the ( fixed point ) counter by one tick 11t
Michael J. Spencer 2:1df0b61d3b5a 25 fx_counter += (uint32_t)(1<<16);
Michael J. Spencer 2:1df0b61d3b5a 26
Michael J. Spencer 2:1df0b61d3b5a 27 // if we are to step now 10t
Michael J. Spencer 2:1df0b61d3b5a 28 if (fx_counter >= fx_ticks_per_step)
Michael J. Spencer 2:1df0b61d3b5a 29 step();
Michael J. Spencer 2:1df0b61d3b5a 30 };
Michael J. Spencer 2:1df0b61d3b5a 31
Michael J. Spencer 2:1df0b61d3b5a 32 void step();
Michael J. Spencer 2:1df0b61d3b5a 33 inline void unstep() { step_pin.set(0); };
Michael J. Spencer 2:1df0b61d3b5a 34
Michael J. Spencer 2:1df0b61d3b5a 35 inline void enable(bool state) { en_pin.set(!state); };
Michael J. Spencer 2:1df0b61d3b5a 36
Michael J. Spencer 2:1df0b61d3b5a 37 void move_finished();
Michael J. Spencer 2:1df0b61d3b5a 38 void move( bool direction, unsigned int steps );
Michael J. Spencer 2:1df0b61d3b5a 39 void signal_move_finished();
Michael J. Spencer 2:1df0b61d3b5a 40 void set_speed( float speed );
Michael J. Spencer 2:1df0b61d3b5a 41 void update_exit_tick();
Michael J. Spencer 2:1df0b61d3b5a 42 void pause();
Michael J. Spencer 2:1df0b61d3b5a 43 void unpause();
Michael J. Spencer 2:1df0b61d3b5a 44
Michael J. Spencer 2:1df0b61d3b5a 45 void change_steps_per_mm(float);
Michael J. Spencer 2:1df0b61d3b5a 46 void change_last_milestone(float);
Michael J. Spencer 2:1df0b61d3b5a 47
Michael J. Spencer 2:1df0b61d3b5a 48 int steps_to_target(float);
Michael J. Spencer 2:1df0b61d3b5a 49
Michael J. Spencer 2:1df0b61d3b5a 50 template<typename T> void attach( T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
Michael J. Spencer 2:1df0b61d3b5a 51 Hook* hook = new Hook();
Michael J. Spencer 2:1df0b61d3b5a 52 hook->attach(optr, fptr);
Michael J. Spencer 2:1df0b61d3b5a 53 this->end_hook = hook;
Michael J. Spencer 2:1df0b61d3b5a 54 }
Michael J. Spencer 2:1df0b61d3b5a 55
Michael J. Spencer 2:1df0b61d3b5a 56 template<typename T> void attach_signal_step(uint32_t step, T *optr, uint32_t ( T::*fptr )( uint32_t ) ){
Michael J. Spencer 2:1df0b61d3b5a 57 this->step_signal_hook->attach(optr, fptr);
Michael J. Spencer 2:1df0b61d3b5a 58 this->signal_step_number = step;
Michael J. Spencer 2:1df0b61d3b5a 59 this->signal_step = true;
Michael J. Spencer 2:1df0b61d3b5a 60 }
Michael J. Spencer 2:1df0b61d3b5a 61
Michael J. Spencer 2:1df0b61d3b5a 62 Hook* end_hook;
Michael J. Spencer 2:1df0b61d3b5a 63 Hook* step_signal_hook;
Michael J. Spencer 2:1df0b61d3b5a 64
Michael J. Spencer 2:1df0b61d3b5a 65 bool signal_step;
Michael J. Spencer 2:1df0b61d3b5a 66 uint32_t signal_step_number;
Michael J. Spencer 2:1df0b61d3b5a 67
Michael J. Spencer 2:1df0b61d3b5a 68 StepTicker* step_ticker;
Michael J. Spencer 2:1df0b61d3b5a 69 Pin step_pin;
Michael J. Spencer 2:1df0b61d3b5a 70 Pin dir_pin;
Michael J. Spencer 2:1df0b61d3b5a 71 Pin en_pin;
Michael J. Spencer 2:1df0b61d3b5a 72
Michael J. Spencer 2:1df0b61d3b5a 73 float steps_per_second;
Michael J. Spencer 2:1df0b61d3b5a 74
Michael J. Spencer 2:1df0b61d3b5a 75 volatile bool moving;
Michael J. Spencer 2:1df0b61d3b5a 76 bool paused;
Michael J. Spencer 2:1df0b61d3b5a 77
Michael J. Spencer 2:1df0b61d3b5a 78 float steps_per_mm;
Michael J. Spencer 2:1df0b61d3b5a 79 float max_rate;
Michael J. Spencer 2:1df0b61d3b5a 80
Michael J. Spencer 2:1df0b61d3b5a 81 int32_t last_milestone_steps;
Michael J. Spencer 2:1df0b61d3b5a 82 float last_milestone_mm;
Michael J. Spencer 2:1df0b61d3b5a 83
Michael J. Spencer 2:1df0b61d3b5a 84 uint32_t steps_to_move;
Michael J. Spencer 2:1df0b61d3b5a 85 uint32_t stepped;
Michael J. Spencer 2:1df0b61d3b5a 86 uint32_t fx_counter;
Michael J. Spencer 2:1df0b61d3b5a 87 uint32_t fx_ticks_per_step;
Michael J. Spencer 2:1df0b61d3b5a 88
Michael J. Spencer 2:1df0b61d3b5a 89 bool direction;
Michael J. Spencer 2:1df0b61d3b5a 90
Michael J. Spencer 2:1df0b61d3b5a 91 //bool exit_tick;
Michael J. Spencer 2:1df0b61d3b5a 92 bool remove_from_active_list_next_reset;
Michael J. Spencer 2:1df0b61d3b5a 93
Michael J. Spencer 2:1df0b61d3b5a 94 bool is_move_finished; // Whether the move just finished
Michael J. Spencer 2:1df0b61d3b5a 95 };
Michael J. Spencer 2:1df0b61d3b5a 96
Michael J. Spencer 2:1df0b61d3b5a 97 #endif
Michael J. Spencer 2:1df0b61d3b5a 98