| 1 | /* |
| 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) |
| 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. |
| 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
| 6 | */ |
| 7 | |
| 8 | #include "libs/Module.h" |
| 9 | #include "libs/Kernel.h" |
| 10 | #include "Stepper.h" |
| 11 | #include "Planner.h" |
| 12 | #include "Player.h" |
| 13 | #include <vector> |
| 14 | using namespace std; |
| 15 | #include "libs/nuts_bolts.h" |
| 16 | #include "libs/Hook.h" |
| 17 | #include <mri.h> |
| 18 | |
| 19 | |
| 20 | Stepper* stepper; |
| 21 | uint32_t previous_step_count; |
| 22 | uint32_t skipped_speed_updates; |
| 23 | uint32_t speed_ticks_counter; |
| 24 | |
| 25 | |
| 26 | Stepper::Stepper(){ |
| 27 | this->current_block = NULL; |
| 28 | this->paused = false; |
| 29 | this->trapezoid_generator_busy = false; |
| 30 | this->force_speed_update = false; |
| 31 | skipped_speed_updates = 0; |
| 32 | } |
| 33 | |
| 34 | //Called when the module has just been loaded |
| 35 | void Stepper::on_module_loaded(){ |
| 36 | stepper = this; |
| 37 | this->register_for_event(ON_BLOCK_BEGIN); |
| 38 | this->register_for_event(ON_BLOCK_END); |
| 39 | this->register_for_event(ON_GCODE_EXECUTE); |
| 40 | this->register_for_event(ON_PLAY); |
| 41 | this->register_for_event(ON_PAUSE); |
| 42 | |
| 43 | // Get onfiguration |
| 44 | this->on_config_reload(this); |
| 45 | |
| 46 | // Acceleration ticker |
| 47 | this->acceleration_tick_hook = this->kernel->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick ); |
| 48 | |
| 49 | // Attach to the end_of_move stepper event |
| 50 | this->kernel->robot->alpha_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); |
| 51 | this->kernel->robot->beta_stepper_motor->attach( this, &Stepper::stepper_motor_finished_move ); |
| 52 | this->kernel->robot->gamma_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); |
| 53 | |
| 54 | } |
| 55 | |
| 56 | // Get configuration from the config file |
| 57 | void Stepper::on_config_reload(void* argument){ |
| 58 | |
| 59 | this->acceleration_ticks_per_second = this->kernel->config->value(acceleration_ticks_per_second_checksum)->by_default(100 )->as_number(); |
| 60 | this->minimum_steps_per_minute = this->kernel->config->value(minimum_steps_per_minute_checksum )->by_default(3000 )->as_number(); |
| 61 | |
| 62 | // Steppers start on by default |
| 63 | this->turn_enable_pins_on(); |
| 64 | |
| 65 | } |
| 66 | |
| 67 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
| 68 | void Stepper::on_pause(void* argument){ |
| 69 | this->paused = true; |
| 70 | this->kernel->robot->alpha_stepper_motor->pause(); |
| 71 | this->kernel->robot->beta_stepper_motor->pause(); |
| 72 | this->kernel->robot->gamma_stepper_motor->pause(); |
| 73 | } |
| 74 | |
| 75 | // When the play/pause button is set to play, or a module calls the ON_PLAY event |
| 76 | void Stepper::on_play(void* argument){ |
| 77 | // TODO: Re-compute the whole queue for a cold-start |
| 78 | this->paused = false; |
| 79 | this->kernel->robot->alpha_stepper_motor->unpause(); |
| 80 | this->kernel->robot->beta_stepper_motor->unpause(); |
| 81 | this->kernel->robot->gamma_stepper_motor->unpause(); |
| 82 | } |
| 83 | |
| 84 | |
| 85 | void Stepper::on_gcode_execute(void* argument){ |
| 86 | Gcode* gcode = static_cast<Gcode*>(argument); |
| 87 | |
| 88 | if( gcode->has_m){ |
| 89 | if( gcode->m == 17 ){ |
| 90 | this->turn_enable_pins_on(); |
| 91 | } |
| 92 | if( gcode->m == 84 || gcode->m == 18 ){ |
| 93 | this->turn_enable_pins_off(); |
| 94 | } |
| 95 | } |
| 96 | } |
| 97 | |
| 98 | void Stepper::turn_enable_pins_on(){ |
| 99 | this->kernel->robot->alpha_en_pin->set(0); |
| 100 | this->kernel->robot->beta_en_pin->set(0); |
| 101 | this->kernel->robot->gamma_en_pin->set(0); |
| 102 | this->enable_pins_status = true; |
| 103 | } |
| 104 | |
| 105 | void Stepper::turn_enable_pins_off(){ |
| 106 | this->kernel->robot->alpha_en_pin->set(1); |
| 107 | this->kernel->robot->beta_en_pin->set(1); |
| 108 | this->kernel->robot->gamma_en_pin->set(1); |
| 109 | this->enable_pins_status = false; |
| 110 | } |
| 111 | |
| 112 | // A new block is popped from the queue |
| 113 | void Stepper::on_block_begin(void* argument){ |
| 114 | Block* block = static_cast<Block*>(argument); |
| 115 | |
| 116 | // The stepper does not care about 0-blocks |
| 117 | if( block->millimeters == 0.0 ){ return; } |
| 118 | |
| 119 | // Mark the new block as of interrest to us |
| 120 | if( block->steps[ALPHA_STEPPER] > 0 || block->steps[BETA_STEPPER] > 0 || block->steps[GAMMA_STEPPER] > 0 ){ |
| 121 | block->take(); |
| 122 | }else{ |
| 123 | return; |
| 124 | } |
| 125 | |
| 126 | // We can't move with the enable pins off |
| 127 | if( this->enable_pins_status == false ){ |
| 128 | this->turn_enable_pins_on(); |
| 129 | } |
| 130 | |
| 131 | // Setup : instruct stepper motors to move |
| 132 | if( block->steps[ALPHA_STEPPER] > 0 ){ this->kernel->robot->alpha_stepper_motor->move( ( block->direction_bits >> 0 ) & 1 , block->steps[ALPHA_STEPPER] ); } |
| 133 | if( block->steps[BETA_STEPPER ] > 0 ){ this->kernel->robot->beta_stepper_motor->move( ( block->direction_bits >> 1 ) & 1 , block->steps[BETA_STEPPER ] ); } |
| 134 | if( block->steps[GAMMA_STEPPER] > 0 ){ this->kernel->robot->gamma_stepper_motor->move( ( block->direction_bits >> 2 ) & 1 , block->steps[GAMMA_STEPPER] ); } |
| 135 | |
| 136 | this->current_block = block; |
| 137 | |
| 138 | // Setup acceleration for this block |
| 139 | this->trapezoid_generator_reset(); |
| 140 | |
| 141 | // Find the stepper with the more steps, it's the one the speed calculations will want to follow |
| 142 | this->main_stepper = this->kernel->robot->alpha_stepper_motor; |
| 143 | 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; } |
| 144 | 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; } |
| 145 | |
| 146 | // Synchronise the acceleration curve with the stepping |
| 147 | this->synchronize_acceleration(NULL); |
| 148 | |
| 149 | |
| 150 | } |
| 151 | |
| 152 | // Current block is discarded |
| 153 | void Stepper::on_block_end(void* argument){ |
| 154 | this->current_block = NULL; //stfu ! |
| 155 | } |
| 156 | |
| 157 | //#pragma GCC push_options |
| 158 | //#pragma GCC optimize ("O0") |
| 159 | |
| 160 | // When a stepper motor has finished it's assigned movement |
| 161 | uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy){ |
| 162 | |
| 163 | // We care only if none is still moving |
| 164 | if( this->kernel->robot->alpha_stepper_motor->moving || this->kernel->robot->beta_stepper_motor->moving || this->kernel->robot->gamma_stepper_motor->moving ){ return 0; } |
| 165 | |
| 166 | // This block is finished, release it |
| 167 | if( this->current_block != NULL ){ |
| 168 | this->current_block->release(); |
| 169 | } |
| 170 | |
| 171 | return 0; |
| 172 | } |
| 173 | |
| 174 | |
| 175 | // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event |
| 176 | // interrupt. It can be assumed that the trapezoid-generator-parameters and the |
| 177 | // current_block stays untouched by outside handlers for the duration of this function call. |
| 178 | uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) { |
| 179 | |
| 180 | if(this->current_block && !this->paused && this->main_stepper->moving ) { |
| 181 | uint32_t current_steps_completed = this->main_stepper->stepped; |
| 182 | |
| 183 | if( previous_step_count == current_steps_completed && previous_step_count != 0 ){ |
| 184 | // We must skip this step update because no step has happened |
| 185 | skipped_speed_updates++; |
| 186 | return 0; |
| 187 | }else{ |
| 188 | previous_step_count = current_steps_completed; |
| 189 | } |
| 190 | |
| 191 | if( this->force_speed_update ){ |
| 192 | this->force_speed_update = false; |
| 193 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
| 194 | return 0; |
| 195 | } |
| 196 | |
| 197 | if(current_steps_completed <= this->current_block->accelerate_until) { |
| 198 | this->trapezoid_adjusted_rate += ( skipped_speed_updates + 1 ) * this->current_block->rate_delta; |
| 199 | if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) { |
| 200 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; |
| 201 | } |
| 202 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
| 203 | }else if (current_steps_completed > this->current_block->decelerate_after) { |
| 204 | // NOTE: We will only reduce speed if the result will be > 0. This catches small |
| 205 | // rounding errors that might leave steps hanging after the last trapezoid tick. |
| 206 | if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5) { |
| 207 | this->trapezoid_adjusted_rate -= ( skipped_speed_updates + 1 ) * this->current_block->rate_delta; |
| 208 | }else{ |
| 209 | this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5; |
| 210 | } |
| 211 | if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) { |
| 212 | this->trapezoid_adjusted_rate = this->current_block->final_rate; |
| 213 | } |
| 214 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
| 215 | }else { |
| 216 | // Make sure we cruise at exactly nominal rate |
| 217 | if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) { |
| 218 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; |
| 219 | this->set_step_events_per_minute(this->trapezoid_adjusted_rate); |
| 220 | } |
| 221 | } |
| 222 | } |
| 223 | |
| 224 | skipped_speed_updates = 0; |
| 225 | return 0; |
| 226 | |
| 227 | } |
| 228 | |
| 229 | |
| 230 | |
| 231 | // Initializes the trapezoid generator from the current block. Called whenever a new |
| 232 | // block begins. |
| 233 | inline void Stepper::trapezoid_generator_reset(){ |
| 234 | this->trapezoid_adjusted_rate = this->current_block->initial_rate; |
| 235 | this->force_speed_update = true; |
| 236 | this->trapezoid_tick_cycle_counter = 0; |
| 237 | previous_step_count = 0; |
| 238 | skipped_speed_updates = 0; |
| 239 | speed_ticks_counter = 0; |
| 240 | } |
| 241 | |
| 242 | // Update the speed for all steppers |
| 243 | void Stepper::set_step_events_per_minute( double steps_per_minute ){ |
| 244 | |
| 245 | // We do not step slower than this |
| 246 | //steps_per_minute = max(steps_per_minute, this->minimum_steps_per_minute); |
| 247 | if( steps_per_minute < this->minimum_steps_per_minute ){ |
| 248 | steps_per_minute = this->minimum_steps_per_minute; |
| 249 | } |
| 250 | |
| 251 | |
| 252 | // Instruct the stepper motors |
| 253 | 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 ) ); } |
| 254 | 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 ) ); } |
| 255 | 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 ) ); } |
| 256 | |
| 257 | this->kernel->call_event(ON_SPEED_CHANGE, this); |
| 258 | |
| 259 | } |
| 260 | |
| 261 | // This function has the role of making sure acceleration and deceleration curves have their |
| 262 | // rythm synchronized. The accel/decel must start at the same moment as the speed update routine |
| 263 | // This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast. |
| 264 | // All we do is reset the other timer so that it does what we want |
| 265 | uint32_t Stepper::synchronize_acceleration(uint32_t dummy){ |
| 266 | |
| 267 | LPC_GPIO1->FIODIR |= 1<<21; |
| 268 | LPC_GPIO1->FIOSET = 1<<21; |
| 269 | |
| 270 | |
| 271 | // No move was done, this is called from on_block_begin |
| 272 | // This means we setup the accel timer in a way where it gets called right after |
| 273 | // we exit this step interrupt, and so that it is then in synch with |
| 274 | if( this->main_stepper->stepped == 0 ){ |
| 275 | // Whatever happens, we must call the accel interrupt asap |
| 276 | // Because it will set the initial rate |
| 277 | // We also want to synchronize in case we start accelerating or decelerating now |
| 278 | |
| 279 | // Accel interrupt must happen asap |
| 280 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
| 281 | // Synchronize both counters |
| 282 | LPC_TIM2->TC = LPC_TIM0->TC; |
| 283 | |
| 284 | // If we start decelerating after this, we must ask the actuator to warn us |
| 285 | // so we can do what we do in the "else" bellow |
| 286 | if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ){ |
| 287 | this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration); |
| 288 | } |
| 289 | }else{ |
| 290 | // If we are called not at the first steps, this means we are beginning deceleration |
| 291 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
| 292 | // Synchronize both counters |
| 293 | LPC_TIM2->TC = LPC_TIM0->TC; |
| 294 | } |
| 295 | |
| 296 | LPC_GPIO1->FIOCLR = 1<<21; |
| 297 | |
| 298 | |
| 299 | } |
| 300 | |
| 301 | |
| 302 | //#pragma GCC pop_options |