Commit | Line | Data |
---|---|---|
7b49793d | 1 | /* |
5886a464 | 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) |
4cff3ded AW |
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. | |
7b49793d | 5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. |
4cff3ded AW |
6 | */ |
7 | ||
8 | #include "libs/Module.h" | |
9 | #include "libs/Kernel.h" | |
10 | #include "Stepper.h" | |
11 | #include "Planner.h" | |
3fceb8eb | 12 | #include "Conveyor.h" |
4cff3ded AW |
13 | #include <vector> |
14 | using namespace std; | |
15 | #include "libs/nuts_bolts.h" | |
2f7d3dba | 16 | #include "libs/Hook.h" |
db453125 AW |
17 | #include <mri.h> |
18 | ||
19 | ||
edac9072 | 20 | // The stepper reacts to blocks that have XYZ movement to transform them into actual stepper motor moves |
d337942a | 21 | // TODO: This does accel, accel should be in StepperMotor |
edac9072 | 22 | |
4cff3ded | 23 | Stepper* stepper; |
4464301d AW |
24 | uint32_t previous_step_count; |
25 | uint32_t skipped_speed_updates; | |
813727fb AW |
26 | uint32_t speed_ticks_counter; |
27 | ||
4cff3ded AW |
28 | Stepper::Stepper(){ |
29 | this->current_block = NULL; | |
81b547a1 | 30 | this->paused = false; |
650ed0a8 | 31 | this->trapezoid_generator_busy = false; |
1013f6a3 | 32 | this->force_speed_update = false; |
4464301d | 33 | skipped_speed_updates = 0; |
4cff3ded AW |
34 | } |
35 | ||
36 | //Called when the module has just been loaded | |
37 | void Stepper::on_module_loaded(){ | |
38 | stepper = this; | |
476dcb96 | 39 | register_for_event(ON_CONFIG_RELOAD); |
3a4fa0c1 AW |
40 | this->register_for_event(ON_BLOCK_BEGIN); |
41 | this->register_for_event(ON_BLOCK_END); | |
6b833f7d | 42 | this->register_for_event(ON_GCODE_EXECUTE); |
31e600f6 | 43 | this->register_for_event(ON_GCODE_RECEIVED); |
befcf5cc AW |
44 | this->register_for_event(ON_PLAY); |
45 | this->register_for_event(ON_PAUSE); | |
7b49793d | 46 | |
4cff3ded | 47 | // Get onfiguration |
7b49793d | 48 | this->on_config_reload(this); |
4cff3ded | 49 | |
ded56b35 | 50 | // Acceleration ticker |
314ab8f7 | 51 | this->acceleration_tick_hook = THEKERNEL->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick ); |
4cff3ded | 52 | |
feb204be | 53 | // Attach to the end_of_move stepper event |
314ab8f7 MM |
54 | THEKERNEL->robot->alpha_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); |
55 | THEKERNEL->robot->beta_stepper_motor->attach( this, &Stepper::stepper_motor_finished_move ); | |
56 | THEKERNEL->robot->gamma_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); | |
4cff3ded AW |
57 | } |
58 | ||
2bb8b390 | 59 | // Get configuration from the config file |
da24d6ae | 60 | void Stepper::on_config_reload(void* argument){ |
7b49793d | 61 | |
314ab8f7 | 62 | this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(100 )->as_number(); |
da947c62 | 63 | this->minimum_steps_per_second = THEKERNEL->config->value(minimum_steps_per_minute_checksum )->by_default(3000 )->as_number() / 60; |
bee725fc | 64 | |
5a884140 MM |
65 | // Steppers start off by default |
66 | this->turn_enable_pins_off(); | |
da24d6ae AW |
67 | } |
68 | ||
befcf5cc AW |
69 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
70 | void Stepper::on_pause(void* argument){ | |
81b547a1 | 71 | this->paused = true; |
314ab8f7 MM |
72 | THEKERNEL->robot->alpha_stepper_motor->pause(); |
73 | THEKERNEL->robot->beta_stepper_motor->pause(); | |
74 | THEKERNEL->robot->gamma_stepper_motor->pause(); | |
befcf5cc AW |
75 | } |
76 | ||
77 | // When the play/pause button is set to play, or a module calls the ON_PLAY event | |
78 | void Stepper::on_play(void* argument){ | |
7b49793d | 79 | // TODO: Re-compute the whole queue for a cold-start |
81b547a1 | 80 | this->paused = false; |
314ab8f7 MM |
81 | THEKERNEL->robot->alpha_stepper_motor->unpause(); |
82 | THEKERNEL->robot->beta_stepper_motor->unpause(); | |
83 | THEKERNEL->robot->gamma_stepper_motor->unpause(); | |
befcf5cc AW |
84 | } |
85 | ||
31e600f6 JM |
86 | void Stepper::on_gcode_received(void* argument){ |
87 | Gcode* gcode = static_cast<Gcode*>(argument); | |
88 | // Attach gcodes to the last block for on_gcode_execute | |
89 | if( gcode->has_m && (gcode->m == 84 || gcode->m == 17 || gcode->m == 18 )) { | |
e0ee24ed | 90 | THEKERNEL->conveyor->append_gcode(gcode); |
1cf31736 | 91 | } |
31e600f6 JM |
92 | } |
93 | ||
edac9072 | 94 | // React to enable/disable gcodes |
6b833f7d MM |
95 | void Stepper::on_gcode_execute(void* argument){ |
96 | Gcode* gcode = static_cast<Gcode*>(argument); | |
97 | ||
e6b5ae25 AW |
98 | if( gcode->has_m){ |
99 | if( gcode->m == 17 ){ | |
7b49793d | 100 | this->turn_enable_pins_on(); |
831bade1 | 101 | } |
d3ed57b2 | 102 | if( (gcode->m == 84 || gcode->m == 18) && !gcode->has_letter('E') ){ |
7b49793d | 103 | this->turn_enable_pins_off(); |
6b833f7d MM |
104 | } |
105 | } | |
106 | } | |
107 | ||
edac9072 | 108 | // Enable steppers |
831bade1 | 109 | void Stepper::turn_enable_pins_on(){ |
78d0e16a | 110 | for (StepperMotor* m : THEKERNEL->robot->actuators) |
9c5fa39a | 111 | m->enable(true); |
831bade1 AW |
112 | this->enable_pins_status = true; |
113 | } | |
114 | ||
edac9072 | 115 | // Disable steppers |
831bade1 | 116 | void Stepper::turn_enable_pins_off(){ |
78d0e16a | 117 | for (StepperMotor* m : THEKERNEL->robot->actuators) |
9c5fa39a | 118 | m->enable(false); |
831bade1 AW |
119 | this->enable_pins_status = false; |
120 | } | |
121 | ||
7b49793d | 122 | // A new block is popped from the queue |
3a4fa0c1 AW |
123 | void Stepper::on_block_begin(void* argument){ |
124 | Block* block = static_cast<Block*>(argument); | |
125 | ||
126 | // The stepper does not care about 0-blocks | |
1cf31736 | 127 | if( block->millimeters == 0.0F ){ return; } |
7b49793d | 128 | |
4464301d AW |
129 | // Mark the new block as of interrest to us |
130 | if( block->steps[ALPHA_STEPPER] > 0 || block->steps[BETA_STEPPER] > 0 || block->steps[GAMMA_STEPPER] > 0 ){ | |
131 | block->take(); | |
4464301d AW |
132 | }else{ |
133 | return; | |
134 | } | |
813727fb | 135 | |
7b49793d | 136 | // We can't move with the enable pins off |
831bade1 AW |
137 | if( this->enable_pins_status == false ){ |
138 | this->turn_enable_pins_on(); | |
139 | } | |
140 | ||
7b49793d | 141 | // Setup : instruct stepper motors to move |
314ab8f7 MM |
142 | if( block->steps[ALPHA_STEPPER] > 0 ){ THEKERNEL->robot->alpha_stepper_motor->move( ( block->direction_bits >> 0 ) & 1 , block->steps[ALPHA_STEPPER] ); } |
143 | if( block->steps[BETA_STEPPER ] > 0 ){ THEKERNEL->robot->beta_stepper_motor->move( ( block->direction_bits >> 1 ) & 1 , block->steps[BETA_STEPPER ] ); } | |
144 | if( block->steps[GAMMA_STEPPER] > 0 ){ THEKERNEL->robot->gamma_stepper_motor->move( ( block->direction_bits >> 2 ) & 1 , block->steps[GAMMA_STEPPER] ); } | |
3a4fa0c1 | 145 | |
1a2d88eb | 146 | this->current_block = block; |
feb204be | 147 | |
7b49793d | 148 | // Setup acceleration for this block |
1a2d88eb | 149 | this->trapezoid_generator_reset(); |
ded56b35 | 150 | |
feb204be | 151 | // Find the stepper with the more steps, it's the one the speed calculations will want to follow |
314ab8f7 MM |
152 | this->main_stepper = THEKERNEL->robot->alpha_stepper_motor; |
153 | if( THEKERNEL->robot->beta_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = THEKERNEL->robot->beta_stepper_motor; } | |
154 | if( THEKERNEL->robot->gamma_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ){ this->main_stepper = THEKERNEL->robot->gamma_stepper_motor; } | |
feb204be | 155 | |
edac9072 | 156 | // Set the initial speed for this move |
9883efb8 AW |
157 | this->trapezoid_generator_tick(0); |
158 | ||
2f7d3dba | 159 | // Synchronise the acceleration curve with the stepping |
658b8a40 | 160 | this->synchronize_acceleration(0); |
2f7d3dba | 161 | |
3a4fa0c1 AW |
162 | } |
163 | ||
164 | // Current block is discarded | |
165 | void Stepper::on_block_end(void* argument){ | |
813727fb | 166 | this->current_block = NULL; //stfu ! |
3a4fa0c1 | 167 | } |
da24d6ae | 168 | |
feb204be | 169 | // When a stepper motor has finished it's assigned movement |
83ecfc46 | 170 | uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy){ |
81b547a1 | 171 | |
feb204be | 172 | // We care only if none is still moving |
314ab8f7 | 173 | if( THEKERNEL->robot->alpha_stepper_motor->moving || THEKERNEL->robot->beta_stepper_motor->moving || THEKERNEL->robot->gamma_stepper_motor->moving ){ return 0; } |
7b49793d | 174 | |
feb204be | 175 | // This block is finished, release it |
4cff3ded | 176 | if( this->current_block != NULL ){ |
7b49793d | 177 | this->current_block->release(); |
4cff3ded | 178 | } |
7b49793d | 179 | |
9e672116 | 180 | return 0; |
4cff3ded AW |
181 | } |
182 | ||
83ecfc46 | 183 | |
4cff3ded AW |
184 | // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event |
185 | // interrupt. It can be assumed that the trapezoid-generator-parameters and the | |
186 | // current_block stays untouched by outside handlers for the duration of this function call. | |
8b8b3339 | 187 | uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) { |
1013f6a3 | 188 | |
edac9072 | 189 | // Do not do the accel math for nothing |
813727fb | 190 | if(this->current_block && !this->paused && this->main_stepper->moving ) { |
1cf31736 JM |
191 | |
192 | // Store this here because we use it a lot down there | |
813727fb | 193 | uint32_t current_steps_completed = this->main_stepper->stepped; |
7b49793d | 194 | |
edac9072 | 195 | // Do not accel, just set the value |
813727fb AW |
196 | if( this->force_speed_update ){ |
197 | this->force_speed_update = false; | |
da947c62 | 198 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
bd0f7508 | 199 | return 0; |
813727fb | 200 | } |
6b080aff | 201 | |
edac9072 | 202 | // If we are accelerating |
69735c09 | 203 | if(current_steps_completed <= this->current_block->accelerate_until + 1) { |
1cf31736 | 204 | // Increase speed |
edac9072 | 205 | this->trapezoid_adjusted_rate += this->current_block->rate_delta; |
ded56b35 AW |
206 | if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) { |
207 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; | |
208 | } | |
da947c62 | 209 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
1cf31736 JM |
210 | |
211 | // If we are decelerating | |
2f7d3dba | 212 | }else if (current_steps_completed > this->current_block->decelerate_after) { |
1cf31736 | 213 | // Reduce speed |
edac9072 | 214 | // NOTE: We will only reduce speed if the result will be > 0. This catches small |
ded56b35 | 215 | // rounding errors that might leave steps hanging after the last trapezoid tick. |
da947c62 | 216 | if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5F) { |
47b3f3ae | 217 | this->trapezoid_adjusted_rate -= this->current_block->rate_delta; |
ded56b35 | 218 | }else{ |
da947c62 | 219 | this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5F; |
ded56b35 | 220 | } |
650ed0a8 | 221 | if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) { |
ded56b35 | 222 | this->trapezoid_adjusted_rate = this->current_block->final_rate; |
7b49793d | 223 | } |
da947c62 | 224 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
1cf31736 JM |
225 | |
226 | // If we are cruising | |
83ecfc46 | 227 | }else { |
ded56b35 AW |
228 | // Make sure we cruise at exactly nominal rate |
229 | if (this->trapezoid_adjusted_rate != this->current_block->nominal_rate) { | |
230 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; | |
da947c62 | 231 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
ded56b35 | 232 | } |
1013f6a3 | 233 | } |
ded56b35 | 234 | } |
1013f6a3 | 235 | |
b852a30c | 236 | return 0; |
4cff3ded AW |
237 | } |
238 | ||
83ecfc46 AW |
239 | |
240 | ||
4cff3ded AW |
241 | // Initializes the trapezoid generator from the current block. Called whenever a new |
242 | // block begins. | |
650ed0a8 | 243 | inline void Stepper::trapezoid_generator_reset(){ |
4cff3ded | 244 | this->trapezoid_adjusted_rate = this->current_block->initial_rate; |
1013f6a3 | 245 | this->force_speed_update = true; |
4cff3ded | 246 | this->trapezoid_tick_cycle_counter = 0; |
4464301d AW |
247 | previous_step_count = 0; |
248 | skipped_speed_updates = 0; | |
813727fb | 249 | speed_ticks_counter = 0; |
4cff3ded AW |
250 | } |
251 | ||
feb204be | 252 | // Update the speed for all steppers |
da947c62 MM |
253 | void Stepper::set_step_events_per_second( float steps_per_second ) |
254 | { | |
7b49793d | 255 | // We do not step slower than this |
813727fb | 256 | //steps_per_minute = max(steps_per_minute, this->minimum_steps_per_minute); |
da947c62 MM |
257 | if( steps_per_second < this->minimum_steps_per_second ){ |
258 | steps_per_second = this->minimum_steps_per_second; | |
813727fb | 259 | } |
4cff3ded | 260 | |
feb204be | 261 | // Instruct the stepper motors |
da947c62 MM |
262 | 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 ) ); } |
263 | 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 ) ); } | |
264 | 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 ) ); } | |
4cff3ded | 265 | |
edac9072 | 266 | // Other modules might want to know the speed changed |
314ab8f7 | 267 | THEKERNEL->call_event(ON_SPEED_CHANGE, this); |
4464301d | 268 | |
4cff3ded AW |
269 | } |
270 | ||
7b49793d | 271 | // This function has the role of making sure acceleration and deceleration curves have their |
2f7d3dba AW |
272 | // rythm synchronized. The accel/decel must start at the same moment as the speed update routine |
273 | // This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast. | |
274 | // All we do is reset the other timer so that it does what we want | |
275 | uint32_t Stepper::synchronize_acceleration(uint32_t dummy){ | |
276 | ||
2f7d3dba AW |
277 | // No move was done, this is called from on_block_begin |
278 | // This means we setup the accel timer in a way where it gets called right after | |
7b49793d | 279 | // we exit this step interrupt, and so that it is then in synch with |
2f7d3dba AW |
280 | if( this->main_stepper->stepped == 0 ){ |
281 | // Whatever happens, we must call the accel interrupt asap | |
282 | // Because it will set the initial rate | |
283 | // We also want to synchronize in case we start accelerating or decelerating now | |
7b49793d MM |
284 | |
285 | // Accel interrupt must happen asap | |
2f7d3dba AW |
286 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
287 | // Synchronize both counters | |
288 | LPC_TIM2->TC = LPC_TIM0->TC; | |
7b49793d MM |
289 | |
290 | // If we start decelerating after this, we must ask the actuator to warn us | |
2f7d3dba AW |
291 | // so we can do what we do in the "else" bellow |
292 | if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ){ | |
293 | this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration); | |
7b49793d | 294 | } |
2f7d3dba AW |
295 | }else{ |
296 | // If we are called not at the first steps, this means we are beginning deceleration | |
7b49793d | 297 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
2f7d3dba | 298 | // Synchronize both counters |
7b49793d | 299 | LPC_TIM2->TC = LPC_TIM0->TC; |
2f7d3dba AW |
300 | } |
301 | ||
658b8a40 | 302 | return 0; |
2f7d3dba AW |
303 | } |
304 |