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.h
- Committer:
- scachat
- Date:
- 2012-07-31
- Revision:
- 0:31e91bb0ef3c
File content as of revision 0:31e91bb0ef3c:
/* 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