Commit | Line | Data |
---|---|---|
7b49793d | 1 | /* |
5886a464 | 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) |
4cff3ded AW |
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. |
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. | |
7b49793d | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include "Stepper.h" | |
11 | #include "Planner.h" | |
3fceb8eb | 12 | #include "Conveyor.h" |
4cff3ded AW |
13 | #include <vector> |
14 | using namespace std; | |
15 | #include "libs/nuts_bolts.h" | |
2f7d3dba | 16 | #include "libs/Hook.h" |
db453125 AW |
17 | #include <mri.h> |
18 | ||
19 | ||
edac9072 | 20 | // The stepper reacts to blocks that have XYZ movement to transform them into actual stepper motor moves |
d337942a | 21 | // TODO: This does accel, accel should be in StepperMotor |
edac9072 | 22 | |
4cff3ded | 23 | Stepper* stepper; |
4464301d AW |
24 | uint32_t previous_step_count; |
25 | uint32_t skipped_speed_updates; | |
813727fb AW |
26 | uint32_t speed_ticks_counter; |
27 | ||
4cff3ded AW |
28 | Stepper::Stepper(){ |
29 | this->current_block = NULL; | |
81b547a1 | 30 | this->paused = false; |
650ed0a8 | 31 | this->trapezoid_generator_busy = false; |
1013f6a3 | 32 | this->force_speed_update = false; |
4464301d | 33 | skipped_speed_updates = 0; |
4cff3ded AW |
34 | } |
35 | ||
36 | //Called when the module has just been loaded | |
37 | void Stepper::on_module_loaded(){ | |
38 | stepper = this; | |
476dcb96 | 39 | register_for_event(ON_CONFIG_RELOAD); |
3a4fa0c1 AW |
40 | this->register_for_event(ON_BLOCK_BEGIN); |
41 | this->register_for_event(ON_BLOCK_END); | |
6b833f7d | 42 | this->register_for_event(ON_GCODE_EXECUTE); |
31e600f6 | 43 | this->register_for_event(ON_GCODE_RECEIVED); |
befcf5cc AW |
44 | this->register_for_event(ON_PLAY); |
45 | this->register_for_event(ON_PAUSE); | |
7b49793d | 46 | |
4cff3ded | 47 | // Get onfiguration |
7b49793d | 48 | this->on_config_reload(this); |
4cff3ded | 49 | |
ded56b35 | 50 | // Acceleration ticker |
314ab8f7 | 51 | this->acceleration_tick_hook = THEKERNEL->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick ); |
4cff3ded | 52 | |
feb204be | 53 | // Attach to the end_of_move stepper event |
314ab8f7 MM |
54 | THEKERNEL->robot->alpha_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); |
55 | THEKERNEL->robot->beta_stepper_motor->attach( this, &Stepper::stepper_motor_finished_move ); | |
56 | THEKERNEL->robot->gamma_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); | |
4cff3ded AW |
57 | } |
58 | ||
2bb8b390 | 59 | // Get configuration from the config file |
da24d6ae | 60 | void Stepper::on_config_reload(void* argument){ |
7b49793d | 61 | |
314ab8f7 MM |
62 | this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(100 )->as_number(); |
63 | this->minimum_steps_per_minute = THEKERNEL->config->value(minimum_steps_per_minute_checksum )->by_default(3000 )->as_number(); | |
bee725fc | 64 | |
5a884140 MM |
65 | // Steppers start off by default |
66 | this->turn_enable_pins_off(); | |
da24d6ae AW |
67 | } |
68 | ||
befcf5cc AW |
69 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
70 | void Stepper::on_pause(void* argument){ | |
81b547a1 | 71 | this->paused = true; |
314ab8f7 MM |
72 | THEKERNEL->robot->alpha_stepper_motor->pause(); |
73 | THEKERNEL->robot->beta_stepper_motor->pause(); | |
74 | THEKERNEL->robot->gamma_stepper_motor->pause(); | |
befcf5cc AW |
75 | } |
76 | ||
77 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
78 | void Stepper::on_play(void* argument){ | |
7b49793d | 79 | // TODO: Re-compute the whole queue for a cold-start |
81b547a1 | 80 | this->paused = false; |
314ab8f7 MM |
81 | THEKERNEL->robot->alpha_stepper_motor->unpause(); |
82 | THEKERNEL->robot->beta_stepper_motor->unpause(); | |
83 | THEKERNEL->robot->gamma_stepper_motor->unpause(); | |
befcf5cc AW |
84 | } |
85 | ||
31e600f6 JM |
86 | void Stepper::on_gcode_received(void* argument){ |
87 | Gcode* gcode = static_cast<Gcode*>(argument); | |
88 | // Attach gcodes to the last block for on_gcode_execute | |
89 | if( gcode->has_m && (gcode->m == 84 || gcode->m == 17 || gcode->m == 18 )) { | |
90 | gcode->mark_as_taken(); | |
314ab8f7 MM |
91 | if( THEKERNEL->conveyor->queue.size() == 0 ){ |
92 | THEKERNEL->call_event(ON_GCODE_EXECUTE, gcode ); | |
31e600f6 | 93 | }else{ |
314ab8f7 | 94 | Block* block = THEKERNEL->conveyor->queue.get_ref( THEKERNEL->conveyor->queue.size() - 1 ); |
31e600f6 JM |
95 | block->append_gcode(gcode); |
96 | } | |
97 | } | |
98 | } | |
99 | ||
edac9072 | 100 | // React to enable/disable gcodes |
6b833f7d MM |
101 | void Stepper::on_gcode_execute(void* argument){ |
102 | Gcode* gcode = static_cast<Gcode*>(argument); | |
103 | ||
e6b5ae25 AW |
104 | if( gcode->has_m){ |
105 | if( gcode->m == 17 ){ | |
7b49793d | 106 | this->turn_enable_pins_on(); |
831bade1 | 107 | } |
d3ed57b2 | 108 | if( (gcode->m == 84 || gcode->m == 18) && !gcode->has_letter('E') ){ |
7b49793d | 109 | this->turn_enable_pins_off(); |
6b833f7d MM |
110 | } |
111 | } | |
112 | } | |
113 | ||
edac9072 | 114 | // Enable steppers |
831bade1 | 115 | void Stepper::turn_enable_pins_on(){ |
314ab8f7 MM |
116 | THEKERNEL->robot->alpha_en_pin.set(0); |
117 | THEKERNEL->robot->beta_en_pin.set(0); | |
118 | THEKERNEL->robot->gamma_en_pin.set(0); | |
831bade1 AW |
119 | this->enable_pins_status = true; |
120 | } | |
121 | ||
edac9072 | 122 | // Disable steppers |
831bade1 | 123 | void Stepper::turn_enable_pins_off(){ |
314ab8f7 MM |
124 | THEKERNEL->robot->alpha_en_pin.set(1); |
125 | THEKERNEL->robot->beta_en_pin.set(1); | |
126 | THEKERNEL->robot->gamma_en_pin.set(1); | |
831bade1 AW |
127 | this->enable_pins_status = false; |
128 | } | |
129 | ||
7b49793d | 130 | // A new block is popped from the queue |
3a4fa0c1 AW |
131 | void Stepper::on_block_begin(void* argument){ |
132 | Block* block = static_cast<Block*>(argument); | |
133 | ||
134 | // The stepper does not care about 0-blocks | |
650ed0a8 | 135 | if( block->millimeters == 0.0 ){ return; } |
7b49793d | 136 | |
4464301d AW |
137 | // Mark the new block as of interrest to us |
138 | if( block->steps[ALPHA_STEPPER] > 0 || block->steps[BETA_STEPPER] > 0 || block->steps[GAMMA_STEPPER] > 0 ){ | |
139 | block->take(); | |
4464301d AW |
140 | }else{ |
141 | return; | |
142 | } | |
813727fb | 143 | |
7b49793d | 144 | // We can't move with the enable pins off |
831bade1 AW |
145 | if( this->enable_pins_status == false ){ |
146 | this->turn_enable_pins_on(); | |
147 | } | |
148 | ||
7b49793d | 149 | // Setup : instruct stepper motors to move |
314ab8f7 MM |
150 | if( block->steps[ALPHA_STEPPER] > 0 ){ THEKERNEL->robot->alpha_stepper_motor->move( ( block->direction_bits >> 0 ) & 1 , block->steps[ALPHA_STEPPER] ); } |
151 | if( block->steps[BETA_STEPPER ] > 0 ){ THEKERNEL->robot->beta_stepper_motor->move( ( block->direction_bits >> 1 ) & 1 , block->steps[BETA_STEPPER ] ); } | |
152 | if( block->steps[GAMMA_STEPPER] > 0 ){ THEKERNEL->robot->gamma_stepper_motor->move( ( block->direction_bits >> 2 ) & 1 , block->steps[GAMMA_STEPPER] ); } | |
3a4fa0c1 | 153 | |
1a2d88eb | 154 | this->current_block = block; |
feb204be | 155 | |
7b49793d | 156 | // Setup acceleration for this block |
1a2d88eb | 157 | this->trapezoid_generator_reset(); |
ded56b35 | 158 | |
feb204be | 159 | // Find the stepper with the more steps, it's the one the speed calculations will want to follow |
314ab8f7 MM |
160 | this->main_stepper = THEKERNEL->robot->alpha_stepper_motor; |
161 | if( THEKERNEL->robot->beta_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = THEKERNEL->robot->beta_stepper_motor; } | |
162 | if( THEKERNEL->robot->gamma_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = THEKERNEL->robot->gamma_stepper_motor; } | |
feb204be | 163 | |
edac9072 | 164 | // Set the initial speed for this move |
9883efb8 AW |
165 | this->trapezoid_generator_tick(0); |
166 | ||
2f7d3dba | 167 | // Synchronise the acceleration curve with the stepping |
658b8a40 | 168 | this->synchronize_acceleration(0); |
2f7d3dba | 169 | |
3a4fa0c1 AW |
170 | } |
171 | ||
172 | // Current block is discarded | |
173 | void Stepper::on_block_end(void* argument){ | |
813727fb | 174 | this->current_block = NULL; //stfu ! |
3a4fa0c1 | 175 | } |
da24d6ae | 176 | |
feb204be | 177 | // When a stepper motor has finished it's assigned movement |
83ecfc46 | 178 | uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy){ |
81b547a1 | 179 | |
feb204be | 180 | // We care only if none is still moving |
314ab8f7 | 181 | if( THEKERNEL->robot->alpha_stepper_motor->moving || THEKERNEL->robot->beta_stepper_motor->moving || THEKERNEL->robot->gamma_stepper_motor->moving ){ return 0; } |
7b49793d | 182 | |
feb204be | 183 | // This block is finished, release it |
4cff3ded | 184 | if( this->current_block != NULL ){ |
7b49793d | 185 | this->current_block->release(); |
4cff3ded | 186 | } |
7b49793d | 187 | |
9e672116 | 188 | return 0; |
4cff3ded AW |
189 | } |
190 | ||
83ecfc46 | 191 | |
4cff3ded AW |
192 | // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event |
193 | // interrupt. It can be assumed that the trapezoid-generator-parameters and the | |
194 | // current_block stays untouched by outside handlers for the duration of this function call. | |
8b8b3339 | 195 | uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) { |
1013f6a3 | 196 | |
edac9072 | 197 | // Do not do the accel math for nothing |
813727fb | 198 | if(this->current_block && !this->paused && this->main_stepper->moving ) { |
edac9072 AW |
199 | |
200 | // Store this here because we use it a lot down there | |
813727fb | 201 | uint32_t current_steps_completed = this->main_stepper->stepped; |
7b49793d | 202 | |
edac9072 | 203 | // Do not accel, just set the value |
813727fb AW |
204 | if( this->force_speed_update ){ |
205 | this->force_speed_update = false; | |
206 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); | |
bd0f7508 | 207 | return 0; |
813727fb | 208 | } |
6b080aff | 209 | |
edac9072 | 210 | // If we are accelerating |
69735c09 | 211 | if(current_steps_completed <= this->current_block->accelerate_until + 1) { |
edac9072 AW |
212 | // Increase speed |
213 | this->trapezoid_adjusted_rate += this->current_block->rate_delta; | |
ded56b35 AW |
214 | if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) { |
215 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; | |
216 | } | |
217 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); | |
edac9072 AW |
218 | |
219 | // If we are decelerating | |
2f7d3dba | 220 | }else if (current_steps_completed > this->current_block->decelerate_after) { |
edac9072 AW |
221 | // Reduce speed |
222 | // NOTE: We will only reduce speed if the result will be > 0. This catches small | |
ded56b35 | 223 | // rounding errors that might leave steps hanging after the last trapezoid tick. |
4464301d | 224 | if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5) { |
47b3f3ae | 225 | this->trapezoid_adjusted_rate -= this->current_block->rate_delta; |
ded56b35 | 226 | }else{ |
813727fb | 227 | this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5; |
ded56b35 | 228 | } |
650ed0a8 | 229 | if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) { |
ded56b35 | 230 | this->trapezoid_adjusted_rate = this->current_block->final_rate; |
7b49793d | 231 | } |
4cff3ded | 232 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
edac9072 AW |
233 | |
234 | // If we are cruising | |
83ecfc46 | 235 | }else { |
ded56b35 AW |
236 | // Make sure we cruise at exactly nominal rate |
237 | if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) { | |
238 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; | |
239 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); | |
240 | } | |
1013f6a3 | 241 | } |
ded56b35 | 242 | } |
1013f6a3 | 243 | |
b852a30c | 244 | return 0; |
4cff3ded AW |
245 | } |
246 | ||
83ecfc46 AW |
247 | |
248 | ||
4cff3ded AW |
249 | // Initializes the trapezoid generator from the current block. Called whenever a new |
250 | // block begins. | |
650ed0a8 | 251 | inline void Stepper::trapezoid_generator_reset(){ |
4cff3ded | 252 | this->trapezoid_adjusted_rate = this->current_block->initial_rate; |
1013f6a3 | 253 | this->force_speed_update = true; |
4cff3ded | 254 | this->trapezoid_tick_cycle_counter = 0; |
4464301d AW |
255 | previous_step_count = 0; |
256 | skipped_speed_updates = 0; | |
813727fb | 257 | speed_ticks_counter = 0; |
4cff3ded AW |
258 | } |
259 | ||
feb204be | 260 | // Update the speed for all steppers |
4cff3ded | 261 | void Stepper::set_step_events_per_minute( double steps_per_minute ){ |
aab6cbba | 262 | |
7b49793d | 263 | // We do not step slower than this |
813727fb AW |
264 | //steps_per_minute = max(steps_per_minute, this->minimum_steps_per_minute); |
265 | if( steps_per_minute < this->minimum_steps_per_minute ){ | |
7b49793d | 266 | steps_per_minute = this->minimum_steps_per_minute; |
813727fb | 267 | } |
4cff3ded | 268 | |
feb204be | 269 | // Instruct the stepper motors |
314ab8f7 MM |
270 | if( THEKERNEL->robot->alpha_stepper_motor->moving ){ THEKERNEL->robot->alpha_stepper_motor->set_speed( (steps_per_minute/60L) * ( (double)this->current_block->steps[ALPHA_STEPPER] / (double)this->current_block->steps_event_count ) ); } |
271 | if( THEKERNEL->robot->beta_stepper_motor->moving ){ THEKERNEL->robot->beta_stepper_motor->set_speed( (steps_per_minute/60L) * ( (double)this->current_block->steps[BETA_STEPPER ] / (double)this->current_block->steps_event_count ) ); } | |
272 | if( THEKERNEL->robot->gamma_stepper_motor->moving ){ THEKERNEL->robot->gamma_stepper_motor->set_speed( (steps_per_minute/60L) * ( (double)this->current_block->steps[GAMMA_STEPPER] / (double)this->current_block->steps_event_count ) ); } | |
4cff3ded | 273 | |
edac9072 | 274 | // Other modules might want to know the speed changed |
314ab8f7 | 275 | THEKERNEL->call_event(ON_SPEED_CHANGE, this); |
4464301d | 276 | |
4cff3ded AW |
277 | } |
278 | ||
7b49793d | 279 | // This function has the role of making sure acceleration and deceleration curves have their |
2f7d3dba AW |
280 | // rythm synchronized. The accel/decel must start at the same moment as the speed update routine |
281 | // This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast. | |
282 | // All we do is reset the other timer so that it does what we want | |
283 | uint32_t Stepper::synchronize_acceleration(uint32_t dummy){ | |
284 | ||
2f7d3dba AW |
285 | // No move was done, this is called from on_block_begin |
286 | // This means we setup the accel timer in a way where it gets called right after | |
7b49793d | 287 | // we exit this step interrupt, and so that it is then in synch with |
2f7d3dba AW |
288 | if( this->main_stepper->stepped == 0 ){ |
289 | // Whatever happens, we must call the accel interrupt asap | |
290 | // Because it will set the initial rate | |
291 | // We also want to synchronize in case we start accelerating or decelerating now | |
7b49793d MM |
292 | |
293 | // Accel interrupt must happen asap | |
2f7d3dba AW |
294 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
295 | // Synchronize both counters | |
296 | LPC_TIM2->TC = LPC_TIM0->TC; | |
7b49793d MM |
297 | |
298 | // If we start decelerating after this, we must ask the actuator to warn us | |
2f7d3dba AW |
299 | // so we can do what we do in the "else" bellow |
300 | if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ){ | |
301 | this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration); | |
7b49793d | 302 | } |
2f7d3dba AW |
303 | }else{ |
304 | // If we are called not at the first steps, this means we are beginning deceleration | |
7b49793d | 305 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
2f7d3dba | 306 | // Synchronize both counters |
7b49793d | 307 | LPC_TIM2->TC = LPC_TIM0->TC; |
2f7d3dba AW |
308 | } |
309 | ||
658b8a40 | 310 | return 0; |
2f7d3dba AW |
311 | } |
312 |