Commit | Line | Data |
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7b49793d | 1 | /* |
4cff3ded AW |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). |
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 "libs/nuts_bolts.h" | |
dc872d90 | 11 | #include <cmath> |
4cff3ded AW |
12 | #include <string> |
13 | #include "Block.h" | |
14 | #include "Planner.h" | |
3fceb8eb | 15 | #include "Conveyor.h" |
9d005957 | 16 | #include "Gcode.h" |
61134a65 | 17 | #include "libs/StreamOutputPool.h" |
8b260c2c | 18 | #include "StepTicker.h" |
9d005957 MM |
19 | |
20 | #include "mri.h" | |
7671f21c | 21 | #include <inttypes.h> |
9d005957 | 22 | |
4cff3ded AW |
23 | using std::string; |
24 | #include <vector> | |
4cff3ded | 25 | |
8b260c2c | 26 | #define STEP_TICKER_FREQUENCY THEKERNEL->step_ticker->get_frequency() |
8b260c2c | 27 | |
8a9f9313 | 28 | uint8_t Block::n_actuators= 0; |
c0f10f7d | 29 | double Block::fp_scale= 0; |
8a9f9313 | 30 | |
edac9072 AW |
31 | // A block represents a movement, it's length for each stepper motor, and the corresponding acceleration curves. |
32 | // It's stacked on a queue, and that queue is then executed in order, to move the motors. | |
33 | // Most of the accel math is also done in this class | |
34 | // And GCode objects for use in on_gcode_execute are also help in here | |
35 | ||
1cf31736 JM |
36 | Block::Block() |
37 | { | |
38 | clear(); | |
39 | } | |
40 | ||
c0f10f7d JM |
41 | void Block::init(uint8_t n) |
42 | { | |
43 | n_actuators= n; | |
44 | fp_scale= (double)STEPTICKER_FPSCALE / pow((double)STEP_TICKER_FREQUENCY, 2.0); // we scale up by fixed point offset first to avoid tiny values | |
45 | } | |
46 | ||
1cf31736 JM |
47 | void Block::clear() |
48 | { | |
e70b6417 JM |
49 | is_ready = false; |
50 | ||
807b9b57 | 51 | this->steps.fill(0); |
1cf31736 | 52 | |
f539c22f | 53 | steps_event_count = 0; |
1598a726 | 54 | nominal_rate = 0.0F; |
f539c22f MM |
55 | nominal_speed = 0.0F; |
56 | millimeters = 0.0F; | |
57 | entry_speed = 0.0F; | |
f6542ad9 | 58 | exit_speed = 0.0F; |
374d0777 | 59 | acceleration = 100.0F; // we don't want to get divide by zeroes if this is not set |
1598a726 | 60 | initial_rate = 0.0F; |
f539c22f MM |
61 | accelerate_until = 0; |
62 | decelerate_after = 0; | |
63 | direction_bits = 0; | |
64 | recalculate_flag = false; | |
65 | nominal_length_flag = false; | |
66 | max_entry_speed = 0.0F; | |
f6542ad9 | 67 | is_ticking = false; |
23201534 | 68 | is_g123 = false; |
f6542ad9 | 69 | locked = false; |
23201534 | 70 | s_value = 0.0F; |
9e6014a6 | 71 | |
8b260c2c | 72 | total_move_ticks= 0; |
8a9f9313 JM |
73 | if(tick_info.size() != n_actuators) { |
74 | tick_info.resize(n_actuators); | |
75 | } | |
a19a873f JM |
76 | for(auto &i : tick_info) { |
77 | i.steps_per_tick= 0; | |
78 | i.counter= 0; | |
79 | i.acceleration_change= 0; | |
80 | i.deceleration_change= 0; | |
81 | i.plateau_rate= 0; | |
82 | i.steps_to_move= 0; | |
83 | i.step_count= 0; | |
84 | i.next_accel_event= 0; | |
85 | } | |
4cff3ded AW |
86 | } |
87 | ||
433d636f | 88 | void Block::debug() const |
1cf31736 | 89 | { |
05b3de04 | 90 | THEKERNEL->streams->printf("%p: steps-X:%lu Y:%lu Z:%lu ", this, this->steps[0], this->steps[1], this->steps[2]); |
8a9f9313 | 91 | for (size_t i = E_AXIS; i < n_actuators; ++i) { |
e571e24f | 92 | THEKERNEL->streams->printf("%c:%lu ", 'A' + i-E_AXIS, this->steps[i]); |
374d0777 | 93 | } |
e571e24f | 94 | THEKERNEL->streams->printf("(max:%lu) nominal:r%1.4f/s%1.4f mm:%1.4f acc:%1.2f accu:%lu decu:%lu ticks:%lu rates:%1.4f/%1.4f entry/max:%1.4f/%1.4f exit:%1.4f primary:%d ready:%d locked:%d ticking:%d recalc:%d nomlen:%d time:%f\r\n", |
1b5776bf JM |
95 | this->steps_event_count, |
96 | this->nominal_rate, | |
97 | this->nominal_speed, | |
98 | this->millimeters, | |
df56baf2 | 99 | this->acceleration, |
1b5776bf JM |
100 | this->accelerate_until, |
101 | this->decelerate_after, | |
05b3de04 | 102 | this->total_move_ticks, |
1b5776bf | 103 | this->initial_rate, |
e571e24f | 104 | this->maximum_rate, |
1b5776bf JM |
105 | this->entry_speed, |
106 | this->max_entry_speed, | |
05b3de04 | 107 | this->exit_speed, |
f41bc212 | 108 | this->primary_axis, |
1b5776bf | 109 | this->is_ready, |
a19a873f JM |
110 | this->locked, |
111 | this->is_ticking, | |
1b5776bf | 112 | recalculate_flag ? 1 : 0, |
121844b7 JM |
113 | nominal_length_flag ? 1 : 0, |
114 | total_move_ticks/STEP_TICKER_FREQUENCY | |
1b5776bf | 115 | ); |
4cff3ded AW |
116 | } |
117 | ||
118 | ||
69735c09 | 119 | /* Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. |
4cff3ded AW |
120 | // The factors represent a factor of braking and must be in the range 0.0-1.0. |
121 | // +--------+ <- nominal_rate | |
122 | // / \ | |
123 | // nominal_rate*entry_factor -> + \ | |
124 | // | + <- nominal_rate*exit_factor | |
125 | // +-------------+ | |
126 | // time --> | |
edac9072 | 127 | */ |
a617ac35 | 128 | void Block::calculate_trapezoid( float entryspeed, float exitspeed ) |
1cf31736 | 129 | { |
f6542ad9 JM |
130 | // if block is currently executing, don't touch anything! |
131 | if (is_ticking) return; | |
132 | ||
8b260c2c JM |
133 | float initial_rate = this->nominal_rate * (entryspeed / this->nominal_speed); // steps/sec |
134 | float final_rate = this->nominal_rate * (exitspeed / this->nominal_speed); | |
135 | //printf("Initial rate: %f, final_rate: %f\n", initial_rate, final_rate); | |
136 | // How many steps ( can be fractions of steps, we need very precise values ) to accelerate and decelerate | |
137 | // This is a simplification to get rid of rate_delta and get the steps/s² accel directly from the mm/s² accel | |
138 | float acceleration_per_second = (this->acceleration * this->steps_event_count) / this->millimeters; | |
139 | ||
140 | float maximum_possible_rate = sqrtf( ( this->steps_event_count * acceleration_per_second ) + ( ( powf(initial_rate, 2) + powf(final_rate, 2) ) / 2.0F ) ); | |
141 | ||
142 | //printf("id %d: acceleration_per_second: %f, maximum_possible_rate: %f steps/sec, %f mm/sec\n", this->id, acceleration_per_second, maximum_possible_rate, maximum_possible_rate/100); | |
143 | ||
144 | // Now this is the maximum rate we'll achieve this move, either because | |
145 | // it's the higher we can achieve, or because it's the higher we are | |
146 | // allowed to achieve | |
1ae56063 | 147 | this->maximum_rate = std::min(maximum_possible_rate, this->nominal_rate); |
8b260c2c JM |
148 | |
149 | // Now figure out how long it takes to accelerate in seconds | |
150 | float time_to_accelerate = ( this->maximum_rate - initial_rate ) / acceleration_per_second; | |
151 | ||
152 | // Now figure out how long it takes to decelerate | |
153 | float time_to_decelerate = ( final_rate - this->maximum_rate ) / -acceleration_per_second; | |
154 | ||
155 | // Now we know how long it takes to accelerate and decelerate, but we must | |
156 | // also know how long the entire move takes so we can figure out how long | |
157 | // is the plateau if there is one | |
158 | float plateau_time = 0; | |
159 | ||
160 | // Only if there is actually a plateau ( we are limited by nominal_rate ) | |
161 | if(maximum_possible_rate > this->nominal_rate) { | |
162 | // Figure out the acceleration and deceleration distances ( in steps ) | |
163 | float acceleration_distance = ( ( initial_rate + this->maximum_rate ) / 2.0F ) * time_to_accelerate; | |
164 | float deceleration_distance = ( ( this->maximum_rate + final_rate ) / 2.0F ) * time_to_decelerate; | |
165 | ||
166 | // Figure out the plateau steps | |
167 | float plateau_distance = this->steps_event_count - acceleration_distance - deceleration_distance; | |
168 | ||
169 | // Figure out the plateau time in seconds | |
170 | plateau_time = plateau_distance / this->maximum_rate; | |
1cf31736 | 171 | } |
4cff3ded | 172 | |
8b260c2c JM |
173 | // Figure out how long the move takes total ( in seconds ) |
174 | float total_move_time = time_to_accelerate + time_to_decelerate + plateau_time; | |
175 | //puts "total move time: #{total_move_time}s time to accelerate: #{time_to_accelerate}, time to decelerate: #{time_to_decelerate}" | |
176 | ||
177 | // We now have the full timing for acceleration, plateau and deceleration, | |
178 | // yay \o/ Now this is very important these are in seconds, and we need to | |
179 | // round them into ticks. This means instead of accelerating in 100.23 | |
180 | // ticks we'll accelerate in 100 ticks. Which means to reach the exact | |
181 | // speed we want to reach, we must figure out a new/slightly different | |
182 | // acceleration/deceleration to be sure we accelerate and decelerate at | |
183 | // the exact rate we want | |
184 | ||
185 | // First off round total time, acceleration time and deceleration time in ticks | |
186 | uint32_t acceleration_ticks = floorf( time_to_accelerate * STEP_TICKER_FREQUENCY ); | |
187 | uint32_t deceleration_ticks = floorf( time_to_decelerate * STEP_TICKER_FREQUENCY ); | |
188 | uint32_t total_move_ticks = floorf( total_move_time * STEP_TICKER_FREQUENCY ); | |
189 | ||
190 | // Now deduce the plateau time for those new values expressed in tick | |
191 | //uint32_t plateau_ticks = total_move_ticks - acceleration_ticks - deceleration_ticks; | |
192 | ||
193 | // Now we figure out the acceleration value to reach EXACTLY maximum_rate(steps/s) in EXACTLY acceleration_ticks(ticks) amount of time in seconds | |
194 | float acceleration_time = acceleration_ticks / STEP_TICKER_FREQUENCY; // This can be moved into the operation below, separated for clarity, note we need to do this instead of using time_to_accelerate(seconds) directly because time_to_accelerate(seconds) and acceleration_ticks(seconds) do not have the same value anymore due to the rounding | |
195 | float deceleration_time = deceleration_ticks / STEP_TICKER_FREQUENCY; | |
196 | ||
197 | float acceleration_in_steps = (acceleration_time > 0.0F ) ? ( this->maximum_rate - initial_rate ) / acceleration_time : 0; | |
198 | float deceleration_in_steps = (deceleration_time > 0.0F ) ? ( this->maximum_rate - final_rate ) / deceleration_time : 0; | |
199 | ||
f6542ad9 JM |
200 | // we have a potential race condition here as we could get interrupted anywhere in the middle of this call, we need to lock |
201 | // the updates to the blocks to get around it | |
202 | this->locked= true; | |
8b260c2c JM |
203 | // Now figure out the two acceleration ramp change events in ticks |
204 | this->accelerate_until = acceleration_ticks; | |
205 | this->decelerate_after = total_move_ticks - deceleration_ticks; | |
206 | ||
8b260c2c JM |
207 | // We now have everything we need for this block to call a Steppermotor->move method !!!! |
208 | // Theorically, if accel is done per tick, the speed curve should be perfect. | |
8b260c2c JM |
209 | this->total_move_ticks = total_move_ticks; |
210 | ||
8b260c2c | 211 | this->initial_rate = initial_rate; |
f6542ad9 JM |
212 | this->exit_speed = exitspeed; |
213 | ||
214 | // prepare the block for stepticker | |
dc872d90 | 215 | this->prepare(acceleration_in_steps, deceleration_in_steps); |
7671f21c | 216 | |
f6542ad9 | 217 | this->locked= false; |
4cff3ded AW |
218 | } |
219 | ||
4cff3ded AW |
220 | // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the |
221 | // acceleration within the allotted distance. | |
558e170c | 222 | float Block::max_allowable_speed(float acceleration, float target_velocity, float distance) |
1cf31736 | 223 | { |
a617ac35 | 224 | return sqrtf(target_velocity * target_velocity - 2.0F * acceleration * distance); |
4cff3ded AW |
225 | } |
226 | ||
4cff3ded | 227 | // Called by Planner::recalculate() when scanning the plan from last to first entry. |
a617ac35 | 228 | float Block::reverse_pass(float exit_speed) |
1cf31736 | 229 | { |
a617ac35 MM |
230 | // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. |
231 | // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and | |
232 | // check for maximum allowable speed reductions to ensure maximum possible planned speed. | |
1b5776bf | 233 | if (this->entry_speed != this->max_entry_speed) { |
a617ac35 MM |
234 | // If nominal length true, max junction speed is guaranteed to be reached. Only compute |
235 | // for max allowable speed if block is decelerating and nominal length is false. | |
1b5776bf | 236 | if ((!this->nominal_length_flag) && (this->max_entry_speed > exit_speed)) { |
4fdd2470 | 237 | float max_entry_speed = max_allowable_speed(-this->acceleration, exit_speed, this->millimeters); |
a617ac35 MM |
238 | |
239 | this->entry_speed = min(max_entry_speed, this->max_entry_speed); | |
240 | ||
241 | return this->entry_speed; | |
1b5776bf | 242 | } else |
a617ac35 MM |
243 | this->entry_speed = this->max_entry_speed; |
244 | } | |
4cff3ded | 245 | |
a617ac35 | 246 | return this->entry_speed; |
aab6cbba | 247 | } |
4cff3ded AW |
248 | |
249 | ||
250 | // Called by Planner::recalculate() when scanning the plan from first to last entry. | |
a617ac35 MM |
251 | // returns maximum exit speed of this block |
252 | float Block::forward_pass(float prev_max_exit_speed) | |
1cf31736 | 253 | { |
aab6cbba AW |
254 | // If the previous block is an acceleration block, but it is not long enough to complete the |
255 | // full speed change within the block, we need to adjust the entry speed accordingly. Entry | |
256 | // speeds have already been reset, maximized, and reverse planned by reverse planner. | |
257 | // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. | |
a617ac35 MM |
258 | |
259 | // TODO: find out if both of these checks are necessary | |
260 | if (prev_max_exit_speed > nominal_speed) | |
261 | prev_max_exit_speed = nominal_speed; | |
262 | if (prev_max_exit_speed > max_entry_speed) | |
263 | prev_max_exit_speed = max_entry_speed; | |
264 | ||
1b5776bf | 265 | if (prev_max_exit_speed <= entry_speed) { |
a617ac35 MM |
266 | // accel limited |
267 | entry_speed = prev_max_exit_speed; | |
268 | // since we're now acceleration or cruise limited | |
269 | // we don't need to recalculate our entry speed anymore | |
270 | recalculate_flag = false; | |
aab6cbba | 271 | } |
a617ac35 MM |
272 | // else |
273 | // // decel limited, do nothing | |
7b49793d | 274 | |
a617ac35 MM |
275 | return max_exit_speed(); |
276 | } | |
277 | ||
278 | float Block::max_exit_speed() | |
279 | { | |
5de195be MM |
280 | // if block is currently executing, return cached exit speed from calculate_trapezoid |
281 | // this ensures that a block following a currently executing block will have correct entry speed | |
f6542ad9 JM |
282 | if(is_ticking) |
283 | return this->exit_speed; | |
5de195be | 284 | |
a617ac35 MM |
285 | // if nominal_length_flag is asserted |
286 | // we are guaranteed to reach nominal speed regardless of entry speed | |
287 | // thus, max exit will always be nominal | |
288 | if (nominal_length_flag) | |
289 | return nominal_speed; | |
290 | ||
291 | // otherwise, we have to work out max exit speed based on entry and acceleration | |
4fdd2470 | 292 | float max = max_allowable_speed(-this->acceleration, this->entry_speed, this->millimeters); |
a617ac35 MM |
293 | |
294 | return min(max, nominal_speed); | |
4cff3ded AW |
295 | } |
296 | ||
f6542ad9 | 297 | // prepare block for the step ticker, called everytime the block changes |
8a9f9313 | 298 | // this is done during planning so does not delay tick generation and step ticker can simply grab the next block during the interrupt |
dc872d90 | 299 | void Block::prepare(float acceleration_in_steps, float deceleration_in_steps) |
f6542ad9 | 300 | { |
c0f10f7d | 301 | |
f6542ad9 | 302 | float inv = 1.0F / this->steps_event_count; |
c0f10f7d | 303 | |
df5f32d9 JM |
304 | // Now figure out the acceleration PER TICK, this should ideally be held as a double as it's very critical to the block timing |
305 | // steps/tick^2 | |
c0f10f7d JM |
306 | // was.... |
307 | // float acceleration_per_tick = acceleration_in_steps / STEP_TICKER_FREQUENCY_2; // that is 100,000² too big for a float | |
308 | // float deceleration_per_tick = deceleration_in_steps / STEP_TICKER_FREQUENCY_2; | |
309 | double acceleration_per_tick = acceleration_in_steps * fp_scale; // this is now scaled to fit a 2.30 fixed point number | |
310 | double deceleration_per_tick = deceleration_in_steps * fp_scale; | |
df5f32d9 | 311 | |
8a9f9313 | 312 | for (uint8_t m = 0; m < n_actuators; m++) { |
f6542ad9 JM |
313 | uint32_t steps = this->steps[m]; |
314 | this->tick_info[m].steps_to_move = steps; | |
315 | if(steps == 0) continue; | |
316 | ||
317 | float aratio = inv * steps; | |
dc872d90 JM |
318 | |
319 | this->tick_info[m].steps_per_tick = (int64_t)round((((double)this->initial_rate * aratio) / STEP_TICKER_FREQUENCY) * STEPTICKER_FPSCALE); // steps/sec / tick frequency to get steps per tick in 2.62 fixed point | |
60e250af | 320 | this->tick_info[m].counter = 0; // 2.62 fixed point |
f6542ad9 JM |
321 | this->tick_info[m].step_count = 0; |
322 | this->tick_info[m].next_accel_event = this->total_move_ticks + 1; | |
323 | ||
7671f21c | 324 | double acceleration_change = 0; |
f6542ad9 JM |
325 | if(this->accelerate_until != 0) { // If the next accel event is the end of accel |
326 | this->tick_info[m].next_accel_event = this->accelerate_until; | |
dc872d90 | 327 | acceleration_change = acceleration_per_tick; |
f6542ad9 JM |
328 | |
329 | } else if(this->decelerate_after == 0 /*&& this->accelerate_until == 0*/) { | |
330 | // we start off decelerating | |
dc872d90 | 331 | acceleration_change = -deceleration_per_tick; |
f6542ad9 JM |
332 | |
333 | } else if(this->decelerate_after != this->total_move_ticks /*&& this->accelerate_until == 0*/) { | |
334 | // If the next event is the start of decel ( don't set this if the next accel event is accel end ) | |
335 | this->tick_info[m].next_accel_event = this->decelerate_after; | |
336 | } | |
337 | ||
c0f10f7d | 338 | // already converted to fixed point just needs scaling by ratio |
dc872d90 | 339 | //#define STEPTICKER_TOFP(x) ((int64_t)round((double)(x)*STEPTICKER_FPSCALE)) |
c0f10f7d JM |
340 | this->tick_info[m].acceleration_change= (int64_t)round(acceleration_change * aratio); |
341 | this->tick_info[m].deceleration_change= -(int64_t)round(deceleration_per_tick * aratio); | |
dc872d90 | 342 | this->tick_info[m].plateau_rate= (int64_t)round(((this->maximum_rate * aratio) / STEP_TICKER_FREQUENCY) * STEPTICKER_FPSCALE); |
7671f21c JM |
343 | |
344 | #if 0 | |
345 | THEKERNEL->streams->printf("spt: %08lX %08lX, ac: %08lX %08lX, dc: %08lX %08lX, pr: %08lX %08lX\n", | |
346 | (uint32_t)(this->tick_info[m].steps_per_tick>>32), // 2.62 fixed point | |
347 | (uint32_t)(this->tick_info[m].steps_per_tick&0xFFFFFFFF), // 2.62 fixed point | |
348 | (uint32_t)(this->tick_info[m].acceleration_change>>32), // 2.62 fixed point signed | |
349 | (uint32_t)(this->tick_info[m].acceleration_change&0xFFFFFFFF), // 2.62 fixed point signed | |
350 | (uint32_t)(this->tick_info[m].deceleration_change>>32), // 2.62 fixed point | |
351 | (uint32_t)(this->tick_info[m].deceleration_change&0xFFFFFFFF), // 2.62 fixed point | |
352 | (uint32_t)(this->tick_info[m].plateau_rate>>32), // 2.62 fixed point | |
353 | (uint32_t)(this->tick_info[m].plateau_rate&0xFFFFFFFF) // 2.62 fixed point | |
354 | ); | |
355 | #endif | |
f6542ad9 JM |
356 | } |
357 | } | |
4245f826 JM |
358 | |
359 | // returns current rate (steps/sec) for the given actuator | |
360 | float Block::get_trapezoid_rate(int i) const | |
361 | { | |
362 | // convert steps per tick from fixed point to float and convert to steps/sec | |
363 | // FIXME steps_per_tick can change at any time, potential race condition if it changes while being read here | |
364 | return STEPTICKER_FROMFP(tick_info[i].steps_per_tick) * STEP_TICKER_FREQUENCY; | |
365 | } |