417 lines
11 KiB
C
417 lines
11 KiB
C
#include "dda.h"
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#include <string.h>
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#include "timer.h"
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#include "serial.h"
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#include "sermsg.h"
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#include "dda_queue.h"
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#ifndef ABS
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#define ABS(v) (((v) >= 0)?(v):(-(v)))
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#endif
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#ifndef ABSDELTA
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#define ABSDELTA(a, b) (((a) >= (b))?((a) - (b)):((b) - (a)))
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#endif
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#ifndef DEBUG
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#define DEBUG 0
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#endif
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/*
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step timeout
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*/
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uint8_t steptimeout = 0;
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/*
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position tracking
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*/
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TARGET startpoint = { 0, 0, 0, 0, 0 };
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TARGET current_position = { 0, 0, 0, 0, 0 };
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/*
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utility functions
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*/
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// courtesy of http://www.oroboro.com/rafael/docserv.php/index/programming/article/distance
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uint32_t approx_distance( uint32_t dx, uint32_t dy )
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{
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uint32_t min, max, approx;
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if ( dx < dy )
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{
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min = dx;
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max = dy;
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} else {
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min = dy;
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max = dx;
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}
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approx = ( max * 1007 ) + ( min * 441 );
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if ( max < ( min << 4 ))
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approx -= ( max * 40 );
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// add 512 for proper rounding
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return (( approx + 512 ) >> 10 );
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}
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// courtesy of http://www.oroboro.com/rafael/docserv.php/index/programming/article/distance
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uint32_t approx_distance_3( uint32_t dx, uint32_t dy, uint32_t dz )
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{
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uint32_t min, med, max, approx;
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if ( dx < dy )
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{
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min = dy;
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med = dx;
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} else {
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min = dx;
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med = dy;
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}
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if ( dz < min )
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{
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max = med;
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med = min;
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min = dz;
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} else if ( dz < med ) {
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max = med;
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med = dz;
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} else {
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max = dz;
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}
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approx = ( max * 860 ) + ( med * 851 ) + ( min * 520 );
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if ( max < ( med << 1 )) approx -= ( max * 294 );
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if ( max < ( min << 2 )) approx -= ( max * 113 );
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if ( med < ( min << 2 )) approx -= ( med * 40 );
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// add 512 for proper rounding
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return (( approx + 512 ) >> 10 );
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}
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uint32_t abs32(int32_t v) {
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if (v < 0)
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return (uint32_t) (-v);
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return (uint32_t) (v);
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}
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uint32_t delta32(uint32_t v1, uint32_t v2) {
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if (v1 >= v2)
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return v1 - v2;
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return v2 - v1;
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}
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/*
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CREATE a dda given current_position and a target, save to passed location so we can write directly into the queue
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*/
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void dda_create(DDA *dda, TARGET *target) {
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uint32_t distance;
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// initialise DDA to a known state
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dda->move_duration = 0;
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dda->live = 0;
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dda->total_steps = 0;
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if (DEBUG)
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serial_writestr_P(PSTR("\n{DDA_CREATE: ["));
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// we end at the passed target
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memcpy(&(dda->endpoint), target, sizeof(TARGET));
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dda->x_delta = abs32(target->X - startpoint.X);
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dda->y_delta = abs32(target->Y - startpoint.Y);
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dda->z_delta = abs32(target->Z - startpoint.Z);
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dda->e_delta = abs32(target->E - startpoint.E);
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dda->f_delta = delta32(target->F, startpoint.F);
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dda->x_direction = (target->X >= startpoint.X)?1:0;
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dda->y_direction = (target->Y >= startpoint.Y)?1:0;
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dda->z_direction = (target->Z >= startpoint.Z)?1:0;
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dda->e_direction = (target->E >= startpoint.E)?1:0;
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dda->f_direction = (target->F >= startpoint.F)?1:0;
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if (DEBUG) {
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if (dda->x_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->x_delta); serial_writechar(',');
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if (dda->y_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->y_delta); serial_writechar(',');
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if (dda->z_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->z_delta); serial_writechar(',');
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if (dda->e_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->e_delta); serial_writechar(',');
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if (dda->f_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->f_delta); serial_writestr_P(PSTR("] ["));
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}
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if (dda->x_delta > dda->total_steps)
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dda->total_steps = dda->x_delta;
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if (dda->y_delta > dda->total_steps)
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dda->total_steps = dda->y_delta;
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if (dda->z_delta > dda->total_steps)
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dda->total_steps = dda->z_delta;
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if (dda->e_delta > dda->total_steps)
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dda->total_steps = dda->e_delta;
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if (dda->total_steps == 0) {
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dda->nullmove = 1;
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}
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else {
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// get steppers ready to go
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steptimeout = 0;
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enable_steppers();
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if (DEBUG) {
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serwrite_uint32(dda->total_steps); serial_writechar(',');
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}
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dda->x_counter = dda->y_counter = dda->z_counter = dda->e_counter = dda->f_counter =
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-(dda->total_steps >> 1);
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// since it's unusual to combine X, Y and Z changes in a single move on reprap, check if we can use simpler approximations before trying the full 3d approximation.
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if (dda->z_delta == 0)
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distance = approx_distance(dda->x_delta * UM_PER_STEP_X, dda->y_delta * UM_PER_STEP_Y);
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else if (dda->x_delta == 0 && dda->y_delta == 0)
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distance = dda->z_delta * UM_PER_STEP_Z;
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else
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distance = approx_distance_3(dda->x_delta * UM_PER_STEP_X, dda->y_delta * UM_PER_STEP_Y, dda->z_delta * UM_PER_STEP_Z);
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if (distance < 2)
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distance = dda->e_delta * UM_PER_STEP_E;
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if (DEBUG) {
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serwrite_uint32(distance); serial_writechar(',');
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}
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// pre-calculate move speed in millimeter microseconds per step minute for less math in interrupt context
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// mm (distance) * 60000000 us/min / step (total_steps) = mm.us per step.min
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// note: um (distance) * 60000 == mm * 60000000
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// so in the interrupt we must simply calculate
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// mm.us per step.min / mm per min (F) = us per step
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// break this calculation up a bit and lose some precision because 300,000um * 60000 is too big for a uint32
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// calculate this with a uint64 if you need the precision, but it'll take longer so routines with lots of short moves may suffer
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// 2^32/6000 is about 715mm which should be plenty
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dda->move_duration = ((distance * 6000) / dda->total_steps) * 10;
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if (DEBUG)
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serwrite_uint32(dda->move_duration);
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}
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if (DEBUG)
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serial_writestr_P(PSTR("] }\n"));
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// next dda starts where we finish
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memcpy(&startpoint, target, sizeof(TARGET));
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}
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/*
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Start a prepared DDA
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*/
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void dda_start(DDA *dda) {
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// called from interrupt context: keep it simple!
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if (dda->nullmove) {
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// just change speed?
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current_position.F = dda->endpoint.F;
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return;
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}
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// ensure steppers are ready to go
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steptimeout = 0;
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enable_steppers();
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// set direction outputs
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x_direction(dda->x_direction);
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y_direction(dda->y_direction);
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z_direction(dda->z_direction);
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e_direction(dda->e_direction);
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// ensure this dda starts
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dda->live = 1;
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// set timeout for first step
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setTimer(dda->move_duration / current_position.F);
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}
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/*
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CAN STEP
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*/
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uint8_t can_step(uint8_t min, uint8_t max, int32_t current, int32_t target, uint8_t dir) {
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if (dir) {
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// forwards/positive
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if (max)
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return 0;
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if (current >= target)
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return 0;
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}
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else {
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// backwards/negative
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if (min)
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return 0;
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if (target >= current)
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return 0;
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}
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return 255;
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}
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/*
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STEP
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*/
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void dda_step(DDA *dda) {
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uint8_t step_option = 0;
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#define X_CAN_STEP 1
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#define Y_CAN_STEP 2
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#define Z_CAN_STEP 4
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#define E_CAN_STEP 8
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#define F_CAN_STEP 16
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#define REAL_MOVE 32
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#define F_REAL_STEP 64
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if (DEBUG)
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serial_writechar('!');
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step_option &= ~(X_CAN_STEP | Y_CAN_STEP | Z_CAN_STEP | E_CAN_STEP | F_CAN_STEP);
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// step_option |= can_step(x_min(), x_max(), current_position.X, dda->endpoint.X, dda->x_direction) & X_CAN_STEP;
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// step_option |= can_step(y_min(), y_max(), current_position.Y, dda->endpoint.Y, dda->y_direction) & Y_CAN_STEP;
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// step_option |= can_step(z_min(), z_max(), current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.X, dda->endpoint.X, dda->x_direction) & X_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.Y, dda->endpoint.Y, dda->y_direction) & Y_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.E, dda->endpoint.E, dda->e_direction) & E_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.F, dda->endpoint.F, dda->f_direction) & F_CAN_STEP;
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if (step_option & X_CAN_STEP) {
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dda->x_counter -= dda->x_delta;
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if (dda->x_counter < 0) {
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step_option |= REAL_MOVE;
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x_step();
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if (dda->x_direction)
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current_position.X++;
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else
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current_position.X--;
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dda->x_counter += dda->total_steps;
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}
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}
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if (step_option & Y_CAN_STEP) {
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dda->y_counter -= dda->y_delta;
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if (dda->y_counter < 0) {
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step_option |= REAL_MOVE;
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y_step();
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if (dda->y_direction)
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current_position.Y++;
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else
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current_position.Y--;
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dda->y_counter += dda->total_steps;
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}
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}
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if (step_option & Z_CAN_STEP) {
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dda->z_counter -= dda->z_delta;
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if (dda->z_counter < 0) {
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step_option |= REAL_MOVE;
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z_step();
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if (dda->z_direction)
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current_position.Z++;
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else
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current_position.Z--;
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dda->z_counter += dda->total_steps;
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}
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}
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if (step_option & E_CAN_STEP) {
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dda->e_counter -= dda->e_delta;
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if (dda->e_counter < 0) {
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step_option |= REAL_MOVE;
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e_step();
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if (dda->e_direction)
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current_position.E++;
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else
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current_position.E--;
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dda->e_counter += dda->total_steps;
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}
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}
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if (step_option & F_CAN_STEP) {
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dda->f_counter -= dda->f_delta;
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// since we don't allow total_steps to be defined by F, we may need to step multiple times if f_delta is greater than total_steps
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while (dda->f_counter < 0) {
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dda->f_counter += dda->total_steps;
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if (dda->f_direction) {
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current_position.F += 1;
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if (current_position.F > dda->endpoint.F)
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current_position.F = dda->endpoint.F;
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}
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else {
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current_position.F -= 1;
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if (current_position.F < dda->endpoint.F)
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current_position.F = dda->endpoint.F;
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}
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step_option |= F_REAL_STEP;
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}
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}
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// this generates too much debug output for all but the slowest step rates
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if (0 && DEBUG) {
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serial_writechar('[');
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serwrite_hex8(step_option);
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serial_writechar(':');
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serwrite_int32(current_position.F);
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serial_writechar('/');
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serwrite_int32(dda->endpoint.F);
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serial_writechar('#');
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serwrite_uint32(dda->move_duration);
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serial_writechar(']');
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}
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if (step_option & REAL_MOVE)
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// we stepped, reset timeout
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steptimeout = 0;
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// we have stepped in speed and now need to recalculate our delay
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// WARNING: this is a divide in interrupt context! (which unfortunately seems unavoidable)
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// we simply don't have the memory to precalculate this for each step,
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// can't use a simplified process because the denominator changes rather than the numerator so the curve is non-linear
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// and don't have a process framework to force it to be done outside interrupt context within a usable period of time
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if (step_option & F_REAL_STEP)
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setTimer(dda->move_duration / current_position.F);
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// if we could do anything at all, we're still running
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// otherwise, must have finished
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else if (step_option == 0) {
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dda->live = 0;
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#ifdef STUPIDLY_HIDE_BUGS
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// this magically makes bugs disappear after each move, probably a bad idea
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memcpy(¤t_position, &(dda->endpoint), sizeof(TARGET));
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#endif
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}
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// turn off step outputs, hopefully they've been on long enough by now to register with the drivers
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// if not, too bad. or insert a (very!) small delay here, or fire up a spare timer or something
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unstep();
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}
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