src/libs/StepTicker.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).
   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
   9
  10 using namespace std;
  11 #include <vector>
  12 #include "libs/nuts_bolts.h"
  13 #include "libs/Module.h"
  14 #include "libs/Kernel.h"
  15 #include "StepTicker.h"
  16 #include "system_LPC17xx.h" // mbed.h lib
  17
  18 #include <mri.h>
  19
  20 // StepTicker handles the base frequency ticking for the Stepper Motors / Actuators
  21 // It has a list of those, and calls their tick() functions at regular intervals
  22 // They then do Bresenham stuff themselves
  23
  24 StepTicker* global_step_ticker;
  25
  26 StepTicker::StepTicker(){
  27     global_step_ticker = this;
  28     LPC_TIM0->MR0 = 10000000;        // Initial dummy value for Match Register
  29     LPC_TIM0->MCR = 3;              // Match on MR0, reset on MR0, match on MR1
  30     LPC_TIM0->TCR = 1;               // Enable interrupt
  31
  32     LPC_SC->PCONP |= (1 << 2);     // Power Ticker ON
  33     LPC_TIM1->MR0 = 1000000;
  34     LPC_TIM1->MCR = 1;
  35     LPC_TIM1->TCR = 1;               // Enable interrupt
  36
  37     // Default start values
  38     this->moves_finished = false;
  39     this->reset_step_pins = false;
  40     this->debug = 0;
  41     this->has_axes = 0;
  42     this->set_frequency(0.001);
  43     this->set_reset_delay(100);
  44     this->last_duration = 0;
  45     for (int i = 0; i < 12; i++)
  46         this->active_motors[i] = NULL;
  47     this->active_motor_bm = 0;
  48
  49     NVIC_EnableIRQ(TIMER0_IRQn);     // Enable interrupt handler
  50     NVIC_EnableIRQ(TIMER1_IRQn);     // Enable interrupt handler
  51 }
  52
  53 // Set the base stepping frequency
  54 void StepTicker::set_frequency( double frequency ){
  55     this->frequency = frequency;
  56     this->period = int(floor((SystemCoreClock/4)/frequency));  // SystemCoreClock/4 = Timer increments in a second
  57     LPC_TIM0->MR0 = this->period;
  58     if( LPC_TIM0->TC > LPC_TIM0->MR0 ){
  59         LPC_TIM0->TCR = 3;  // Reset
  60         LPC_TIM0->TCR = 1;  // Reset
  61     }
  62 }
  63
  64 // Set the reset delay
  65 void StepTicker::set_reset_delay( double seconds ){
  66     this->delay = int(floor(double(SystemCoreClock/4)*( seconds )));  // SystemCoreClock/4 = Timer increments in a second
  67     LPC_TIM1->MR0 = this->delay;
  68 }
  69
  70 // Add a stepper motor object to our list of steppers we must take care of
  71 StepperMotor* StepTicker::add_stepper_motor(StepperMotor* stepper_motor){
  72     this->stepper_motors.push_back(stepper_motor);
  73     stepper_motor->step_ticker = this;
  74     this->has_axes = true;
  75     return stepper_motor;
  76 }
  77
  78 // Call tick() on each active motor
  79 inline void StepTicker::tick(){
  80 }
  81
  82 // Call signal_mode_finished() on each active motor that asked to be signaled. We do this instead of inside of tick() so that
  83 // all tick()s are called before we do the move finishing
  84 void StepTicker::signal_moves_finished(){
  85     _isr_context = true;
  86
  87     uint16_t bitmask = 1;
  88     for ( uint8_t motor = 0; motor < 12; motor++, bitmask <<= 1){
  89         if (this->active_motor_bm & bitmask){
  90             if(this->active_motors[motor]->is_move_finished){
  91                 this->active_motors[motor]->signal_move_finished();
  92                 if(this->active_motors[motor]->moving == false){
  93                     if (motor > 0){
  94                         motor--;
  95                         bitmask >>= 1;
  96                     }
  97                 }
  98             }
  99         }
 100     }
 101     this->moves_finished = false;
 102
 103     _isr_context = false;
 104 }
 105
 106 // Reset step pins on all active motors
 107 inline void StepTicker::reset_tick(){
 108     _isr_context = true;
 109
 110     int i;
 111     uint32_t bm;
 112     for (i = 0, bm = 1; i < 12; i++, bm <<= 1)
 113     {
 114         if (this->active_motor_bm & bm)
 115             this->active_motors[i]->step_pin->set(0);
 116     }
 117
 118     _isr_context = false;
 119 }
 120
 121 extern "C" void TIMER1_IRQHandler (void){
 122     LPC_TIM1->IR |= 1 << 0;
 123     global_step_ticker->reset_tick();
 124 }
 125
 126
 127 //#pragma GCC push_options
 128 //#pragma GCC optimize ("O0")
 129
 130
 131 // The actual interrupt handler where we do all the work
 132 extern "C" void TIMER0_IRQHandler (void){
 133
 134     LPC_TIM0->IR |= 1 << 0;
 135
 136     // If no axes enabled, just ignore for now
 137     if( global_step_ticker->active_motor_bm == 0 ){
 138         return;
 139     }
 140
 141     // Do not get out of here before everything is nice and tidy
 142     LPC_TIM0->MR0 = 2000000;
 143
 144     // Step pins
 145     //global_step_ticker->tick();
 146     _isr_context = true;
 147     uint16_t bitmask = 1;
 148     for (uint8_t motor = 0; motor < 12; motor++, bitmask <<= 1){
 149         if (global_step_ticker->active_motor_bm & bitmask){
 150             global_step_ticker->active_motors[motor]->tick();
 151         }
 152     }
 153     _isr_context = false;
 154
 155     // We may have set a pin on in this tick, now we start the timer to set it off
 156     if( global_step_ticker->reset_step_pins ){
 157         LPC_TIM1->TCR = 3;
 158         LPC_TIM1->TCR = 1;
 159         global_step_ticker->reset_step_pins = false;
 160     }
 161
 162     // If a move finished in this tick, we have to tell the actuator to act accordingly
 163     if( global_step_ticker->moves_finished ){ global_step_ticker->signal_moves_finished(); }
 164
 165 //     uint32_t after_signal = LPC_TIM0->TC;
 166
 167     // If we went over the duration an interrupt is supposed to last, we have a problem
 168     // That can happen tipically when we change blocks, where more than usual computation is done
 169     // This can be OK, if we take notice of it, which we do now
 170     if( LPC_TIM0->TC > global_step_ticker->period ){ // TODO: remove the size condition
 171
 172         uint32_t start_tc = LPC_TIM0->TC;
 173
 174         // How many ticks we want to skip ( this does not include the current tick, but we add the time we spent doing this computation last time )
 175         uint32_t ticks_to_skip = (  ( LPC_TIM0->TC + global_step_ticker->last_duration ) / global_step_ticker->period );
 176
 177         // Next step is now to reduce this to how many steps we can *actually* skip
 178         uint32_t ticks_we_actually_can_skip = ticks_to_skip;
 179
 180         int i;
 181         uint32_t bm;
 182         for (i = 0, bm = 1; i < 12; i++, bm <<= 1)
 183         {
 184             if (global_step_ticker->active_motor_bm & bm)
 185                 ticks_we_actually_can_skip =
 186                     min(ticks_we_actually_can_skip,
 187                         (uint32_t)((uint64_t)( (uint64_t)global_step_ticker->active_motors[i]->fx_ticks_per_step - (uint64_t)global_step_ticker->active_motors[i]->fx_counter ) >> 32)
 188                         );
 189         }
 190
 191         // Adding to MR0 for this time is not enough, we must also increment the counters ourself artificially
 192         for (i = 0, bm = 1; i < 12; i++, bm <<= 1)
 193         {
 194             if (global_step_ticker->active_motor_bm & bm)
 195                 global_step_ticker->active_motors[i]->fx_counter += (uint64_t)((uint64_t)(ticks_we_actually_can_skip)<<32);
 196         }
 197
 198         // When must we have our next MR0 ? ( +1 is here to account that we are actually doing a legit MR0 match here too, not only overtime )
 199         // LPC_TIM0->MR0 = ( ticks_we_actually_can_skip + 1 ) * global_step_ticker->period;
 200         LPC_TIM0->MR0 = ( ticks_to_skip + 1 ) * global_step_ticker->period;
 201
 202         // This is so that we know how long this computation takes, and we can take it into account next time
 203         int difference = (int)(LPC_TIM0->TC) - (int)(start_tc);
 204         if( difference > 0 ){ global_step_ticker->last_duration = (uint32_t)difference; }
 205
 206         //if( global_step_ticker->last_duration > 2000 || LPC_TIM0->MR0 > 2000 || LPC_TIM0->TC > 2000 || initial_tc > 2000 ){ __debugbreak(); }
 207
 208     }else{
 209         LPC_TIM0->MR0 = global_step_ticker->period;
 210     }
 211
 212     while( LPC_TIM0->TC > LPC_TIM0->MR0 ){
 213         LPC_TIM0->MR0 += global_step_ticker->period;
 214     }
 215
 216 }
 217
 218
 219 //#pragma GCC pop_options
 220
 221 // We make a list of steppers that want to be called so that we don't call them for nothing
 222 void StepTicker::add_motor_to_active_list(StepperMotor* motor)
 223 {
 224     uint32_t bm;
 225     int i;
 226     for (i = 0, bm = 1; i < 12; i++, bm <<= 1)
 227     {
 228         if (this->active_motors[i] == motor)
 229         {
 230             this->active_motor_bm |= bm;
 231             return;
 232         }
 233         if (this->active_motors[i] == NULL)
 234         {
 235             this->active_motors[i] = motor;
 236             this->active_motor_bm |= bm;
 237             return;
 238         }
 239     }
 240     return;
 241 }
 242
 243 // Remove a stepper from the list of active motors
 244 void StepTicker::remove_motor_from_active_list(StepperMotor* motor)
 245 {
 246     uint32_t bm; int i;
 247     for (i = 0, bm = 1; i < 12; i++, bm <<= 1)
 248     {
 249         if (this->active_motors[i] == motor)
 250         {
 251             this->active_motor_bm &= ~bm;
 252             return;
 253         }
 254     }
 255 }