Commit Graph

1541 Commits

Author SHA1 Message Date
Kevin O'Connor 9755182adf homing: Check homing distance to verify endstop trigger after retract
Instead of checking the endstop trigger directly after a retract move,
verify some distance is traveled during the following homing
operation.  This reduces the amount of synchronization between mcu and
host during homing.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-28 11:23:26 -05:00
Kevin O'Connor a5637bb9d4 mcu: Track the stepper position in the MCU in the MCU_stepper class
Support tracking of both the commanded_position and the mcu_position
in the MCU_stepper class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-28 11:22:01 -05:00
Kevin O'Connor 1e1364c3d4 mcu: Store the stepper position in the mcu_stepper class
Move the storage of the stepper location from the kinematic classes to
the low-level mcu_stepper class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-19 11:34:42 -05:00
Kevin O'Connor 7cf914537b stepper: Raise an EndstopError if invalid phase found during homing
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:39:48 -05:00
Kevin O'Connor ab1972d1cf homing: Verify the endstops are no longer triggered after retract move
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:17:53 -05:00
Kevin O'Connor e0aa067cc9 homing: Check for timeout during homing operation
Should a homing move complete without hitting the endstop, then
disable motors, disable the endstop checking, and report the error to
the user.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:17:53 -05:00
Kevin O'Connor 4f30dce64f homing: Add EndstopMoveError wrapper around EndstopError
Allow an EndstopError to be raised without a destination position.
Introduce EndstopMoveError wrapper so that current callers can
continue to pass in a move destination.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:17:53 -05:00
Kevin O'Connor 2b5b899d35 homing: Direct stepper phase detection from kinematic classes
Change the scheduling of the final homed position (which takes into
account the stepper phases) so that it is scheduled from the kinematic
classes instead of from the toolhead class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:04:10 -05:00
Kevin O'Connor 781cf608d7 homing: Create Homing class from gcode
Create the Homing class in the gcode handler instead of in the
kinematic classes.  This will make it easier to pass error messages
back to the user.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:04:09 -05:00
Kevin O'Connor 9e1059afb4 homing: Create QueryEndstops class from gcode
Create the QueryEndstops in the gcode handler instead of in the
kinematic classes.  This simplifies the gcode handler as it can
directly register its response callback.

Also, store the stepper name in the stepper class.  Also, propagate
the print_time of the query request to the mcu_endstop class.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-18 14:04:09 -05:00
Kevin O'Connor 7ef8c0442a mcu: Remove support for DummyMCU class
It's easier to test with the file output mechanism and the DummyMCU
code has grown stale.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-16 12:09:26 -05:00
Kevin O'Connor 6ab269ceb7 stepcompress: Don't bother loop unrolling in push_sqrt()
It's not necessary to have two loops - checking if factor is greater
than zero in the loop is fine.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 15:36:11 -05:00
Kevin O'Connor fd7cb99f47 stepcompress: Optimize safe_sqrt() code
Optimize the code by putting the uncommon case out-of-line.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 15:12:53 -05:00
Kevin O'Connor 5a1ec817d4 stepper: Check if the motor needs to be enabled in the kinematic classes
Check for motor enable in the kinematic classes so it doesn't need to
be checked on every move.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 13:40:35 -05:00
Kevin O'Connor 9ad8153d33 stepper: Reset the next step time on a stepper stop
Automatically reset the next step time to zero on a stepper_stop()
call.  This makes the host code simpler as it no longer needs to
schedule an explicit reset_step_clock command on the step after a
homing operation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 13:10:14 -05:00
Kevin O'Connor 941427554a delta: Initial support for linear delta kinematics
This adds support for delta based robots.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-14 12:35:36 -05:00
Kevin O'Connor 7554c7f694 stepcompress: Do all step rounding in C code
Commits f0cefebf and 8f331f08 changed the way the code determined what
steps to take on fractional steps.  Unfortunately, it was possible in
some situations for the C code to round differently from the python
code which could result in warnings and lost steps.

Change the code so that all fractional step handling is done in the C
code.  Implementing the step rounding logic in one location avoids any
conflicts.

In order to efficiently handle the step rounding in the C code, the C
code has also been extended to directly send the "set_next_step_dir"
command.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-13 18:29:45 -05:00
Kevin O'Connor 79da35d023 stepcompress: Minor code movement
Move flush() and check_expand() code to a new location so that the
stepcompress_push_X() functions can flush.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-12 22:55:27 -05:00
Kevin O'Connor 1dee1ba64e queuelogger: Add support for background log writing
Writing to the debug log can cause an unbounded delay due to disk IO.
This is particularly so on embedded machines such as the Raspberry Pi
that run on SD cards.  These log writing delays can cause problems for
the main processing threads.

The new "queuelogger" code forwards all the main thread log messages
to a queue, and a background thread writes the log messages from the
queue to the destination file.  This eliminates the IO delay from the
main threads.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-12 22:53:43 -05:00
Kevin O'Connor afecf7ce36 stepper: Default to a high direction pin meaning positive direction
Invert the default meaning of the stepper direction pin.  Instead of
treating a low value as position motion, treat a high value as
positive motion.  This matches what other firmwares do, and it matches
what common stepper motor drivers document.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-08 10:39:32 -05:00
Kevin O'Connor 5e6127869a mcu: Do not invert the direction of pullup pins by default
A pullup setting on an input pin (ie, '^') should enable the hardware
pullup resistor, but it should not invert the trigger level (ie, it
should remain trigger on high).  Those that need to change the trigger
level (ie, trigger on low) must now do that explicitly (ie, '^!').
This makes the code match what other firmwares do.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-08 09:29:38 -05:00
Kevin O'Connor 3b5b895a10 heater: Do not require target temperature be above min_extrude_temp
Only disable the extruder if the last measured temperature is below
the minimum extrude temperature setting.  Verifying the target
temperature is not necessary, and it can incorrectly prevent some
valid moves.  It's not uncommon for scripts to retract filament
immiedietly after setting the extruder temperature to zero.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-08 09:22:43 -05:00
Kevin O'Connor 345fc41482 extruder: Don't do pressure advance on velocity changes due to cornering
Due to the lookahead, small changes in the direction of the toolhead
cause minor changes in toolhead velocity.  These "cornering" velocity
changes cause the current extruder code to trigger pressure advance
and its associated pressure retract.  This causes the extruder to
rapidly "jerk" the filament.

This code change updates the extruder to detect velocity changes due
solely to cornering and avoid pressure advance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 11:06:58 -04:00
Kevin O'Connor 93dd310add extruder: Don't assume start_v matches last end_v in pressure advance
Due to minor differences in the extrude ratio, the last end velocity
of the filament may not exactly match the next move's start velocity
of the filament.  Implement more precise calculations for pressure
advance to take this into account.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 11:06:58 -04:00
Kevin O'Connor a201385008 extruder: Consistently use extrude distance in calculations
Avoid mixing the travel distance of the head (and its associated
velocity and acceleration) with the distance the filament moves.
Instead, use the filament travel distance.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 11:04:50 -04:00
Kevin O'Connor 9d7aa1e155 toolhead: Support calculation of cornering minimum and maximum
Calculate the next "cornering" minimum and maximum for each move.  The
"cornering minimum" is the lowest speed the head will reach
immediately after this move (with no interleaving acceleration or
cruising).  The "cornering maximum" is the maximum speed the head will
reach after the cornering minimum (with no interleaving deceleration
or cruising).

These cornering calculations will be helpful in the extruder "pressure
advance" code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 10:59:36 -04:00
Kevin O'Connor 6285cc6f66 toolhead: Simplify calculation of junction_cruise
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 10:59:36 -04:00
Kevin O'Connor 8e165fecc0 toolhead: Calculate maximum junction start when adding moves
Take into account the maximum possible start speed of a move when
calculating junction_start_max.  This simplifies the lookahead logic.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-05 10:56:47 -04:00
Kevin O'Connor 7c8addc5c5 gpio: Merge gpio_adc_sample_time() into gpio_adc_sample()
Return the number of clock ticks to wait directly from
gpio_adc_sample().  This simplifies the ADC interface.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-02 17:36:43 -04:00
Kevin O'Connor 5419c456ac docs: Add information on the "move queue" to Firmware_Commands
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-02 13:22:35 -04:00
Kevin O'Connor 2b7ab290b8 mcu: Remove python checks for stepcompress integer overflow
Now that the C code checks for overflow, it is no longer necessary for
the python code to check.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-02 13:22:35 -04:00
Kevin O'Connor 508a934d62 stepcompress: Do 32bit integer overflow checks internally in C code
Update the stepcompress C code to check for integer overflow so that
the python code does not need to.  The new checks also handle the
possibility of a single move lasting long enough to cause an overflow.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-02 13:22:35 -04:00
Kevin O'Connor 8025921fc8 stepcompress: Invert the meaning of the min_clock flag
Use a non-zero qm->min_clock value to indicate that the command uses
the move queue and to also store the clock of when that move queue
item will be released.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-02 10:12:26 -04:00
Kevin O'Connor ff6fef927a stepcompress: Store step times using 64bit integers
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-11-01 19:38:37 -04:00
Kevin O'Connor 77d486f8d2 sam3x8e: Rework timer priority code to use time instead of event count
Rework the timer prioritization code so that is compares against the
current time instead of the number of repeat timers in a given
interrupt.  This makes the code slightly faster and it should provide
better protection against task starvation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:48:27 -04:00
Kevin O'Connor 233a90ce8b sam3x8e: Clear all bits of PSR register when clearing IRQ status
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:47:57 -04:00
Kevin O'Connor 41ef0bd98c stepstats: Add debugging script to calculate stats on stepper movement
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:15:38 -04:00
Kevin O'Connor f58d93c0bf graphstats: Add new helper script that generates graphs of MCU load
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:15:38 -04:00
Kevin O'Connor 8f331f08d2 extruder: Determine start step offset using last commanded position
The existing code calculates the number of steps in a move and then
spreads them out evenly throughout that move.  Change the code so that
step timing is based on where the head is commanded to be relative to
the stepper step locations.  This makes the timing more accurate - in
particular the stepper velocities will be more accurate during
cornering introduced by the lookahead code.  It also results in
slightly smoother stepper motion which results in better step
compression.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:14:28 -04:00
Kevin O'Connor f0cefebff7 cartesian.py: Determine start step offset using last commanded position
The existing code calculates the number of steps in a move and then
spreads them out evenly throughout that move.  Change the code so that
step timing is based on where the head is commanded to be relative to
the axis step locations.  This makes the timing more accurate - in
particular the axis velocities will be more accurate during cornering
introduced by the lookahead code.  It also results in slightly
smoother stepper motion which results in better step compression.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:06:19 -04:00
Kevin O'Connor 2904a0bbac cartesian: Rename step_dist to move_step_d
Don't use step_dist for the "distance along the line of movement per
step" as it's too similar to the stepper.step_dist variable.  Use the
name "move_step_d" instead.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-31 11:05:52 -04:00
Kevin O'Connor 6a96e83ea9 toolhead: Store both the start and end position in the Move class
Store the start position (in addition to the existing end position) in
the Move class.  The start position can be useful to the kinematic
classes.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-25 19:19:29 -04:00
Kevin O'Connor 306db9a851 build: Be sure to also include out/*.d files in Makefile
Not including the out/*.d build files can cause the build to be
incomplete.  In particular, without this fix, if the code is built for
ARM and then configured for AVR, the build can produce a corrupt AVR
binary.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-21 12:00:03 -04:00
Kevin O'Connor 93bd19a8c2 docs: Todo updates
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-19 13:35:49 -04:00
Kevin O'Connor 98ce7dc465 docs: Add Firmware_Commands.md with information on common firmware commands
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-19 13:35:49 -04:00
Kevin O'Connor 9edf60ffc6 docs: Add Protocol.md with information on host / firmware communication
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-19 13:35:49 -04:00
Kevin O'Connor 884cee27eb sched: Improve AVR optimization of reschedule_timer()
Tweak the AVR register pressure optimization in reschedule_timer() to
optimize it further.  This improves the performance of AVR timers when
there are several pending timers.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-19 13:35:48 -04:00
Kevin O'Connor 0f87493487 timer: Rework AVR timer priority code to use time instead of event count
Rework the timer prioritization code so that is compares against the
current time instead of the number of repeat timers in a given
interrupt.  This makes the code slightly faster and it should provide
better protection against task starvation.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-19 13:35:48 -04:00
Kevin O'Connor 8be8cb7a91 serial: Increase AVR serial receive buffer
Increase the size of the serial receive buffer.  With transmit rates
of 250000 baud, it only takes a little over a millisecond to overflow
the existing buffer.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-18 15:01:29 -04:00
Kevin O'Connor 977aabe038 stepper: Return homing offset in steps instead of an absolute position
Rename get_homed_position() to get_homed_offset() and return the
endstop position delta in steps instead of an absolute position
relative to position_endstop.  The conversion to absolute positions
can be dependent on the type of kinematics in use, so is inappropriate
to do in the low level stepper.py code.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
2016-10-13 10:09:56 -04:00