smoothie port to mbed online compiler (smoothieware.org)
For documentation, license, ..., please check http://smoothieware.org/
This version has been tested with a 3 axis machine
modules/robot/Stepper.cpp@0:31e91bb0ef3c, 2012-07-31 (annotated)
- Committer:
- scachat
- Date:
- Tue Jul 31 21:11:18 2012 +0000
- Revision:
- 0:31e91bb0ef3c
smoothie port to mbed online compiler
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
scachat | 0:31e91bb0ef3c | 1 | /* |
scachat | 0:31e91bb0ef3c | 2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl) with additions from Sungeun K. Jeon (https://github.com/chamnit/grbl) |
scachat | 0:31e91bb0ef3c | 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. |
scachat | 0:31e91bb0ef3c | 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. |
scachat | 0:31e91bb0ef3c | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
scachat | 0:31e91bb0ef3c | 6 | */ |
scachat | 0:31e91bb0ef3c | 7 | |
scachat | 0:31e91bb0ef3c | 8 | #include "libs/Module.h" |
scachat | 0:31e91bb0ef3c | 9 | #include "libs/Kernel.h" |
scachat | 0:31e91bb0ef3c | 10 | #include "Stepper.h" |
scachat | 0:31e91bb0ef3c | 11 | #include "Planner.h" |
scachat | 0:31e91bb0ef3c | 12 | #include "Player.h" |
scachat | 0:31e91bb0ef3c | 13 | #include <vector> |
scachat | 0:31e91bb0ef3c | 14 | using namespace std; |
scachat | 0:31e91bb0ef3c | 15 | #include "libs/nuts_bolts.h" |
scachat | 0:31e91bb0ef3c | 16 | |
scachat | 0:31e91bb0ef3c | 17 | Stepper* stepper; |
scachat | 0:31e91bb0ef3c | 18 | |
scachat | 0:31e91bb0ef3c | 19 | Stepper::Stepper(){ |
scachat | 0:31e91bb0ef3c | 20 | this->current_block = NULL; |
scachat | 0:31e91bb0ef3c | 21 | this->step_events_completed = 0; |
scachat | 0:31e91bb0ef3c | 22 | this->divider = 0; |
scachat | 0:31e91bb0ef3c | 23 | this->paused = false; |
scachat | 0:31e91bb0ef3c | 24 | } |
scachat | 0:31e91bb0ef3c | 25 | |
scachat | 0:31e91bb0ef3c | 26 | //Called when the module has just been loaded |
scachat | 0:31e91bb0ef3c | 27 | void Stepper::on_module_loaded(){ |
scachat | 0:31e91bb0ef3c | 28 | stepper = this; |
scachat | 0:31e91bb0ef3c | 29 | this->register_for_event(ON_BLOCK_BEGIN); |
scachat | 0:31e91bb0ef3c | 30 | this->register_for_event(ON_BLOCK_END); |
scachat | 0:31e91bb0ef3c | 31 | this->register_for_event(ON_GCODE_EXECUTE); |
scachat | 0:31e91bb0ef3c | 32 | this->register_for_event(ON_PLAY); |
scachat | 0:31e91bb0ef3c | 33 | this->register_for_event(ON_PAUSE); |
scachat | 0:31e91bb0ef3c | 34 | |
scachat | 0:31e91bb0ef3c | 35 | // Get onfiguration |
scachat | 0:31e91bb0ef3c | 36 | this->on_config_reload(this); |
scachat | 0:31e91bb0ef3c | 37 | |
scachat | 0:31e91bb0ef3c | 38 | // Acceleration ticker |
scachat | 0:31e91bb0ef3c | 39 | //this->kernel->slow_ticker->set_frequency(this->acceleration_ticks_per_second/10); |
scachat | 0:31e91bb0ef3c | 40 | this->kernel->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick ); |
scachat | 0:31e91bb0ef3c | 41 | |
scachat | 0:31e91bb0ef3c | 42 | // Initiate main_interrupt timer and step reset timer |
scachat | 0:31e91bb0ef3c | 43 | this->kernel->step_ticker->attach( this, &Stepper::main_interrupt ); |
scachat | 0:31e91bb0ef3c | 44 | this->kernel->step_ticker->reset_attach( this, &Stepper::reset_step_pins ); |
scachat | 0:31e91bb0ef3c | 45 | |
scachat | 0:31e91bb0ef3c | 46 | } |
scachat | 0:31e91bb0ef3c | 47 | |
scachat | 0:31e91bb0ef3c | 48 | // Get configuration from the config file |
scachat | 0:31e91bb0ef3c | 49 | void Stepper::on_config_reload(void* argument){ |
scachat | 0:31e91bb0ef3c | 50 | |
scachat | 0:31e91bb0ef3c | 51 | this->microseconds_per_step_pulse = this->kernel->config->value(microseconds_per_step_pulse_checksum )->by_default(5 )->as_number(); |
scachat | 0:31e91bb0ef3c | 52 | this->acceleration_ticks_per_second = this->kernel->config->value(acceleration_ticks_per_second_checksum)->by_default(100 )->as_number(); |
scachat | 0:31e91bb0ef3c | 53 | this->minimum_steps_per_minute = this->kernel->config->value(minimum_steps_per_minute_checksum )->by_default(1200 )->as_number(); |
scachat | 0:31e91bb0ef3c | 54 | this->base_stepping_frequency = this->kernel->config->value(base_stepping_frequency_checksum )->by_default(100000)->as_number(); |
scachat | 0:31e91bb0ef3c | 55 | this->alpha_step_pin = this->kernel->config->value(alpha_step_pin_checksum )->by_default("1.21" )->as_pin()->as_output(); |
scachat | 0:31e91bb0ef3c | 56 | this->beta_step_pin = this->kernel->config->value(beta_step_pin_checksum )->by_default("1.23" )->as_pin()->as_output(); |
scachat | 0:31e91bb0ef3c | 57 | this->gamma_step_pin = this->kernel->config->value(gamma_step_pin_checksum )->by_default("1.22!" )->as_pin()->as_output(); |
scachat | 0:31e91bb0ef3c | 58 | this->alpha_dir_pin = this->kernel->config->value(alpha_dir_pin_checksum )->by_default("1.18" )->as_pin()->as_output(); |
scachat | 0:31e91bb0ef3c | 59 | this->beta_dir_pin = this->kernel->config->value(beta_dir_pin_checksum )->by_default("1.20" )->as_pin()->as_output(); |
scachat | 0:31e91bb0ef3c | 60 | this->gamma_dir_pin = this->kernel->config->value(gamma_dir_pin_checksum )->by_default("1.19" )->as_pin()->as_output(); |
scachat | 0:31e91bb0ef3c | 61 | this->alpha_en_pin = this->kernel->config->value(alpha_en_pin_checksum )->by_default("0.4" )->as_pin()->as_output()->as_open_drain(); |
scachat | 0:31e91bb0ef3c | 62 | this->beta_en_pin = this->kernel->config->value(beta_en_pin_checksum )->by_default("0.10" )->as_pin()->as_output()->as_open_drain(); |
scachat | 0:31e91bb0ef3c | 63 | this->gamma_en_pin = this->kernel->config->value(gamma_en_pin_checksum )->by_default("0.19" )->as_pin()->as_output()->as_open_drain(); |
scachat | 0:31e91bb0ef3c | 64 | |
scachat | 0:31e91bb0ef3c | 65 | |
scachat | 0:31e91bb0ef3c | 66 | // TODO : This is supposed to be done by gcodes |
scachat | 0:31e91bb0ef3c | 67 | this->alpha_en_pin->set(0); |
scachat | 0:31e91bb0ef3c | 68 | this->beta_en_pin->set(0); |
scachat | 0:31e91bb0ef3c | 69 | this->gamma_en_pin->set(0); |
scachat | 0:31e91bb0ef3c | 70 | |
scachat | 0:31e91bb0ef3c | 71 | |
scachat | 0:31e91bb0ef3c | 72 | // Set the Timer interval for Match Register 1, |
scachat | 0:31e91bb0ef3c | 73 | this->kernel->step_ticker->set_reset_delay( this->microseconds_per_step_pulse / 1000000 ); |
scachat | 0:31e91bb0ef3c | 74 | this->kernel->step_ticker->set_frequency( this->base_stepping_frequency ); |
scachat | 0:31e91bb0ef3c | 75 | } |
scachat | 0:31e91bb0ef3c | 76 | |
scachat | 0:31e91bb0ef3c | 77 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
scachat | 0:31e91bb0ef3c | 78 | void Stepper::on_pause(void* argument){ |
scachat | 0:31e91bb0ef3c | 79 | this->paused = true; |
scachat | 0:31e91bb0ef3c | 80 | } |
scachat | 0:31e91bb0ef3c | 81 | |
scachat | 0:31e91bb0ef3c | 82 | // When the play/pause button is set to play, or a module calls the ON_PLAY event |
scachat | 0:31e91bb0ef3c | 83 | void Stepper::on_play(void* argument){ |
scachat | 0:31e91bb0ef3c | 84 | // TODO: Re-compute the whole queue for a cold-start |
scachat | 0:31e91bb0ef3c | 85 | this->paused = false; |
scachat | 0:31e91bb0ef3c | 86 | } |
scachat | 0:31e91bb0ef3c | 87 | |
scachat | 0:31e91bb0ef3c | 88 | void Stepper::on_gcode_execute(void* argument){ |
scachat | 0:31e91bb0ef3c | 89 | Gcode* gcode = static_cast<Gcode*>(argument); |
scachat | 0:31e91bb0ef3c | 90 | |
scachat | 0:31e91bb0ef3c | 91 | if( gcode->has_letter('M')){ |
scachat | 0:31e91bb0ef3c | 92 | int code = (int) gcode->get_value('M'); |
scachat | 0:31e91bb0ef3c | 93 | if( code == 84 ){ |
scachat | 0:31e91bb0ef3c | 94 | this->alpha_en_pin->set(0); |
scachat | 0:31e91bb0ef3c | 95 | this->beta_en_pin->set(0); |
scachat | 0:31e91bb0ef3c | 96 | this->gamma_en_pin->set(0); |
scachat | 0:31e91bb0ef3c | 97 | } |
scachat | 0:31e91bb0ef3c | 98 | } |
scachat | 0:31e91bb0ef3c | 99 | } |
scachat | 0:31e91bb0ef3c | 100 | |
scachat | 0:31e91bb0ef3c | 101 | // A new block is popped from the queue |
scachat | 0:31e91bb0ef3c | 102 | void Stepper::on_block_begin(void* argument){ |
scachat | 0:31e91bb0ef3c | 103 | Block* block = static_cast<Block*>(argument); |
scachat | 0:31e91bb0ef3c | 104 | |
scachat | 0:31e91bb0ef3c | 105 | // The stepper does not care about 0-blocks |
scachat | 0:31e91bb0ef3c | 106 | if( block->millimeters == 0.0 ){ return; } |
scachat | 0:31e91bb0ef3c | 107 | |
scachat | 0:31e91bb0ef3c | 108 | // Mark the new block as of interrest to us |
scachat | 0:31e91bb0ef3c | 109 | block->take(); |
scachat | 0:31e91bb0ef3c | 110 | |
scachat | 0:31e91bb0ef3c | 111 | // Setup |
scachat | 0:31e91bb0ef3c | 112 | for( int stpr=ALPHA_STEPPER; stpr<=GAMMA_STEPPER; stpr++){ this->counters[stpr] = 0; this->stepped[stpr] = 0; } |
scachat | 0:31e91bb0ef3c | 113 | this->step_events_completed = 0; |
scachat | 0:31e91bb0ef3c | 114 | |
scachat | 0:31e91bb0ef3c | 115 | this->current_block = block; |
scachat | 0:31e91bb0ef3c | 116 | |
scachat | 0:31e91bb0ef3c | 117 | // This is just to save computing power and not do it every step |
scachat | 0:31e91bb0ef3c | 118 | this->update_offsets(); |
scachat | 0:31e91bb0ef3c | 119 | |
scachat | 0:31e91bb0ef3c | 120 | // Setup acceleration for this block |
scachat | 0:31e91bb0ef3c | 121 | this->trapezoid_generator_reset(); |
scachat | 0:31e91bb0ef3c | 122 | |
scachat | 0:31e91bb0ef3c | 123 | } |
scachat | 0:31e91bb0ef3c | 124 | |
scachat | 0:31e91bb0ef3c | 125 | // Current block is discarded |
scachat | 0:31e91bb0ef3c | 126 | void Stepper::on_block_end(void* argument){ |
scachat | 0:31e91bb0ef3c | 127 | Block* block = static_cast<Block*>(argument); |
scachat | 0:31e91bb0ef3c | 128 | this->current_block = NULL; //stfu ! |
scachat | 0:31e91bb0ef3c | 129 | } |
scachat | 0:31e91bb0ef3c | 130 | |
scachat | 0:31e91bb0ef3c | 131 | // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Smoothie. It is executed at the rate set with |
scachat | 0:31e91bb0ef3c | 132 | // config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. |
scachat | 0:31e91bb0ef3c | 133 | inline uint32_t Stepper::main_interrupt(uint32_t dummy){ |
scachat | 0:31e91bb0ef3c | 134 | if( this->paused ){ return 0; } |
scachat | 0:31e91bb0ef3c | 135 | |
scachat | 0:31e91bb0ef3c | 136 | // Step dir pins first, then step pinse, stepper drivers like to know the direction before the step signal comes in |
scachat | 0:31e91bb0ef3c | 137 | this->alpha_dir_pin->set( ( this->out_bits >> 0 ) & 1 ); |
scachat | 0:31e91bb0ef3c | 138 | this->beta_dir_pin->set( ( this->out_bits >> 1 ) & 1 ); |
scachat | 0:31e91bb0ef3c | 139 | this->gamma_dir_pin->set( ( this->out_bits >> 2 ) & 1 ); |
scachat | 0:31e91bb0ef3c | 140 | this->alpha_step_pin->set( ( this->out_bits >> 3 ) & 1 ); |
scachat | 0:31e91bb0ef3c | 141 | this->beta_step_pin->set( ( this->out_bits >> 4 ) & 1 ); |
scachat | 0:31e91bb0ef3c | 142 | this->gamma_step_pin->set( ( this->out_bits >> 5 ) & 1 ); |
scachat | 0:31e91bb0ef3c | 143 | |
scachat | 0:31e91bb0ef3c | 144 | if( this->current_block != NULL ){ |
scachat | 0:31e91bb0ef3c | 145 | // Set bits for direction and steps |
scachat | 0:31e91bb0ef3c | 146 | this->out_bits = this->current_block->direction_bits; |
scachat | 0:31e91bb0ef3c | 147 | for( int stpr=ALPHA_STEPPER; stpr<=GAMMA_STEPPER; stpr++){ |
scachat | 0:31e91bb0ef3c | 148 | this->counters[stpr] += this->counter_increment; |
scachat | 0:31e91bb0ef3c | 149 | if( this->counters[stpr] > this->offsets[stpr] && this->stepped[stpr] < this->current_block->steps[stpr] ){ |
scachat | 0:31e91bb0ef3c | 150 | this->counters[stpr] -= this->offsets[stpr] ; |
scachat | 0:31e91bb0ef3c | 151 | this->stepped[stpr]++; |
scachat | 0:31e91bb0ef3c | 152 | this->out_bits |= (1 << (stpr+3) ); |
scachat | 0:31e91bb0ef3c | 153 | } |
scachat | 0:31e91bb0ef3c | 154 | } |
scachat | 0:31e91bb0ef3c | 155 | // If current block is finished, reset pointer |
scachat | 0:31e91bb0ef3c | 156 | this->step_events_completed += this->counter_increment; |
scachat | 0:31e91bb0ef3c | 157 | if( this->step_events_completed >= this->current_block->steps_event_count<<16 ){ |
scachat | 0:31e91bb0ef3c | 158 | if( this->stepped[ALPHA_STEPPER] == this->current_block->steps[ALPHA_STEPPER] && this->stepped[BETA_STEPPER] == this->current_block->steps[BETA_STEPPER] && this->stepped[GAMMA_STEPPER] == this->current_block->steps[GAMMA_STEPPER] ){ |
scachat | 0:31e91bb0ef3c | 159 | if( this->current_block != NULL ){ |
scachat | 0:31e91bb0ef3c | 160 | this->current_block->release(); |
scachat | 0:31e91bb0ef3c | 161 | } |
scachat | 0:31e91bb0ef3c | 162 | } |
scachat | 0:31e91bb0ef3c | 163 | } |
scachat | 0:31e91bb0ef3c | 164 | }else{ |
scachat | 0:31e91bb0ef3c | 165 | this->out_bits = 0; |
scachat | 0:31e91bb0ef3c | 166 | } |
scachat | 0:31e91bb0ef3c | 167 | |
scachat | 0:31e91bb0ef3c | 168 | } |
scachat | 0:31e91bb0ef3c | 169 | |
scachat | 0:31e91bb0ef3c | 170 | // We compute this here instead of each time in the interrupt |
scachat | 0:31e91bb0ef3c | 171 | void Stepper::update_offsets(){ |
scachat | 0:31e91bb0ef3c | 172 | for( int stpr=ALPHA_STEPPER; stpr<=GAMMA_STEPPER; stpr++){ |
scachat | 0:31e91bb0ef3c | 173 | this->offsets[stpr] = (int)floor((float)((float)(1<<16)*(float)((float)this->current_block->steps_event_count / (float)this->current_block->steps[stpr]))); |
scachat | 0:31e91bb0ef3c | 174 | } |
scachat | 0:31e91bb0ef3c | 175 | } |
scachat | 0:31e91bb0ef3c | 176 | |
scachat | 0:31e91bb0ef3c | 177 | // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event |
scachat | 0:31e91bb0ef3c | 178 | // interrupt. It can be assumed that the trapezoid-generator-parameters and the |
scachat | 0:31e91bb0ef3c | 179 | // current_block stays untouched by outside handlers for the duration of this function call. |
scachat | 0:31e91bb0ef3c | 180 | uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) { |
scachat | 0:31e91bb0ef3c | 181 | if(this->current_block && !this->trapezoid_generator_busy && !this->paused ) { |
scachat | 0:31e91bb0ef3c | 182 | if(this->step_events_completed < this->current_block->accelerate_until<<16) { |
scachat | 0:31e91bb0ef3c | 183 | this->trapezoid_adjusted_rate += this->current_block->rate_delta; |
scachat | 0:31e91bb0ef3c | 184 | if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) { |
scachat | 0:31e91bb0ef3c | 185 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; |
scachat | 0:31e91bb0ef3c | 186 | } |
scachat | 0:31e91bb0ef3c | 187 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
scachat | 0:31e91bb0ef3c | 188 | } else if (this->step_events_completed >= this->current_block->decelerate_after<<16) { |
scachat | 0:31e91bb0ef3c | 189 | // NOTE: We will only reduce speed if the result will be > 0. This catches small |
scachat | 0:31e91bb0ef3c | 190 | // rounding errors that might leave steps hanging after the last trapezoid tick. |
scachat | 0:31e91bb0ef3c | 191 | if (this->trapezoid_adjusted_rate > double(this->current_block->rate_delta) * 1.5) { |
scachat | 0:31e91bb0ef3c | 192 | this->trapezoid_adjusted_rate -= this->current_block->rate_delta; |
scachat | 0:31e91bb0ef3c | 193 | }else{ |
scachat | 0:31e91bb0ef3c | 194 | this->trapezoid_adjusted_rate = double(this->current_block->rate_delta) * 1.5; |
scachat | 0:31e91bb0ef3c | 195 | //this->trapezoid_adjusted_rate = floor(double(this->trapezoid_adjusted_rate / 2 )); |
scachat | 0:31e91bb0ef3c | 196 | //this->kernel->serial->printf("over!\r\n"); |
scachat | 0:31e91bb0ef3c | 197 | } |
scachat | 0:31e91bb0ef3c | 198 | if (this->trapezoid_adjusted_rate < this->current_block->final_rate ) { |
scachat | 0:31e91bb0ef3c | 199 | this->trapezoid_adjusted_rate = this->current_block->final_rate; |
scachat | 0:31e91bb0ef3c | 200 | } |
scachat | 0:31e91bb0ef3c | 201 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
scachat | 0:31e91bb0ef3c | 202 | } else { |
scachat | 0:31e91bb0ef3c | 203 | // Make sure we cruise at exactly nominal rate |
scachat | 0:31e91bb0ef3c | 204 | if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) { |
scachat | 0:31e91bb0ef3c | 205 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; |
scachat | 0:31e91bb0ef3c | 206 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
scachat | 0:31e91bb0ef3c | 207 | } |
scachat | 0:31e91bb0ef3c | 208 | } |
scachat | 0:31e91bb0ef3c | 209 | } |
scachat | 0:31e91bb0ef3c | 210 | } |
scachat | 0:31e91bb0ef3c | 211 | |
scachat | 0:31e91bb0ef3c | 212 | // Initializes the trapezoid generator from the current block. Called whenever a new |
scachat | 0:31e91bb0ef3c | 213 | // block begins. |
scachat | 0:31e91bb0ef3c | 214 | void Stepper::trapezoid_generator_reset(){ |
scachat | 0:31e91bb0ef3c | 215 | this->trapezoid_adjusted_rate = this->current_block->initial_rate; |
scachat | 0:31e91bb0ef3c | 216 | this->trapezoid_tick_cycle_counter = 0; |
scachat | 0:31e91bb0ef3c | 217 | // Because this can be called directly from the main loop, it could be interrupted by the acceleration ticker, and that would be bad, so we use a flag |
scachat | 0:31e91bb0ef3c | 218 | this->trapezoid_generator_busy = true; |
scachat | 0:31e91bb0ef3c | 219 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
scachat | 0:31e91bb0ef3c | 220 | this->trapezoid_generator_busy = false; |
scachat | 0:31e91bb0ef3c | 221 | } |
scachat | 0:31e91bb0ef3c | 222 | |
scachat | 0:31e91bb0ef3c | 223 | void Stepper::set_step_events_per_minute( double steps_per_minute ){ |
scachat | 0:31e91bb0ef3c | 224 | |
scachat | 0:31e91bb0ef3c | 225 | // We do not step slower than this |
scachat | 0:31e91bb0ef3c | 226 | steps_per_minute = max(steps_per_minute, this->minimum_steps_per_minute); |
scachat | 0:31e91bb0ef3c | 227 | |
scachat | 0:31e91bb0ef3c | 228 | // The speed factor is the factor by which we must multiply the minimal step frequency to reach the maximum step frequency |
scachat | 0:31e91bb0ef3c | 229 | // The higher, the smoother the movement will be, but the closer the maximum and minimum frequencies are, the smaller the factor is |
scachat | 0:31e91bb0ef3c | 230 | // speed_factor = base_stepping_frequency / steps_per_second |
scachat | 0:31e91bb0ef3c | 231 | // counter_increment = 1 / speed_factor ( 1 is 1<<16 because we do fixed point ) |
scachat | 0:31e91bb0ef3c | 232 | this->counter_increment = int(floor(double(1<<16)/double(this->base_stepping_frequency / (steps_per_minute/60L)))); |
scachat | 0:31e91bb0ef3c | 233 | |
scachat | 0:31e91bb0ef3c | 234 | this->kernel->call_event(ON_SPEED_CHANGE, this); |
scachat | 0:31e91bb0ef3c | 235 | |
scachat | 0:31e91bb0ef3c | 236 | } |
scachat | 0:31e91bb0ef3c | 237 | |
scachat | 0:31e91bb0ef3c | 238 | uint32_t Stepper::reset_step_pins(uint32_t dummy){ |
scachat | 0:31e91bb0ef3c | 239 | this->alpha_step_pin->set(0); |
scachat | 0:31e91bb0ef3c | 240 | this->beta_step_pin->set(0); |
scachat | 0:31e91bb0ef3c | 241 | this->gamma_step_pin->set(0); |
scachat | 0:31e91bb0ef3c | 242 | |
scachat | 0:31e91bb0ef3c | 243 | } |