Merge chamnit/v0_7 with grbl/master
This commit is contained in:
315
stepper.c
315
stepper.c
@ -3,7 +3,8 @@
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Copyright (c) 2011 Sungeun K. Jeon
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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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@ -30,23 +31,16 @@
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#include "nuts_bolts.h"
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#include <avr/interrupt.h>
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#include "planner.h"
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#include "wiring_serial.h"
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#include "limits.h"
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// Some useful constants
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#define STEP_MASK ((1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)) // All step bits
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#define DIRECTION_MASK ((1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)) // All direction bits
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#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
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#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
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#define TICKS_PER_MICROSECOND (F_CPU/1000000)
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#define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
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#define MINIMUM_STEPS_PER_MINUTE 1200 // The stepper subsystem will never run slower than this, exept when sleeping
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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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static block_t *current_block; // A pointer to the block currently being traced
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// Variables used by The Stepper Driver Interrupt
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@ -55,13 +49,15 @@ static int32_t counter_x, // Counter variables for the bresenham line trac
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counter_y,
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counter_z;
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static uint32_t step_events_completed; // The number of step events executed in the current block
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static volatile int busy; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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static volatile uint8_t busy; // true when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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// Variables used by the trapezoid generation
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static uint32_t cycles_per_step_event; // The number of machine cycles between each step event
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static uint32_t trapezoid_tick_cycle_counter; // The cycles since last trapezoid_tick. Used to generate ticks at a steady
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// pace without allocating a separate timer
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static uint32_t trapezoid_adjusted_rate; // The current rate of step_events according to the trapezoid generator
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static uint32_t min_safe_rate; // Minimum safe rate for full deceleration rate reduction step. Otherwise halves step_rate.
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static uint8_t cycle_start; // Cycle start flag to indicate program start and block processing.
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// __________________________
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// /| |\ _________________ ^
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@ -77,93 +73,102 @@ static uint32_t trapezoid_adjusted_rate; // The current rate of step_events
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// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates by block->rate_delta
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// during the first block->accelerate_until step_events_completed, then keeps going at constant speed until
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// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
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// The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate by trapezoid_generator_tick()
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// that is called ACCELERATION_TICKS_PER_SECOND times per second.
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// The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate following the midpoint rule
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// by the trapezoid generator, which is called ACCELERATION_TICKS_PER_SECOND times per second.
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void set_step_events_per_minute(uint32_t steps_per_minute);
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static void set_step_events_per_minute(uint32_t steps_per_minute);
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void st_wake_up() {
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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// Stepper state initialization
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static void st_wake_up()
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{
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// Initialize stepper output bits
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out_bits = (0) ^ (settings.invert_mask);
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// Enable steppers by resetting the stepper disable port
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STEPPERS_DISABLE_PORT &= ~(1<<STEPPERS_DISABLE_BIT);
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// Enable stepper driver interrupt
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TIMSK1 |= (1<<OCIE1A);
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}
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// Stepper shutdown
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static void st_go_idle()
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{
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// Cycle finished. Set flag to false.
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cycle_start = false;
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// Disable stepper driver interrupt
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TIMSK1 &= ~(1<<OCIE1A);
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// Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
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// stop and not drift from residual inertial forces at the end of the last movement.
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#if STEPPER_IDLE_LOCK_TIME
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_delay_ms(STEPPER_IDLE_LOCK_TIME);
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#endif
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// Disable steppers by setting stepper disable
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STEPPERS_DISABLE_PORT |= (1<<STEPPERS_DISABLE_BIT);
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}
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// Initializes the trapezoid generator from the current block. Called whenever a new
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// block begins.
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inline void trapezoid_generator_reset() {
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trapezoid_adjusted_rate = current_block->initial_rate;
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trapezoid_tick_cycle_counter = 0; // Always start a new trapezoid with a full acceleration tick
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set_step_events_per_minute(trapezoid_adjusted_rate);
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static void trapezoid_generator_reset()
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{
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trapezoid_adjusted_rate = current_block->initial_rate;
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min_safe_rate = current_block->rate_delta + (current_block->rate_delta >> 1); // 1.5 x rate_delta
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trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2; // Start halfway for midpoint rule.
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set_step_events_per_minute(trapezoid_adjusted_rate); // Initialize cycles_per_step_event
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}
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// This is called ACCELERATION_TICKS_PER_SECOND times per second by the step_event
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// interrupt. It can be assumed that the trapezoid-generator-parameters and the
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// current_block stays untouched by outside handlers for the duration of this function call.
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inline void trapezoid_generator_tick() {
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if (current_block) {
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if (step_events_completed < current_block->accelerate_until) {
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trapezoid_adjusted_rate += current_block->rate_delta;
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if (trapezoid_adjusted_rate > current_block->nominal_rate ) {
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trapezoid_adjusted_rate = current_block->nominal_rate;
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}
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set_step_events_per_minute(trapezoid_adjusted_rate);
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} else if (step_events_completed > current_block->decelerate_after) {
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// NOTE: We will only reduce speed if the result will be > 0. This catches small
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// rounding errors that might leave steps hanging after the last trapezoid tick.
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if (trapezoid_adjusted_rate > current_block->rate_delta) {
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trapezoid_adjusted_rate -= current_block->rate_delta;
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}
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if (trapezoid_adjusted_rate < current_block->final_rate) {
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trapezoid_adjusted_rate = current_block->final_rate;
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}
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set_step_events_per_minute(trapezoid_adjusted_rate);
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} else {
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// Make sure we cruise at exactly nominal rate
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if (trapezoid_adjusted_rate != current_block->nominal_rate) {
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trapezoid_adjusted_rate = current_block->nominal_rate;
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set_step_events_per_minute(trapezoid_adjusted_rate);
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}
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}
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// This function determines an acceleration velocity change every CYCLES_PER_ACCELERATION_TICK by
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// keeping track of the number of elapsed cycles during a de/ac-celeration. The code assumes that
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// step_events occur significantly more often than the acceleration velocity iterations.
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static uint8_t iterate_trapezoid_cycle_counter()
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{
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trapezoid_tick_cycle_counter += cycles_per_step_event;
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if(trapezoid_tick_cycle_counter > CYCLES_PER_ACCELERATION_TICK) {
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trapezoid_tick_cycle_counter -= CYCLES_PER_ACCELERATION_TICK;
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return(true);
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} else {
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return(false);
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}
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}
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}
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with
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// config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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// It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse.
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SIGNAL(TIMER1_COMPA_vect)
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// It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse.
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// The bresenham line tracer algorithm controls all three stepper outputs simultaneously with these two interrupts.
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ISR(TIMER1_COMPA_vect)
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{
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// TODO: Check if the busy-flag can be eliminated by just disabeling this interrupt while we are in it
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if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt
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if(busy){ return; } // The busy-flag is used to avoid reentering this interrupt
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// Set the direction pins a cuple of nanoseconds before we step the steppers
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// Set the direction pins a couple of nanoseconds before we step the steppers
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STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
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// Then pulse the stepping pins
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STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits;
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// Reset step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after
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// exactly settings.pulse_microseconds microseconds. Clear the overflow flag to stop a queued
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// interrupt from resetting the step pulse too soon.
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TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND)/8);
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TIFR2 |= (1<<TOV2);
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// Enable step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after
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// exactly settings.pulse_microseconds microseconds, independent of the main Timer1 prescaler.
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TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3); // Reload timer counter
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TCCR2B = (1<<CS21); // Begin timer2. Full speed, 1/8 prescaler
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busy = TRUE;
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sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
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// ((We re-enable interrupts in order for SIG_OVERFLOW2 to be able to be triggered
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// at exactly the right time even if we occasionally spend a lot of time inside this handler.))
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busy = true;
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// Re-enable interrupts to allow ISR_TIMER2_OVERFLOW to trigger on-time and allow serial communications
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// regardless of time in this handler. The following code prepares the stepper driver for the next
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// step interrupt compare and will always finish before returning to the main program.
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sei();
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// If there is no current block, attempt to pop one from the buffer
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if (current_block == NULL) {
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// Anything in the buffer?
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// Anything in the buffer? If so, initialize next motion.
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current_block = plan_get_current_block();
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if (current_block != NULL) {
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trapezoid_generator_reset();
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counter_x = -(current_block->step_event_count >> 1);
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counter_y = counter_x;
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counter_z = counter_x;
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step_events_completed = 0;
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step_events_completed = 0;
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} else {
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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st_go_idle();
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}
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}
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if (current_block != NULL) {
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// Execute step displacement profile by bresenham line algorithm
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out_bits = current_block->direction_bits;
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counter_x += current_block->steps_x;
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if (counter_x > 0) {
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@ -180,69 +185,116 @@ SIGNAL(TIMER1_COMPA_vect)
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out_bits |= (1<<Z_STEP_BIT);
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counter_z -= current_block->step_event_count;
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}
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// If current block is finished, reset pointer
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step_events_completed += 1;
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if (step_events_completed >= current_block->step_event_count) {
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step_events_completed++; // Iterate step events
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// While in block steps, check for de/ac-celeration events and execute them accordingly.
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if (step_events_completed < current_block->step_event_count) {
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// The trapezoid generator always checks step event location to ensure de/ac-celerations are
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// executed and terminated at exactly the right time. This helps prevent over/under-shooting
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// the target position and speed.
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// NOTE: By increasing the ACCELERATION_TICKS_PER_SECOND in config.h, the resolution of the
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// discrete velocity changes increase and accuracy can increase as well to a point. Numerical
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// round-off errors can effect this, if set too high. This is important to note if a user has
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// very high acceleration and/or feedrate requirements for their machine.
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if (step_events_completed < current_block->accelerate_until) {
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// Iterate cycle counter and check if speeds need to be increased.
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if ( iterate_trapezoid_cycle_counter() ) {
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trapezoid_adjusted_rate += current_block->rate_delta;
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if (trapezoid_adjusted_rate >= current_block->nominal_rate) {
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// Reached nominal rate a little early. Cruise at nominal rate until decelerate_after.
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trapezoid_adjusted_rate = current_block->nominal_rate;
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}
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set_step_events_per_minute(trapezoid_adjusted_rate);
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}
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} else if (step_events_completed >= current_block->decelerate_after) {
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// Reset trapezoid tick cycle counter to make sure that the deceleration is performed the
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// same every time. Reset to CYCLES_PER_ACCELERATION_TICK/2 to follow the midpoint rule for
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// an accurate approximation of the deceleration curve.
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if (step_events_completed == current_block-> decelerate_after) {
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trapezoid_tick_cycle_counter = CYCLES_PER_ACCELERATION_TICK/2;
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} else {
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// Iterate cycle counter and check if speeds need to be reduced.
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if ( iterate_trapezoid_cycle_counter() ) {
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// NOTE: We will only do a full speed reduction if the result is more than the minimum safe
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// rate, initialized in trapezoid reset as 1.5 x rate_delta. Otherwise, reduce the speed by
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// half increments until finished. The half increments are guaranteed not to exceed the
|
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// CNC acceleration limits, because they will never be greater than rate_delta. This catches
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// small errors that might leave steps hanging after the last trapezoid tick or a very slow
|
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// step rate at the end of a full stop deceleration in certain situations. The half rate
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// reductions should only be called once or twice per block and create a nice smooth
|
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// end deceleration.
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if (trapezoid_adjusted_rate > min_safe_rate) {
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trapezoid_adjusted_rate -= current_block->rate_delta;
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} else {
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trapezoid_adjusted_rate >>= 1; // Bit shift divide by 2
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}
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if (trapezoid_adjusted_rate < current_block->final_rate) {
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// Reached final rate a little early. Cruise to end of block at final rate.
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trapezoid_adjusted_rate = current_block->final_rate;
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}
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set_step_events_per_minute(trapezoid_adjusted_rate);
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}
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}
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} else {
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// No accelerations. Make sure we cruise exactly at the nominal rate.
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if (trapezoid_adjusted_rate != current_block->nominal_rate) {
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trapezoid_adjusted_rate = current_block->nominal_rate;
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set_step_events_per_minute(trapezoid_adjusted_rate);
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}
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}
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} else {
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// If current block is finished, reset pointer
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current_block = NULL;
|
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plan_discard_current_block();
|
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}
|
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} else {
|
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out_bits = 0;
|
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}
|
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out_bits ^= settings.invert_mask;
|
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|
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// In average this generates a trapezoid_generator_tick every CYCLES_PER_ACCELERATION_TICK by keeping track
|
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// of the number of elapsed cycles. The code assumes that step_events occur significantly more often than
|
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// trapezoid_generator_ticks as they well should.
|
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trapezoid_tick_cycle_counter += cycles_per_step_event;
|
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if(trapezoid_tick_cycle_counter > CYCLES_PER_ACCELERATION_TICK) {
|
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trapezoid_tick_cycle_counter -= CYCLES_PER_ACCELERATION_TICK;
|
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trapezoid_generator_tick();
|
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}
|
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|
||||
busy=FALSE;
|
||||
out_bits ^= settings.invert_mask; // Apply stepper invert mask
|
||||
busy=false;
|
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}
|
||||
|
||||
// This interrupt is set up by SIG_OUTPUT_COMPARE1A when it sets the motor port bits. It resets
|
||||
// This interrupt is set up by ISR_TIMER1_COMPAREA when it sets the motor port bits. It resets
|
||||
// the motor port after a short period (settings.pulse_microseconds) completing one step cycle.
|
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SIGNAL(TIMER2_OVF_vect)
|
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// TODO: It is possible for the serial interrupts to delay this interrupt by a few microseconds, if
|
||||
// they execute right before this interrupt. Not a big deal, but could use some TLC at some point.
|
||||
ISR(TIMER2_OVF_vect)
|
||||
{
|
||||
// reset stepping pins (leave the direction pins)
|
||||
// Reset stepping pins (leave the direction pins)
|
||||
STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (settings.invert_mask & STEP_MASK);
|
||||
TCCR2B = 0; // Disable Timer2 to prevent re-entering this interrupt when it's not needed.
|
||||
}
|
||||
|
||||
// Initialize and start the stepper motor subsystem
|
||||
void st_init()
|
||||
{
|
||||
// Configure directions of interface pins
|
||||
STEPPING_DDR |= STEPPING_MASK;
|
||||
// Configure directions of interface pins
|
||||
STEPPING_DDR |= STEPPING_MASK;
|
||||
STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | settings.invert_mask;
|
||||
LIMIT_DDR &= ~(LIMIT_MASK);
|
||||
STEPPERS_ENABLE_DDR |= 1<<STEPPERS_ENABLE_BIT;
|
||||
STEPPERS_DISABLE_DDR |= 1<<STEPPERS_DISABLE_BIT;
|
||||
|
||||
// waveform generation = 0100 = CTC
|
||||
TCCR1B &= ~(1<<WGM13);
|
||||
TCCR1B |= (1<<WGM12);
|
||||
TCCR1A &= ~(1<<WGM11);
|
||||
TCCR1A &= ~(1<<WGM10);
|
||||
// waveform generation = 0100 = CTC
|
||||
TCCR1B &= ~(1<<WGM13);
|
||||
TCCR1B |= (1<<WGM12);
|
||||
TCCR1A &= ~(1<<WGM11);
|
||||
TCCR1A &= ~(1<<WGM10);
|
||||
|
||||
// output mode = 00 (disconnected)
|
||||
TCCR1A &= ~(3<<COM1A0);
|
||||
TCCR1A &= ~(3<<COM1B0);
|
||||
// output mode = 00 (disconnected)
|
||||
TCCR1A &= ~(3<<COM1A0);
|
||||
TCCR1A &= ~(3<<COM1B0);
|
||||
|
||||
// Configure Timer 2
|
||||
TCCR2A = 0; // Normal operation
|
||||
TCCR2B = (1<<CS21); // Full speed, 1/8 prescaler
|
||||
TIMSK2 |= (1<<TOIE2);
|
||||
// Configure Timer 2
|
||||
TCCR2A = 0; // Normal operation
|
||||
TCCR2B = 0; // Disable timer until needed.
|
||||
TIMSK2 |= (1<<TOIE2); // Enable Timer2 interrupt flag
|
||||
|
||||
set_step_events_per_minute(6000);
|
||||
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
||||
set_step_events_per_minute(MINIMUM_STEPS_PER_MINUTE);
|
||||
trapezoid_tick_cycle_counter = 0;
|
||||
current_block = NULL;
|
||||
busy = false;
|
||||
|
||||
// set enable pin
|
||||
STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
|
||||
|
||||
sei();
|
||||
// Start in the idle state
|
||||
st_go_idle();
|
||||
}
|
||||
|
||||
// Block until all buffered steps are executed
|
||||
@ -253,50 +305,61 @@ void st_synchronize()
|
||||
|
||||
// Configures the prescaler and ceiling of timer 1 to produce the given rate as accurately as possible.
|
||||
// Returns the actual number of cycles per interrupt
|
||||
uint32_t config_step_timer(uint32_t cycles)
|
||||
static uint32_t config_step_timer(uint32_t cycles)
|
||||
{
|
||||
uint16_t ceiling;
|
||||
uint16_t prescaler;
|
||||
uint32_t actual_cycles;
|
||||
if (cycles <= 0xffffL) {
|
||||
ceiling = cycles;
|
||||
if (cycles <= 0xffffL) {
|
||||
ceiling = cycles;
|
||||
prescaler = 0; // prescaler: 0
|
||||
actual_cycles = ceiling;
|
||||
} else if (cycles <= 0x7ffffL) {
|
||||
} else if (cycles <= 0x7ffffL) {
|
||||
ceiling = cycles >> 3;
|
||||
prescaler = 1; // prescaler: 8
|
||||
actual_cycles = ceiling * 8L;
|
||||
} else if (cycles <= 0x3fffffL) {
|
||||
ceiling = cycles >> 6;
|
||||
} else if (cycles <= 0x3fffffL) {
|
||||
ceiling = cycles >> 6;
|
||||
prescaler = 2; // prescaler: 64
|
||||
actual_cycles = ceiling * 64L;
|
||||
} else if (cycles <= 0xffffffL) {
|
||||
ceiling = (cycles >> 8);
|
||||
} else if (cycles <= 0xffffffL) {
|
||||
ceiling = (cycles >> 8);
|
||||
prescaler = 3; // prescaler: 256
|
||||
actual_cycles = ceiling * 256L;
|
||||
} else if (cycles <= 0x3ffffffL) {
|
||||
ceiling = (cycles >> 10);
|
||||
} else if (cycles <= 0x3ffffffL) {
|
||||
ceiling = (cycles >> 10);
|
||||
prescaler = 4; // prescaler: 1024
|
||||
actual_cycles = ceiling * 1024L;
|
||||
} else {
|
||||
// Okay, that was slower than we actually go. Just set the slowest speed
|
||||
ceiling = 0xffff;
|
||||
} else {
|
||||
// Okay, that was slower than we actually go. Just set the slowest speed
|
||||
ceiling = 0xffff;
|
||||
prescaler = 4;
|
||||
actual_cycles = 0xffff * 1024;
|
||||
}
|
||||
// Set prescaler
|
||||
}
|
||||
// Set prescaler
|
||||
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | ((prescaler+1)<<CS10);
|
||||
// Set ceiling
|
||||
OCR1A = ceiling;
|
||||
return(actual_cycles);
|
||||
}
|
||||
|
||||
void set_step_events_per_minute(uint32_t steps_per_minute) {
|
||||
static void set_step_events_per_minute(uint32_t steps_per_minute)
|
||||
{
|
||||
if (steps_per_minute < MINIMUM_STEPS_PER_MINUTE) { steps_per_minute = MINIMUM_STEPS_PER_MINUTE; }
|
||||
cycles_per_step_event = config_step_timer((TICKS_PER_MICROSECOND*1000000*60)/steps_per_minute);
|
||||
}
|
||||
|
||||
void st_go_home()
|
||||
{
|
||||
// Todo: Perform the homing cycle
|
||||
limits_go_home();
|
||||
plan_set_current_position(0,0,0);
|
||||
}
|
||||
|
||||
// Planner external interface to start stepper interrupt and execute the blocks in queue.
|
||||
void st_cycle_start()
|
||||
{
|
||||
if (!cycle_start) {
|
||||
cycle_start = true;
|
||||
st_wake_up();
|
||||
}
|
||||
}
|
||||
|
Reference in New Issue
Block a user