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refactored block buffer into separate module motion_plan pending the …

…addition of the actual look ahead planner
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commit 49a16cb777e8ca4e5c62665436ac29b7021c0bf9 1 parent b628a4a
Simen Svale Skogsrud simen authored
4 Makefile
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@@ -1,6 +1,6 @@
# Part of Grbl
#
-# Copyright (c) 2009 Simen Svale Skogsrud
+# Copyright (c) 2009-2011 Simen Svale Skogsrud
#
# Grbl is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
@@ -31,7 +31,7 @@ DEVICE = atmega328p
CLOCK = 16000000
PROGRAMMER = -c avrisp2 -P usb
OBJECTS = main.o motion_control.o gcode.o spindle_control.o wiring_serial.o serial_protocol.o stepper.o \
- eeprom.o config.o
+ eeprom.o config.o motion_plan.o
# FUSES = -U hfuse:w:0xd9:m -U lfuse:w:0x24:m
FUSES = -U hfuse:w:0xd2:m -U lfuse:w:0xff:m
51 accelleration.h
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@@ -1,51 +0,0 @@
-/*
- accelleration.h - accelleration management support
- Part of Grbl
-
- Copyright (c) 2009 Simen Svale Skogsrud
-
- Grbl is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- Grbl is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with Grbl. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef accelleration_h
-#define accelleration_h
-
-// Unless someone else defined AC_TICKS_PER_SECOND, we define a sensible default
-#ifndef AC_TICKS_PER_SECOND
-#define AC_TICKS_PER_SECOND 10
-#endif
-
-struct AccellerationProfile {
- double initial_scaler;
- double final_scaler;
- double accelleration_delta;
- double decelleration_delta;
- uint32_t accellerate_ticks;
- uint32_t plateau_ticks;
-};
-
-struct AccellerationProfileSegment {
- double v_entry[3];
- double v_ideal[3];
- double v_exit[3];
- double distance;
- double f_entry, f_exit;
-};
-
-struct AccellerationProfileBuilder {
- AccellerationProfileSegment segment[3];
- uint8_t current;
-};
-
-#endif
2  config.c
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@@ -2,7 +2,7 @@
config.c - eeprom and compile time configuration handling
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
6 config.h
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@@ -2,7 +2,7 @@
config.h - eeprom and compile time configuration handling
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@@ -27,8 +27,8 @@
// Settings that can only be set at compile-time:
-// #define BAUD_RATE 9600
-#define BAUD_RATE 115200
+#define BAUD_RATE 9600
+//#define BAUD_RATE 115200
#define STEPPERS_ENABLE_DDR DDRD
#define STEPPERS_ENABLE_PORT PORTD
2  gcode.c
View
@@ -2,7 +2,7 @@
gcode.c - rs274/ngc parser.
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
2  gcode.h
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@@ -2,7 +2,7 @@
gcode.c - rs274/ngc parser.
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
3  main.c
View
@@ -2,7 +2,7 @@
main.c - An embedded CNC Controller with rs274/ngc (g-code) support
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@@ -33,6 +33,7 @@
int main(void)
{
beginSerial(BAUD_RATE);
+ printString("A");
config_init();
st_init(); // initialize the stepper subsystem
mc_init(); // initialize motion control subsystem
4 motion_control.c
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@@ -1,8 +1,8 @@
/*
- motion_control.c - cartesian robot controller.
+ motion_control.c - high level interface for issuing motion commands
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
4 motion_control.h
View
@@ -1,8 +1,8 @@
/*
- motion_control.h - cartesian robot controller.
+ motion_control.h - high level interface for issuing motion commands
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
69 motion_plan.c
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@@ -0,0 +1,69 @@
+/*
+ motion_plan.c - buffers movement commands and manages the acceleration profile plan
+ Part of Grbl
+
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+ Grbl is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ Grbl is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Grbl. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <inttypes.h>
+#include <math.h>
+
+#include "motion_plan.h"
+#include "nuts_bolts.h"
+#include "stepper.h"
+
+struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
+volatile int block_buffer_head = 0; // Index of the next block to be pushed
+volatile int block_buffer_tail = 0; // Index of the block to process now
+
+inline uint32_t estimate_acceleration_distance(int32_t current_rate, int32_t target_rate, int32_t acceleration) {
+ return((target_rate*target_rate-current_rate*current_rate)/(2*acceleration));
+}
+
+inline uint32_t estimate_acceleration_ticks(int32_t start_rate, int32_t acceleration_per_tick, int32_t step_events) {
+ return(
+ round(
+ (sqrt(2*acceleration_per_tick*step_events+(start_rate*start_rate))-start_rate)/
+ acceleration_per_tick));
+}
+
+// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
+// In practice both factors must be in the range 0 ... 1.0
+void calculate_trapezoid_for_block(struct Block *block, double entry_factor, double exit_factor) {
+ block->initial_rate = max(round(block->nominal_rate*entry_factor),MINIMAL_STEP_RATE);
+ int32_t final_rate = max(round(block->nominal_rate*entry_factor),MINIMAL_STEP_RATE);
+ int32_t acceleration_per_second = block->rate_delta*ACCELERATION_TICKS_PER_SECOND;
+ int32_t acceleration_steps =
+ estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_second);
+ int32_t decelleration_steps =
+ estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration_per_second);
+ // Check if the acceleration and decelleration periods overlap. In that case nominal_speed will
+ // never be reached but that's okay. Just truncate both periods proportionally so that they
+ // fit within the allotted step events.
+ int32_t plateau_steps = block->step_event_count-acceleration_steps-decelleration_steps;
+ if (plateau_steps < 0) {
+ int32_t half_overlap_region = fabs(plateau_steps)/2;
+ plateau_steps = 0;
+ acceleration_steps = max(acceleration_steps-half_overlap_region,0);
+ decelleration_steps = max(decelleration_steps-half_overlap_region,0);
+ }
+ block->accelerate_ticks = estimate_acceleration_ticks(block->initial_rate, block->rate_delta, acceleration_steps);
+ if (plateau_steps) {
+ block->plateau_ticks = round(1.0*plateau_steps/(block->nominal_rate*ACCELERATION_TICKS_PER_SECOND));
+ } else {
+ block->plateau_ticks = 0;
+ }
+}
57 motion_plan.h
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@@ -0,0 +1,57 @@
+/*
+ motion_plan.h - buffers movement commands and manages the acceleration profile plan
+ Part of Grbl
+
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
+
+ Grbl is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ Grbl is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with Grbl. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef motion_plan_h
+#define motion_plan_h
+
+#include <inttypes.h>
+
+// Pick a suitable block-buffer size
+#ifdef __AVR_ATmega328P__
+#define BLOCK_BUFFER_SIZE 20 // Atmega 328 has one full kilobyte of extra RAM!
+#else
+#define BLOCK_BUFFER_SIZE 5
+#endif
+
+// This struct is used when buffering the setup for each linear movement
+// "nominal" values are as specified in the source g-code and may never
+// actually be reached if acceleration management is active.
+struct Block {
+ uint32_t steps_x, steps_y, steps_z; // Step count along each axis
+ uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
+ int32_t step_event_count; // The number of step events required to complete this block
+ uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
+ // Values used for acceleration management
+ double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
+ uint32_t initial_rate; // The jerk-adjusted step rate at start of block
+ int16_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
+ uint16_t accelerate_ticks; // The number of acceleration-ticks to accelerate
+ uint16_t plateau_ticks; // The number of acceleration-ticks to maintain top speed
+};
+
+extern struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
+extern volatile int block_buffer_head; // Index of the next block to be pushed
+extern volatile int block_buffer_tail; // Index of the block to process now
+
+// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
+// In practice both factors must be in the range 0 ... 1.0
+void calculate_trapezoid_for_block(struct Block *block, double entry_factor, double exit_factor);
+
+#endif
2  notes/acceleration.c
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@@ -2,7 +2,7 @@
acceleration.c - support methods for acceleration-related calcul
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
2  nuts_bolts.h
View
@@ -2,7 +2,7 @@
motion_control.h - cartesian robot controller.
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
1  script/console
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@@ -1,4 +1,5 @@
socat -d -d READLINE /dev/tty.usbserial-A700e0GO,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
+socat -d -d READLINE /dev/tty.usbserial-A9007QcR,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
#socat -d -d READLINE /dev/tty.FireFly-A964-SPP-1,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
2  serial_protocol.c
View
@@ -2,7 +2,7 @@
serial_protocol.c - the serial protocol master control unit
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
2  serial_protocol.h
View
@@ -2,7 +2,7 @@
serial_protocol.h - the serial protocol master control unit
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
2  spindle_control.c
View
@@ -2,7 +2,7 @@
spindle_control.c - spindle control methods
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
2  spindle_control.h
View
@@ -2,7 +2,7 @@
spindle_control.h - spindle control methods
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
78 stepper.c
View
@@ -1,8 +1,8 @@
/*
- stepper.c - stepper motor interface
+ stepper.c - stepper motor driver: executes motion plans using stepper motors
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@@ -29,49 +29,20 @@
#include <util/delay.h>
#include "nuts_bolts.h"
#include <avr/interrupt.h>
-
+#include "motion_plan.h"
#include "wiring_serial.h"
-// Pick a suitable block-buffer size
-#ifdef __AVR_ATmega328P__
-#define BLOCK_BUFFER_SIZE 40 // Atmega 328 has one full kilobyte of extra RAM!
-#else
-#define BLOCK_BUFFER_SIZE 10
-#endif
-
-
void set_step_events_per_minute(uint32_t steps_per_minute);
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
-#define ACCELERATION_TICKS_PER_SECOND 10
-#define MINIMAL_STEP_RATE (ACCELERATION_TICKS_PER_SECOND*5)
#define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
-// This struct is used when buffering the setup for each linear movement
-// "nominal" values are as specified in the source g-code and may never
-// actually be reached if acceleration management is active.
-struct Block {
- uint32_t steps_x, steps_y, steps_z; // Step count along each axis
- uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
- int32_t step_event_count; // The number of step events required to complete this block
- uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
- // Values used for acceleration management
- double speed_x, speed_y, speed_z; // Nominal mm/minute for each axis
- uint32_t initial_rate; // The jerk-adjusted step rate at start of block
- int16_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
- uint16_t accelerate_ticks; // The number of acceleration-ticks to accelerate
- uint16_t plateau_ticks; // The number of acceleration-ticks to maintain top speed
-};
-
-struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
-volatile int block_buffer_head = 0; // Index of the next block to be pushed
-volatile int block_buffer_tail = 0; // Index of the block to process now
+struct Block *current_block; // A convenience pointer to the block currently being traced
// Variables used by The Stepper Driver Interrupt
uint8_t out_bits; // The next stepping-bits to be output
-struct Block *current_block; // A pointer to the block currently being traced
int32_t counter_x,
counter_y,
counter_z; // counter variables for the bresenham line tracer
@@ -106,46 +77,9 @@ uint16_t trapezoid_stage_ticks;
uint32_t trapezoid_rate;
int16_t trapezoid_delta;
-inline uint32_t estimate_acceleration_distance(int32_t current_rate, int32_t target_rate, int32_t acceleration) {
- return((target_rate*target_rate-current_rate*current_rate)/(2*acceleration));
-}
-
-inline uint32_t estimate_acceleration_ticks(int32_t start_rate, int32_t acceleration_per_tick, int32_t step_events) {
- return(
- round(
- (sqrt(2*acceleration_per_tick*step_events+(start_rate*start_rate))-start_rate)/
- acceleration_per_tick));
-}
-
-// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
-// In practice both factors must be in the range 0 ... 1.0
-void calculate_trapezoid_for_block(struct Block *block, double entry_factor, double exit_factor) {
- block->initial_rate = max(round(block->nominal_rate*entry_factor),MINIMAL_STEP_RATE);
- int32_t final_rate = max(round(block->nominal_rate*entry_factor),MINIMAL_STEP_RATE);
- int32_t acceleration_per_second = block->rate_delta*ACCELERATION_TICKS_PER_SECOND;
- int32_t acceleration_steps =
- estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration_per_second);
- int32_t decelleration_steps =
- estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration_per_second);
- // Check if the acceleration and decelleration periods overlap. In that case nominal_speed will
- // never be reached but that's okay. Just truncate both periods proportionally so that they
- // fit within the allotted step events.
- int32_t plateau_steps = block->step_event_count-acceleration_steps-decelleration_steps;
- if (plateau_steps < 0) {
- int32_t half_overlap_region = abs(plateau_steps)/2;
- plateau_steps = 0;
- acceleration_steps = max(acceleration_steps-half_overlap_region,0);
- decelleration_steps = max(decelleration_steps-half_overlap_region,0);
- }
- block->accelerate_ticks = estimate_acceleration_ticks(block->initial_rate, block->rate_delta, acceleration_steps);
- if (plateau_steps) {
- block->plateau_ticks = round(1.0*plateau_steps/(block->nominal_rate*ACCELERATION_TICKS_PER_SECOND));
- } else {
- block->plateau_ticks = 0;
- }
-}
-// Call this when a new block is started
+// Initializes the trapezoid generator from the current block. Called whenever a new
+// block begins.
inline void reset_trapezoid_generator() {
trapezoid_stage = TRAPEZOID_STAGE_ACCELERATING;
trapezoid_stage_ticks = current_block->accelerate_ticks;
7 stepper.h
View
@@ -1,8 +1,8 @@
/*
- stepper.h - stepper motor interface
+ stepper.h - stepper motor driver: executes motion plans using stepper motors
Part of Grbl
- Copyright (c) 2009 Simen Svale Skogsrud
+ Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
@@ -24,6 +24,9 @@
#include <avr/io.h>
#include <avr/sleep.h>
+#define ACCELERATION_TICKS_PER_SECOND 10
+#define MINIMAL_STEP_RATE (ACCELERATION_TICKS_PER_SECOND*5)
+
// Initialize and start the stepper motor subsystem
void st_init();
7 todo.txt
View
@@ -1,5 +1,8 @@
-* Complete support for using and setting separate seek-rate for G0-commnads
+Todo
+* Refactor stepper.c extracting motion blocks so that they can be processed by other code
+* non blocking dwells
+* Path Control Modes
* Implement limit switch support in stepper.c (use port-triggered interrupts?)
* Implement homing cycle in stepper.c
-* Path Control Modes
* Spindle speed support
+
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