Commit | Line | Data |
---|---|---|
7b49793d | 1 | /* |
4cff3ded AW |
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. | |
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 "libs/nuts_bolts.h" | |
11 | #include <math.h> | |
4cff3ded AW |
12 | #include <string> |
13 | #include "Block.h" | |
14 | #include "Planner.h" | |
3fceb8eb | 15 | #include "Conveyor.h" |
9d005957 | 16 | #include "Gcode.h" |
61134a65 | 17 | #include "libs/StreamOutputPool.h" |
8b260c2c | 18 | #include "StepTicker.h" |
9d005957 MM |
19 | |
20 | #include "mri.h" | |
21 | ||
4cff3ded AW |
22 | using std::string; |
23 | #include <vector> | |
4cff3ded | 24 | |
8b260c2c JM |
25 | #define STEP_TICKER_FREQUENCY THEKERNEL->step_ticker->get_frequency() |
26 | #define STEP_TICKER_FREQUENCY_2 (STEP_TICKER_FREQUENCY*STEP_TICKER_FREQUENCY) | |
27 | ||
edac9072 AW |
28 | // A block represents a movement, it's length for each stepper motor, and the corresponding acceleration curves. |
29 | // It's stacked on a queue, and that queue is then executed in order, to move the motors. | |
30 | // Most of the accel math is also done in this class | |
31 | // And GCode objects for use in on_gcode_execute are also help in here | |
32 | ||
1cf31736 JM |
33 | Block::Block() |
34 | { | |
35 | clear(); | |
36 | } | |
37 | ||
38 | void Block::clear() | |
39 | { | |
40 | //commands.clear(); | |
41 | //travel_distances.clear(); | |
9e6014a6 JM |
42 | //gcodes.clear(); |
43 | //std::vector<Gcode>().swap(gcodes); // this resizes the vector releasing its memory | |
b64cb3dd | 44 | |
807b9b57 | 45 | this->steps.fill(0); |
1cf31736 | 46 | |
f539c22f | 47 | steps_event_count = 0; |
1598a726 | 48 | nominal_rate = 0.0F; |
f539c22f MM |
49 | nominal_speed = 0.0F; |
50 | millimeters = 0.0F; | |
51 | entry_speed = 0.0F; | |
f6542ad9 | 52 | exit_speed = 0.0F; |
3eadcfee | 53 | acceleration = 100.0F; // we don't want to get devide by zeroes if this is not set |
1598a726 | 54 | initial_rate = 0.0F; |
f539c22f MM |
55 | accelerate_until = 0; |
56 | decelerate_after = 0; | |
57 | direction_bits = 0; | |
58 | recalculate_flag = false; | |
59 | nominal_length_flag = false; | |
60 | max_entry_speed = 0.0F; | |
433d636f | 61 | is_ready = false; |
f6542ad9 JM |
62 | is_ticking = false; |
63 | locked = false; | |
9e6014a6 | 64 | |
8b260c2c JM |
65 | acceleration_per_tick= 0; |
66 | deceleration_per_tick= 0; | |
67 | total_move_ticks= 0; | |
4cff3ded AW |
68 | } |
69 | ||
433d636f | 70 | void Block::debug() const |
1cf31736 | 71 | { |
121844b7 | 72 | 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", |
2134bcf2 | 73 | this, |
1b5776bf JM |
74 | this->steps[0], |
75 | this->steps[1], | |
76 | this->steps[2], | |
77 | this->steps_event_count, | |
78 | this->nominal_rate, | |
79 | this->nominal_speed, | |
80 | this->millimeters, | |
1b5776bf JM |
81 | this->accelerate_until, |
82 | this->decelerate_after, | |
83 | this->initial_rate, | |
1b5776bf JM |
84 | this->entry_speed, |
85 | this->max_entry_speed, | |
1b5776bf JM |
86 | this->is_ready, |
87 | recalculate_flag ? 1 : 0, | |
121844b7 JM |
88 | nominal_length_flag ? 1 : 0, |
89 | total_move_ticks/STEP_TICKER_FREQUENCY | |
1b5776bf | 90 | ); |
4cff3ded AW |
91 | } |
92 | ||
93 | ||
69735c09 | 94 | /* Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. |
4cff3ded AW |
95 | // The factors represent a factor of braking and must be in the range 0.0-1.0. |
96 | // +--------+ <- nominal_rate | |
97 | // / \ | |
98 | // nominal_rate*entry_factor -> + \ | |
99 | // | + <- nominal_rate*exit_factor | |
100 | // +-------------+ | |
101 | // time --> | |
edac9072 | 102 | */ |
a617ac35 | 103 | void Block::calculate_trapezoid( float entryspeed, float exitspeed ) |
1cf31736 | 104 | { |
f6542ad9 JM |
105 | // if block is currently executing, don't touch anything! |
106 | if (is_ticking) return; | |
107 | ||
8b260c2c JM |
108 | float initial_rate = this->nominal_rate * (entryspeed / this->nominal_speed); // steps/sec |
109 | float final_rate = this->nominal_rate * (exitspeed / this->nominal_speed); | |
110 | //printf("Initial rate: %f, final_rate: %f\n", initial_rate, final_rate); | |
111 | // How many steps ( can be fractions of steps, we need very precise values ) to accelerate and decelerate | |
112 | // This is a simplification to get rid of rate_delta and get the steps/s² accel directly from the mm/s² accel | |
113 | float acceleration_per_second = (this->acceleration * this->steps_event_count) / this->millimeters; | |
114 | ||
115 | float maximum_possible_rate = sqrtf( ( this->steps_event_count * acceleration_per_second ) + ( ( powf(initial_rate, 2) + powf(final_rate, 2) ) / 2.0F ) ); | |
116 | ||
117 | //printf("id %d: acceleration_per_second: %f, maximum_possible_rate: %f steps/sec, %f mm/sec\n", this->id, acceleration_per_second, maximum_possible_rate, maximum_possible_rate/100); | |
118 | ||
119 | // Now this is the maximum rate we'll achieve this move, either because | |
120 | // it's the higher we can achieve, or because it's the higher we are | |
121 | // allowed to achieve | |
1ae56063 | 122 | this->maximum_rate = std::min(maximum_possible_rate, this->nominal_rate); |
8b260c2c JM |
123 | |
124 | // Now figure out how long it takes to accelerate in seconds | |
125 | float time_to_accelerate = ( this->maximum_rate - initial_rate ) / acceleration_per_second; | |
126 | ||
127 | // Now figure out how long it takes to decelerate | |
128 | float time_to_decelerate = ( final_rate - this->maximum_rate ) / -acceleration_per_second; | |
129 | ||
130 | // Now we know how long it takes to accelerate and decelerate, but we must | |
131 | // also know how long the entire move takes so we can figure out how long | |
132 | // is the plateau if there is one | |
133 | float plateau_time = 0; | |
134 | ||
135 | // Only if there is actually a plateau ( we are limited by nominal_rate ) | |
136 | if(maximum_possible_rate > this->nominal_rate) { | |
137 | // Figure out the acceleration and deceleration distances ( in steps ) | |
138 | float acceleration_distance = ( ( initial_rate + this->maximum_rate ) / 2.0F ) * time_to_accelerate; | |
139 | float deceleration_distance = ( ( this->maximum_rate + final_rate ) / 2.0F ) * time_to_decelerate; | |
140 | ||
141 | // Figure out the plateau steps | |
142 | float plateau_distance = this->steps_event_count - acceleration_distance - deceleration_distance; | |
143 | ||
144 | // Figure out the plateau time in seconds | |
145 | plateau_time = plateau_distance / this->maximum_rate; | |
1cf31736 | 146 | } |
4cff3ded | 147 | |
8b260c2c JM |
148 | // Figure out how long the move takes total ( in seconds ) |
149 | float total_move_time = time_to_accelerate + time_to_decelerate + plateau_time; | |
150 | //puts "total move time: #{total_move_time}s time to accelerate: #{time_to_accelerate}, time to decelerate: #{time_to_decelerate}" | |
151 | ||
152 | // We now have the full timing for acceleration, plateau and deceleration, | |
153 | // yay \o/ Now this is very important these are in seconds, and we need to | |
154 | // round them into ticks. This means instead of accelerating in 100.23 | |
155 | // ticks we'll accelerate in 100 ticks. Which means to reach the exact | |
156 | // speed we want to reach, we must figure out a new/slightly different | |
157 | // acceleration/deceleration to be sure we accelerate and decelerate at | |
158 | // the exact rate we want | |
159 | ||
160 | // First off round total time, acceleration time and deceleration time in ticks | |
161 | uint32_t acceleration_ticks = floorf( time_to_accelerate * STEP_TICKER_FREQUENCY ); | |
162 | uint32_t deceleration_ticks = floorf( time_to_decelerate * STEP_TICKER_FREQUENCY ); | |
163 | uint32_t total_move_ticks = floorf( total_move_time * STEP_TICKER_FREQUENCY ); | |
164 | ||
165 | // Now deduce the plateau time for those new values expressed in tick | |
166 | //uint32_t plateau_ticks = total_move_ticks - acceleration_ticks - deceleration_ticks; | |
167 | ||
168 | // Now we figure out the acceleration value to reach EXACTLY maximum_rate(steps/s) in EXACTLY acceleration_ticks(ticks) amount of time in seconds | |
169 | float acceleration_time = acceleration_ticks / STEP_TICKER_FREQUENCY; // This can be moved into the operation below, separated for clarity, note we need to do this instead of using time_to_accelerate(seconds) directly because time_to_accelerate(seconds) and acceleration_ticks(seconds) do not have the same value anymore due to the rounding | |
170 | float deceleration_time = deceleration_ticks / STEP_TICKER_FREQUENCY; | |
171 | ||
172 | float acceleration_in_steps = (acceleration_time > 0.0F ) ? ( this->maximum_rate - initial_rate ) / acceleration_time : 0; | |
173 | float deceleration_in_steps = (deceleration_time > 0.0F ) ? ( this->maximum_rate - final_rate ) / deceleration_time : 0; | |
174 | ||
f6542ad9 JM |
175 | // we have a potential race condition here as we could get interrupted anywhere in the middle of this call, we need to lock |
176 | // the updates to the blocks to get around it | |
177 | this->locked= true; | |
8b260c2c JM |
178 | // Now figure out the two acceleration ramp change events in ticks |
179 | this->accelerate_until = acceleration_ticks; | |
180 | this->decelerate_after = total_move_ticks - deceleration_ticks; | |
181 | ||
182 | // 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 | |
183 | // steps/tick^2 | |
184 | ||
185 | this->acceleration_per_tick = acceleration_in_steps / STEP_TICKER_FREQUENCY_2; | |
186 | this->deceleration_per_tick = deceleration_in_steps / STEP_TICKER_FREQUENCY_2; | |
187 | ||
188 | // We now have everything we need for this block to call a Steppermotor->move method !!!! | |
189 | // Theorically, if accel is done per tick, the speed curve should be perfect. | |
8b260c2c JM |
190 | this->total_move_ticks = total_move_ticks; |
191 | ||
192 | //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}" | |
193 | ||
194 | this->initial_rate = initial_rate; | |
f6542ad9 JM |
195 | this->exit_speed = exitspeed; |
196 | ||
197 | // prepare the block for stepticker | |
198 | this->prepare(); | |
199 | this->locked= false; | |
4cff3ded AW |
200 | } |
201 | ||
4cff3ded AW |
202 | // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the |
203 | // acceleration within the allotted distance. | |
558e170c | 204 | float Block::max_allowable_speed(float acceleration, float target_velocity, float distance) |
1cf31736 | 205 | { |
a617ac35 | 206 | return sqrtf(target_velocity * target_velocity - 2.0F * acceleration * distance); |
4cff3ded AW |
207 | } |
208 | ||
4cff3ded | 209 | // Called by Planner::recalculate() when scanning the plan from last to first entry. |
a617ac35 | 210 | float Block::reverse_pass(float exit_speed) |
1cf31736 | 211 | { |
a617ac35 MM |
212 | // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. |
213 | // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and | |
214 | // check for maximum allowable speed reductions to ensure maximum possible planned speed. | |
1b5776bf | 215 | if (this->entry_speed != this->max_entry_speed) { |
a617ac35 MM |
216 | // If nominal length true, max junction speed is guaranteed to be reached. Only compute |
217 | // for max allowable speed if block is decelerating and nominal length is false. | |
1b5776bf | 218 | if ((!this->nominal_length_flag) && (this->max_entry_speed > exit_speed)) { |
4fdd2470 | 219 | float max_entry_speed = max_allowable_speed(-this->acceleration, exit_speed, this->millimeters); |
a617ac35 MM |
220 | |
221 | this->entry_speed = min(max_entry_speed, this->max_entry_speed); | |
222 | ||
223 | return this->entry_speed; | |
1b5776bf | 224 | } else |
a617ac35 MM |
225 | this->entry_speed = this->max_entry_speed; |
226 | } | |
4cff3ded | 227 | |
a617ac35 | 228 | return this->entry_speed; |
aab6cbba | 229 | } |
4cff3ded AW |
230 | |
231 | ||
232 | // Called by Planner::recalculate() when scanning the plan from first to last entry. | |
a617ac35 MM |
233 | // returns maximum exit speed of this block |
234 | float Block::forward_pass(float prev_max_exit_speed) | |
1cf31736 | 235 | { |
aab6cbba AW |
236 | // If the previous block is an acceleration block, but it is not long enough to complete the |
237 | // full speed change within the block, we need to adjust the entry speed accordingly. Entry | |
238 | // speeds have already been reset, maximized, and reverse planned by reverse planner. | |
239 | // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. | |
a617ac35 MM |
240 | |
241 | // TODO: find out if both of these checks are necessary | |
242 | if (prev_max_exit_speed > nominal_speed) | |
243 | prev_max_exit_speed = nominal_speed; | |
244 | if (prev_max_exit_speed > max_entry_speed) | |
245 | prev_max_exit_speed = max_entry_speed; | |
246 | ||
1b5776bf | 247 | if (prev_max_exit_speed <= entry_speed) { |
a617ac35 MM |
248 | // accel limited |
249 | entry_speed = prev_max_exit_speed; | |
250 | // since we're now acceleration or cruise limited | |
251 | // we don't need to recalculate our entry speed anymore | |
252 | recalculate_flag = false; | |
aab6cbba | 253 | } |
a617ac35 MM |
254 | // else |
255 | // // decel limited, do nothing | |
7b49793d | 256 | |
a617ac35 MM |
257 | return max_exit_speed(); |
258 | } | |
259 | ||
260 | float Block::max_exit_speed() | |
261 | { | |
5de195be MM |
262 | // if block is currently executing, return cached exit speed from calculate_trapezoid |
263 | // this ensures that a block following a currently executing block will have correct entry speed | |
f6542ad9 JM |
264 | if(is_ticking) |
265 | return this->exit_speed; | |
5de195be | 266 | |
a617ac35 MM |
267 | // if nominal_length_flag is asserted |
268 | // we are guaranteed to reach nominal speed regardless of entry speed | |
269 | // thus, max exit will always be nominal | |
270 | if (nominal_length_flag) | |
271 | return nominal_speed; | |
272 | ||
273 | // otherwise, we have to work out max exit speed based on entry and acceleration | |
4fdd2470 | 274 | float max = max_allowable_speed(-this->acceleration, this->entry_speed, this->millimeters); |
a617ac35 MM |
275 | |
276 | return min(max, nominal_speed); | |
4cff3ded AW |
277 | } |
278 | ||
f6542ad9 JM |
279 | // prepare block for the step ticker, called everytime the block changes |
280 | // this is done ahead of time so does not delay tick generation, see Conveyor::check_queue() | |
281 | void Block::prepare() | |
282 | { | |
283 | float inv = 1.0F / this->steps_event_count; | |
284 | for (uint8_t m = 0; m < k_max_actuators; m++) { | |
285 | uint32_t steps = this->steps[m]; | |
286 | this->tick_info[m].steps_to_move = steps; | |
287 | if(steps == 0) continue; | |
288 | ||
289 | float aratio = inv * steps; | |
290 | this->tick_info[m].steps_per_tick = STEPTICKER_TOFP((this->initial_rate * aratio) / STEP_TICKER_FREQUENCY); // steps/sec / tick frequency to get steps per tick in 2.30 fixed point | |
291 | this->tick_info[m].counter = 0; // 2.30 fixed point | |
292 | this->tick_info[m].step_count = 0; | |
293 | this->tick_info[m].next_accel_event = this->total_move_ticks + 1; | |
294 | ||
295 | float acceleration_change = 0; | |
296 | if(this->accelerate_until != 0) { // If the next accel event is the end of accel | |
297 | this->tick_info[m].next_accel_event = this->accelerate_until; | |
298 | acceleration_change = this->acceleration_per_tick; | |
299 | ||
300 | } else if(this->decelerate_after == 0 /*&& this->accelerate_until == 0*/) { | |
301 | // we start off decelerating | |
302 | acceleration_change = -this->deceleration_per_tick; | |
303 | ||
304 | } else if(this->decelerate_after != this->total_move_ticks /*&& this->accelerate_until == 0*/) { | |
305 | // If the next event is the start of decel ( don't set this if the next accel event is accel end ) | |
306 | this->tick_info[m].next_accel_event = this->decelerate_after; | |
307 | } | |
308 | ||
309 | // convert to fixed point after scaling | |
310 | this->tick_info[m].acceleration_change= STEPTICKER_TOFP(acceleration_change * aratio); | |
311 | this->tick_info[m].deceleration_change= -STEPTICKER_TOFP(this->deceleration_per_tick * aratio); | |
312 | this->tick_info[m].plateau_rate= STEPTICKER_TOFP((this->maximum_rate * aratio) / STEP_TICKER_FREQUENCY); | |
313 | } | |
314 | } |