9141ad2825
- Fleshed out the original idea to completely remove the long slope at the end of deceleration issue. This third time should absolutely eliminate it. - Changed the acceleration setting to kept as mm/min^2 internally, since this was creating unneccessary additional computation in the planner. Human readable value kept at mm/sec^2. - Updated grbl version 0.7d and settings version to 4. NOTE: Please check settings after update. These may have changed, but shouldn't. - Before updating the new features (pause, e-stop, federate override, etc), the edge branch will soon be merged with the master, barring any immediate issues that people may have, and the edge branch will be the testing ground for the new grbl version 0.8.
360 lines
15 KiB
C
360 lines
15 KiB
C
/*
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stepper.c - stepper motor driver: executes motion plans using stepper motors
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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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(at your option) any later version.
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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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/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
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and Philipp Tiefenbacher. */
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#include "stepper.h"
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#include "config.h"
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#include "settings.h"
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#include <math.h>
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#include <stdlib.h>
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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 "planner.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 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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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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static uint8_t out_bits; // The next stepping-bits to be output
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static int32_t counter_x, // Counter variables for the bresenham line tracer
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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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// 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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// / | | \ /| |\ |
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// / | | \ / | | \ s
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// / | | | | | \ p
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// / | | | | | \ e
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// +-----+------------------------+---+--+---------------+----+ e
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// | BLOCK 1 | BLOCK 2 | d
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//
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// time ----->
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//
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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 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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static void set_step_events_per_minute(uint32_t steps_per_minute);
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// Stepper state initialization
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void st_wake_up() {
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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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// Cycle finished. Set flag to false.
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cycle_start = false;
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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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// Disable stepper driver interrupt
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TIMSK1 &= ~(1<<OCIE1A);
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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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static void trapezoid_generator_reset() {
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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 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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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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// "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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// The bresenham line tracer algorithm controls all three stepper outputs simultaneously with these two interrupts.
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SIGNAL(TIMER1_COMPA_vect)
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{
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// TODO: Check if the busy-flag can be eliminated by just disabling 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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// 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.
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// TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND)/8);
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TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3); // Bit shift divide by 8.
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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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// 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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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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} else {
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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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out_bits |= (1<<X_STEP_BIT);
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counter_x -= current_block->step_event_count;
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}
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counter_y += current_block->steps_y;
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if (counter_y > 0) {
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out_bits |= (1<<Y_STEP_BIT);
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counter_y -= current_block->step_event_count;
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}
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counter_z += current_block->steps_z;
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if (counter_z > 0) {
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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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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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}
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out_bits ^= settings.invert_mask; // Apply stepper invert mask
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busy=false;
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}
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// This interrupt is set up by SIG_OUTPUT_COMPARE1A when it sets the motor port bits. It resets
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// 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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{
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// reset stepping pins (leave the direction pins)
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STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (settings.invert_mask & STEP_MASK);
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}
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// Initialize and start the stepper motor subsystem
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void st_init()
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{
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// Configure directions of interface pins
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STEPPING_DDR |= STEPPING_MASK;
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STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | settings.invert_mask;
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STEPPERS_DISABLE_DDR |= 1<<STEPPERS_DISABLE_BIT;
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// waveform generation = 0100 = CTC
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TCCR1B &= ~(1<<WGM13);
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TCCR1B |= (1<<WGM12);
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TCCR1A &= ~(1<<WGM11);
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TCCR1A &= ~(1<<WGM10);
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// output mode = 00 (disconnected)
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TCCR1A &= ~(3<<COM1A0);
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TCCR1A &= ~(3<<COM1B0);
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// Configure Timer 2
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TCCR2A = 0; // Normal operation
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TCCR2B = (1<<CS21); // Full speed, 1/8 prescaler
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TIMSK2 |= (1<<TOIE2);
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set_step_events_per_minute(6000);
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trapezoid_tick_cycle_counter = 0;
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// Start in the idle state
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st_go_idle();
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}
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// Block until all buffered steps are executed
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void st_synchronize()
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{
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while(plan_get_current_block()) { sleep_mode(); }
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}
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// Configures the prescaler and ceiling of timer 1 to produce the given rate as accurately as possible.
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// Returns the actual number of cycles per interrupt
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static uint32_t config_step_timer(uint32_t cycles)
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{
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uint16_t ceiling;
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uint16_t prescaler;
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uint32_t actual_cycles;
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if (cycles <= 0xffffL) {
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ceiling = cycles;
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prescaler = 0; // prescaler: 0
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actual_cycles = ceiling;
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} else if (cycles <= 0x7ffffL) {
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ceiling = cycles >> 3;
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prescaler = 1; // prescaler: 8
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actual_cycles = ceiling * 8L;
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} else if (cycles <= 0x3fffffL) {
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ceiling = cycles >> 6;
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prescaler = 2; // prescaler: 64
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actual_cycles = ceiling * 64L;
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} else if (cycles <= 0xffffffL) {
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ceiling = (cycles >> 8);
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prescaler = 3; // prescaler: 256
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actual_cycles = ceiling * 256L;
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} else if (cycles <= 0x3ffffffL) {
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ceiling = (cycles >> 10);
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prescaler = 4; // prescaler: 1024
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actual_cycles = ceiling * 1024L;
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} else {
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// Okay, that was slower than we actually go. Just set the slowest speed
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ceiling = 0xffff;
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prescaler = 4;
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actual_cycles = 0xffff * 1024;
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}
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// Set prescaler
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TCCR1B = (TCCR1B & ~(0x07<<CS10)) | ((prescaler+1)<<CS10);
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// Set ceiling
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OCR1A = ceiling;
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return(actual_cycles);
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}
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static void set_step_events_per_minute(uint32_t steps_per_minute) {
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if (steps_per_minute < MINIMUM_STEPS_PER_MINUTE) { steps_per_minute = MINIMUM_STEPS_PER_MINUTE; }
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cycles_per_step_event = config_step_timer((TICKS_PER_MICROSECOND*1000000*60)/steps_per_minute);
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}
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void st_go_home()
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{
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limits_go_home();
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plan_set_current_position(0,0,0);
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}
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// Planner external interface to start stepper interrupt and execute the blocks in queue.
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void st_cycle_start() {
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if (!cycle_start) {
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cycle_start = true;
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st_wake_up();
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}
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}
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