ManuelW/grbl-LPC-CoreXY
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Port stepper

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This commit is contained in:
Todd Fleming 2017-01-08 16:12:24 -05:00
parent fdf6e31218
commit d4cbac2a5c
4 changed files with 70 additions and 60 deletions
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14
grbl/config.h
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@ -415,14 +415,18 @@
// NOTE: Uncomment to enable. The recommended delay must be > 3us, and, when added with the
// user-supplied step pulse time, the total time must not exceed 127us. Reported successful
// values for certain setups have ranged from 5 to 20us.
// #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
// not ported; don't use. #define STEP_PULSE_DELAY 10 // Step pulse delay in microseconds. Default disabled.
// Creates a delay between setting the direction pin and pulsing the step pin. This delay
// lives inside the main Grbl interrupt.
#define STEP_PULSE_DELAY_NS 200 // Step pulse delay in nanoseconds.
// The number of linear motions in the planner buffer to be planned at any give time. The vast
// majority of RAM that Grbl uses is based on this buffer size. Only increase if there is extra
// available RAM, like when re-compiling for a Mega2560. Or decrease if the Arduino begins to
// crash due to the lack of available RAM or if the CPU is having trouble keeping up with planning
// new incoming motions as they are executed.
// #define BLOCK_BUFFER_SIZE 16 // Uncomment to override default in planner.h.
#define BLOCK_BUFFER_SIZE 32 // Uncomment to override default in planner.h.
// Governs the size of the intermediary step segment buffer between the step execution algorithm
// and the planner blocks. Each segment is set of steps executed at a constant velocity over a
@ -617,9 +621,9 @@
#define Y_LIMIT_BIT 27 // Y-MIN=26, Y-MAX=27
#define Z_LIMIT_BIT 29 // Z-MIN=28, Z-MAX=29
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
// hard/soft limit not ported #define LIMIT_INT PCIE0 // Pin change interrupt enable pin
// hard/soft limit not ported #define LIMIT_INT_vect PCINT0_vect
// hard/soft limit not ported #define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
// hard limits not ported #define LIMIT_INT PCIE0 // Pin change interrupt enable pin
// hard limits not ported #define LIMIT_INT_vect PCINT0_vect
// hard limits not ported #define LIMIT_PCMSK PCMSK0 // Pin change interrupt register
// Define spindle enable and spindle direction output pins.
#define SPINDLE_ENABLE_DDR DDRB

76
grbl/stepper.c
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@ -73,7 +73,7 @@ static st_block_t st_block_buffer[SEGMENT_BUFFER_SIZE-1];
// the planner, where the remaining planner block steps still can.
typedef struct {
uint16_t n_step; // Number of step events to be executed for this segment
uint16_t cycles_per_tick; // Step distance traveled per ISR tick, aka step rate.
uint32_t cycles_per_tick; // Step distance traveled per ISR tick, aka step rate.
uint8_t st_block_index; // Stepper block data index. Uses this information to execute this segment.
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
uint8_t amass_level; // Indicates AMASS level for the ISR to execute this segment
@ -97,7 +97,8 @@ typedef struct {
#endif
uint8_t execute_step; // Flags step execution for each interrupt.
uint8_t step_pulse_time; // Step pulse reset time after step rise
uint32_t step_setup_time; // Delay between dir change and step pulse
uint32_t step_pulse_time; // Step pulse width
uint32_t step_outbits; // The next stepping-bits to be output
uint32_t dir_outbits;
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
@ -220,12 +221,14 @@ void st_wake_up()
// Set delay between direction pin write and step command.
OCR0A = -(((settings.pulse_microseconds)*TICKS_PER_MICROSECOND) >> 3);
#else // Normal operation
// Set step pulse time. Ad hoc computation from oscilloscope. Uses two's complement.
st.step_pulse_time = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3);
st.step_setup_time = uint32_t(uint64_t(SystemCoreClock)*STEP_PULSE_DELAY_NS/1000'000'000);
st.step_pulse_time = settings.pulse_microseconds*TICKS_PER_MICROSECOND;
#endif
// Enable Stepper Driver Interrupt
TIMSK1 |= (1<<OCIE1A);
// Enable Stepper Driver Interrupt Timer
LPC_TIM1->TCR = 0b10; // reset
LPC_TIM1->MR0 = 4000; // Generate first interrupt soon
LPC_TIM1->TCR = 0b01; // enable
}
@ -233,8 +236,7 @@ void st_wake_up()
void st_go_idle()
{
// Disable Stepper Driver Interrupt. Allow Stepper Port Reset Interrupt to finish, if active.
TIMSK1 &= ~(1<<OCIE1A); // Disable Timer1 interrupt
TCCR1B = (TCCR1B & ~((1<<CS12) | (1<<CS11))) | (1<<CS10); // Reset clock to no prescaling.
LPC_TIM1->TCR = 0; // Disable Timer1
busy = false;
// Set stepper driver idle state, disabled or enabled, depending on settings and circumstances.
@ -299,8 +301,9 @@ void st_go_idle()
// TODO: Replace direct updating of the int32 position counters in the ISR somehow. Perhaps use smaller
// int8 variables and update position counters only when a segment completes. This can get complicated
// with probing and homing cycles that require true real-time positions.
ISR(TIMER1_COMPA_vect)
extern "C" void TIMER1_IRQHandler()
{
LPC_TIM1->IR = LPC_TIM1->IR; // Clear interrupt
if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt
// Set the direction pins a couple of nanoseconds before we step the steppers
@ -308,19 +311,26 @@ ISR(TIMER1_COMPA_vect)
// Then pulse the stepping pins
#ifdef STEP_PULSE_DELAY
#error not implemented
st.step_bits = (STEP_PORT & ~STEP_MASK) | st.step_outbits; // Store out_bits to prevent overwriting.
#else // Normal operation
delay_loop(get_time(), st.step_setup_time);
STEP_PORT = (STEP_PORT & ~STEP_MASK) | st.step_outbits;
// Mark time step bits were set
uint32_t step_start_time = get_time();
#endif
// Enable step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after
// exactly settings.pulse_microseconds microseconds, independent of the main Timer1 prescaler.
TCNT0 = st.step_pulse_time; // Reload Timer0 counter
TCCR0B = (1<<CS01); // Begin Timer0. Full speed, 1/8 prescaler
// Disabled. This ISR now resets the step pins at the end.
// TCNT0 = st.step_pulse_time; // Reload Timer0 counter
// TCCR0B = (1<<CS01); // Begin Timer0. Full speed, 1/8 prescaler
busy = true;
sei(); // Re-enable interrupts to allow Stepper Port Reset Interrupt to fire on-time.
// NOTE: The remaining code in this ISR will finish before returning to main program.
// Can no longer re-enable interrupts since this ISR resets the step pins at the end.
// sei(); // Re-enable interrupts to allow Stepper Port Reset Interrupt to fire on-time.
// // NOTE: The remaining code in this ISR will finish before returning to main program.
// If there is no step segment, attempt to pop one from the stepper buffer
if (st.exec_segment == NULL) {
@ -330,12 +340,13 @@ ISR(TIMER1_COMPA_vect)
st.exec_segment = &segment_buffer[segment_buffer_tail];
#ifndef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
#error not ported; AMASS is required
// With AMASS is disabled, set timer prescaler for segments with slow step frequencies (< 250Hz).
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (st.exec_segment->prescaler<<CS10);
#endif
// Initialize step segment timing per step and load number of steps to execute.
OCR1A = st.exec_segment->cycles_per_tick;
LPC_TIM1->MR0 = st.exec_segment->cycles_per_tick;
st.step_count = st.exec_segment->n_step; // NOTE: Can sometimes be zero when moving slow.
// If the new segment starts a new planner block, initialize stepper variables and counters.
// NOTE: When the segment data index changes, this indicates a new planner block.
@ -368,6 +379,9 @@ ISR(TIMER1_COMPA_vect)
if (st.exec_block->is_pwm_rate_adjusted) { spindle_set_speed(SPINDLE_PWM_OFF_VALUE); }
#endif
system_set_exec_state_flag(EXEC_CYCLE_STOP); // Flag main program for cycle end
// Reset stepping pins after delay
delay_loop(step_start_time, st.step_pulse_time);
STEP_PORT = (STEP_PORT & ~STEP_MASK) | (step_port_invert_mask & STEP_MASK);
return; // Nothing to do but exit.
}
}
@ -425,6 +439,11 @@ ISR(TIMER1_COMPA_vect)
}
st.step_outbits ^= step_port_invert_mask; // Apply step port invert mask
// Reset stepping pins after delay
delay_loop(step_start_time, st.step_pulse_time);
STEP_PORT = (STEP_PORT & ~STEP_MASK) | (step_port_invert_mask & STEP_MASK);
busy = false;
}
@ -437,6 +456,8 @@ ISR(TIMER1_COMPA_vect)
cause issues at high step rates if another high frequency asynchronous interrupt is
added to Grbl.
*/
/* Not ported; the main ISR assumes short pulse widths and handles it. Stepper drivers with
long pulse widths may need this instead if they cause the main ISR to consume too much time.
// This interrupt is enabled by ISR_TIMER1_COMPAREA when it sets the motor port bits to execute
// a step. This ISR resets the motor port after a short period (settings.pulse_microseconds)
// completing one step cycle.
@ -457,6 +478,7 @@ ISR(TIMER0_OVF_vect)
STEP_PORT = st.step_bits; // Begin step pulse.
}
#endif
*/
// Generates the step and direction port invert masks used in the Stepper Interrupt Driver.
@ -506,21 +528,13 @@ void stepper_init()
DIRECTION_DDR |= DIRECTION_MASK;
// Configure Timer 1: Stepper Driver Interrupt
TCCR1B &= ~(1<<WGM13); // waveform generation = 0100 = CTC
TCCR1B |= (1<<WGM12);
TCCR1A &= ~((1<<WGM11) | (1<<WGM10));
TCCR1A &= ~((1<<COM1A1) | (1<<COM1A0) | (1<<COM1B1) | (1<<COM1B0)); // Disconnect OC1 output
// TCCR1B = (TCCR1B & ~((1<<CS12) | (1<<CS11))) | (1<<CS10); // Set in st_go_idle().
// TIMSK1 &= ~(1<<OCIE1A); // Set in st_go_idle().
// Configure Timer 0: Stepper Port Reset Interrupt
TIMSK0 &= ~((1<<OCIE0B) | (1<<OCIE0A) | (1<<TOIE0)); // Disconnect OC0 outputs and OVF interrupt.
TCCR0A = 0; // Normal operation
TCCR0B = 0; // Disable Timer0 until needed
TIMSK0 |= (1<<TOIE0); // Enable Timer0 overflow interrupt
#ifdef STEP_PULSE_DELAY
TIMSK0 |= (1<<OCIE0A); // Enable Timer0 Compare Match A interrupt
#endif
LPC_TIM1->TCR = 0; // disable
LPC_TIM1->CTCR = 0; // timer mode
LPC_TIM1->PR = 0; // no prescale
LPC_TIM1->MCR = 0b011; // MR0: !stop, reset, interrupt
LPC_TIM1->CCR = 0; // no capture
LPC_TIM1->EMR = 0; // no external match
NVIC_EnableIRQ(TIMER1_IRQn); // Enable Stepper Driver Interrupt
}
@ -948,9 +962,9 @@ void st_prep_buffer()
cycles >>= prep_segment->amass_level;
prep_segment->n_step <<= prep_segment->amass_level;
}
if (cycles < (1UL << 16)) { prep_segment->cycles_per_tick = cycles; } // < 65536 (4.1ms @ 16MHz)
else { prep_segment->cycles_per_tick = 0xffff; } // Just set the slowest speed possible.
prep_segment->cycles_per_tick = cycles;
#else
#error not ported; AMASS is required
// Compute step timing and timer prescalar for normal step generation.
if (cycles < (1UL << 16)) { // < 65536 (4.1ms @ 16MHz)
prep_segment->prescaler = 1; // prescaler: 0

20
smoother/avr/io.h
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@ -28,28 +28,14 @@ extern DummyReg EECR;
extern DummyReg EEDR;
extern DummyReg EEMPE;
extern DummyReg EEPE;
extern DummyReg OCIE0A;
extern DummyReg OCIE0B;
extern DummyReg OCIE1A;
extern DummyReg OCR1A;
extern DummyReg OCR2A;
extern DummyReg PCICR;
extern DummyReg PCIE0;
extern DummyReg PCIE1;
extern DummyReg PCMSK0;
extern DummyReg PCMSK1;
extern DummyReg SREG;
extern DummyReg TCCR0A;
extern DummyReg TCCR0B;
extern DummyReg TCCR1A;
extern DummyReg TCCR1B;
extern DummyReg TCCRA;
extern DummyReg TCCR2A;
extern DummyReg TCCR2B;
extern DummyReg TCNT0;
extern DummyReg TIMSK0;
extern DummyReg TIMSK1;
extern DummyReg TOIE0;
extern DummyReg UCSR0A;
extern DummyReg UCSR0B;
@ -68,11 +54,7 @@ static const int COM2A1 = 0;
static const int COM2B0 = 0;
static const int COM2B1 = 0;
static const int CS01 = 0;
static const int CS10 = 0;
static const int CS11 = 0;
static const int CS12 = 0;
static const int CS22 = 0;
static const int CS22 = 0;
static const int EEMWE = 0;
static const int EERE = 0;
static const int EEWE = 0;

20
smoother/delay.h
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@ -24,15 +24,25 @@
void delay_init();
// Get current time in clock cycles
inline uint32_t get_time()
{
return LPC_TIM3->TC;
}
// Wait until get_time() is numCycles past startTime. Handles timer wrap.
inline void delay_loop(uint32_t startTime, uint32_t numCycles)
{
while (get_time() - startTime < numCycles)
;
}
inline void delay_us(uint32_t us)
{
uint32_t start = LPC_TIM3->TC;
uint32_t cycles = uint32_t(uint64_t(SystemCoreClock) * us / 1000000);
while (LPC_TIM3->TC - start < cycles)
;
delay_loop(get_time(), uint32_t(uint64_t(SystemCoreClock) * us / 1'000'000));
}
inline void delay_ms(uint32_t ms)
{
return delay_us(ms * 1000);
delay_loop(get_time(), uint32_t(uint64_t(SystemCoreClock) * ms / 1000));
}