| 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) with additions from Sungeun K. Jeon (https://github.com/chamnit/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 | #include "Stepper.h" |
| 9 | |
| 10 | #include "libs/Module.h" |
| 11 | #include "libs/Kernel.h" |
| 12 | #include "Planner.h" |
| 13 | #include "Conveyor.h" |
| 14 | #include "StepperMotor.h" |
| 15 | #include "Robot.h" |
| 16 | #include "checksumm.h" |
| 17 | #include "SlowTicker.h" |
| 18 | #include "Config.h" |
| 19 | #include "ConfigValue.h" |
| 20 | #include "Gcode.h" |
| 21 | #include "Block.h" |
| 22 | |
| 23 | #include <vector> |
| 24 | using namespace std; |
| 25 | |
| 26 | #include "libs/nuts_bolts.h" |
| 27 | #include "libs/Hook.h" |
| 28 | |
| 29 | #include <mri.h> |
| 30 | |
| 31 | #define acceleration_ticks_per_second_checksum CHECKSUM("acceleration_ticks_per_second") |
| 32 | #define minimum_steps_per_minute_checksum CHECKSUM("minimum_steps_per_minute") |
| 33 | |
| 34 | // The stepper reacts to blocks that have XYZ movement to transform them into actual stepper motor moves |
| 35 | // TODO: This does accel, accel should be in StepperMotor |
| 36 | |
| 37 | Stepper::Stepper() |
| 38 | { |
| 39 | this->current_block = NULL; |
| 40 | this->paused = false; |
| 41 | this->trapezoid_generator_busy = false; |
| 42 | this->force_speed_update = false; |
| 43 | this->halted= false; |
| 44 | } |
| 45 | |
| 46 | //Called when the module has just been loaded |
| 47 | void Stepper::on_module_loaded() |
| 48 | { |
| 49 | this->register_for_event(ON_BLOCK_BEGIN); |
| 50 | this->register_for_event(ON_BLOCK_END); |
| 51 | this->register_for_event(ON_GCODE_EXECUTE); |
| 52 | this->register_for_event(ON_GCODE_RECEIVED); |
| 53 | this->register_for_event(ON_PLAY); |
| 54 | this->register_for_event(ON_PAUSE); |
| 55 | this->register_for_event(ON_HALT); |
| 56 | |
| 57 | // Get onfiguration |
| 58 | this->on_config_reload(this); |
| 59 | |
| 60 | // Acceleration ticker |
| 61 | this->acceleration_tick_hook = THEKERNEL->slow_ticker->attach( this->acceleration_ticks_per_second, this, &Stepper::trapezoid_generator_tick ); |
| 62 | |
| 63 | // Attach to the end_of_move stepper event |
| 64 | THEKERNEL->robot->alpha_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); |
| 65 | THEKERNEL->robot->beta_stepper_motor->attach( this, &Stepper::stepper_motor_finished_move ); |
| 66 | THEKERNEL->robot->gamma_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move ); |
| 67 | } |
| 68 | |
| 69 | // Get configuration from the config file |
| 70 | void Stepper::on_config_reload(void *argument) |
| 71 | { |
| 72 | |
| 73 | this->acceleration_ticks_per_second = THEKERNEL->config->value(acceleration_ticks_per_second_checksum)->by_default(100 )->as_number(); |
| 74 | this->minimum_steps_per_second = THEKERNEL->config->value(minimum_steps_per_minute_checksum )->by_default(120 )->as_number() / 60.0F; |
| 75 | |
| 76 | // Steppers start off by default |
| 77 | this->turn_enable_pins_off(); |
| 78 | } |
| 79 | |
| 80 | // When the play/pause button is set to pause, or a module calls the ON_PAUSE event |
| 81 | void Stepper::on_pause(void *argument) |
| 82 | { |
| 83 | this->paused = true; |
| 84 | THEKERNEL->robot->alpha_stepper_motor->pause(); |
| 85 | THEKERNEL->robot->beta_stepper_motor->pause(); |
| 86 | THEKERNEL->robot->gamma_stepper_motor->pause(); |
| 87 | } |
| 88 | |
| 89 | // When the play/pause button is set to play, or a module calls the ON_PLAY event |
| 90 | void Stepper::on_play(void *argument) |
| 91 | { |
| 92 | // TODO: Re-compute the whole queue for a cold-start |
| 93 | this->paused = false; |
| 94 | THEKERNEL->robot->alpha_stepper_motor->unpause(); |
| 95 | THEKERNEL->robot->beta_stepper_motor->unpause(); |
| 96 | THEKERNEL->robot->gamma_stepper_motor->unpause(); |
| 97 | } |
| 98 | |
| 99 | void Stepper::on_halt(void *argument) |
| 100 | { |
| 101 | if(argument == nullptr) { |
| 102 | this->turn_enable_pins_off(); |
| 103 | this->halted= true; |
| 104 | }else{ |
| 105 | this->halted= false; |
| 106 | } |
| 107 | } |
| 108 | |
| 109 | void Stepper::on_gcode_received(void *argument) |
| 110 | { |
| 111 | Gcode *gcode = static_cast<Gcode *>(argument); |
| 112 | // Attach gcodes to the last block for on_gcode_execute |
| 113 | if( gcode->has_m && (gcode->m == 84 || gcode->m == 17 || gcode->m == 18 )) { |
| 114 | THEKERNEL->conveyor->append_gcode(gcode); |
| 115 | |
| 116 | } |
| 117 | } |
| 118 | |
| 119 | // React to enable/disable gcodes |
| 120 | void Stepper::on_gcode_execute(void *argument) |
| 121 | { |
| 122 | Gcode *gcode = static_cast<Gcode *>(argument); |
| 123 | |
| 124 | if( gcode->has_m) { |
| 125 | if( gcode->m == 17 ) { |
| 126 | this->turn_enable_pins_on(); |
| 127 | } |
| 128 | if( (gcode->m == 84 || gcode->m == 18) && !gcode->has_letter('E') ) { |
| 129 | this->turn_enable_pins_off(); |
| 130 | } |
| 131 | } |
| 132 | } |
| 133 | |
| 134 | // Enable steppers |
| 135 | void Stepper::turn_enable_pins_on() |
| 136 | { |
| 137 | for (StepperMotor *m : THEKERNEL->robot->actuators) |
| 138 | m->enable(true); |
| 139 | this->enable_pins_status = true; |
| 140 | } |
| 141 | |
| 142 | // Disable steppers |
| 143 | void Stepper::turn_enable_pins_off() |
| 144 | { |
| 145 | for (StepperMotor *m : THEKERNEL->robot->actuators) |
| 146 | m->enable(false); |
| 147 | this->enable_pins_status = false; |
| 148 | } |
| 149 | |
| 150 | // A new block is popped from the queue |
| 151 | void Stepper::on_block_begin(void *argument) |
| 152 | { |
| 153 | Block *block = static_cast<Block *>(argument); |
| 154 | |
| 155 | // The stepper does not care about 0-blocks |
| 156 | if( block->millimeters == 0.0F ) { |
| 157 | return; |
| 158 | } |
| 159 | |
| 160 | // Mark the new block as of interrest to us |
| 161 | if( block->steps[ALPHA_STEPPER] > 0 || block->steps[BETA_STEPPER] > 0 || block->steps[GAMMA_STEPPER] > 0 ) { |
| 162 | block->take(); |
| 163 | } else { |
| 164 | return; |
| 165 | } |
| 166 | |
| 167 | // We can't move with the enable pins off |
| 168 | if( this->enable_pins_status == false ) { |
| 169 | this->turn_enable_pins_on(); |
| 170 | } |
| 171 | |
| 172 | // Setup : instruct stepper motors to move |
| 173 | if( block->steps[ALPHA_STEPPER] > 0 ) { |
| 174 | THEKERNEL->robot->alpha_stepper_motor->move( block->direction_bits[ALPHA_STEPPER], block->steps[ALPHA_STEPPER]); |
| 175 | } |
| 176 | if( block->steps[BETA_STEPPER ] > 0 ) { |
| 177 | THEKERNEL->robot->beta_stepper_motor->move( block->direction_bits[BETA_STEPPER], block->steps[BETA_STEPPER ]); |
| 178 | } |
| 179 | if( block->steps[GAMMA_STEPPER] > 0 ) { |
| 180 | THEKERNEL->robot->gamma_stepper_motor->move( block->direction_bits[GAMMA_STEPPER], block->steps[GAMMA_STEPPER]); |
| 181 | } |
| 182 | |
| 183 | this->current_block = block; |
| 184 | |
| 185 | // Setup acceleration for this block |
| 186 | this->trapezoid_generator_reset(); |
| 187 | |
| 188 | // Find the stepper with the more steps, it's the one the speed calculations will want to follow |
| 189 | this->main_stepper = THEKERNEL->robot->alpha_stepper_motor; |
| 190 | if( THEKERNEL->robot->beta_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ) { |
| 191 | this->main_stepper = THEKERNEL->robot->beta_stepper_motor; |
| 192 | } |
| 193 | if( THEKERNEL->robot->gamma_stepper_motor->steps_to_move > this->main_stepper->steps_to_move ) { |
| 194 | this->main_stepper = THEKERNEL->robot->gamma_stepper_motor; |
| 195 | } |
| 196 | |
| 197 | // Set the initial speed for this move |
| 198 | this->trapezoid_generator_tick(0); |
| 199 | |
| 200 | // Synchronise the acceleration curve with the stepping |
| 201 | this->synchronize_acceleration(0); |
| 202 | |
| 203 | } |
| 204 | |
| 205 | // Current block is discarded |
| 206 | void Stepper::on_block_end(void *argument) |
| 207 | { |
| 208 | this->current_block = NULL; //stfu ! |
| 209 | } |
| 210 | |
| 211 | // When a stepper motor has finished it's assigned movement |
| 212 | uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy) |
| 213 | { |
| 214 | |
| 215 | // We care only if none is still moving |
| 216 | if( THEKERNEL->robot->alpha_stepper_motor->moving || THEKERNEL->robot->beta_stepper_motor->moving || THEKERNEL->robot->gamma_stepper_motor->moving ) { |
| 217 | return 0; |
| 218 | } |
| 219 | |
| 220 | // This block is finished, release it |
| 221 | if( this->current_block != NULL ) { |
| 222 | this->current_block->release(); |
| 223 | } |
| 224 | |
| 225 | return 0; |
| 226 | } |
| 227 | |
| 228 | |
| 229 | // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event |
| 230 | // interrupt. It can be assumed that the trapezoid-generator-parameters and the |
| 231 | // current_block stays untouched by outside handlers for the duration of this function call. |
| 232 | uint32_t Stepper::trapezoid_generator_tick( uint32_t dummy ) |
| 233 | { |
| 234 | |
| 235 | // Do not do the accel math for nothing |
| 236 | if(this->current_block && !this->paused && this->main_stepper->moving ) { |
| 237 | |
| 238 | // Store this here because we use it a lot down there |
| 239 | uint32_t current_steps_completed = this->main_stepper->stepped; |
| 240 | |
| 241 | if( this->force_speed_update ) { |
| 242 | // Do not accel, just set the value |
| 243 | this->force_speed_update = false; |
| 244 | |
| 245 | } else if(THEKERNEL->conveyor->is_flushing()) { |
| 246 | // if we are flushing the queue, decelerate to 0 then finish this block |
| 247 | if (trapezoid_adjusted_rate > current_block->rate_delta * 1.5F) { |
| 248 | trapezoid_adjusted_rate -= current_block->rate_delta; |
| 249 | |
| 250 | } else if (trapezoid_adjusted_rate == current_block->rate_delta * 0.5F) { |
| 251 | for (auto i : THEKERNEL->robot->actuators) i->move(i->direction, 0); // stop motors |
| 252 | if (current_block) current_block->release(); |
| 253 | THEKERNEL->call_event(ON_SPEED_CHANGE, 0); // tell others we stopped |
| 254 | return 0; |
| 255 | |
| 256 | } else { |
| 257 | trapezoid_adjusted_rate = current_block->rate_delta * 0.5F; |
| 258 | } |
| 259 | |
| 260 | } else if(current_steps_completed <= this->current_block->accelerate_until+1) { |
| 261 | // If we are accelerating |
| 262 | // Increase speed |
| 263 | this->trapezoid_adjusted_rate += this->current_block->rate_delta; |
| 264 | if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) { |
| 265 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; |
| 266 | } |
| 267 | |
| 268 | } else if (current_steps_completed > this->current_block->decelerate_after) { |
| 269 | // If we are decelerating |
| 270 | // Reduce speed |
| 271 | // NOTE: We will only reduce speed if the result will be > 0. This catches small |
| 272 | // rounding errors that might leave steps hanging after the last trapezoid tick. |
| 273 | if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5F) { |
| 274 | this->trapezoid_adjusted_rate -= this->current_block->rate_delta; |
| 275 | } else { |
| 276 | this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5F; |
| 277 | } |
| 278 | if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) { |
| 279 | this->trapezoid_adjusted_rate = this->current_block->final_rate; |
| 280 | } |
| 281 | |
| 282 | } else if (trapezoid_adjusted_rate != current_block->nominal_rate) { |
| 283 | // If we are cruising |
| 284 | // Make sure we cruise at exactly nominal rate |
| 285 | this->trapezoid_adjusted_rate = this->current_block->nominal_rate; |
| 286 | } |
| 287 | |
| 288 | this->set_step_events_per_second(this->trapezoid_adjusted_rate); |
| 289 | } |
| 290 | |
| 291 | return 0; |
| 292 | } |
| 293 | |
| 294 | // Initializes the trapezoid generator from the current block. Called whenever a new |
| 295 | // block begins. |
| 296 | inline void Stepper::trapezoid_generator_reset() |
| 297 | { |
| 298 | this->trapezoid_adjusted_rate = this->current_block->initial_rate; |
| 299 | this->force_speed_update = true; |
| 300 | } |
| 301 | |
| 302 | // Update the speed for all steppers |
| 303 | void Stepper::set_step_events_per_second( float steps_per_second ) |
| 304 | { |
| 305 | // We do not step slower than this, FIXME shoul dbe calculated for the slowest axis not the fastest |
| 306 | //steps_per_second = max(steps_per_second, this->minimum_steps_per_second); |
| 307 | if( steps_per_second < this->minimum_steps_per_second ) { |
| 308 | steps_per_second = this->minimum_steps_per_second; |
| 309 | } |
| 310 | |
| 311 | // Instruct the stepper motors |
| 312 | if( THEKERNEL->robot->alpha_stepper_motor->moving ) { |
| 313 | THEKERNEL->robot->alpha_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[ALPHA_STEPPER] / (float)this->current_block->steps_event_count ) ); |
| 314 | } |
| 315 | if( THEKERNEL->robot->beta_stepper_motor->moving ) { |
| 316 | THEKERNEL->robot->beta_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[BETA_STEPPER ] / (float)this->current_block->steps_event_count ) ); |
| 317 | } |
| 318 | if( THEKERNEL->robot->gamma_stepper_motor->moving ) { |
| 319 | THEKERNEL->robot->gamma_stepper_motor->set_speed( steps_per_second * ( (float)this->current_block->steps[GAMMA_STEPPER] / (float)this->current_block->steps_event_count ) ); |
| 320 | } |
| 321 | |
| 322 | // Other modules might want to know the speed changed |
| 323 | THEKERNEL->call_event(ON_SPEED_CHANGE, this); |
| 324 | |
| 325 | } |
| 326 | |
| 327 | // This function has the role of making sure acceleration and deceleration curves have their |
| 328 | // rhythm synchronized. The accel/decel must start at the same moment as the speed update routine |
| 329 | // This is caller in "step just occured" or "block just began" ( step Timer ) context, so we need to be fast. |
| 330 | // All we do is reset the other timer so that it does what we want |
| 331 | uint32_t Stepper::synchronize_acceleration(uint32_t dummy) |
| 332 | { |
| 333 | |
| 334 | // No move was done, this is called from on_block_begin |
| 335 | // This means we setup the accel timer in a way where it gets called right after |
| 336 | // we exit this step interrupt, and so that it is then in synch with |
| 337 | if( this->main_stepper->stepped == 0 ) { |
| 338 | // Whatever happens, we must call the accel interrupt asap |
| 339 | // Because it will set the initial rate |
| 340 | // We also want to synchronize in case we start accelerating or decelerating now |
| 341 | |
| 342 | // Accel interrupt must happen asap |
| 343 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
| 344 | // Synchronize both counters |
| 345 | LPC_TIM2->TC = LPC_TIM0->TC; |
| 346 | |
| 347 | // If we start decelerating after this, we must ask the actuator to warn us |
| 348 | // so we can do what we do in the "else" bellow |
| 349 | if( this->current_block->decelerate_after > 0 && this->current_block->decelerate_after < this->main_stepper->steps_to_move ) { |
| 350 | this->main_stepper->attach_signal_step(this->current_block->decelerate_after, this, &Stepper::synchronize_acceleration); |
| 351 | } |
| 352 | } else { |
| 353 | // If we are called not at the first steps, this means we are beginning deceleration |
| 354 | NVIC_SetPendingIRQ(TIMER2_IRQn); |
| 355 | // Synchronize both counters |
| 356 | LPC_TIM2->TC = LPC_TIM0->TC; |
| 357 | } |
| 358 | |
| 359 | return 0; |
| 360 | } |
| 361 | |