593 lines
17 KiB
C++
593 lines
17 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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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 "Configuration.h"
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#include "Marlin.h"
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#include "planner.h"
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#include "pins.h"
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#include "fastio.h"
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#include "temperature.h"
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#include "ultralcd.h"
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#include "speed_lookuptable.h"
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// if DEBUG_STEPS is enabled, M114 can be used to compare two methods of determining the X,Y,Z position of the printer.
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// for debugging purposes only, should be disabled by default
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#ifdef DEBUG_STEPS
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volatile long count_position[NUM_AXIS] = { 0, 0, 0, 0};
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volatile int count_direction[NUM_AXIS] = { 1, 1, 1, 1};
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#endif
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// intRes = intIn1 * intIn2 >> 16
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// uses:
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// r26 to store 0
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// r27 to store the byte 1 of the 24 bit result
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#define MultiU16X8toH16(intRes, charIn1, intIn2) \
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asm volatile ( \
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"clr r26 \n\t" \
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"mul %A1, %B2 \n\t" \
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"movw %A0, r0 \n\t" \
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"mul %A1, %A2 \n\t" \
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"add %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"lsr r0 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"clr r1 \n\t" \
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: \
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"=&r" (intRes) \
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: \
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"d" (charIn1), \
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"d" (intIn2) \
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: \
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"r26" \
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)
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// intRes = longIn1 * longIn2 >> 24
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// uses:
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// r26 to store 0
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// r27 to store the byte 1 of the 48bit result
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#define MultiU24X24toH16(intRes, longIn1, longIn2) \
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asm volatile ( \
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"clr r26 \n\t" \
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"mul %A1, %B2 \n\t" \
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"mov r27, r1 \n\t" \
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"mul %B1, %C2 \n\t" \
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"movw %A0, r0 \n\t" \
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"mul %C1, %C2 \n\t" \
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"add %B0, r0 \n\t" \
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"mul %C1, %B2 \n\t" \
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"add %A0, r0 \n\t" \
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"adc %B0, r1 \n\t" \
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"mul %A1, %C2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %B1, %B2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %C1, %A2 \n\t" \
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"add r27, r0 \n\t" \
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"adc %A0, r1 \n\t" \
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"adc %B0, r26 \n\t" \
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"mul %B1, %A2 \n\t" \
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"add r27, r1 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"lsr r27 \n\t" \
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"adc %A0, r26 \n\t" \
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"adc %B0, r26 \n\t" \
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"clr r1 \n\t" \
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: \
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"=&r" (intRes) \
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: \
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"d" (longIn1), \
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"d" (longIn2) \
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: \
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"r26" , "r27" \
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)
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// Some useful constants
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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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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 unsigned char out_bits; // The next stepping-bits to be output
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static long 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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counter_e;
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static unsigned long step_events_completed; // The number of step events executed in the current block
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#ifdef ADVANCE
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static long advance_rate, advance, final_advance = 0;
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static short old_advance = 0;
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static short e_steps;
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#endif
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static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
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static long acceleration_time, deceleration_time;
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//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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static unsigned short acc_step_rate; // needed for deccelaration start point
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static char step_loops;
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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
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// 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 calculated with the leib ramp alghorithm.
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void st_wake_up() {
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// TCNT1 = 0;
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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inline unsigned short calc_timer(unsigned short step_rate) {
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unsigned short timer;
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if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
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if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
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step_rate = step_rate >> 2;
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step_loops = 4;
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}
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else if(step_rate > 10000) { // If steprate > 10kHz >> step 2 times
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step_rate = step_rate >> 1;
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step_loops = 2;
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}
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else {
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step_loops = 1;
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}
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if(step_rate < 32) step_rate = 32;
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step_rate -= 32; // Correct for minimal speed
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if(step_rate >= (8*256)){ // higher step rate
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unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
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unsigned char tmp_step_rate = (step_rate & 0x00ff);
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unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
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MultiU16X8toH16(timer, tmp_step_rate, gain);
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timer = (unsigned short)pgm_read_word_near(table_address) - timer;
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}
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else { // lower step rates
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unsigned short table_address = (unsigned short)&speed_lookuptable_slow[0][0];
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table_address += ((step_rate)>>1) & 0xfffc;
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timer = (unsigned short)pgm_read_word_near(table_address);
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timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
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}
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if(timer < 100) timer = 100;
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return timer;
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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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#ifdef ADVANCE
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advance = current_block->initial_advance;
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final_advance = current_block->final_advance;
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#endif
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deceleration_time = 0;
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// advance_rate = current_block->advance_rate;
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// step_rate to timer interval
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acc_step_rate = current_block->initial_rate;
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acceleration_time = calc_timer(acc_step_rate);
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OCR1A = acceleration_time;
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}
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
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// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
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ISR(TIMER1_COMPA_vect)
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{
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if(busy){ Serial.print(*(unsigned short *)OCR1A); Serial.println(" BUSY");
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return;
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} // The busy-flag is used to avoid reentering this interrupt
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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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// 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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counter_e = counter_x;
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step_events_completed = 0;
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#ifdef ADVANCE
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e_steps = 0;
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#endif
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}
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else {
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// DISABLE_STEPPER_DRIVER_INTERRUPT();
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}
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}
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if (current_block != NULL) {
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// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
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out_bits = current_block->direction_bits;
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#ifdef ADVANCE
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// Calculate E early.
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counter_e += current_block->steps_e;
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if (counter_e > 0) {
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counter_e -= current_block->step_event_count;
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if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
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CRITICAL_SECTION_START;
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e_steps--;
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CRITICAL_SECTION_END;
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}
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else {
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CRITICAL_SECTION_START;
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e_steps++;
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CRITICAL_SECTION_END;
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}
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}
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// Do E steps + advance steps
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CRITICAL_SECTION_START;
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e_steps += ((advance >> 16) - old_advance);
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CRITICAL_SECTION_END;
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old_advance = advance >> 16;
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#endif //ADVANCE
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// Set direction en check limit switches
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if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
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WRITE(X_DIR_PIN, INVERT_X_DIR);
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#ifdef DEBUG_STEPS
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count_direction[X_AXIS]=-1;
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#endif
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#if X_MIN_PIN > -1
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if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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else { // +direction
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WRITE(X_DIR_PIN,!INVERT_X_DIR);
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#ifdef DEBUG_STEPS
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count_direction[X_AXIS]=1;
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#endif
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#if X_MAX_PIN > -1
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if((READ(X_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_x >0)){
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
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WRITE(Y_DIR_PIN,INVERT_Y_DIR);
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#ifdef DEBUG_STEPS
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count_direction[Y_AXIS]=-1;
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#endif
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#if Y_MIN_PIN > -1
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if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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else { // +direction
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WRITE(Y_DIR_PIN,!INVERT_Y_DIR);
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#ifdef DEBUG_STEPS
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count_direction[Y_AXIS]=1;
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#endif
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#if Y_MAX_PIN > -1
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if((READ(Y_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_y >0)){
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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if ((out_bits & (1<<Z_AXIS)) != 0) { // -direction
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WRITE(Z_DIR_PIN,INVERT_Z_DIR);
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#ifdef DEBUG_STEPS
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count_direction[Z_AXIS]=-1;
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#endif
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#if Z_MIN_PIN > -1
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if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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else { // +direction
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WRITE(Z_DIR_PIN,!INVERT_Z_DIR);
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#ifdef DEBUG_STEPS
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count_direction[Z_AXIS]=1;
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#endif
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#if Z_MAX_PIN > -1
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if((READ(Z_MAX_PIN) != ENDSTOPS_INVERTING) && (current_block->steps_z >0)){
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step_events_completed = current_block->step_event_count;
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}
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#endif
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}
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#ifndef ADVANCE
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if ((out_bits & (1<<E_AXIS)) != 0) // -direction
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WRITE(E_DIR_PIN,INVERT_E_DIR);
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else // +direction
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WRITE(E_DIR_PIN,!INVERT_E_DIR);
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#endif //!ADVANCE
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for(char i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
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counter_x += current_block->steps_x;
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if (counter_x > 0) {
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WRITE(X_STEP_PIN, HIGH);
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counter_x -= current_block->step_event_count;
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WRITE(X_STEP_PIN, LOW);
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#ifdef DEBUG_STEPS
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count_position[X_AXIS]+=count_direction[X_AXIS];
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#endif
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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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WRITE(Y_STEP_PIN, HIGH);
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counter_y -= current_block->step_event_count;
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WRITE(Y_STEP_PIN, LOW);
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#ifdef DEBUG_STEPS
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count_position[Y_AXIS]+=count_direction[Y_AXIS];
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#endif
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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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WRITE(Z_STEP_PIN, HIGH);
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counter_z -= current_block->step_event_count;
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WRITE(Z_STEP_PIN, LOW);
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#ifdef DEBUG_STEPS
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count_position[Z_AXIS]+=count_direction[Z_AXIS];
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#endif
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}
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#ifndef ADVANCE
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counter_e += current_block->steps_e;
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if (counter_e > 0) {
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WRITE(E_STEP_PIN, HIGH);
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counter_e -= current_block->step_event_count;
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WRITE(E_STEP_PIN, LOW);
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}
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#endif //!ADVANCE
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step_events_completed += 1;
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if(step_events_completed >= current_block->step_event_count) break;
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}
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// Calculare new timer value
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unsigned short timer;
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unsigned short step_rate;
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if (step_events_completed <= current_block->accelerate_until) {
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MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
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acc_step_rate += current_block->initial_rate;
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// upper limit
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if(acc_step_rate > current_block->nominal_rate)
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acc_step_rate = current_block->nominal_rate;
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// step_rate to timer interval
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timer = calc_timer(acc_step_rate);
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#ifdef ADVANCE
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advance += advance_rate;
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#endif
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acceleration_time += timer;
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OCR1A = timer;
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}
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else if (step_events_completed > current_block->decelerate_after) {
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MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
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if(step_rate > acc_step_rate) { // Check step_rate stays positive
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step_rate = current_block->final_rate;
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}
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else {
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step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
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}
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// lower limit
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if(step_rate < current_block->final_rate)
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step_rate = current_block->final_rate;
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// step_rate to timer interval
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timer = calc_timer(step_rate);
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#ifdef ADVANCE
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advance -= advance_rate;
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if(advance < final_advance)
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advance = final_advance;
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#endif //ADVANCE
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deceleration_time += timer;
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OCR1A = timer;
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}
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// If current block is finished, reset pointer
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if (step_events_completed >= current_block->step_event_count) {
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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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cli(); // disable interrupts
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busy=false;
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}
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#ifdef ADVANCE
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unsigned char old_OCR0A;
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// Timer interrupt for E. e_steps is set in the main routine;
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// Timer 0 is shared with millies
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ISR(TIMER0_COMPA_vect)
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{
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// Critical section needed because Timer 1 interrupt has higher priority.
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// The pin set functions are placed on trategic position to comply with the stepper driver timing.
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WRITE(E_STEP_PIN, LOW);
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// Set E direction (Depends on E direction + advance)
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if (e_steps < 0) {
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WRITE(E_DIR_PIN,INVERT_E_DIR);
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e_steps++;
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WRITE(E_STEP_PIN, HIGH);
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}
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if (e_steps > 0) {
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WRITE(E_DIR_PIN,!INVERT_E_DIR);
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e_steps--;
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WRITE(E_STEP_PIN, HIGH);
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}
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old_OCR0A += 25; // 10kHz interrupt
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OCR0A = old_OCR0A;
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}
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#endif // ADVANCE
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void st_init()
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{
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//Initialize Dir Pins
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#if X_DIR_PIN > -1
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SET_OUTPUT(X_DIR_PIN);
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#endif
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#if Y_DIR_PIN > -1
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SET_OUTPUT(Y_DIR_PIN);
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#endif
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#if Z_DIR_PIN > -1
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SET_OUTPUT(Z_DIR_PIN);
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#endif
|
|
#if E_DIR_PIN > -1
|
|
SET_OUTPUT(E_DIR_PIN);
|
|
#endif
|
|
|
|
//Initialize Enable Pins - steppers default to disabled.
|
|
|
|
#if (X_ENABLE_PIN > -1)
|
|
SET_OUTPUT(X_ENABLE_PIN);
|
|
if(!X_ENABLE_ON) WRITE(X_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#if (Y_ENABLE_PIN > -1)
|
|
SET_OUTPUT(Y_ENABLE_PIN);
|
|
if(!Y_ENABLE_ON) WRITE(Y_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#if (Z_ENABLE_PIN > -1)
|
|
SET_OUTPUT(Z_ENABLE_PIN);
|
|
if(!Z_ENABLE_ON) WRITE(Z_ENABLE_PIN,HIGH);
|
|
#endif
|
|
#if (E_ENABLE_PIN > -1)
|
|
SET_OUTPUT(E_ENABLE_PIN);
|
|
if(!E_ENABLE_ON) WRITE(E_ENABLE_PIN,HIGH);
|
|
#endif
|
|
|
|
//endstops and pullups
|
|
#ifdef ENDSTOPPULLUPS
|
|
#if X_MIN_PIN > -1
|
|
SET_INPUT(X_MIN_PIN);
|
|
WRITE(X_MIN_PIN,HIGH);
|
|
#endif
|
|
#if X_MAX_PIN > -1
|
|
SET_INPUT(X_MAX_PIN);
|
|
WRITE(X_MAX_PIN,HIGH);
|
|
#endif
|
|
#if Y_MIN_PIN > -1
|
|
SET_INPUT(Y_MIN_PIN);
|
|
WRITE(Y_MIN_PIN,HIGH);
|
|
#endif
|
|
#if Y_MAX_PIN > -1
|
|
SET_INPUT(Y_MAX_PIN);
|
|
WRITE(Y_MAX_PIN,HIGH);
|
|
#endif
|
|
#if Z_MIN_PIN > -1
|
|
SET_INPUT(Z_MIN_PIN);
|
|
WRITE(Z_MIN_PIN,HIGH);
|
|
#endif
|
|
#if Z_MAX_PIN > -1
|
|
SET_INPUT(Z_MAX_PIN);
|
|
WRITE(Z_MAX_PIN,HIGH);
|
|
#endif
|
|
#else //ENDSTOPPULLUPS
|
|
#if X_MIN_PIN > -1
|
|
SET_INPUT(X_MIN_PIN);
|
|
#endif
|
|
#if X_MAX_PIN > -1
|
|
SET_INPUT(X_MAX_PIN);
|
|
#endif
|
|
#if Y_MIN_PIN > -1
|
|
SET_INPUT(Y_MIN_PIN);
|
|
#endif
|
|
#if Y_MAX_PIN > -1
|
|
SET_INPUT(Y_MAX_PIN);
|
|
#endif
|
|
#if Z_MIN_PIN > -1
|
|
SET_INPUT(Z_MIN_PIN);
|
|
#endif
|
|
#if Z_MAX_PIN > -1
|
|
SET_INPUT(Z_MAX_PIN);
|
|
#endif
|
|
#endif //ENDSTOPPULLUPS
|
|
|
|
|
|
//Initialize Step Pins
|
|
#if (X_STEP_PIN > -1)
|
|
SET_OUTPUT(X_STEP_PIN);
|
|
#endif
|
|
#if (Y_STEP_PIN > -1)
|
|
SET_OUTPUT(Y_STEP_PIN);
|
|
#endif
|
|
#if (Z_STEP_PIN > -1)
|
|
SET_OUTPUT(Z_STEP_PIN);
|
|
#endif
|
|
#if (E_STEP_PIN > -1)
|
|
SET_OUTPUT(E_STEP_PIN);
|
|
#endif
|
|
|
|
// 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);
|
|
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
|
|
|
|
OCR1A = 0x4000;
|
|
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
#ifdef ADVANCE
|
|
e_steps = 0;
|
|
TIMSK0 |= (1<<OCIE0A);
|
|
#endif //ADVANCE
|
|
sei();
|
|
}
|
|
|
|
// Block until all buffered steps are executed
|
|
void st_synchronize()
|
|
{
|
|
while(plan_get_current_block()) {
|
|
manage_heater();
|
|
manage_inactivity(1);
|
|
LCD_STATUS;
|
|
}
|
|
}
|