-/*
- 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)
- 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.
- 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.
- You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include "Stepper.h"
-
-#include "libs/Module.h"
-#include "libs/Kernel.h"
-#include "Planner.h"
-#include "Conveyor.h"
-#include "StepperMotor.h"
-#include "Robot.h"
-#include "checksumm.h"
-#include "SlowTicker.h"
-#include "Config.h"
-#include "ConfigValue.h"
-#include "Gcode.h"
-#include "Block.h"
-
-#include <vector>
-using namespace std;
-
-#include "libs/nuts_bolts.h"
-#include "libs/Hook.h"
-
-#include <mri.h>
-
-#define acceleration_ticks_per_second_checksum CHECKSUM("acceleration_ticks_per_second")
-#define minimum_steps_per_minute_checksum CHECKSUM("minimum_steps_per_minute")
-
-// The stepper reacts to blocks that have XYZ movement to transform them into actual stepper motor moves
-// TODO: This does accel, accel should be in StepperMotor
-
-Stepper::Stepper(){
- this->current_block = NULL;
- this->paused = false;
- this->trapezoid_generator_busy = false;
- this->force_speed_update = false;
-}
-
-//Called when the module has just been loaded
-void Stepper::on_module_loaded(){
- this->register_for_event(ON_BLOCK_BEGIN);
- this->register_for_event(ON_BLOCK_END);
- this->register_for_event(ON_GCODE_EXECUTE);
- this->register_for_event(ON_GCODE_RECEIVED);
- this->register_for_event(ON_PLAY);
- this->register_for_event(ON_PAUSE);
-
- // Get onfiguration
- this->on_config_reload(this);
-
- // Acceleration ticker
- this->acceleration_tick_hook = THEKERNEL->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick );
-
- // Attach to the end_of_move stepper event
- THEKERNEL->robot->alpha_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move );
- THEKERNEL->robot->beta_stepper_motor->attach( this, &Stepper::stepper_motor_finished_move );
- THEKERNEL->robot->gamma_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move );
-}
-
-// Get configuration from the config file
-void Stepper::on_config_reload(void* argument){
-
- this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(100 )->as_number();
- this->minimum_steps_per_second = THEKERNEL->config->value(minimum_steps_per_minute_checksum )->by_default(3000 )->as_number() / 60.0F;
-
- // Steppers start off by default
- this->turn_enable_pins_off();
-}
-
-// When the play/pause button is set to pause, or a module calls the ON_PAUSE event
-void Stepper::on_pause(void* argument){
- this->paused = true;
- THEKERNEL->robot->alpha_stepper_motor->pause();
- THEKERNEL->robot->beta_stepper_motor->pause();
- THEKERNEL->robot->gamma_stepper_motor->pause();
-}
-
-// When the play/pause button is set to play, or a module calls the ON_PLAY event
-void Stepper::on_play(void* argument){
- // TODO: Re-compute the whole queue for a cold-start
- this->paused = false;
- THEKERNEL->robot->alpha_stepper_motor->unpause();
- THEKERNEL->robot->beta_stepper_motor->unpause();
- THEKERNEL->robot->gamma_stepper_motor->unpause();
-}
-
-void Stepper::on_gcode_received(void* argument){
- Gcode* gcode = static_cast<Gcode*>(argument);
- // Attach gcodes to the last block for on_gcode_execute
- if( gcode->has_m && (gcode->m == 84 || gcode->m == 17 || gcode->m == 18 )) {
- THEKERNEL->conveyor->append_gcode(gcode);
- }
-}
-
-// React to enable/disable gcodes
-void Stepper::on_gcode_execute(void* argument){
- Gcode* gcode = static_cast<Gcode*>(argument);
-
- if( gcode->has_m){
- if( gcode->m == 17 ){
- this->turn_enable_pins_on();
- }
- if( (gcode->m == 84 || gcode->m == 18) && !gcode->has_letter('E') ){
- this->turn_enable_pins_off();
- }
- }
-}
-
-// Enable steppers
-void Stepper::turn_enable_pins_on(){
- for (StepperMotor* m : THEKERNEL->robot->actuators)
- m->enable(true);
- this->enable_pins_status = true;
-}
-
-// Disable steppers
-void Stepper::turn_enable_pins_off(){
- for (StepperMotor* m : THEKERNEL->robot->actuators)
- m->enable(false);
- this->enable_pins_status = false;
-}
-
-// A new block is popped from the queue
-void Stepper::on_block_begin(void* argument){
- Block* block = static_cast<Block*>(argument);
-
- // The stepper does not care about 0-blocks
- if( block->millimeters == 0.0F ){ return; }
-
- // Mark the new block as of interrest to us
- if( block->steps[ALPHA_STEPPER] > 0 || block->steps[BETA_STEPPER] > 0 || block->steps[GAMMA_STEPPER] > 0 ){
- block->take();
- }else{
- return;
- }
-
- // We can't move with the enable pins off
- if( this->enable_pins_status == false ){
- this->turn_enable_pins_on();
- }
-
- // Setup : instruct stepper motors to move
- if( block->steps[ALPHA_STEPPER] > 0 ){ THEKERNEL->robot->alpha_stepper_motor->move( block->direction_bits[ALPHA_STEPPER], block->steps[ALPHA_STEPPER] ); }
- if( block->steps[BETA_STEPPER ] > 0 ){ THEKERNEL->robot->beta_stepper_motor->move( block->direction_bits[BETA_STEPPER], block->steps[BETA_STEPPER ] ); }
- if( block->steps[GAMMA_STEPPER] > 0 ){ THEKERNEL->robot->gamma_stepper_motor->move( block->direction_bits[GAMMA_STEPPER], block->steps[GAMMA_STEPPER] ); }
-
- this->current_block = block;
-
- // Setup acceleration for this block
- this->trapezoid_generator_reset();
-
- // Find the stepper with the more steps, it's the one the speed calculations will want to follow
- this->main_stepper = THEKERNEL->robot->alpha_stepper_motor;
- if( THEKERNEL->robot->beta_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = THEKERNEL->robot->beta_stepper_motor; }
- if( THEKERNEL->robot->gamma_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = THEKERNEL->robot->gamma_stepper_motor; }
-
- // Set the initial speed for this move
- this->trapezoid_generator_tick(0);
-
- // Synchronise the acceleration curve with the stepping
- this->synchronize_acceleration(0);
-
-}
-
-// Current block is discarded
-void Stepper::on_block_end(void* argument){
- this->current_block = NULL; //stfu !
-}
-
-// When a stepper motor has finished it's assigned movement
-uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy){
-
- // We care only if none is still moving
- if( THEKERNEL->robot->alpha_stepper_motor->moving || THEKERNEL->robot->beta_stepper_motor->moving || THEKERNEL->robot->gamma_stepper_motor->moving ){ return 0; }
-
- // This block is finished, release it
- if( this->current_block != NULL ){
- this->current_block->release();
- }
-
- return 0;
-}
-
-
-// This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event
-// interrupt. It can be assumed that the trapezoid-generator-parameters and the
-// current_block stays untouched by outside handlers for the duration of this function call.
-uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) {
-
- // Do not do the accel math for nothing
- if(this->current_block && !this->paused && this->main_stepper->moving ) {
-
- // Store this here because we use it a lot down there
- uint32_t current_steps_completed = this->main_stepper->stepped;
-
- // Do not accel, just set the value
- if( this->force_speed_update ){
- this->force_speed_update = false;
- this->set_step_events_per_second(this->trapezoid_adjusted_rate);
- return 0;
- }
-
- // If we are accelerating
- if(current_steps_completed <= this->current_block->accelerate_until + 1) {
- // Increase speed
- this->trapezoid_adjusted_rate += this->current_block->rate_delta;
- if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) {
- this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
- }
- this->set_step_events_per_second(this->trapezoid_adjusted_rate);
-
- // If we are decelerating
- }else if (current_steps_completed > this->current_block->decelerate_after) {
- // Reduce speed
- // NOTE: We will only reduce speed if the result will be > 0. This catches small
- // rounding errors that might leave steps hanging after the last trapezoid tick.
- if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5F) {
- this->trapezoid_adjusted_rate -= this->current_block->rate_delta;
- }else{
- this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5F;
- }
- if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) {
- this->trapezoid_adjusted_rate = this->current_block->final_rate;
- }
- this->set_step_events_per_second(this->trapezoid_adjusted_rate);
-
- // If we are cruising
- }else {
- // Make sure we cruise at exactly nominal rate
- if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) {
- this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
- this->set_step_events_per_second(this->trapezoid_adjusted_rate);
- }
- }
- }
-
- return 0;
-}
-
-
-
-// Initializes the trapezoid generator from the current block. Called whenever a new
-// block begins.
-inline void Stepper::trapezoid_generator_reset(){
- this->trapezoid_adjusted_rate = this->current_block->initial_rate;
- this->force_speed_update = true;
- this->trapezoid_tick_cycle_counter = 0;
-}
-
-// Update the speed for all steppers
-void Stepper::set_step_events_per_second( float steps_per_second )
-{
- // We do not step slower than this, FIXME shoul dbe calculated for the slowest axis not the fastest
- //steps_per_second = max(steps_per_second, this->minimum_steps_per_second);
- if( steps_per_second < this->minimum_steps_per_second ){
- steps_per_second = this->minimum_steps_per_second;
- }
-
- // Instruct the stepper motors
- if( THEKERNEL->robot->alpha_stepper_motor->moving ){ THEKERNEL->robot->alpha_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[ALPHA_STEPPER] / (float)this->current_block->steps_event_count ) ); }
- if( THEKERNEL->robot->beta_stepper_motor->moving ){ THEKERNEL->robot->beta_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[BETA_STEPPER ] / (float)this->current_block->steps_event_count ) ); }
- if( THEKERNEL->robot->gamma_stepper_motor->moving ){ THEKERNEL->robot->gamma_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[GAMMA_STEPPER] / (float)this->current_block->steps_event_count ) ); }
-
- // Other modules might want to know the speed changed
- THEKERNEL->call_event(ON_SPEED_CHANGE, this);
-
-}
-
-// This function has the role of making sure acceleration and deceleration curves have their
-// rhythm synchronized. The accel/decel must start at the same moment as the speed update routine
-// This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast.
-// All we do is reset the other timer so that it does what we want
-uint32_t Stepper::synchronize_acceleration(uint32_t dummy){
-
- // No move was done, this is called from on_block_begin
- // This means we setup the accel timer in a way where it gets called right after
- // we exit this step interrupt, and so that it is then in synch with
- if( this->main_stepper->stepped == 0 ){
- // Whatever happens, we must call the accel interrupt asap
- // Because it will set the initial rate
- // We also want to synchronize in case we start accelerating or decelerating now
-
- // Accel interrupt must happen asap
- NVIC_SetPendingIRQ(TIMER2_IRQn);
- // Synchronize both counters
- LPC_TIM2->TC = LPC_TIM0->TC;
-
- // If we start decelerating after this, we must ask the actuator to warn us
- // so we can do what we do in the "else" bellow
- if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ){
- this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration);
- }
- }else{
- // If we are called not at the first steps, this means we are beginning deceleration
- NVIC_SetPendingIRQ(TIMER2_IRQn);
- // Synchronize both counters
- LPC_TIM2->TC = LPC_TIM0->TC;
- }
-
- return 0;
-}
-
+/*
+ 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)
+ 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.
+ 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.
+ You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include "Stepper.h"
+
+#include "libs/Module.h"
+#include "libs/Kernel.h"
+#include "Planner.h"
+#include "Conveyor.h"
+#include "StepperMotor.h"
+#include "Robot.h"
+#include "checksumm.h"
+#include "SlowTicker.h"
+#include "Config.h"
+#include "ConfigValue.h"
+#include "Gcode.h"
+#include "Block.h"
+#include "StepTicker.h"
+
+#include <vector>
+using namespace std;
+
+#include "libs/nuts_bolts.h"
+#include "libs/Hook.h"
+
+#include <mri.h>
+
+// The stepper reacts to blocks that have XYZ movement to transform them into actual stepper motor moves
+// TODO: This does accel, accel should be in StepperMotor
+
+Stepper::Stepper()
+{
+ this->current_block = NULL;
+ this->force_speed_update = false;
+ this->halted= false;
+}
+
+//Called when the module has just been loaded
+void Stepper::on_module_loaded()
+{
+ this->register_for_event(ON_BLOCK_BEGIN);
+ this->register_for_event(ON_BLOCK_END);
+ this->register_for_event(ON_GCODE_EXECUTE);
+ this->register_for_event(ON_GCODE_RECEIVED);
+ this->register_for_event(ON_HALT);
+
+ // Get onfiguration
+ this->on_config_reload(this);
+
+ // Acceleration ticker
+ THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){trapezoid_generator_tick(); });
+
+ // Attach to the end_of_move stepper event
+ for (auto actuator : THEKERNEL->robot->actuators)
+ actuator->attach(this, &Stepper::stepper_motor_finished_move );
+}
+
+// Get configuration from the config file
+void Stepper::on_config_reload(void *argument)
+{
+ // Steppers start off by default
+ this->turn_enable_pins_off();
+}
+
+void Stepper::on_halt(void *argument)
+{
+ if(argument == nullptr) {
+ this->turn_enable_pins_off();
+ this->halted= true;
+ }else{
+ this->halted= false;
+ }
+}
+
+void Stepper::on_gcode_received(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+ // Attach gcodes to the last block for on_gcode_execute
+ if( gcode->has_m && (gcode->m == 84 || gcode->m == 17 || gcode->m == 18 )) {
+ THEKERNEL->conveyor->append_gcode(gcode);
+ }
+}
+
+// React to enable/disable gcodes
+void Stepper::on_gcode_execute(void *argument)
+{
+ Gcode *gcode = static_cast<Gcode *>(argument);
+
+ if( gcode->has_m) {
+ if( gcode->m == 17 ) {
+ this->turn_enable_pins_on();
+ }
+ if( (gcode->m == 84 || gcode->m == 18) && !gcode->has_letter('E') ) {
+ this->turn_enable_pins_off();
+ }
+ }
+}
+
+// Enable steppers
+void Stepper::turn_enable_pins_on()
+{
+ for (auto a : THEKERNEL->robot->actuators)
+ a->enable(true);
+ this->enable_pins_status = true;
+ THEKERNEL->call_event(ON_ENABLE, (void*)1);
+}
+
+// Disable steppers
+void Stepper::turn_enable_pins_off()
+{
+ for (auto a : THEKERNEL->robot->actuators)
+ a->enable(false);
+ this->enable_pins_status = false;
+ THEKERNEL->call_event(ON_ENABLE, nullptr);
+}
+
+// A new block is popped from the queue
+void Stepper::on_block_begin(void *argument)
+{
+ Block *block = static_cast<Block *>(argument);
+
+ // Mark the new block as of interrest to us, handle blocks that have no axis moves properly (like Extrude blocks etc)
+ bool take = false;
+ if (block->millimeters > 0.0F) {
+ for (size_t s = 0; !take && s < THEKERNEL->robot->actuators.size(); s++) {
+ take = block->steps[s] > 0;
+ }
+ }
+ if (take){
+ block->take();
+ } else {
+ // none of the steppers move this block so make sure they know that
+ for(auto a : THEKERNEL->robot->actuators) {
+ a->set_moved_last_block(false);
+ }
+ return;
+ }
+
+ // We can't move with the enable pins off
+ if( this->enable_pins_status == false ) {
+ this->turn_enable_pins_on();
+ }
+
+ // Setup : instruct stepper motors to move
+ // Find the stepper with the more steps, it's the one the speed calculations will want to follow
+ this->main_stepper = nullptr;
+ int most_steps_to_move = 0;
+ for (size_t i = 0; i < THEKERNEL->robot->actuators.size(); i++) {
+ if (block->steps[i] > 0) {
+ THEKERNEL->robot->actuators[i]->move(block->direction_bits[i], block->steps[i])->set_moved_last_block(true);
+ int steps_to_move = THEKERNEL->robot->actuators[i]->get_steps_to_move();
+ if (steps_to_move > most_steps_to_move) {
+ most_steps_to_move = steps_to_move;
+ this->main_stepper = THEKERNEL->robot->actuators[i];
+ }
+ }
+ else {
+ THEKERNEL->robot->actuators[i]->set_moved_last_block(false);
+ }
+ }
+
+ this->current_block = block;
+
+ // Setup acceleration for this block
+ this->trapezoid_generator_reset();
+
+ // Set the initial speed for this move
+ this->trapezoid_generator_tick();
+
+ // synchronize the acceleration timer with the start of the new block so it does not drift and randomly fire during the block
+ THEKERNEL->step_ticker->synchronize_acceleration(false);
+
+ // set a flag to synchronize the acceleration timer with the deceleration step, and fire it immediately we get to that step
+ if( block->decelerate_after > 0 && block->decelerate_after+1 < this->main_stepper->steps_to_move ) {
+ this->main_stepper->signal_step= block->decelerate_after+1; // we make it +1 as deceleration does not start until steps > decelerate_after
+ }
+}
+
+// Current block is discarded
+void Stepper::on_block_end(void *argument)
+{
+ this->current_block = NULL; //stfu !
+}
+
+// When a stepper motor has finished it's assigned movement
+uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy)
+{
+ // We care only if none is still moving
+ for (auto a : THEKERNEL->robot->actuators) {
+ if(a->moving)
+ return 0;
+ }
+
+ // This block is finished, release it
+ if( this->current_block != NULL ) {
+ this->current_block->release();
+ }
+
+ return 0;
+}
+
+
+// This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event
+// interrupt. It can be assumed that the trapezoid-generator-parameters and the
+// current_block stays untouched by outside handlers for the duration of this function call.
+// NOTE caled at the same priority as PendSV so it may make that longer but it is better that having htis pre empted by pendsv
+void Stepper::trapezoid_generator_tick(void)
+{
+ // Do not do the accel math for nothing
+ if(this->current_block && this->main_stepper->moving ) {
+
+ // Store this here because we use it a lot down there
+ uint32_t current_steps_completed = this->main_stepper->stepped;
+ float last_rate= trapezoid_adjusted_rate;
+
+ if( this->force_speed_update ) {
+ // Do not accel, just set the value
+ this->force_speed_update = false;
+ last_rate= -1;
+
+ } else if(THEKERNEL->conveyor->is_flushing()) {
+ // if we are flushing the queue, decelerate to 0 then finish this block
+ if (trapezoid_adjusted_rate > current_block->rate_delta * 1.5F) {
+ trapezoid_adjusted_rate -= current_block->rate_delta;
+
+ } else if (trapezoid_adjusted_rate == current_block->rate_delta * 0.5F) {
+ for (auto i : THEKERNEL->robot->actuators) i->move(i->direction, 0); // stop motors
+ if (current_block) current_block->release();
+ THEKERNEL->call_event(ON_SPEED_CHANGE, 0); // tell others we stopped
+ return;
+
+ } else {
+ trapezoid_adjusted_rate = current_block->rate_delta * 0.5F;
+ }
+
+ } else if(current_steps_completed <= this->current_block->accelerate_until) {
+ // If we are accelerating
+ // Increase speed
+ this->trapezoid_adjusted_rate += this->current_block->rate_delta;
+ if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) {
+ this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
+ }
+
+ } else if (current_steps_completed > this->current_block->decelerate_after) {
+ // If we are decelerating
+ // Reduce speed
+ // NOTE: We will only reduce speed if the result will be > 0. This catches small
+ // rounding errors that might leave steps hanging after the last trapezoid tick.
+ if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5F) {
+ this->trapezoid_adjusted_rate -= this->current_block->rate_delta;
+ } else {
+ this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5F;
+ }
+ if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) {
+ this->trapezoid_adjusted_rate = this->current_block->final_rate;
+ }
+
+ } else if (trapezoid_adjusted_rate != current_block->nominal_rate) {
+ // If we are cruising
+ // Make sure we cruise at exactly nominal rate
+ this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
+ }
+
+ if(last_rate != trapezoid_adjusted_rate) {
+ // don't call this if speed did not change
+ this->set_step_events_per_second(this->trapezoid_adjusted_rate);
+ }
+ }
+}
+
+// Initializes the trapezoid generator from the current block. Called whenever a new
+// block begins.
+inline void Stepper::trapezoid_generator_reset()
+{
+ this->trapezoid_adjusted_rate = this->current_block->initial_rate;
+ this->force_speed_update = true;
+}
+
+// Update the speed for all steppers
+void Stepper::set_step_events_per_second( float steps_per_second )
+{
+ float isps= steps_per_second / this->current_block->steps_event_count;
+
+ // Instruct the stepper motors
+ for (size_t i = 0; i < THEKERNEL->robot->actuators.size(); i++) {
+ if (THEKERNEL->robot->actuators[i]->moving) {
+ THEKERNEL->robot->actuators[i]->set_speed(isps * this->current_block->steps[i]);
+ }
+ }
+
+ // Other modules might want to know the speed changed
+ THEKERNEL->call_event(ON_SPEED_CHANGE, this);
+}
+
+
HCoop / clinton / Smoothieware.git / blobdiff