106 lines
3 KiB
C++
106 lines
3 KiB
C++
#ifndef DRIVERS_H_INCLUDED
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#define DRIVERS_H_INCLUDED
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/**
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For some special printers you need to control extra motors. Possible reasons are
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- Extruder switches
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- Clearing surface
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- Leveling
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Repetier-Firmware supports up to 4 extra motors that can be controlled by
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G201 P<motorId> X<pos> - Go to position X with motor X
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G202 P<motorId> X<setpos> - Mark current position as X
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G203 P<motorId> - Report current motor position
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G204 P<motorId> S<0/1> - Enable/disable motor
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These motors are already special and there might be different types, so we can not assume
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one class fits all needs. So to keep it simple, the firmware defines this general
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interface whcih a motor must implement. That way we can handle any type without changing
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the main code.
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*/
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class MotorDriverInterface
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{
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public:
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virtual void initialize() = 0;
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virtual float getPosition() = 0;
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virtual void setCurrentAs(float newPos) = 0;
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virtual void gotoPosition(float newPos) = 0;
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virtual void enable() = 0;
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virtual void disable() = 0;
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};
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/**
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Simple class to drive a stepper motor with fixed speed.
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*/
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template<int stepPin, int dirPin, int enablePin,bool invertDir, bool invertEnable>
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class StepperDriver : public MotorDriverInterface
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{
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int32_t position;
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int32_t delayUS;
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float stepsPerMM;
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public:
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StepperDriver(float _stepsPerMM,float speed)
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{
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stepsPerMM = _stepsPerMM;
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delayUS = 500000 / (speed * stepsPerMM);
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}
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void initialize() {
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HAL::pinMode(enablePin, OUTPUT);
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HAL::pinMode(stepPin, OUTPUT);
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HAL::pinMode(dirPin, OUTPUT);
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HAL::digitalWrite(enablePin, !invertEnable);
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}
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float getPosition()
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{
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return position / stepsPerMM;
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}
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void setCurrentAs(float newPos)
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{
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position = floor(newPos * stepsPerMM + 0.5f);
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}
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void gotoPosition(float newPos)
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{
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enable();
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int32_t target = floor(newPos * stepsPerMM + 0.5f) - position;
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position += target;
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if(target > 0) {
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HAL::digitalWrite(dirPin, !invertDir);
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} else {
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target = -target;
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HAL::digitalWrite(dirPin, invertDir);
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}
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while(target) {
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HAL::digitalWrite(stepPin, HIGH);
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HAL::delayMicroseconds(delayUS);
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HAL::digitalWrite(stepPin, LOW);
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HAL::delayMicroseconds(delayUS);
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target--;
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HAL::pingWatchdog();
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if((target & 127) == 0)
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Commands::checkForPeriodicalActions(false);
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}
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}
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void enable()
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{
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HAL::digitalWrite(enablePin, invertEnable);
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}
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void disable()
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{
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HAL::digitalWrite(enablePin, !invertEnable);
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}
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};
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#if defined(NUM_MOTOR_DRIVERS) && NUM_MOTOR_DRIVERS > 0
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class GCode;
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extern void commandG201(GCode &code);
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extern void commandG202(GCode &code);
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extern void commandG203(GCode &code);
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extern void commandG204(GCode &code);
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extern void disableAllMotorDrivers();
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extern MotorDriverInterface *getMotorDriver(int idx);
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extern void initializeAllMotorDrivers();
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#endif
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#endif // DRIVERS_H_INCLUDED
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