refactored block buffer into separate module motion_plan pending the addition of the actual look ahead planner
This commit is contained in:
Simen Svale Skogsrud
parent
b628a4aabf
commit
49a16cb777
4
Makefile
4
Makefile
@ -1,6 +1,6 @@
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# Part of Grbl
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#
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# Copyright (c) 2009 Simen Svale Skogsrud
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# Copyright (c) 2009-2011 Simen Svale Skogsrud
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#
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# Grbl is free software: you can redistribute it and/or modify
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# it under the terms of the GNU General Public License as published by
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@ -31,7 +31,7 @@ DEVICE = atmega328p
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CLOCK = 16000000
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PROGRAMMER = -c avrisp2 -P usb
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OBJECTS = main.o motion_control.o gcode.o spindle_control.o wiring_serial.o serial_protocol.o stepper.o \
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eeprom.o config.o
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eeprom.o config.o motion_plan.o
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# FUSES = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m
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FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m
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@ -1,51 +0,0 @@
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/*
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accelleration.h - accelleration management support
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Grbl 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
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||||
(at your option) any later version.
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||||
|
||||
Grbl 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
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||||
GNU General Public License for more details.
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||||
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||||
You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef accelleration_h
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#define accelleration_h
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// Unless someone else defined AC_TICKS_PER_SECOND, we define a sensible default
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#ifndef AC_TICKS_PER_SECOND
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#define AC_TICKS_PER_SECOND 10
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#endif
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struct AccellerationProfile {
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double initial_scaler;
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double final_scaler;
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double accelleration_delta;
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double decelleration_delta;
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uint32_t accellerate_ticks;
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uint32_t plateau_ticks;
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};
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struct AccellerationProfileSegment {
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double v_entry[3];
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double v_ideal[3];
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double v_exit[3];
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double distance;
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double f_entry, f_exit;
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};
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struct AccellerationProfileBuilder {
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AccellerationProfileSegment segment[3];
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uint8_t current;
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};
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#endif
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2
config.c
2
config.c
@ -2,7 +2,7 @@
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config.c - eeprom and compile time configuration handling
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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6
config.h
6
config.h
@ -2,7 +2,7 @@
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config.h - eeprom and compile time configuration handling
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -27,8 +27,8 @@
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// Settings that can only be set at compile-time:
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// #define BAUD_RATE 9600
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#define BAUD_RATE 115200
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#define BAUD_RATE 9600
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//#define BAUD_RATE 115200
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#define STEPPERS_ENABLE_DDR DDRD
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#define STEPPERS_ENABLE_PORT PORTD
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2
gcode.c
2
gcode.c
@ -2,7 +2,7 @@
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gcode.c - rs274/ngc parser.
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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2
gcode.h
2
gcode.h
@ -2,7 +2,7 @@
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gcode.c - rs274/ngc parser.
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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3
main.c
3
main.c
@ -2,7 +2,7 @@
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main.c - An embedded CNC Controller with rs274/ngc (g-code) support
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -33,6 +33,7 @@
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int main(void)
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{
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beginSerial(BAUD_RATE);
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printString("A");
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config_init();
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st_init(); // initialize the stepper subsystem
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mc_init(); // initialize motion control subsystem
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@ -1,8 +1,8 @@
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/*
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motion_control.c - cartesian robot controller.
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motion_control.c - high level interface for issuing motion commands
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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@ -1,8 +1,8 @@
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/*
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motion_control.h - cartesian robot controller.
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motion_control.h - high level interface for issuing motion commands
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Part of Grbl
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Copyright (c) 2009 Simen Svale Skogsrud
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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69
motion_plan.c
Normal file
69
motion_plan.c
Normal file
@ -0,0 +1,69 @@
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/*
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motion_plan.c - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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||||
|
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
|
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <inttypes.h>
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#include <math.h>
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#include "motion_plan.h"
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#include "nuts_bolts.h"
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#include "stepper.h"
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struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
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volatile int block_buffer_head = 0; // Index of the next block to be pushed
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volatile int block_buffer_tail = 0; // Index of the block to process now
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inline uint32_t estimate_acceleration_distance(int32_t current_rate, int32_t target_rate, int32_t acceleration) {
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return((target_rate*target_rate-current_rate*current_rate)/(2*acceleration));
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}
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inline uint32_t estimate_acceleration_ticks(int32_t start_rate, int32_t acceleration_per_tick, int32_t step_events) {
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return(
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round(
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(sqrt(2*acceleration_per_tick*step_events+(start_rate*start_rate))-start_rate)/
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acceleration_per_tick));
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}
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// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
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// In practice both factors must be in the range 0 ... 1.0
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void calculate_trapezoid_for_block(struct Block *block, double entry_factor, double exit_factor) {
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block->initial_rate = max(round(block->nominal_rate*entry_factor),MINIMAL_STEP_RATE);
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int32_t final_rate = max(round(block->nominal_rate*entry_factor),MINIMAL_STEP_RATE);
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int32_t acceleration_per_second = block->rate_delta*ACCELERATION_TICKS_PER_SECOND;
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int32_t acceleration_steps =
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estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_second);
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int32_t decelleration_steps =
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estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration_per_second);
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// Check if the acceleration and decelleration periods overlap. In that case nominal_speed will
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// never be reached but that's okay. Just truncate both periods proportionally so that they
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// fit within the allotted step events.
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int32_t plateau_steps = block->step_event_count-acceleration_steps-decelleration_steps;
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if (plateau_steps < 0) {
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int32_t half_overlap_region = fabs(plateau_steps)/2;
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plateau_steps = 0;
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acceleration_steps = max(acceleration_steps-half_overlap_region,0);
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decelleration_steps = max(decelleration_steps-half_overlap_region,0);
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}
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block->accelerate_ticks = estimate_acceleration_ticks(block->initial_rate, block->rate_delta, acceleration_steps);
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if (plateau_steps) {
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block->plateau_ticks = round(1.0*plateau_steps/(block->nominal_rate*ACCELERATION_TICKS_PER_SECOND));
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} else {
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block->plateau_ticks = 0;
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}
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}
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57
motion_plan.h
Normal file
57
motion_plan.h
Normal file
@ -0,0 +1,57 @@
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/*
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motion_plan.h - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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||||
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.
|
||||
|
||||
Grbl 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
|
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
|
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef motion_plan_h
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#define motion_plan_h
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#include <inttypes.h>
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// Pick a suitable block-buffer size
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#ifdef __AVR_ATmega328P__
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#define BLOCK_BUFFER_SIZE 20 // Atmega 328 has one full kilobyte of extra RAM!
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#else
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#define BLOCK_BUFFER_SIZE 5
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#endif
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// This struct is used when buffering the setup for each linear movement
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// "nominal" values are as specified in the source g-code and may never
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// actually be reached if acceleration management is active.
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struct Block {
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uint32_t steps_x, steps_y, steps_z; // Step count along each axis
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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int32_t step_event_count; // The number of step events required to complete this block
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uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
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// Values used for acceleration management
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double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
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uint32_t initial_rate; // The jerk-adjusted step rate at start of block
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int16_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
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uint16_t accelerate_ticks; // The number of acceleration-ticks to accelerate
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uint16_t plateau_ticks; // The number of acceleration-ticks to maintain top speed
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};
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extern struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
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extern volatile int block_buffer_head; // Index of the next block to be pushed
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extern volatile int block_buffer_tail; // Index of the block to process now
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// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
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// In practice both factors must be in the range 0 ... 1.0
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void calculate_trapezoid_for_block(struct Block *block, double entry_factor, double exit_factor);
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#endif
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@ -2,7 +2,7 @@
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acceleration.c - support methods for acceleration-related calcul
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Part of Grbl
|
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|
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Copyright (c) 2009 Simen Svale Skogsrud
|
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Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
|
||||
@ -2,7 +2,7 @@
|
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motion_control.h - cartesian robot controller.
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Part of Grbl
|
||||
|
||||
Copyright (c) 2009 Simen Svale Skogsrud
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
|
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@ -1,4 +1,5 @@
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socat -d -d READLINE /dev/tty.usbserial-A700e0GO,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
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socat -d -d READLINE /dev/tty.usbserial-A9007QcR,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
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#socat -d -d READLINE /dev/tty.FireFly-A964-SPP-1,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
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@ -2,7 +2,7 @@
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serial_protocol.c - the serial protocol master control unit
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Part of Grbl
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|
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Copyright (c) 2009 Simen Svale Skogsrud
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
|
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@ -2,7 +2,7 @@
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serial_protocol.h - the serial protocol master control unit
|
||||
Part of Grbl
|
||||
|
||||
Copyright (c) 2009 Simen Svale Skogsrud
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
|
||||
@ -2,7 +2,7 @@
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spindle_control.c - spindle control methods
|
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Part of Grbl
|
||||
|
||||
Copyright (c) 2009 Simen Svale Skogsrud
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
|
||||
@ -2,7 +2,7 @@
|
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spindle_control.h - spindle control methods
|
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Part of Grbl
|
||||
|
||||
Copyright (c) 2009 Simen Svale Skogsrud
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
|
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78
stepper.c
78
stepper.c
@ -1,8 +1,8 @@
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/*
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stepper.c - stepper motor interface
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stepper.c - stepper motor driver: executes motion plans using stepper motors
|
||||
Part of Grbl
|
||||
|
||||
Copyright (c) 2009 Simen Svale Skogsrud
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
@ -29,49 +29,20 @@
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||||
#include <util/delay.h>
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#include "nuts_bolts.h"
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#include <avr/interrupt.h>
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#include "motion_plan.h"
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#include "wiring_serial.h"
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// Pick a suitable block-buffer size
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#ifdef __AVR_ATmega328P__
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#define BLOCK_BUFFER_SIZE 40 // Atmega 328 has one full kilobyte of extra RAM!
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||||
#else
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#define BLOCK_BUFFER_SIZE 10
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#endif
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||||
|
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void set_step_events_per_minute(uint32_t steps_per_minute);
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|
||||
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
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#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
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#define ACCELERATION_TICKS_PER_SECOND 10
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#define MINIMAL_STEP_RATE (ACCELERATION_TICKS_PER_SECOND*5)
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||||
#define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
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||||
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// This struct is used when buffering the setup for each linear movement
|
||||
// "nominal" values are as specified in the source g-code and may never
|
||||
// actually be reached if acceleration management is active.
|
||||
struct Block {
|
||||
uint32_t steps_x, steps_y, steps_z; // Step count along each axis
|
||||
uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
|
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int32_t step_event_count; // The number of step events required to complete this block
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uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
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// Values used for acceleration management
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||||
double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
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uint32_t initial_rate; // The jerk-adjusted step rate at start of block
|
||||
int16_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
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||||
uint16_t accelerate_ticks; // The number of acceleration-ticks to accelerate
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uint16_t plateau_ticks; // The number of acceleration-ticks to maintain top speed
|
||||
};
|
||||
|
||||
struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
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volatile int block_buffer_head = 0; // Index of the next block to be pushed
|
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volatile int block_buffer_tail = 0; // Index of the block to process now
|
||||
struct Block *current_block; // A convenience pointer to the block currently being traced
|
||||
|
||||
// Variables used by The Stepper Driver Interrupt
|
||||
uint8_t out_bits; // The next stepping-bits to be output
|
||||
struct Block *current_block; // A pointer to the block currently being traced
|
||||
int32_t counter_x,
|
||||
counter_y,
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||||
counter_z; // counter variables for the bresenham line tracer
|
||||
@ -106,46 +77,9 @@ uint16_t trapezoid_stage_ticks;
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||||
uint32_t trapezoid_rate;
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int16_t trapezoid_delta;
|
||||
|
||||
inline uint32_t estimate_acceleration_distance(int32_t current_rate, int32_t target_rate, int32_t acceleration) {
|
||||
return((target_rate*target_rate-current_rate*current_rate)/(2*acceleration));
|
||||
}
|
||||
|
||||
inline uint32_t estimate_acceleration_ticks(int32_t start_rate, int32_t acceleration_per_tick, int32_t step_events) {
|
||||
return(
|
||||
round(
|
||||
(sqrt(2*acceleration_per_tick*step_events+(start_rate*start_rate))-start_rate)/
|
||||
acceleration_per_tick));
|
||||
}
|
||||
|
||||
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
|
||||
// In practice both factors must be in the range 0 ... 1.0
|
||||
void calculate_trapezoid_for_block(struct Block *block, double entry_factor, double exit_factor) {
|
||||
block->initial_rate = max(round(block->nominal_rate*entry_factor),MINIMAL_STEP_RATE);
|
||||
int32_t final_rate = max(round(block->nominal_rate*entry_factor),MINIMAL_STEP_RATE);
|
||||
int32_t acceleration_per_second = block->rate_delta*ACCELERATION_TICKS_PER_SECOND;
|
||||
int32_t acceleration_steps =
|
||||
estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_second);
|
||||
int32_t decelleration_steps =
|
||||
estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration_per_second);
|
||||
// Check if the acceleration and decelleration periods overlap. In that case nominal_speed will
|
||||
// never be reached but that's okay. Just truncate both periods proportionally so that they
|
||||
// fit within the allotted step events.
|
||||
int32_t plateau_steps = block->step_event_count-acceleration_steps-decelleration_steps;
|
||||
if (plateau_steps < 0) {
|
||||
int32_t half_overlap_region = abs(plateau_steps)/2;
|
||||
plateau_steps = 0;
|
||||
acceleration_steps = max(acceleration_steps-half_overlap_region,0);
|
||||
decelleration_steps = max(decelleration_steps-half_overlap_region,0);
|
||||
}
|
||||
block->accelerate_ticks = estimate_acceleration_ticks(block->initial_rate, block->rate_delta, acceleration_steps);
|
||||
if (plateau_steps) {
|
||||
block->plateau_ticks = round(1.0*plateau_steps/(block->nominal_rate*ACCELERATION_TICKS_PER_SECOND));
|
||||
} else {
|
||||
block->plateau_ticks = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Call this when a new block is started
|
||||
// Initializes the trapezoid generator from the current block. Called whenever a new
|
||||
// block begins.
|
||||
inline void reset_trapezoid_generator() {
|
||||
trapezoid_stage = TRAPEZOID_STAGE_ACCELERATING;
|
||||
trapezoid_stage_ticks = current_block->accelerate_ticks;
|
||||
|
||||
@ -1,8 +1,8 @@
|
||||
/*
|
||||
stepper.h - stepper motor interface
|
||||
stepper.h - stepper motor driver: executes motion plans using stepper motors
|
||||
Part of Grbl
|
||||
|
||||
Copyright (c) 2009 Simen Svale Skogsrud
|
||||
Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
@ -24,6 +24,9 @@
|
||||
#include <avr/io.h>
|
||||
#include <avr/sleep.h>
|
||||
|
||||
#define ACCELERATION_TICKS_PER_SECOND 10
|
||||
#define MINIMAL_STEP_RATE (ACCELERATION_TICKS_PER_SECOND*5)
|
||||
|
||||
// Initialize and start the stepper motor subsystem
|
||||
void st_init();
|
||||
|
||||
|
||||
7
todo.txt
7
todo.txt
@ -1,5 +1,8 @@
|
||||
* Complete support for using and setting separate seek-rate for G0-commnads
|
||||
Todo
|
||||
* Refactor stepper.c extracting motion blocks so that they can be processed by other code
|
||||
* non blocking dwells
|
||||
* Path Control Modes
|
||||
* Implement limit switch support in stepper.c (use port-triggered interrupts?)
|
||||
* Implement homing cycle in stepper.c
|
||||
* Path Control Modes
|
||||
* Spindle speed support
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user