#include "libs/Module.h"
#include "libs/Kernel.h"
#include "libs/nuts_bolts.h"
-#include <math.h>
+#include <cmath>
#include <string>
#include "Block.h"
#include "Planner.h"
#include "Gcode.h"
#include "libs/StreamOutputPool.h"
#include "StepTicker.h"
+#include "platform_memory.h"
#include "mri.h"
+#include <inttypes.h>
using std::string;
-#include <vector>
#define STEP_TICKER_FREQUENCY THEKERNEL->step_ticker->get_frequency()
-#define STEP_TICKER_FREQUENCY_2 (STEP_TICKER_FREQUENCY*STEP_TICKER_FREQUENCY)
+
+uint8_t Block::n_actuators= 0;
+double Block::fp_scale= 0;
// A block represents a movement, it's length for each stepper motor, and the corresponding acceleration curves.
// It's stacked on a queue, and that queue is then executed in order, to move the motors.
Block::Block()
{
+ tick_info= nullptr;
clear();
}
+void Block::init(uint8_t n)
+{
+ n_actuators= n;
+ fp_scale= (double)STEPTICKER_FPSCALE / pow((double)STEP_TICKER_FREQUENCY, 2.0); // we scale up by fixed point offset first to avoid tiny values
+}
+
void Block::clear()
{
- //commands.clear();
- //travel_distances.clear();
- //gcodes.clear();
- //std::vector<Gcode>().swap(gcodes); // this resizes the vector releasing its memory
+ is_ready = false;
this->steps.fill(0);
nominal_speed = 0.0F;
millimeters = 0.0F;
entry_speed = 0.0F;
- //exit_speed = 0.0F;
- acceleration = 100.0F; // we don't want to get devide by zeroes if this is not set
+ exit_speed = 0.0F;
+ acceleration = 100.0F; // we don't want to get divide by zeroes if this is not set
initial_rate = 0.0F;
accelerate_until = 0;
decelerate_after = 0;
recalculate_flag = false;
nominal_length_flag = false;
max_entry_speed = 0.0F;
- is_ready = false;
+ is_ticking = false;
+ is_g123 = false;
+ locked = false;
+ s_value = 0.0F;
- acceleration_per_tick= 0;
- deceleration_per_tick= 0;
total_move_ticks= 0;
+ if(tick_info == nullptr) {
+ // we create this once for this block
+ tick_info= new tickinfo_t[n_actuators]; //(tickinfo_t *)malloc(sizeof(tickinfo_t) * n_actuators);
+ if(tick_info == nullptr) {
+ // if we ran out of memory in AHB0 just stop here
+ __debugbreak();
+ }
+ }
+
+ for(int i = 0; i < n_actuators; ++i) {
+ tick_info[i].steps_per_tick= 0;
+ tick_info[i].counter= 0;
+ tick_info[i].acceleration_change= 0;
+ tick_info[i].deceleration_change= 0;
+ tick_info[i].plateau_rate= 0;
+ tick_info[i].steps_to_move= 0;
+ tick_info[i].step_count= 0;
+ tick_info[i].next_accel_event= 0;
+ }
}
void Block::debug() const
{
- THEKERNEL->streams->printf("%p: steps:X%04lu Y%04lu Z%04lu(max:%4lu) nominal:r%6.1f/s%6.1f mm:%9.6f acc:%5lu dec:%5lu rates:%10.4f entry/max: %10.4f/%10.4f ready:%d recalc:%d nomlen:%d time:%f\r\n",
- this,
- this->steps[0],
- this->steps[1],
- this->steps[2],
+ THEKERNEL->streams->printf("%p: steps-X:%lu Y:%lu Z:%lu ", this, this->steps[0], this->steps[1], this->steps[2]);
+ for (size_t i = E_AXIS; i < n_actuators; ++i) {
+ THEKERNEL->streams->printf("%c:%lu ", 'A' + i-E_AXIS, this->steps[i]);
+ }
+ THEKERNEL->streams->printf("(max:%lu) nominal:r%1.4f/s%1.4f mm:%1.4f acc:%1.2f accu:%lu decu:%lu ticks:%lu rates:%1.4f/%1.4f entry/max:%1.4f/%1.4f exit:%1.4f primary:%d ready:%d locked:%d ticking:%d recalc:%d nomlen:%d time:%f\r\n",
this->steps_event_count,
this->nominal_rate,
this->nominal_speed,
this->millimeters,
+ this->acceleration,
this->accelerate_until,
this->decelerate_after,
+ this->total_move_ticks,
this->initial_rate,
+ this->maximum_rate,
this->entry_speed,
this->max_entry_speed,
+ this->exit_speed,
+ this->primary_axis,
this->is_ready,
+ this->locked,
+ this->is_ticking,
recalculate_flag ? 1 : 0,
nominal_length_flag ? 1 : 0,
total_move_ticks/STEP_TICKER_FREQUENCY
*/
void Block::calculate_trapezoid( float entryspeed, float exitspeed )
{
+ // if block is currently executing, don't touch anything!
+ if (is_ticking) return;
+
float initial_rate = this->nominal_rate * (entryspeed / this->nominal_speed); // steps/sec
float final_rate = this->nominal_rate * (exitspeed / this->nominal_speed);
//printf("Initial rate: %f, final_rate: %f\n", initial_rate, final_rate);
float acceleration_in_steps = (acceleration_time > 0.0F ) ? ( this->maximum_rate - initial_rate ) / acceleration_time : 0;
float deceleration_in_steps = (deceleration_time > 0.0F ) ? ( this->maximum_rate - final_rate ) / deceleration_time : 0;
+ // we have a potential race condition here as we could get interrupted anywhere in the middle of this call, we need to lock
+ // the updates to the blocks to get around it
+ this->locked= true;
// Now figure out the two acceleration ramp change events in ticks
this->accelerate_until = acceleration_ticks;
this->decelerate_after = total_move_ticks - deceleration_ticks;
- // Now figure out the acceleration PER TICK, this should ideally be held as a float, even a double if possible as it's very critical to the block timing
- // steps/tick^2
-
- this->acceleration_per_tick = acceleration_in_steps / STEP_TICKER_FREQUENCY_2;
- this->deceleration_per_tick = deceleration_in_steps / STEP_TICKER_FREQUENCY_2;
-
// We now have everything we need for this block to call a Steppermotor->move method !!!!
// Theorically, if accel is done per tick, the speed curve should be perfect.
-
- // We need this to call move()
this->total_move_ticks = total_move_ticks;
- //puts "accelerate_until: #{this->accelerate_until}, decelerate_after: #{this->decelerate_after}, acceleration_per_tick: #{this->acceleration_per_tick}, total_move_ticks: #{this->total_move_ticks}"
-
this->initial_rate = initial_rate;
- //this->exit_speed = exitspeed;
+ this->exit_speed = exitspeed;
+
+ // prepare the block for stepticker
+ this->prepare(acceleration_in_steps, deceleration_in_steps);
+
+ this->locked= false;
}
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
{
// if block is currently executing, return cached exit speed from calculate_trapezoid
// this ensures that a block following a currently executing block will have correct entry speed
- // FIXME
- // if (times_taken)
- // return exit_speed;
+ if(is_ticking)
+ return this->exit_speed;
// if nominal_length_flag is asserted
// we are guaranteed to reach nominal speed regardless of entry speed
return min(max, nominal_speed);
}
-// Gcodes are attached to their respective blocks so that on_gcode_execute can be called with it
-// void Block::append_gcode(Gcode* gcode)
-// {
-// Gcode new_gcode = *gcode;
-// new_gcode.strip_parameters(); // optimization to save memory we strip off the XYZIJK parameters from the saved command
-// gcodes.push_back(new_gcode);
-// }
-
-// void Block::begin()
-// {
-// // can no longer be used in planning
-// recalculate_flag = false;
-
-// // TODO probably should remove this
-// if (!is_ready)
-// __debugbreak();
-
-// }
-
-// Mark the block as finished
-//void Block::release()
-//{
- // if (is_ready) {
- // is_ready = false;
- // THEKERNEL->conveyor->on_block_end(this);
- // }
-//}
+// prepare block for the step ticker, called everytime the block changes
+// this is done during planning so does not delay tick generation and step ticker can simply grab the next block during the interrupt
+void Block::prepare(float acceleration_in_steps, float deceleration_in_steps)
+{
+
+ float inv = 1.0F / this->steps_event_count;
+
+ // Now figure out the acceleration PER TICK, this should ideally be held as a double as it's very critical to the block timing
+ // steps/tick^2
+ // was....
+ // float acceleration_per_tick = acceleration_in_steps / STEP_TICKER_FREQUENCY_2; // that is 100,000² too big for a float
+ // float deceleration_per_tick = deceleration_in_steps / STEP_TICKER_FREQUENCY_2;
+ double acceleration_per_tick = acceleration_in_steps * fp_scale; // this is now scaled to fit a 2.30 fixed point number
+ double deceleration_per_tick = deceleration_in_steps * fp_scale;
+
+ for (uint8_t m = 0; m < n_actuators; m++) {
+ uint32_t steps = this->steps[m];
+ this->tick_info[m].steps_to_move = steps;
+ if(steps == 0) continue;
+
+ float aratio = inv * steps;
+
+ this->tick_info[m].steps_per_tick = (int64_t)round((((double)this->initial_rate * aratio) / STEP_TICKER_FREQUENCY) * STEPTICKER_FPSCALE); // steps/sec / tick frequency to get steps per tick in 2.62 fixed point
+ this->tick_info[m].counter = 0; // 2.62 fixed point
+ this->tick_info[m].step_count = 0;
+ this->tick_info[m].next_accel_event = this->total_move_ticks + 1;
+
+ double acceleration_change = 0;
+ if(this->accelerate_until != 0) { // If the next accel event is the end of accel
+ this->tick_info[m].next_accel_event = this->accelerate_until;
+ acceleration_change = acceleration_per_tick;
+
+ } else if(this->decelerate_after == 0 /*&& this->accelerate_until == 0*/) {
+ // we start off decelerating
+ acceleration_change = -deceleration_per_tick;
+
+ } else if(this->decelerate_after != this->total_move_ticks /*&& this->accelerate_until == 0*/) {
+ // If the next event is the start of decel ( don't set this if the next accel event is accel end )
+ this->tick_info[m].next_accel_event = this->decelerate_after;
+ }
+
+ // already converted to fixed point just needs scaling by ratio
+ //#define STEPTICKER_TOFP(x) ((int64_t)round((double)(x)*STEPTICKER_FPSCALE))
+ this->tick_info[m].acceleration_change= (int64_t)round(acceleration_change * aratio);
+ this->tick_info[m].deceleration_change= -(int64_t)round(deceleration_per_tick * aratio);
+ this->tick_info[m].plateau_rate= (int64_t)round(((this->maximum_rate * aratio) / STEP_TICKER_FREQUENCY) * STEPTICKER_FPSCALE);
+
+ #if 0
+ THEKERNEL->streams->printf("spt: %08lX %08lX, ac: %08lX %08lX, dc: %08lX %08lX, pr: %08lX %08lX\n",
+ (uint32_t)(this->tick_info[m].steps_per_tick>>32), // 2.62 fixed point
+ (uint32_t)(this->tick_info[m].steps_per_tick&0xFFFFFFFF), // 2.62 fixed point
+ (uint32_t)(this->tick_info[m].acceleration_change>>32), // 2.62 fixed point signed
+ (uint32_t)(this->tick_info[m].acceleration_change&0xFFFFFFFF), // 2.62 fixed point signed
+ (uint32_t)(this->tick_info[m].deceleration_change>>32), // 2.62 fixed point
+ (uint32_t)(this->tick_info[m].deceleration_change&0xFFFFFFFF), // 2.62 fixed point
+ (uint32_t)(this->tick_info[m].plateau_rate>>32), // 2.62 fixed point
+ (uint32_t)(this->tick_info[m].plateau_rate&0xFFFFFFFF) // 2.62 fixed point
+ );
+ #endif
+ }
+}
+
+// returns current rate (steps/sec) for the given actuator
+float Block::get_trapezoid_rate(int i) const
+{
+ // convert steps per tick from fixed point to float and convert to steps/sec
+ // FIXME steps_per_tick can change at any time, potential race condition if it changes while being read here
+ return STEPTICKER_FROMFP(tick_info[i].steps_per_tick) * STEP_TICKER_FREQUENCY;
+}
HCoop / clinton / Smoothieware.git / blobdiff