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 | ||
4cff3ded | 20 | Stepper* stepper; |
4464301d AW |
21 | uint32_t previous_step_count; |
22 | uint32_t skipped_speed_updates; | |
813727fb AW |
23 | uint32_t speed_ticks_counter; |
24 | ||
4cff3ded AW |
25 | |
26 | Stepper::Stepper(){ | |
27 | this->current_block = NULL; | |
81b547a1 | 28 | this->paused = false; |
650ed0a8 | 29 | this->trapezoid_generator_busy = false; |
1013f6a3 | 30 | this->force_speed_update = false; |
4464301d | 31 | skipped_speed_updates = 0; |
4cff3ded AW |
32 | } |
33 | ||
34 | //Called when the module has just been loaded | |
35 | void Stepper::on_module_loaded(){ | |
36 | stepper = this; | |
476dcb96 | 37 | register_for_event(ON_CONFIG_RELOAD); |
3a4fa0c1 AW |
38 | this->register_for_event(ON_BLOCK_BEGIN); |
39 | this->register_for_event(ON_BLOCK_END); | |
6b833f7d | 40 | this->register_for_event(ON_GCODE_EXECUTE); |
befcf5cc AW |
41 | this->register_for_event(ON_PLAY); |
42 | this->register_for_event(ON_PAUSE); | |
7b49793d | 43 | |
4cff3ded | 44 | // Get onfiguration |
7b49793d | 45 | this->on_config_reload(this); |
4cff3ded | 46 | |
ded56b35 | 47 | // Acceleration ticker |
2f7d3dba | 48 | this->acceleration_tick_hook = this->kernel->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick ); |
4cff3ded | 49 | |
feb204be | 50 | // Attach to the end_of_move stepper event |
7b49793d MM |
51 | this->kernel->robot->alpha_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); |
52 | this->kernel->robot->beta_stepper_motor->attach( this, &Stepper::stepper_motor_finished_move ); | |
53 | this->kernel->robot->gamma_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); | |
4cff3ded AW |
54 | } |
55 | ||
2bb8b390 | 56 | // Get configuration from the config file |
da24d6ae | 57 | void Stepper::on_config_reload(void* argument){ |
7b49793d | 58 | |
b66fb830 | 59 | this->acceleration_ticks_per_second = this->kernel->config->value(acceleration_ticks_per_second_checksum)->by_default(100 )->as_number(); |
813727fb | 60 | this->minimum_steps_per_minute = this->kernel->config->value(minimum_steps_per_minute_checksum )->by_default(3000 )->as_number(); |
bee725fc | 61 | |
5a884140 MM |
62 | // Steppers start off by default |
63 | this->turn_enable_pins_off(); | |
da24d6ae AW |
64 | } |
65 | ||
befcf5cc AW |
66 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
67 | void Stepper::on_pause(void* argument){ | |
81b547a1 | 68 | this->paused = true; |
83ecfc46 AW |
69 | this->kernel->robot->alpha_stepper_motor->pause(); |
70 | this->kernel->robot->beta_stepper_motor->pause(); | |
71 | this->kernel->robot->gamma_stepper_motor->pause(); | |
befcf5cc AW |
72 | } |
73 | ||
74 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
75 | void Stepper::on_play(void* argument){ | |
7b49793d | 76 | // TODO: Re-compute the whole queue for a cold-start |
81b547a1 | 77 | this->paused = false; |
83ecfc46 AW |
78 | this->kernel->robot->alpha_stepper_motor->unpause(); |
79 | this->kernel->robot->beta_stepper_motor->unpause(); | |
80 | this->kernel->robot->gamma_stepper_motor->unpause(); | |
befcf5cc AW |
81 | } |
82 | ||
feb204be | 83 | |
6b833f7d MM |
84 | void Stepper::on_gcode_execute(void* argument){ |
85 | Gcode* gcode = static_cast<Gcode*>(argument); | |
86 | ||
e6b5ae25 AW |
87 | if( gcode->has_m){ |
88 | if( gcode->m == 17 ){ | |
7b49793d | 89 | this->turn_enable_pins_on(); |
831bade1 | 90 | } |
e6b5ae25 | 91 | if( gcode->m == 84 || gcode->m == 18 ){ |
7b49793d | 92 | this->turn_enable_pins_off(); |
6b833f7d MM |
93 | } |
94 | } | |
95 | } | |
96 | ||
831bade1 | 97 | void Stepper::turn_enable_pins_on(){ |
e4fe5194 MM |
98 | this->kernel->robot->alpha_en_pin.set(0); |
99 | this->kernel->robot->beta_en_pin.set(0); | |
100 | this->kernel->robot->gamma_en_pin.set(0); | |
831bade1 AW |
101 | this->enable_pins_status = true; |
102 | } | |
103 | ||
104 | void Stepper::turn_enable_pins_off(){ | |
e4fe5194 MM |
105 | this->kernel->robot->alpha_en_pin.set(1); |
106 | this->kernel->robot->beta_en_pin.set(1); | |
107 | this->kernel->robot->gamma_en_pin.set(1); | |
831bade1 AW |
108 | this->enable_pins_status = false; |
109 | } | |
110 | ||
7b49793d | 111 | // A new block is popped from the queue |
3a4fa0c1 AW |
112 | void Stepper::on_block_begin(void* argument){ |
113 | Block* block = static_cast<Block*>(argument); | |
114 | ||
115 | // The stepper does not care about 0-blocks | |
650ed0a8 | 116 | if( block->millimeters == 0.0 ){ return; } |
7b49793d | 117 | |
4464301d AW |
118 | // Mark the new block as of interrest to us |
119 | if( block->steps[ALPHA_STEPPER] > 0 || block->steps[BETA_STEPPER] > 0 || block->steps[GAMMA_STEPPER] > 0 ){ | |
120 | block->take(); | |
4464301d AW |
121 | }else{ |
122 | return; | |
123 | } | |
813727fb | 124 | |
7b49793d | 125 | // We can't move with the enable pins off |
831bade1 AW |
126 | if( this->enable_pins_status == false ){ |
127 | this->turn_enable_pins_on(); | |
128 | } | |
129 | ||
7b49793d MM |
130 | // Setup : instruct stepper motors to move |
131 | if( block->steps[ALPHA_STEPPER] > 0 ){ this->kernel->robot->alpha_stepper_motor->move( ( block->direction_bits >> 0 ) & 1 , block->steps[ALPHA_STEPPER] ); } | |
132 | if( block->steps[BETA_STEPPER ] > 0 ){ this->kernel->robot->beta_stepper_motor->move( ( block->direction_bits >> 1 ) & 1 , block->steps[BETA_STEPPER ] ); } | |
133 | if( block->steps[GAMMA_STEPPER] > 0 ){ this->kernel->robot->gamma_stepper_motor->move( ( block->direction_bits >> 2 ) & 1 , block->steps[GAMMA_STEPPER] ); } | |
3a4fa0c1 | 134 | |
1a2d88eb | 135 | this->current_block = block; |
feb204be | 136 | |
7b49793d | 137 | // Setup acceleration for this block |
1a2d88eb | 138 | this->trapezoid_generator_reset(); |
ded56b35 | 139 | |
feb204be AW |
140 | // Find the stepper with the more steps, it's the one the speed calculations will want to follow |
141 | this->main_stepper = this->kernel->robot->alpha_stepper_motor; | |
142 | if( this->kernel->robot->beta_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = this->kernel->robot->beta_stepper_motor; } | |
143 | if( this->kernel->robot->gamma_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = this->kernel->robot->gamma_stepper_motor; } | |
144 | ||
2f7d3dba | 145 | // Synchronise the acceleration curve with the stepping |
658b8a40 | 146 | this->synchronize_acceleration(0); |
2f7d3dba | 147 | |
3a4fa0c1 AW |
148 | } |
149 | ||
150 | // Current block is discarded | |
151 | void Stepper::on_block_end(void* argument){ | |
813727fb | 152 | this->current_block = NULL; //stfu ! |
3a4fa0c1 | 153 | } |
da24d6ae | 154 | |
bd0f7508 AW |
155 | //#pragma GCC push_options |
156 | //#pragma GCC optimize ("O0") | |
83ecfc46 | 157 | |
feb204be | 158 | // When a stepper motor has finished it's assigned movement |
83ecfc46 | 159 | uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy){ |
81b547a1 | 160 | |
feb204be AW |
161 | // We care only if none is still moving |
162 | if( this->kernel->robot->alpha_stepper_motor->moving || this->kernel->robot->beta_stepper_motor->moving || this->kernel->robot->gamma_stepper_motor->moving ){ return 0; } | |
7b49793d | 163 | |
feb204be | 164 | // This block is finished, release it |
4cff3ded | 165 | if( this->current_block != NULL ){ |
7b49793d | 166 | this->current_block->release(); |
4cff3ded | 167 | } |
7b49793d | 168 | |
9e672116 | 169 | return 0; |
4cff3ded AW |
170 | } |
171 | ||
83ecfc46 | 172 | |
4cff3ded AW |
173 | // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event |
174 | // interrupt. It can be assumed that the trapezoid-generator-parameters and the | |
175 | // current_block stays untouched by outside handlers for the duration of this function call. | |
8b8b3339 | 176 | uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) { |
1013f6a3 | 177 | |
813727fb | 178 | if(this->current_block && !this->paused && this->main_stepper->moving ) { |
813727fb | 179 | uint32_t current_steps_completed = this->main_stepper->stepped; |
7b49793d | 180 | |
83ecfc46 | 181 | if( previous_step_count == current_steps_completed && previous_step_count != 0 ){ |
813727fb AW |
182 | // We must skip this step update because no step has happened |
183 | skipped_speed_updates++; | |
184 | return 0; | |
185 | }else{ | |
186 | previous_step_count = current_steps_completed; | |
7b49793d | 187 | } |
813727fb AW |
188 | |
189 | if( this->force_speed_update ){ | |
190 | this->force_speed_update = false; | |
191 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); | |
bd0f7508 | 192 | return 0; |
813727fb | 193 | } |
6b080aff | 194 | |
69735c09 | 195 | if(current_steps_completed <= this->current_block->accelerate_until + 1) { |
83ecfc46 | 196 | this->trapezoid_adjusted_rate += ( skipped_speed_updates + 1 ) * this->current_block->rate_delta; |
69735c09 | 197 | |
ded56b35 AW |
198 | if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) { |
199 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; | |
200 | } | |
201 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); | |
2f7d3dba | 202 | }else if (current_steps_completed > this->current_block->decelerate_after) { |
ded56b35 AW |
203 | // NOTE: We will only reduce speed if the result will be > 0. This catches small |
204 | // rounding errors that might leave steps hanging after the last trapezoid tick. | |
4464301d | 205 | if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5) { |
83ecfc46 | 206 | this->trapezoid_adjusted_rate -= ( skipped_speed_updates + 1 ) * this->current_block->rate_delta; |
ded56b35 | 207 | }else{ |
813727fb | 208 | this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5; |
ded56b35 | 209 | } |
650ed0a8 | 210 | if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) { |
ded56b35 | 211 | this->trapezoid_adjusted_rate = this->current_block->final_rate; |
7b49793d | 212 | } |
4cff3ded | 213 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
83ecfc46 | 214 | }else { |
ded56b35 AW |
215 | // Make sure we cruise at exactly nominal rate |
216 | if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) { | |
217 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; | |
218 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); | |
219 | } | |
1013f6a3 | 220 | } |
ded56b35 | 221 | } |
1013f6a3 | 222 | |
7b49793d | 223 | skipped_speed_updates = 0; |
b852a30c | 224 | return 0; |
83ecfc46 | 225 | |
4cff3ded AW |
226 | } |
227 | ||
83ecfc46 AW |
228 | |
229 | ||
4cff3ded AW |
230 | // Initializes the trapezoid generator from the current block. Called whenever a new |
231 | // block begins. | |
650ed0a8 | 232 | inline void Stepper::trapezoid_generator_reset(){ |
4cff3ded | 233 | this->trapezoid_adjusted_rate = this->current_block->initial_rate; |
1013f6a3 | 234 | this->force_speed_update = true; |
4cff3ded | 235 | this->trapezoid_tick_cycle_counter = 0; |
4464301d AW |
236 | previous_step_count = 0; |
237 | skipped_speed_updates = 0; | |
813727fb | 238 | speed_ticks_counter = 0; |
4cff3ded AW |
239 | } |
240 | ||
feb204be | 241 | // Update the speed for all steppers |
4cff3ded | 242 | void Stepper::set_step_events_per_minute( double steps_per_minute ){ |
aab6cbba | 243 | |
7b49793d | 244 | // We do not step slower than this |
813727fb AW |
245 | //steps_per_minute = max(steps_per_minute, this->minimum_steps_per_minute); |
246 | if( steps_per_minute < this->minimum_steps_per_minute ){ | |
7b49793d | 247 | steps_per_minute = this->minimum_steps_per_minute; |
813727fb | 248 | } |
4cff3ded | 249 | |
4464301d | 250 | |
feb204be AW |
251 | // Instruct the stepper motors |
252 | if( this->kernel->robot->alpha_stepper_motor->moving ){ this->kernel->robot->alpha_stepper_motor->set_speed( (steps_per_minute/60L) * ( (double)this->current_block->steps[ALPHA_STEPPER] / (double)this->current_block->steps_event_count ) ); } | |
253 | if( this->kernel->robot->beta_stepper_motor->moving ){ this->kernel->robot->beta_stepper_motor->set_speed( (steps_per_minute/60L) * ( (double)this->current_block->steps[BETA_STEPPER ] / (double)this->current_block->steps_event_count ) ); } | |
3add9a23 | 254 | if( this->kernel->robot->gamma_stepper_motor->moving ){ this->kernel->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 | 255 | |
4cff3ded | 256 | this->kernel->call_event(ON_SPEED_CHANGE, this); |
4464301d | 257 | |
4cff3ded AW |
258 | } |
259 | ||
7b49793d | 260 | // This function has the role of making sure acceleration and deceleration curves have their |
2f7d3dba AW |
261 | // rythm synchronized. The accel/decel must start at the same moment as the speed update routine |
262 | // This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast. | |
263 | // All we do is reset the other timer so that it does what we want | |
264 | uint32_t Stepper::synchronize_acceleration(uint32_t dummy){ | |
265 | ||
266 | LPC_GPIO1->FIODIR |= 1<<21; | |
267 | LPC_GPIO1->FIOSET = 1<<21; | |
268 | ||
269 | ||
270 | // No move was done, this is called from on_block_begin | |
271 | // This means we setup the accel timer in a way where it gets called right after | |
7b49793d | 272 | // we exit this step interrupt, and so that it is then in synch with |
2f7d3dba AW |
273 | if( this->main_stepper->stepped == 0 ){ |
274 | // Whatever happens, we must call the accel interrupt asap | |
275 | // Because it will set the initial rate | |
276 | // We also want to synchronize in case we start accelerating or decelerating now | |
7b49793d MM |
277 | |
278 | // Accel interrupt must happen asap | |
2f7d3dba AW |
279 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
280 | // Synchronize both counters | |
281 | LPC_TIM2->TC = LPC_TIM0->TC; | |
7b49793d MM |
282 | |
283 | // If we start decelerating after this, we must ask the actuator to warn us | |
2f7d3dba AW |
284 | // so we can do what we do in the "else" bellow |
285 | if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ){ | |
286 | this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration); | |
7b49793d | 287 | } |
2f7d3dba AW |
288 | }else{ |
289 | // If we are called not at the first steps, this means we are beginning deceleration | |
7b49793d | 290 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
2f7d3dba | 291 | // Synchronize both counters |
7b49793d | 292 | LPC_TIM2->TC = LPC_TIM0->TC; |
2f7d3dba AW |
293 | } |
294 | ||
295 | LPC_GPIO1->FIOCLR = 1<<21; | |
296 | ||
658b8a40 | 297 | return 0; |
2f7d3dba AW |
298 | } |
299 | ||
300 | ||
6b080aff | 301 | //#pragma GCC pop_options |