src/modules/robot/Stepper.cpp

   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 #include "StepTicker.h"
  23
  24 #include <vector>
  25 using namespace std;
  26
  27 #include "libs/nuts_bolts.h"
  28 #include "libs/Hook.h"
  29
  30 #include <mri.h>
  31
  32 // The stepper reacts to blocks that have XYZ movement to transform them into actual stepper motor moves
  33 // TODO: This does accel, accel should be in StepperMotor
  34
  35 Stepper::Stepper()
  36 {
  37     this->current_block = NULL;
  38     this->force_speed_update = false;
  39     this->halted= false;
  40 }
  41
  42 //Called when the module has just been loaded
  43 void Stepper::on_module_loaded()
  44 {
  45     this->register_for_event(ON_BLOCK_BEGIN);
  46     this->register_for_event(ON_BLOCK_END);
  47     this->register_for_event(ON_GCODE_EXECUTE);
  48     this->register_for_event(ON_GCODE_RECEIVED);
  49     this->register_for_event(ON_HALT);
  50
  51     // Get onfiguration
  52     this->on_config_reload(this);
  53
  54     // Acceleration ticker
  55     THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){trapezoid_generator_tick(); });
  56
  57     // Attach to the end_of_move stepper event
  58     THEKERNEL->robot->alpha_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move );
  59     THEKERNEL->robot->beta_stepper_motor->attach( this, &Stepper::stepper_motor_finished_move );
  60     THEKERNEL->robot->gamma_stepper_motor->attach(this, &Stepper::stepper_motor_finished_move );
  61 }
  62
  63 // Get configuration from the config file
  64 void Stepper::on_config_reload(void *argument)
  65 {
  66     // Steppers start off by default
  67     this->turn_enable_pins_off();
  68 }
  69
  70 void Stepper::on_halt(void *argument)
  71 {
  72     if(argument == nullptr) {
  73         this->turn_enable_pins_off();
  74         this->halted= true;
  75     }else{
  76         this->halted= false;
  77     }
  78 }
  79
  80 void Stepper::on_gcode_received(void *argument)
  81 {
  82     Gcode *gcode = static_cast<Gcode *>(argument);
  83     // Attach gcodes to the last block for on_gcode_execute
  84     if( gcode->has_m && (gcode->m == 84 || gcode->m == 17 || gcode->m == 18 )) {
  85         THEKERNEL->conveyor->append_gcode(gcode);
  86     }
  87 }
  88
  89 // React to enable/disable gcodes
  90 void Stepper::on_gcode_execute(void *argument)
  91 {
  92     Gcode *gcode = static_cast<Gcode *>(argument);
  93
  94     if( gcode->has_m) {
  95         if( gcode->m == 17 ) {
  96             this->turn_enable_pins_on();
  97         }
  98         if( (gcode->m == 84 || gcode->m == 18) && !gcode->has_letter('E') ) {
  99             this->turn_enable_pins_off();
 100         }
 101     }
 102 }
 103
 104 // Enable steppers
 105 void Stepper::turn_enable_pins_on()
 106 {
 107     for (StepperMotor *m : THEKERNEL->robot->actuators)
 108         m->enable(true);
 109     this->enable_pins_status = true;
 110 }
 111
 112 // Disable steppers
 113 void Stepper::turn_enable_pins_off()
 114 {
 115     for (StepperMotor *m : THEKERNEL->robot->actuators)
 116         m->enable(false);
 117     this->enable_pins_status = false;
 118 }
 119
 120 // A new block is popped from the queue
 121 void Stepper::on_block_begin(void *argument)
 122 {
 123     Block *block  = static_cast<Block *>(argument);
 124
 125     // Mark the new block as of interrest to us, handle blocks that have no axis moves properly (like Extrude blocks etc)
 126     if(block->millimeters > 0.0F && (block->steps[ALPHA_STEPPER] > 0 || block->steps[BETA_STEPPER] > 0 || block->steps[GAMMA_STEPPER] > 0) ) {
 127         block->take();
 128
 129     } else {
 130         // none of the steppers move this block so make sure they know that
 131         for(auto a : THEKERNEL->robot->actuators) {
 132             a->set_moved_last_block(false);
 133         }
 134         return;
 135     }
 136
 137     // We can't move with the enable pins off
 138     if( this->enable_pins_status == false ) {
 139         this->turn_enable_pins_on();
 140     }
 141
 142     // Setup : instruct stepper motors to move
 143     // Find the stepper with the more steps, it's the one the speed calculations will want to follow
 144     this->main_stepper= nullptr;
 145     if( block->steps[ALPHA_STEPPER] > 0 ) {
 146         THEKERNEL->robot->alpha_stepper_motor->move( block->direction_bits[ALPHA_STEPPER], block->steps[ALPHA_STEPPER])->set_moved_last_block(true);
 147         this->main_stepper = THEKERNEL->robot->alpha_stepper_motor;
 148     }else{
 149         THEKERNEL->robot->alpha_stepper_motor->set_moved_last_block(false);
 150     }
 151
 152     if( block->steps[BETA_STEPPER ] > 0 ) {
 153         THEKERNEL->robot->beta_stepper_motor->move(  block->direction_bits[BETA_STEPPER], block->steps[BETA_STEPPER ])->set_moved_last_block(true);
 154         if(this->main_stepper == nullptr || THEKERNEL->robot->beta_stepper_motor->get_steps_to_move() > this->main_stepper->get_steps_to_move())
 155             this->main_stepper = THEKERNEL->robot->beta_stepper_motor;
 156     }else{
 157         THEKERNEL->robot->beta_stepper_motor->set_moved_last_block(false);
 158     }
 159
 160     if( block->steps[GAMMA_STEPPER] > 0 ) {
 161         THEKERNEL->robot->gamma_stepper_motor->move( block->direction_bits[GAMMA_STEPPER], block->steps[GAMMA_STEPPER])->set_moved_last_block(true);
 162         if(this->main_stepper == nullptr || THEKERNEL->robot->gamma_stepper_motor->get_steps_to_move() > this->main_stepper->get_steps_to_move())
 163             this->main_stepper = THEKERNEL->robot->gamma_stepper_motor;
 164     }else{
 165         THEKERNEL->robot->gamma_stepper_motor->set_moved_last_block(false);
 166     }
 167
 168     this->current_block = block;
 169
 170     // Setup acceleration for this block
 171     this->trapezoid_generator_reset();
 172
 173     // Set the initial speed for this move
 174     this->trapezoid_generator_tick();
 175
 176     // synchronize the acceleration timer with the start of the new block so it does not drift and randomly fire during the block
 177     THEKERNEL->step_ticker->synchronize_acceleration(false);
 178
 179     // set a flag to synchronize the acceleration timer with the deceleration step, and fire it immediately we get to that step
 180     if( block->decelerate_after > 0 && block->decelerate_after+1 < this->main_stepper->steps_to_move ) {
 181         this->main_stepper->signal_step= block->decelerate_after+1; // we make it +1 as deceleration does not start until steps > decelerate_after
 182     }
 183 }
 184
 185 // Current block is discarded
 186 void Stepper::on_block_end(void *argument)
 187 {
 188     this->current_block = NULL; //stfu !
 189 }
 190
 191 // When a stepper motor has finished it's assigned movement
 192 uint32_t Stepper::stepper_motor_finished_move(uint32_t dummy)
 193 {
 194     // We care only if none is still moving
 195     if( THEKERNEL->robot->alpha_stepper_motor->moving || THEKERNEL->robot->beta_stepper_motor->moving || THEKERNEL->robot->gamma_stepper_motor->moving ) {
 196         return 0;
 197     }
 198
 199     // This block is finished, release it
 200     if( this->current_block != NULL ) {
 201         this->current_block->release();
 202     }
 203
 204     return 0;
 205 }
 206
 207
 208 // This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event
 209 // interrupt. It can be assumed that the trapezoid-generator-parameters and the
 210 // current_block stays untouched by outside handlers for the duration of this function call.
 211 // 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
 212 void Stepper::trapezoid_generator_tick(void)
 213 {
 214     // Do not do the accel math for nothing
 215     if(this->current_block && this->main_stepper->moving ) {
 216
 217         // Store this here because we use it a lot down there
 218         uint32_t current_steps_completed = this->main_stepper->stepped;
 219         float last_rate= trapezoid_adjusted_rate;
 220
 221         if( this->force_speed_update ) {
 222             // Do not accel, just set the value
 223             this->force_speed_update = false;
 224             last_rate= -1;
 225
 226         } else if(THEKERNEL->conveyor->is_flushing()) {
 227             // if we are flushing the queue, decelerate to 0 then finish this block
 228             if (trapezoid_adjusted_rate > current_block->rate_delta * 1.5F) {
 229                 trapezoid_adjusted_rate -= current_block->rate_delta;
 230
 231             } else if (trapezoid_adjusted_rate == current_block->rate_delta * 0.5F) {
 232                 for (auto i : THEKERNEL->robot->actuators) i->move(i->direction, 0); // stop motors
 233                 if (current_block) current_block->release();
 234                 THEKERNEL->call_event(ON_SPEED_CHANGE, 0); // tell others we stopped
 235                 return;
 236
 237             } else {
 238                 trapezoid_adjusted_rate = current_block->rate_delta * 0.5F;
 239             }
 240
 241         } else if(current_steps_completed <= this->current_block->accelerate_until) {
 242             // If we are accelerating
 243             // Increase speed
 244             this->trapezoid_adjusted_rate += this->current_block->rate_delta;
 245             if (this->trapezoid_adjusted_rate > this->current_block->nominal_rate ) {
 246                 this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
 247             }
 248
 249         } else if (current_steps_completed > this->current_block->decelerate_after) {
 250             // If we are decelerating
 251             // Reduce speed
 252             // NOTE: We will only reduce speed if the result will be > 0. This catches small
 253             // rounding errors that might leave steps hanging after the last trapezoid tick.
 254             if(this->trapezoid_adjusted_rate > this->current_block->rate_delta * 1.5F) {
 255                 this->trapezoid_adjusted_rate -= this->current_block->rate_delta;
 256             } else {
 257                 this->trapezoid_adjusted_rate = this->current_block->rate_delta * 1.5F;
 258             }
 259             if(this->trapezoid_adjusted_rate < this->current_block->final_rate ) {
 260                 this->trapezoid_adjusted_rate = this->current_block->final_rate;
 261             }
 262
 263         } else if (trapezoid_adjusted_rate != current_block->nominal_rate) {
 264             // If we are cruising
 265             // Make sure we cruise at exactly nominal rate
 266             this->trapezoid_adjusted_rate = this->current_block->nominal_rate;
 267         }
 268
 269         if(last_rate != trapezoid_adjusted_rate) {
 270             // don't call this if speed did not change
 271             this->set_step_events_per_second(this->trapezoid_adjusted_rate);
 272         }
 273     }
 274 }
 275
 276 // Initializes the trapezoid generator from the current block. Called whenever a new
 277 // block begins.
 278 inline void Stepper::trapezoid_generator_reset()
 279 {
 280     this->trapezoid_adjusted_rate = this->current_block->initial_rate;
 281     this->force_speed_update = true;
 282 }
 283
 284 // Update the speed for all steppers
 285 void Stepper::set_step_events_per_second( float steps_per_second )
 286 {
 287     float isps= steps_per_second / this->current_block->steps_event_count;
 288
 289     // Instruct the stepper motors
 290     if( THEKERNEL->robot->alpha_stepper_motor->moving ) {
 291         THEKERNEL->robot->alpha_stepper_motor->set_speed(isps * this->current_block->steps[ALPHA_STEPPER]);
 292     }
 293     if( THEKERNEL->robot->beta_stepper_motor->moving  ) {
 294         THEKERNEL->robot->beta_stepper_motor->set_speed(isps * this->current_block->steps[BETA_STEPPER]);
 295     }
 296     if( THEKERNEL->robot->gamma_stepper_motor->moving ) {
 297         THEKERNEL->robot->gamma_stepper_motor->set_speed(isps * this->current_block->steps[GAMMA_STEPPER]);
 298     }
 299
 300     // Other modules might want to know the speed changed
 301     THEKERNEL->call_event(ON_SPEED_CHANGE, this);
 302 }
 303
 304