ManuelW/grbl-LPC-CoreXY
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optimized arc code for size and speed

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This commit is contained in:
Simen Svale Skogsrud 2009-01-30 11:05:10 +01:00
parent 8c18e2659d
commit 0c8004357a
2 changed files with 75 additions and 65 deletions
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123
motion_control.c
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@ -35,15 +35,6 @@
#include "nuts_bolts.h"
#include "stepper.h"
#define MC_MODE_AT_REST 0
#define MC_MODE_LINEAR 1
#define MC_MODE_ARC 2
#define MC_MODE_DWELL 3
#define MC_MODE_HOME 4
#define PHASE_HOME_RETURN 0
#define PHASE_HOME_NUDGE 1
#define ONE_MINUTE_OF_MICROSECONDS 60000000
// Parameters when mode is MC_MODE_ARC
@ -101,13 +92,13 @@ void mc_dwell(uint32_t milliseconds)
{
state.mode = MC_MODE_DWELL;
state.dwell_milliseconds = milliseconds;
state.pace = 1000;
}
// Prepare for linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate states the number of seconds for the whole movement.
void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_feed_rate)
{
state.mode = MC_MODE_LINEAR;
state.linear.target[X_AXIS] = trunc(x*X_STEPS_PER_MM);
state.linear.target[Y_AXIS] = trunc(y*Y_STEPS_PER_MM);
state.linear.target[Z_AXIS] = trunc(z*Z_STEPS_PER_MM);
@ -136,17 +127,17 @@ void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_
state.pace =
(feed_rate*1000000)/state.linear.maximum_steps;
} else {
// Ask old Phytagoras how many millimeters our next move is going to take us:
float millimeters_of_travel =
sqrt(pow((X_STEPS_PER_MM*state.linear.step_count[X_AXIS]),2) +
// Ask old Phytagoras to estimate how many steps our next move is going to take us:
uint32_t steps_to_travel =
ceil(sqrt(pow((X_STEPS_PER_MM*state.linear.step_count[X_AXIS]),2) +
pow((Y_STEPS_PER_MM*state.linear.step_count[Y_AXIS]),2) +
pow((Z_STEPS_PER_MM*state.linear.step_count[Z_AXIS]),2));
pow((Z_STEPS_PER_MM*state.linear.step_count[Z_AXIS]),2)));
state.pace =
((millimeters_of_travel * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / state.linear.maximum_steps;
((steps_to_travel * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / state.linear.maximum_steps;
}
}
void perform_linear_motion()
void execute_linear_motion()
{
// Flags to keep track of which axes to step
uint8_t step[3];
@ -178,7 +169,8 @@ void perform_linear_motion()
// Prepare an arc. theta == start angle, angular_travel == number of radians to go along the arc,
// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
// circle in millimeters. axis_1 and axis_2 selects the plane in tool space.
void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2)
// ISSUE: The arc interpolator assumes all axes have the same steps/mm as the X axis.
void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2, double feed_rate)
{
state.mode = MC_MODE_ARC;
// Determine angular direction (+1 = clockwise, -1 = counterclockwise)
@ -207,8 +199,24 @@ void mc_arc(double theta, double angular_travel, double radius, int axis_1, int
// And map the local coordinate system of the arc onto the tool axes of the selected plane
state.arc.axis_x = axis_1;
state.arc.axis_y = axis_2;
// mm/second -> microseconds/step. Assumes all axes have the same steps/mm as the x axis
state.pace =
ONE_MINUTE_OF_MICROSECONDS / (feed_rate * X_STEPS_PER_MM);
}
// Reset mode if arc has reached target
inline void check_arc_target()
{
if ((state.arc.x * state.arc.target_direction_y >=
state.arc.target_x * state.arc.target_direction_y) &&
(state.arc.y * state.arc.target_direction_x <=
state.arc.target_y * state.arc.target_direction_x))
{
state.mode = MC_MODE_AT_REST;
}
}
// Internal method used by execute_arc to trace horizontally in the general direction provided by dx and dy
void step_arc_along_x(int8_t dx, int8_t dy)
{
uint32_t diagonal_error;
@ -224,8 +232,10 @@ void step_arc_along_x(int8_t dx, int8_t dy)
} else {
step_axis(state.arc.axis_x); // step straight
}
check_arc_target();
}
// Internal method used by execute_arc to trace vertically in the general direction provided by dx and dy
void step_arc_along_y(int8_t dx, int8_t dy)
{
uint32_t diagonal_error;
@ -241,13 +251,14 @@ void step_arc_along_y(int8_t dx, int8_t dy)
} else {
step_axis(state.arc.axis_y); // step straight
}
check_arc_target();
}
// Map dx and dy which are local to the arc being generated and map them on to the
// selected axes for the current arc.
// Take dx and dy which are local to the arc being generated and map them on to the
// selected tool-space-axes for the current arc.
void map_local_arc_directions_to_stepper_directions(int8_t dx, int8_t dy)
{
int direction[3];
int8_t direction[3];
direction[state.arc.axis_x] = dx;
direction[state.arc.axis_y] = dy;
set_stepper_directions(direction);
@ -284,92 +295,77 @@ int quadrant(uint32_t x,uint32_t y)
}
}
int arc_at_target()
{
return((state.arc.x * state.arc.target_direction_y >=
state.arc.target_x * state.arc.target_direction_y) &&
(state.arc.y * state.arc.target_direction_x <=
state.arc.target_y * state.arc.target_direction_x));
}
// Will trace the configured arc until the target is reached
void trace_arc()
// Will trace the configured arc until the target is reached. Slightly unrolled for speed.
void execute_arc()
{
int q = quadrant(state.arc.x, state.arc.y);
while(!arc_at_target())
// state.mode is set to 0 (MC_MODE_AT_REST) when target is reached
while(state.mode == MC_MODE_ARC)
{
if (state.arc.angular_direction) {
switch (q) {
case 0:
map_local_arc_directions_to_stepper_directions(1,-1);
while((!arc_at_target()) && state.arc.x>state.arc.y) { step_arc_along_x(1,-1); }
while(state.mode && (state.arc.x>state.arc.y)) { step_arc_along_x(1,-1); }
case 1:
map_local_arc_directions_to_stepper_directions(1,-1);
while((!arc_at_target()) && state.arc.y>0) { step_arc_along_y(1,-1); }
while(state.mode && (state.arc.y>0)) { step_arc_along_y(1,-1); }
case 2:
map_local_arc_directions_to_stepper_directions(-1,-1);
while((!arc_at_target()) && state.arc.y>-state.arc.x) { step_arc_along_y(-1,-1); }
while(state.mode && (state.arc.y>-state.arc.x)) { step_arc_along_y(-1,-1); }
case 3:
map_local_arc_directions_to_stepper_directions(-1,-1);
while((!arc_at_target()) && state.arc.x>0) { step_arc_along_x(-1,-1); }
while(state.mode && (state.arc.x>0)) { step_arc_along_x(-1,-1); }
case 4:
map_local_arc_directions_to_stepper_directions(-1,1);
while((!arc_at_target()) && state.arc.y<state.arc.x) { step_arc_along_x(-1,1); }
while(state.mode && (state.arc.y<state.arc.x)) { step_arc_along_x(-1,1); }
case 5:
map_local_arc_directions_to_stepper_directions(-1,1);
while((!arc_at_target()) && state.arc.y<0) { step_arc_along_y(-1,1); }
while(state.mode && (state.arc.y<0)) { step_arc_along_y(-1,1); }
case 6:
map_local_arc_directions_to_stepper_directions(1,-1);
while((!arc_at_target()) && state.arc.y<-state.arc.x) { step_arc_along_y(1,1); }
while(state.mode && (state.arc.y<-state.arc.x)) { step_arc_along_y(1,1); }
case 7:
map_local_arc_directions_to_stepper_directions(1,1);
while((!arc_at_target()) && state.arc.x<0) { step_arc_along_x(1,1); }
while(state.mode && (state.arc.x<0)) { step_arc_along_x(1,1); }
}
} else {
switch (q) {
case 7:
map_local_arc_directions_to_stepper_directions(-1,-1);
while((!arc_at_target()) && state.arc.y>-state.arc.x) { step_arc_along_x(-1,-1); }
while(state.mode && (state.arc.y>-state.arc.x)) { step_arc_along_x(-1,-1); }
case 6:
map_local_arc_directions_to_stepper_directions(-1,-1);
while((!arc_at_target()) && state.arc.y>0) { step_arc_along_y(-1,-1); }
while(state.mode && (state.arc.y>0)) { step_arc_along_y(-1,-1); }
case 5:
map_local_arc_directions_to_stepper_directions(1,-1);
while((!arc_at_target()) && state.arc.y>state.arc.x) { step_arc_along_y(1,-1); }
while(state.mode && (state.arc.y>state.arc.x)) { step_arc_along_y(1,-1); }
case 4:
map_local_arc_directions_to_stepper_directions(1,-1);
while((!arc_at_target()) && state.arc.x<0) { step_arc_along_x(1,-1); }
while(state.mode && (state.arc.x<0)) { step_arc_along_x(1,-1); }
case 3:
map_local_arc_directions_to_stepper_directions(1,1);
while((!arc_at_target()) && state.arc.y<-state.arc.x) { step_arc_along_x(1,1); }
while(state.mode && (state.arc.y<-state.arc.x)) { step_arc_along_x(1,1); }
case 2:
map_local_arc_directions_to_stepper_directions(1,1);
while((!arc_at_target()) && state.arc.y<0) { step_arc_along_y(1,1); }
while(state.mode && (state.arc.y<0)) { step_arc_along_y(1,1); }
case 1:
map_local_arc_directions_to_stepper_directions(-1,1);
while((!arc_at_target()) && state.arc.y<state.arc.x) { step_arc_along_y(-1,1); }
while(state.mode && (state.arc.y<state.arc.x)) { step_arc_along_y(-1,1); }
case 0:
map_local_arc_directions_to_stepper_directions(-1,1);
while((!arc_at_target()) && state.arc.x>0) { step_arc_along_x(-1,1); }
while(state.mode && (state.arc.x>0)) { step_arc_along_x(-1,1); }
}
}
}
}
void perform_arc()
{
trace_arc();
state.mode = MC_MODE_AT_REST;
}
void mc_go_home()
{
state.mode = MC_MODE_HOME;
}
void perform_go_home()
void execute_go_home()
{
st_go_home();
st_synchronize();
@ -383,9 +379,9 @@ void mc_execute() {
switch(state.mode) {
case MC_MODE_AT_REST: break;
case MC_MODE_DWELL: st_synchronize(); _delay_ms(state.dwell_milliseconds); state.mode = MC_MODE_AT_REST; break;
case MC_MODE_LINEAR: perform_linear_motion();
case MC_MODE_ARC: perform_arc();
case MC_MODE_HOME: perform_go_home();
case MC_MODE_LINEAR: execute_linear_motion(); break;
case MC_MODE_ARC: execute_arc(); break;
case MC_MODE_HOME: execute_go_home(); break;
}
}
}
@ -395,7 +391,6 @@ int mc_status()
return(state.mode);
}
// Set the direction pins for the stepper motors according to the provided vector.
// direction is an array of three 8 bit integers representing the direction of
// each motor. The values should be -1 (reverse), 0 or 1 (forward).
@ -430,3 +425,9 @@ inline void step_axis(uint8_t axis)
case Z_AXIS: st_buffer_step(direction_bits | (1<<Z_STEP_BIT)); break;
}
}
// Wait until all operations are completed
void mc_wait()
{
st_synchronize();
}

15
motion_control.h
View File

@ -23,7 +23,11 @@
#include <avr/io.h>
/* All coordinates are in step-counts. */
#define MC_MODE_AT_REST 0
#define MC_MODE_LINEAR 1
#define MC_MODE_ARC 2
#define MC_MODE_DWELL 3
#define MC_MODE_HOME 4
// Initializes the motion_control subsystem resources
void mc_init();
@ -37,7 +41,7 @@ void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_
// circle in millimeters. axis_1 and axis_2 selects the plane in tool space.
// Known issue: This method pretends that all axes uses the same steps/mm as the X axis. Which might
// not be the case ... (To be continued)
void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2);
void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2, double feed_rate);
// Prepare linear motion relative to the current position.
void mc_dwell(uint32_t milliseconds);
@ -45,9 +49,14 @@ void mc_dwell(uint32_t milliseconds);
// Prepare to send the tool position home
void mc_go_home();
// Start the prepared operation.
// Start the prepared operation. In the current implementation this will block for most of the task at hand.
// In future implementations it might not block at all. If you want to make sure the system has reached
// quiescence call mc_wait()
void mc_execute();
// Wait until all operations complete
void mc_wait();
// Check motion control status. result == 0: the system is idle. result > 0: the system is busy,
// result < 0: the system is in an error state.
int mc_status();