Stepper.h

00001 /*
00002       This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl).
00003       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.
00004       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.
00005       You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
00006 */
00007 
00008 #ifndef STEPPER_H
00009 #define STEPPER_H
00010 
00011 #include "libs/Module.h"
00012 
00013 class Block;
00014 class Hook;
00015 class StepperMotor;
00016 
00017 #define microseconds_per_step_pulse_checksum        CHECKSUM("microseconds_per_step_pulse")
00018 #define acceleration_ticks_per_second_checksum      CHECKSUM("acceleration_ticks_per_second")
00019 #define minimum_steps_per_minute_checksum           CHECKSUM("minimum_steps_per_minute")
00020 #define base_stepping_frequency_checksum            CHECKSUM("base_stepping_frequency")
00021 
00022 class Stepper : public Module {
00023     public:
00024         Stepper();
00025         void on_module_loaded();
00026         void on_config_reload(void* argument);
00027         void on_block_begin(void* argument);
00028         void on_block_end(void* argument);
00029         void on_gcode_received(void* argument);
00030         void on_gcode_execute(void* argument);
00031         void on_play(void* argument);
00032         void on_pause(void* argument);
00033         uint32_t main_interrupt(uint32_t dummy);
00034         void trapezoid_generator_reset();
00035         void set_step_events_per_second(float);
00036         uint32_t trapezoid_generator_tick(uint32_t dummy);
00037         uint32_t stepper_motor_finished_move(uint32_t dummy);
00038         int config_step_timer( int cycles );
00039         void turn_enable_pins_on();
00040         void turn_enable_pins_off();
00041         uint32_t synchronize_acceleration(uint32_t dummy);
00042 
00043         Block* current_block;
00044         int counters[3];
00045         int stepped[3];
00046         int offsets[3];
00047         float counter_alpha;
00048         float counter_beta;
00049         float counter_gamma;
00050         //int step_events_completed;
00051         unsigned int out_bits;
00052         float trapezoid_adjusted_rate;
00053         int trapezoid_tick_cycle_counter;
00054         int cycles_per_step_event;
00055         bool trapezoid_generator_busy;
00056         int microseconds_per_step_pulse;
00057         int acceleration_ticks_per_second;
00058         unsigned int minimum_steps_per_second;
00059         int base_stepping_frequency;
00060         unsigned short step_bits[3];
00061         int counter_increment;
00062         bool paused;
00063         bool force_speed_update;
00064         bool enable_pins_status;
00065         Hook* acceleration_tick_hook;
00066 
00067         StepperMotor* main_stepper;
00068 
00069 };
00070 
00071 
00072 
00073 
00074 #endif