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
 146     this->trapezoid_generator_tick(0);
 147
 148     // Synchronise the acceleration curve with the stepping
 149     this->synchronize_acceleration(0);
 150
 151 }
 152
 153 // Current block is discarded
 154 void Stepper::on_block_end(void* argument){
 155     this->current_block = NULL; //stfu !
 156 }
 157
 158 //#pragma GCC push_options
 159 //#pragma GCC optimize ("O0")
 160
 161 // When a stepper motor has finished it's assigned movement
 162 uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy){
 163
 164     // We care only if none is still moving
 165     if( this->kernel->robot->alpha_stepper_motor->moving || this->kernel->robot->beta_stepper_motor->moving || this->kernel->robot->gamma_stepper_motor->moving ){ return 0; }
 166
 167     // This block is finished, release it
 168     if( this->current_block != NULL ){
 169         this->current_block->release();
 170     }
 171
 172     return 0;
 173 }
 174
 175
 176 // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event
 177 // interrupt. It can be assumed that the trapezoid-generator-parameters and the
 178 // current_block stays untouched by outside handlers for the duration of this function call.
 179 uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) {
 180
 181     LPC_GPIO1->FIOSET =  1<<31;
 182
 183     if(this->current_block && !this->paused && this->main_stepper->moving ) {
 184         uint32_t current_steps_completed = this->main_stepper->stepped;
 185
 186         if( this->force_speed_update ){
 187           this->force_speed_update = false;
 188           this->set_step_events_per_minute(this->trapezoid_adjusted_rate);
 189           LPC_GPIO1->FIOCLR =  1<<31;
 190           return 0;
 191         }
 192
 193         if(current_steps_completed <= this->current_block->accelerate_until + 1) {
 194               this->trapezoid_adjusted_rate += this->current_block->rate_delta;
 195
 196               if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) {
 197                   this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
 198               }
 199               this->set_step_events_per_minute(this->trapezoid_adjusted_rate);
 200         }else if (current_steps_completed > this->current_block->decelerate_after) {
 201               // NOTE: We will only reduce speed if the result will be > 0. This catches small
 202               // rounding errors that might leave steps hanging after the last trapezoid tick.
 203               if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5) {
 204                   this->trapezoid_adjusted_rate -= this->current_block->rate_delta;
 205               }else{
 206                   this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5;
 207               }
 208               if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) {
 209                   this->trapezoid_adjusted_rate = this->current_block->final_rate;
 210               }
 211               this->set_step_events_per_minute(this->trapezoid_adjusted_rate);
 212         }else {
 213               // Make sure we cruise at exactly nominal rate
 214               if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) {
 215                   this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
 216                   this->set_step_events_per_minute(this->trapezoid_adjusted_rate);
 217               }
 218           }
 219     }
 220
 221     LPC_GPIO1->FIOCLR =  1<<31;
 222     return 0;
 223 }
 224
 225
 226
 227 // Initializes the trapezoid generator from the current block. Called whenever a new
 228 // block begins.
 229 inline void Stepper::trapezoid_generator_reset(){
 230     this->trapezoid_adjusted_rate = this->current_block->initial_rate;
 231     this->force_speed_update = true;
 232     this->trapezoid_tick_cycle_counter = 0;
 233     previous_step_count = 0;
 234     skipped_speed_updates = 0;
 235     speed_ticks_counter = 0;
 236 }
 237
 238 // Update the speed for all steppers
 239 void Stepper::set_step_events_per_minute( double steps_per_minute ){
 240
 241     // We do not step slower than this
 242     //steps_per_minute = max(steps_per_minute, this->minimum_steps_per_minute);
 243     if( steps_per_minute < this->minimum_steps_per_minute ){
 244         steps_per_minute = this->minimum_steps_per_minute;
 245     }
 246
 247
 248     // Instruct the stepper motors
 249     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 ) ); }
 250     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 ) ); }
 251     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 ) ); }
 252
 253     this->kernel->call_event(ON_SPEED_CHANGE, this);
 254
 255 }
 256
 257 // This function has the role of making sure acceleration and deceleration curves have their
 258 // rythm synchronized. The accel/decel must start at the same moment as the speed update routine
 259 // This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast.
 260 // All we do is reset the other timer so that it does what we want
 261 uint32_t Stepper::synchronize_acceleration(uint32_t dummy){
 262
 263     LPC_GPIO1->FIODIR |= 1<<21;
 264     LPC_GPIO1->FIOSET = 1<<21;
 265
 266
 267     // No move was done, this is called from on_block_begin
 268     // This means we setup the accel timer in a way where it gets called right after
 269     // we exit this step interrupt, and so that it is then in synch with
 270     if( this->main_stepper->stepped == 0 ){
 271         // Whatever happens, we must call the accel interrupt asap
 272         // Because it will set the initial rate
 273         // We also want to synchronize in case we start accelerating or decelerating now
 274
 275         // Accel interrupt must happen asap
 276         NVIC_SetPendingIRQ(TIMER2_IRQn);
 277         // Synchronize both counters
 278         LPC_TIM2->TC = LPC_TIM0->TC;
 279
 280         // If we start decelerating after this, we must ask the actuator to warn us
 281         // so we can do what we do in the "else" bellow
 282         if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ){
 283             this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration);
 284         }
 285     }else{
 286         // If we are called not at the first steps, this means we are beginning deceleration
 287         NVIC_SetPendingIRQ(TIMER2_IRQn);
 288         // Synchronize both counters
 289         LPC_TIM2->TC = LPC_TIM0->TC;
 290     }
 291
 292     LPC_GPIO1->FIOCLR = 1<<21;
 293
 294     return 0;
 295 }
 296
 297
 298 //#pragma GCC pop_options