146 lines
3.1 KiB
C++
146 lines
3.1 KiB
C++
/****************************************************************************************************
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RepRapFirmware - Move
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This is all the code to deal with movement and kinematics.
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-----------------------------------------------------------------------------------------------------
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Version 0.1
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18 November 2012
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Adrian Bowyer
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RepRap Professional Ltd
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http://reprappro.com
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Licence: GPL
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****************************************************************************************************/
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#ifndef MOVE_H
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#define MOVE_H
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enum MovementProfile
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{
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nothing = 0, // No movement (i.e. end-position == start).
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moving = 1, // Ordinary trapezoidal-velocity-profile movement
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noFlat = 2, // Triangular profile movement
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change = 3 // To make this movement, the initial and final velocities must change
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};
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class DDA
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{
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friend class Move;
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public:
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DDA(Move* m, Platform* p, DDA* n);
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MovementProfile Init(float currentPosition[], float targetPosition[], float& u, float& v);
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void Start(boolean noTest);
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void Step(boolean noTest);
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boolean Active();
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DDA* Next();
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private:
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Move* move;
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Platform* platform;
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DDA* next;
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long counter[DRIVES+1];
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long delta[DRIVES+1];
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boolean directions[DRIVES+1];
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long totalSteps;
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long stepCount;
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float timeStep;
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float velocity;
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long stopAStep;
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long startDStep;
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float distance;
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float dCross;
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float acceleration;
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float jerk;
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volatile boolean active;
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};
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class Move
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{
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public:
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Move(Platform* p, GCodes* g);
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void Init();
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void Spin();
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void Exit();
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void Qmove();
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void GetCurrentState(float m[]);
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void Interrupt();
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void InterruptTime();
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friend class DDA;
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private:
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boolean DDARingAdd(float currentPosition[], float targetPosition[], float& u, float& v);
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DDA* DDARingGet();
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boolean DDARingEmpty();
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boolean DDARingFull();
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boolean GetDDARingLock();
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void ReleaseDDARingLock();
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Platform* platform;
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GCodes* gCodes;
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DDA* dda;
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DDA* ddaRingAddPointer;
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DDA* ddaRingGetPointer;
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volatile boolean ddaRingLocked;
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unsigned long lastTime;
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boolean active;
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boolean moveWaiting;
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float currentFeedrate;
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float currentPosition[AXES]; // Note - drives above AXES are always relative moves
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float nextMove[DRIVES + 1]; // Extra is for feedrate
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float stepDistances[(1<<AXES)]; // Index bits: lsb -> dx, dy, dz <- msb
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float extruderStepDistances[(1<<(DRIVES-AXES))]; // NB - limits us to 5 extruders
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};
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//********************************************************************************************************
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inline boolean DDA::Active()
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{
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return active;
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}
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inline DDA* DDA::Next()
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{
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return next;
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}
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inline boolean Move::DDARingEmpty()
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{
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return ddaRingGetPointer == ddaRingAddPointer;
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}
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// Leave a gap of 2 as the last Get result may still be being processed
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inline boolean Move::DDARingFull()
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{
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return ddaRingGetPointer->Next()->Next() == ddaRingAddPointer;
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}
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inline boolean Move::GetDDARingLock()
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{
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if(ddaRingLocked)
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return false;
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ddaRingLocked = true;
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return true;
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}
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inline void Move::ReleaseDDARingLock()
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{
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ddaRingLocked = false;
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}
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#endif
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