src/modules/robot/Stepper.cpp

   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 "Conveyor.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     register_for_event(ON_CONFIG_RELOAD);
  38     this->register_for_event(ON_BLOCK_BEGIN);
  39     this->register_for_event(ON_BLOCK_END);
  40     this->register_for_event(ON_GCODE_EXECUTE);
  41     this->register_for_event(ON_PLAY);
  42     this->register_for_event(ON_PAUSE);
  43
  44     // Get onfiguration
  45     this->on_config_reload(this);
  46
  47     // Acceleration ticker
  48     this->acceleration_tick_hook = this->kernel->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick );
  49
  50     // Attach to the end_of_move stepper event
  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 );
  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 off by default
  63     this->turn_enable_pins_off();
  64 }
  65
  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){
  68     this->paused = true;
  69     this->kernel->robot->alpha_stepper_motor->pause();
  70     this->kernel->robot->beta_stepper_motor->pause();
  71     this->kernel->robot->gamma_stepper_motor->pause();
  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){
  76     // TODO: Re-compute the whole queue for a cold-start
  77     this->paused = false;
  78     this->kernel->robot->alpha_stepper_motor->unpause();
  79     this->kernel->robot->beta_stepper_motor->unpause();
  80     this->kernel->robot->gamma_stepper_motor->unpause();
  81 }
  82
  83
  84 void Stepper::on_gcode_execute(void* argument){
  85     Gcode* gcode = static_cast<Gcode*>(argument);
  86
  87     if( gcode->has_m){
  88         if( gcode->m == 17 ){
  89             this->turn_enable_pins_on();
  90         }
  91         if( gcode->m == 84 || gcode->m == 18 ){
  92             this->turn_enable_pins_off();
  93         }
  94     }
  95 }
  96
  97 void Stepper::turn_enable_pins_on(){
  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);
 101     this->enable_pins_status = true;
 102 }
 103
 104 void Stepper::turn_enable_pins_off(){
 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);
 108     this->enable_pins_status = false;
 109 }
 110
 111 // A new block is popped from the queue
 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
 116     if( block->millimeters == 0.0 ){ return; }
 117
 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();
 121     }else{
 122         return;
 123     }
 124
 125     // We can't move with the enable pins off
 126     if( this->enable_pins_status == false ){
 127         this->turn_enable_pins_on();
 128     }
 129
 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] ); }
 134
 135     this->current_block = block;
 136
 137     // Setup acceleration for this block
 138     this->trapezoid_generator_reset();
 139
 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
 145     // Synchronise the acceleration curve with the stepping
 146     this->synchronize_acceleration(0);
 147
 148 }
 149
 150 // Current block is discarded
 151 void Stepper::on_block_end(void* argument){
 152     this->current_block = NULL; //stfu !
 153 }
 154
 155 //#pragma GCC push_options
 156 //#pragma GCC optimize ("O0")
 157
 158 // When a stepper motor has finished it's assigned movement
 159 uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy){
 160
 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; }
 163
 164     // This block is finished, release it
 165     if( this->current_block != NULL ){
 166         this->current_block->release();
 167     }
 168
 169     return 0;
 170 }
 171
 172
 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.
 176 uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) {
 177
 178     LPC_GPIO1->FIOSET =  1<<31;
 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( this->force_speed_update ){
 184           this->force_speed_update = false;
 185           this->set_step_events_per_minute(this->trapezoid_adjusted_rate);
 186           LPC_GPIO1->FIOCLR =  1<<31;
 187           return 0;
 188         }
 189
 190         if(current_steps_completed <= this->current_block->accelerate_until + 1) {
 191               this->trapezoid_adjusted_rate += this->current_block->rate_delta;
 192
 193               if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) {
 194                   this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
 195               }
 196               this->set_step_events_per_minute(this->trapezoid_adjusted_rate);
 197         }else if (current_steps_completed > this->current_block->decelerate_after) {
 198               // NOTE: We will only reduce speed if the result will be > 0. This catches small
 199               // rounding errors that might leave steps hanging after the last trapezoid tick.
 200               if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5) {
 201                   this->trapezoid_adjusted_rate -= this->current_block->rate_delta;
 202               }else{
 203                   this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5;
 204               }
 205               if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) {
 206                   this->trapezoid_adjusted_rate = this->current_block->final_rate;
 207               }
 208               this->set_step_events_per_minute(this->trapezoid_adjusted_rate);
 209         }else {
 210               // Make sure we cruise at exactly nominal rate
 211               if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) {
 212                   this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
 213                   this->set_step_events_per_minute(this->trapezoid_adjusted_rate);
 214               }
 215           }
 216     }
 217
 218     LPC_GPIO1->FIOCLR =  1<<31;
 219     return 0;
 220 }
 221
 222
 223
 224 // Initializes the trapezoid generator from the current block. Called whenever a new
 225 // block begins.
 226 inline void Stepper::trapezoid_generator_reset(){
 227     this->trapezoid_adjusted_rate = this->current_block->initial_rate;
 228     this->force_speed_update = true;
 229     this->trapezoid_tick_cycle_counter = 0;
 230     previous_step_count = 0;
 231     skipped_speed_updates = 0;
 232     speed_ticks_counter = 0;
 233 }
 234
 235 // Update the speed for all steppers
 236 void Stepper::set_step_events_per_minute( double steps_per_minute ){
 237
 238     // We do not step slower than this
 239     //steps_per_minute = max(steps_per_minute, this->minimum_steps_per_minute);
 240     if( steps_per_minute < this->minimum_steps_per_minute ){
 241         steps_per_minute = this->minimum_steps_per_minute;
 242     }
 243
 244
 245     // Instruct the stepper motors
 246     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 ) ); }
 247     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 ) ); }
 248     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 ) ); }
 249
 250     this->kernel->call_event(ON_SPEED_CHANGE, this);
 251
 252 }
 253
 254 // This function has the role of making sure acceleration and deceleration curves have their
 255 // rythm synchronized. The accel/decel must start at the same moment as the speed update routine
 256 // This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast.
 257 // All we do is reset the other timer so that it does what we want
 258 uint32_t Stepper::synchronize_acceleration(uint32_t dummy){
 259
 260     LPC_GPIO1->FIODIR |= 1<<21;
 261     LPC_GPIO1->FIOSET = 1<<21;
 262
 263
 264     // No move was done, this is called from on_block_begin
 265     // This means we setup the accel timer in a way where it gets called right after
 266     // we exit this step interrupt, and so that it is then in synch with
 267     if( this->main_stepper->stepped == 0 ){
 268         // Whatever happens, we must call the accel interrupt asap
 269         // Because it will set the initial rate
 270         // We also want to synchronize in case we start accelerating or decelerating now
 271
 272         // Accel interrupt must happen asap
 273         NVIC_SetPendingIRQ(TIMER2_IRQn);
 274         // Synchronize both counters
 275         LPC_TIM2->TC = LPC_TIM0->TC;
 276
 277         // If we start decelerating after this, we must ask the actuator to warn us
 278         // so we can do what we do in the "else" bellow
 279         if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ){
 280             this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration);
 281         }
 282     }else{
 283         // If we are called not at the first steps, this means we are beginning deceleration
 284         NVIC_SetPendingIRQ(TIMER2_IRQn);
 285         // Synchronize both counters
 286         LPC_TIM2->TC = LPC_TIM0->TC;
 287     }
 288
 289     LPC_GPIO1->FIOCLR = 1<<21;
 290
 291     return 0;
 292 }
 293
 294
 295 //#pragma GCC pop_options