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 | ||
5673fe39 MM |
8 | #include "Stepper.h" |
9 | ||
4cff3ded AW |
10 | #include "libs/Module.h" |
11 | #include "libs/Kernel.h" | |
4cff3ded | 12 | #include "Planner.h" |
3fceb8eb | 13 | #include "Conveyor.h" |
5673fe39 MM |
14 | #include "StepperMotor.h" |
15 | ||
4cff3ded AW |
16 | #include <vector> |
17 | using namespace std; | |
5673fe39 | 18 | |
4cff3ded | 19 | #include "libs/nuts_bolts.h" |
2f7d3dba | 20 | #include "libs/Hook.h" |
5673fe39 | 21 | |
db453125 AW |
22 | #include <mri.h> |
23 | ||
24 | ||
edac9072 | 25 | // The stepper reacts to blocks that have XYZ movement to transform them into actual stepper motor moves |
d337942a | 26 | // TODO: This does accel, accel should be in StepperMotor |
edac9072 | 27 | |
4cff3ded | 28 | Stepper* stepper; |
4464301d AW |
29 | uint32_t previous_step_count; |
30 | uint32_t skipped_speed_updates; | |
813727fb AW |
31 | uint32_t speed_ticks_counter; |
32 | ||
4cff3ded AW |
33 | Stepper::Stepper(){ |
34 | this->current_block = NULL; | |
81b547a1 | 35 | this->paused = false; |
650ed0a8 | 36 | this->trapezoid_generator_busy = false; |
1013f6a3 | 37 | this->force_speed_update = false; |
4464301d | 38 | skipped_speed_updates = 0; |
4cff3ded AW |
39 | } |
40 | ||
41 | //Called when the module has just been loaded | |
42 | void Stepper::on_module_loaded(){ | |
43 | stepper = this; | |
476dcb96 | 44 | register_for_event(ON_CONFIG_RELOAD); |
3a4fa0c1 AW |
45 | this->register_for_event(ON_BLOCK_BEGIN); |
46 | this->register_for_event(ON_BLOCK_END); | |
6b833f7d | 47 | this->register_for_event(ON_GCODE_EXECUTE); |
31e600f6 | 48 | this->register_for_event(ON_GCODE_RECEIVED); |
befcf5cc AW |
49 | this->register_for_event(ON_PLAY); |
50 | this->register_for_event(ON_PAUSE); | |
7b49793d | 51 | |
4cff3ded | 52 | // Get onfiguration |
7b49793d | 53 | this->on_config_reload(this); |
4cff3ded | 54 | |
ded56b35 | 55 | // Acceleration ticker |
314ab8f7 | 56 | this->acceleration_tick_hook = THEKERNEL->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick ); |
4cff3ded | 57 | |
feb204be | 58 | // Attach to the end_of_move stepper event |
314ab8f7 MM |
59 | THEKERNEL->robot->alpha_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); |
60 | THEKERNEL->robot->beta_stepper_motor->attach( this, &Stepper::stepper_motor_finished_move ); | |
61 | THEKERNEL->robot->gamma_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); | |
4cff3ded AW |
62 | } |
63 | ||
2bb8b390 | 64 | // Get configuration from the config file |
da24d6ae | 65 | void Stepper::on_config_reload(void* argument){ |
7b49793d | 66 | |
314ab8f7 | 67 | this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(100 )->as_number(); |
0ac1713f | 68 | this->minimum_steps_per_second = THEKERNEL->config->value(minimum_steps_per_minute_checksum )->by_default(3000 )->as_number() / 60.0F; |
bee725fc | 69 | |
5a884140 MM |
70 | // Steppers start off by default |
71 | this->turn_enable_pins_off(); | |
da24d6ae AW |
72 | } |
73 | ||
befcf5cc AW |
74 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
75 | void Stepper::on_pause(void* argument){ | |
81b547a1 | 76 | this->paused = true; |
314ab8f7 MM |
77 | THEKERNEL->robot->alpha_stepper_motor->pause(); |
78 | THEKERNEL->robot->beta_stepper_motor->pause(); | |
79 | THEKERNEL->robot->gamma_stepper_motor->pause(); | |
befcf5cc AW |
80 | } |
81 | ||
82 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
83 | void Stepper::on_play(void* argument){ | |
7b49793d | 84 | // TODO: Re-compute the whole queue for a cold-start |
81b547a1 | 85 | this->paused = false; |
314ab8f7 MM |
86 | THEKERNEL->robot->alpha_stepper_motor->unpause(); |
87 | THEKERNEL->robot->beta_stepper_motor->unpause(); | |
88 | THEKERNEL->robot->gamma_stepper_motor->unpause(); | |
befcf5cc AW |
89 | } |
90 | ||
31e600f6 JM |
91 | void Stepper::on_gcode_received(void* argument){ |
92 | Gcode* gcode = static_cast<Gcode*>(argument); | |
93 | // Attach gcodes to the last block for on_gcode_execute | |
94 | if( gcode->has_m && (gcode->m == 84 || gcode->m == 17 || gcode->m == 18 )) { | |
e0ee24ed | 95 | THEKERNEL->conveyor->append_gcode(gcode); |
1cf31736 | 96 | } |
31e600f6 JM |
97 | } |
98 | ||
edac9072 | 99 | // React to enable/disable gcodes |
6b833f7d MM |
100 | void Stepper::on_gcode_execute(void* argument){ |
101 | Gcode* gcode = static_cast<Gcode*>(argument); | |
102 | ||
e6b5ae25 AW |
103 | if( gcode->has_m){ |
104 | if( gcode->m == 17 ){ | |
7b49793d | 105 | this->turn_enable_pins_on(); |
831bade1 | 106 | } |
d3ed57b2 | 107 | if( (gcode->m == 84 || gcode->m == 18) && !gcode->has_letter('E') ){ |
7b49793d | 108 | this->turn_enable_pins_off(); |
6b833f7d MM |
109 | } |
110 | } | |
111 | } | |
112 | ||
edac9072 | 113 | // Enable steppers |
831bade1 | 114 | void Stepper::turn_enable_pins_on(){ |
78d0e16a | 115 | for (StepperMotor* m : THEKERNEL->robot->actuators) |
9c5fa39a | 116 | m->enable(true); |
831bade1 AW |
117 | this->enable_pins_status = true; |
118 | } | |
119 | ||
edac9072 | 120 | // Disable steppers |
831bade1 | 121 | void Stepper::turn_enable_pins_off(){ |
78d0e16a | 122 | for (StepperMotor* m : THEKERNEL->robot->actuators) |
9c5fa39a | 123 | m->enable(false); |
831bade1 AW |
124 | this->enable_pins_status = false; |
125 | } | |
126 | ||
7b49793d | 127 | // A new block is popped from the queue |
3a4fa0c1 AW |
128 | void Stepper::on_block_begin(void* argument){ |
129 | Block* block = static_cast<Block*>(argument); | |
130 | ||
131 | // The stepper does not care about 0-blocks | |
1cf31736 | 132 | if( block->millimeters == 0.0F ){ return; } |
7b49793d | 133 | |
4464301d AW |
134 | // Mark the new block as of interrest to us |
135 | if( block->steps[ALPHA_STEPPER] > 0 || block->steps[BETA_STEPPER] > 0 || block->steps[GAMMA_STEPPER] > 0 ){ | |
136 | block->take(); | |
4464301d AW |
137 | }else{ |
138 | return; | |
139 | } | |
813727fb | 140 | |
7b49793d | 141 | // We can't move with the enable pins off |
831bade1 AW |
142 | if( this->enable_pins_status == false ){ |
143 | this->turn_enable_pins_on(); | |
144 | } | |
145 | ||
7b49793d | 146 | // Setup : instruct stepper motors to move |
314ab8f7 MM |
147 | if( block->steps[ALPHA_STEPPER] > 0 ){ THEKERNEL->robot->alpha_stepper_motor->move( ( block->direction_bits >> 0 ) & 1 , block->steps[ALPHA_STEPPER] ); } |
148 | if( block->steps[BETA_STEPPER ] > 0 ){ THEKERNEL->robot->beta_stepper_motor->move( ( block->direction_bits >> 1 ) & 1 , block->steps[BETA_STEPPER ] ); } | |
149 | if( block->steps[GAMMA_STEPPER] > 0 ){ THEKERNEL->robot->gamma_stepper_motor->move( ( block->direction_bits >> 2 ) & 1 , block->steps[GAMMA_STEPPER] ); } | |
3a4fa0c1 | 150 | |
1a2d88eb | 151 | this->current_block = block; |
feb204be | 152 | |
7b49793d | 153 | // Setup acceleration for this block |
1a2d88eb | 154 | this->trapezoid_generator_reset(); |
ded56b35 | 155 | |
feb204be | 156 | // Find the stepper with the more steps, it's the one the speed calculations will want to follow |
314ab8f7 MM |
157 | this->main_stepper = THEKERNEL->robot->alpha_stepper_motor; |
158 | if( THEKERNEL->robot->beta_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = THEKERNEL->robot->beta_stepper_motor; } | |
159 | if( THEKERNEL->robot->gamma_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = THEKERNEL->robot->gamma_stepper_motor; } | |
feb204be | 160 | |
edac9072 | 161 | // Set the initial speed for this move |
9883efb8 AW |
162 | this->trapezoid_generator_tick(0); |
163 | ||
2f7d3dba | 164 | // Synchronise the acceleration curve with the stepping |
658b8a40 | 165 | this->synchronize_acceleration(0); |
2f7d3dba | 166 | |
3a4fa0c1 AW |
167 | } |
168 | ||
169 | // Current block is discarded | |
170 | void Stepper::on_block_end(void* argument){ | |
813727fb | 171 | this->current_block = NULL; //stfu ! |
3a4fa0c1 | 172 | } |
da24d6ae | 173 | |
feb204be | 174 | // When a stepper motor has finished it's assigned movement |
83ecfc46 | 175 | uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy){ |
81b547a1 | 176 | |
feb204be | 177 | // We care only if none is still moving |
314ab8f7 | 178 | if( THEKERNEL->robot->alpha_stepper_motor->moving || THEKERNEL->robot->beta_stepper_motor->moving || THEKERNEL->robot->gamma_stepper_motor->moving ){ return 0; } |
7b49793d | 179 | |
feb204be | 180 | // This block is finished, release it |
4cff3ded | 181 | if( this->current_block != NULL ){ |
7b49793d | 182 | this->current_block->release(); |
4cff3ded | 183 | } |
7b49793d | 184 | |
9e672116 | 185 | return 0; |
4cff3ded AW |
186 | } |
187 | ||
83ecfc46 | 188 | |
4cff3ded AW |
189 | // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event |
190 | // interrupt. It can be assumed that the trapezoid-generator-parameters and the | |
191 | // current_block stays untouched by outside handlers for the duration of this function call. | |
8b8b3339 | 192 | uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) { |
1013f6a3 | 193 | |
edac9072 | 194 | // Do not do the accel math for nothing |
813727fb | 195 | if(this->current_block && !this->paused && this->main_stepper->moving ) { |
1cf31736 JM |
196 | |
197 | // Store this here because we use it a lot down there | |
813727fb | 198 | uint32_t current_steps_completed = this->main_stepper->stepped; |
7b49793d | 199 | |
edac9072 | 200 | // Do not accel, just set the value |
813727fb AW |
201 | if( this->force_speed_update ){ |
202 | this->force_speed_update = false; | |
da947c62 | 203 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
bd0f7508 | 204 | return 0; |
813727fb | 205 | } |
6b080aff | 206 | |
edac9072 | 207 | // If we are accelerating |
69735c09 | 208 | if(current_steps_completed <= this->current_block->accelerate_until + 1) { |
1cf31736 | 209 | // Increase speed |
edac9072 | 210 | this->trapezoid_adjusted_rate += this->current_block->rate_delta; |
ded56b35 AW |
211 | if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) { |
212 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; | |
213 | } | |
da947c62 | 214 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
1cf31736 JM |
215 | |
216 | // If we are decelerating | |
2f7d3dba | 217 | }else if (current_steps_completed > this->current_block->decelerate_after) { |
1cf31736 | 218 | // Reduce speed |
edac9072 | 219 | // NOTE: We will only reduce speed if the result will be > 0. This catches small |
ded56b35 | 220 | // rounding errors that might leave steps hanging after the last trapezoid tick. |
da947c62 | 221 | if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5F) { |
47b3f3ae | 222 | this->trapezoid_adjusted_rate -= this->current_block->rate_delta; |
ded56b35 | 223 | }else{ |
da947c62 | 224 | this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5F; |
ded56b35 | 225 | } |
650ed0a8 | 226 | if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) { |
ded56b35 | 227 | this->trapezoid_adjusted_rate = this->current_block->final_rate; |
7b49793d | 228 | } |
da947c62 | 229 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
1cf31736 JM |
230 | |
231 | // If we are cruising | |
83ecfc46 | 232 | }else { |
ded56b35 AW |
233 | // Make sure we cruise at exactly nominal rate |
234 | if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) { | |
235 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; | |
da947c62 | 236 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
ded56b35 | 237 | } |
1013f6a3 | 238 | } |
ded56b35 | 239 | } |
1013f6a3 | 240 | |
b852a30c | 241 | return 0; |
4cff3ded AW |
242 | } |
243 | ||
83ecfc46 AW |
244 | |
245 | ||
4cff3ded AW |
246 | // Initializes the trapezoid generator from the current block. Called whenever a new |
247 | // block begins. | |
650ed0a8 | 248 | inline void Stepper::trapezoid_generator_reset(){ |
4cff3ded | 249 | this->trapezoid_adjusted_rate = this->current_block->initial_rate; |
1013f6a3 | 250 | this->force_speed_update = true; |
4cff3ded | 251 | this->trapezoid_tick_cycle_counter = 0; |
4464301d AW |
252 | previous_step_count = 0; |
253 | skipped_speed_updates = 0; | |
813727fb | 254 | speed_ticks_counter = 0; |
4cff3ded AW |
255 | } |
256 | ||
feb204be | 257 | // Update the speed for all steppers |
da947c62 MM |
258 | void Stepper::set_step_events_per_second( float steps_per_second ) |
259 | { | |
7b49793d | 260 | // We do not step slower than this |
0ac1713f | 261 | //steps_per_second = max(steps_per_second, this->minimum_steps_per_second); |
da947c62 MM |
262 | if( steps_per_second < this->minimum_steps_per_second ){ |
263 | steps_per_second = this->minimum_steps_per_second; | |
813727fb | 264 | } |
4cff3ded | 265 | |
feb204be | 266 | // Instruct the stepper motors |
da947c62 MM |
267 | if( THEKERNEL->robot->alpha_stepper_motor->moving ){ THEKERNEL->robot->alpha_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[ALPHA_STEPPER] / (float)this->current_block->steps_event_count ) ); } |
268 | if( THEKERNEL->robot->beta_stepper_motor->moving ){ THEKERNEL->robot->beta_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[BETA_STEPPER ] / (float)this->current_block->steps_event_count ) ); } | |
269 | if( THEKERNEL->robot->gamma_stepper_motor->moving ){ THEKERNEL->robot->gamma_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[GAMMA_STEPPER] / (float)this->current_block->steps_event_count ) ); } | |
4cff3ded | 270 | |
edac9072 | 271 | // Other modules might want to know the speed changed |
314ab8f7 | 272 | THEKERNEL->call_event(ON_SPEED_CHANGE, this); |
4464301d | 273 | |
4cff3ded AW |
274 | } |
275 | ||
7b49793d | 276 | // This function has the role of making sure acceleration and deceleration curves have their |
0ac1713f | 277 | // rhythm synchronized. The accel/decel must start at the same moment as the speed update routine |
2f7d3dba AW |
278 | // This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast. |
279 | // All we do is reset the other timer so that it does what we want | |
280 | uint32_t Stepper::synchronize_acceleration(uint32_t dummy){ | |
281 | ||
2f7d3dba AW |
282 | // No move was done, this is called from on_block_begin |
283 | // This means we setup the accel timer in a way where it gets called right after | |
7b49793d | 284 | // we exit this step interrupt, and so that it is then in synch with |
2f7d3dba AW |
285 | if( this->main_stepper->stepped == 0 ){ |
286 | // Whatever happens, we must call the accel interrupt asap | |
287 | // Because it will set the initial rate | |
288 | // We also want to synchronize in case we start accelerating or decelerating now | |
7b49793d MM |
289 | |
290 | // Accel interrupt must happen asap | |
2f7d3dba AW |
291 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
292 | // Synchronize both counters | |
293 | LPC_TIM2->TC = LPC_TIM0->TC; | |
7b49793d MM |
294 | |
295 | // If we start decelerating after this, we must ask the actuator to warn us | |
2f7d3dba AW |
296 | // so we can do what we do in the "else" bellow |
297 | if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ){ | |
298 | this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration); | |
7b49793d | 299 | } |
2f7d3dba AW |
300 | }else{ |
301 | // If we are called not at the first steps, this means we are beginning deceleration | |
7b49793d | 302 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
2f7d3dba | 303 | // Synchronize both counters |
7b49793d | 304 | LPC_TIM2->TC = LPC_TIM0->TC; |
2f7d3dba AW |
305 | } |
306 | ||
658b8a40 | 307 | return 0; |
2f7d3dba AW |
308 | } |
309 |