107 lines
2.8 KiB
C++
107 lines
2.8 KiB
C++
#include "motion.h"
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#include "idler.h"
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#include "stub_motion.h"
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namespace modules {
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namespace motion {
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Motion motion;
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// Intentionally inited with strange values
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// Need to call ReinitMotion() each time we start some unit test
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AxisSim axes[3] = {
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{ -32767, -32767, false, false, false }, // pulley
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{ -32767, -32767, false, false, false }, // selector //@@TODO proper selector positions once defined
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{ -32767, -32767, false, false, false }, // idler
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};
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bool Motion::InitAxis(Axis axis) {
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axes[axis].enabled = true;
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return true;
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}
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void Motion::SetEnabled(Axis axis, bool enabled) {
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axes[axis].enabled = enabled;
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}
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bool Motion::StallGuard(Axis axis) {
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return axes[axis].stallGuard;
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}
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void Motion::StallGuardReset(Axis axis) {
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axes[axis].stallGuard = false;
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}
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void TriggerStallGuard(Axis axis) {
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axes[axis].stallGuard = true;
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}
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void Motion::PlanMoveTo(Axis axis, pos_t pos, steps_t feed_rate, steps_t end_rate) {
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axes[axis].targetPos = pos;
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if (!axisData[axis].enabled)
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SetEnabled(axis, true);
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}
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pos_t Motion::Position(Axis axis) const {
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return axes[axis].pos;
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}
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void Motion::SetPosition(Axis axis, pos_t x) {
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axes[axis].pos = x;
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}
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void Motion::SetMode(Axis axis, hal::tmc2130::MotorMode mode) {
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}
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st_timer_t Motion::Step() {
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for (uint8_t i = 0; i < 3; ++i) {
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if (axes[i].pos != axes[i].targetPos) {
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int8_t dirInc = (axes[i].pos < axes[i].targetPos) ? 1 : -1;
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axes[i].pos += dirInc;
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}
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}
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return 0;
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}
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bool Motion::QueueEmpty() const {
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for (uint8_t i = 0; i < 3; ++i) {
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if (axes[i].pos != axes[i].targetPos)
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return false;
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}
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return true;
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}
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bool Motion::QueueEmpty(Axis axis) const {
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return axes[axis].pos == axes[axis].targetPos;
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}
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void Motion::AbortPlannedMoves(bool halt) {
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for (uint8_t i = 0; i < 3; ++i) {
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AbortPlannedMoves((config::Axis)i, halt); // leave the axis where it was at the time of abort
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}
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}
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void Motion::AbortPlannedMoves(config::Axis i, bool) {
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axes[i].targetPos = axes[i].pos; // leave the axis where it was at the time of abort
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}
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void ReinitMotion() {
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// reset the simulation data to defaults
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axes[0] = AxisSim({ 0, 0, false, false, false }); // pulley
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axes[1] = AxisSim({ unitToSteps<S_pos_t>(config::selectorSlotPositions[0]),
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unitToSteps<S_pos_t>(config::selectorSlotPositions[0]),
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false, false, false }); // selector
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axes[2] = AxisSim({ unitToSteps<I_pos_t>(config::idlerSlotPositions[mi::Idler::IdleSlotIndex()]),
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unitToSteps<I_pos_t>(config::idlerSlotPositions[mi::Idler::IdleSlotIndex()]),
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false, false, false }); // idler
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}
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bool PulleyEnabled() {
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return axes[0].enabled;
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}
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/// probably higher-level operations knowing the semantic meaning of axes
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} // namespace motion
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} // namespace modules
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