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Implement more methods in Motion, remove Motion::Full() 

Motion::Full() (without a specific axis) is counter-productive.

When planning new moves the axis needs to be known beforehand, so it
might be as well be given to Full() to check the proper queue.
pull/47/head
Yuri D'Elia 2021-07-11 22:07:23 +02:00
parent 7337e97765
commit e53a91d563
2 changed files with 40 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

33
src/modules/motion.cpp
View File

@ -5,6 +5,7 @@ namespace motion {
Motion motion;
// TODO: not implemented
void Motion::InitAxis(Axis axis) {}
void Motion::SetEnabled(Axis axis, bool enabled) {
@ -12,17 +13,35 @@ void Motion::SetEnabled(Axis axis, bool enabled) {
axisData[axis].enabled = enabled;
}
bool Motion::StallGuard(Axis axis) { return false; }
void Motion::SetMode(Axis axis, MotorMode mode) {
for (uint8_t i = 0; i != NUM_AXIS; ++i)
axisData[axis].drv.SetMode(mode);
}
void Motion::ClearStallGuardFlag(Axis axis) {}
// TODO: not implemented
bool Motion::StallGuard(Axis axis) {
return false;
}
void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feedrate) {}
// TODO: not implemented
void Motion::ClearStallGuardFlag(Axis axis) {
}
pos_t Motion::CurrentPos(Axis axis) const { return axisData[axis].ctrl.Position(); }
// TODO: not implemented
void Motion::Home(Axis axis, bool direction) {
}
void Motion::Home(Axis axis, bool direction) {}
void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feedrate) {
if (axisData[axis].ctrl.PlanMoveTo(pos, feedrate)) {
// move was queued, prepare the axis
if (!axisData[axis].enabled)
SetEnabled(axis, true);
}
}
void Motion::SetMode(Axis axis, MotorMode mode) {}
pos_t Motion::CurrentPos(Axis axis) const {
return axisData[axis].ctrl.Position();
}
bool Motion::QueueEmpty() const {
for (uint8_t i = 0; i != NUM_AXIS; ++i)
@ -36,7 +55,7 @@ void Motion::AbortPlannedMoves() {
axisData[i].ctrl.AbortPlannedMoves();
}
void Motion::Step() {}
st_timer_t Motion::Step() {}
void ISR() {}

32
src/modules/motion.h
View File

@ -77,18 +77,27 @@ public:
/// state especially when the TMC may get randomly reset (deinited)
void InitAxis(Axis axis);
/// Set axis power status
/// Set axis power status. One must manually ensure no moves are currently being
/// performed by calling QueueEmpty().
void SetEnabled(Axis axis, bool enabled);
/// Disable axis motor
/// Disable axis motor. One must manually ensure no moves are currently being
/// performed by calling QueueEmpty().
void Disable(Axis axis) { SetEnabled(axis, false); }
/// Set mode of TMC/motors operation. One must manually ensure no moves are currently
/// being performed by calling QueueEmpty().
void SetMode(Axis axis, MotorMode mode);
/// @returns true if a stall guard event occurred recently on the axis
bool StallGuard(Axis axis);
/// clear stall guard flag reported on an axis
void ClearStallGuardFlag(Axis axis);
/// Enqueue performing of homing of an axis
void Home(Axis axis, bool direction);
/// Enqueue a single axis move in steps starting and ending at zero speed with maximum
/// feedrate. Moves can only be enqueued if the axis is not Full().
/// @param axis axis affected
@ -116,14 +125,9 @@ public:
axisData[axis].ctrl.SetAcceleration(accel);
}
/// Enqueue performing of homing of an axis
void Home(Axis axis, bool direction);
/// Set mode of TMC/motors operation
void SetMode(Axis axis, MotorMode mode);
/// State machine doing all the planning and stepping preparation based on received commands
void Step();
/// State machine doing all the planning and stepping. Called by the stepping ISR.
/// @returns the interval for the next tick
st_timer_t Step();
/// @returns true if all planned moves have been finished for all axes
bool QueueEmpty() const;
@ -132,14 +136,6 @@ public:
/// @param axis requested
bool QueueEmpty(Axis axis) const { return axisData[axis].ctrl.QueueEmpty(); }
/// @returns false if new moves can still be planned for _any_ axis
bool Full() const {
for (uint8_t i = 0; i != NUM_AXIS; ++i)
if (axisData[i].ctrl.Full())
return true;
return false;
}
/// @returns false if new moves can still be planned for one axis
/// @param axis axis requested
bool Full(Axis axis) const { return axisData[axis].ctrl.Full(); }