Buildbotics CNC Controller Firmware Changelog
==============================================
+## v0.4.2
+ - Suppress ``Auto-creating missing tool`` warning.
+ - Prevent ``Stream is closed`` error.
+ - Suppress ``WebGL not supported`` warning.
+
+## v0.4.1
+ - Fix toolpath view axes bug.
+ - Added LASER intensity view.
+ - Fixed reverse path planner bug.
+ - Video size and path view controls persistent over browser reload.
+ - Fixed time and progress bugs.
+ - Added PWM rapid auto off feature for LASER/Plasma.
+ - Added dynamic PWM for LASER/Plasma.
+ - Added motor faults table to indicators page.
+ - Emit error and indicate FAULT on axis for motor driver faults.
+ - Display axis motor FAULT on LCD.
+ - Fixed bug with rapid repeated unpause.
+
## v0.4.0
- Increased display precision of position and motor config.
- Added support for 256 microstepping.
$(TARGET_DIR)/index.html: $(wildcard src/pug/templates/*)
$(TARGET_DIR)/index.html: $(wildcard src/js/*)
$(TARGET_DIR)/index.html: $(wildcard src/stylus/*)
+$(TARGET_DIR)/index.html: src/resources/config-template.json
$(TARGET_DIR)/%.html: src/pug/%.pug node_modules
@mkdir -p $(shell dirname $@)
{
"name": "bbctrl",
- "version": "0.4.0",
+ "version": "0.4.2",
"lockfileVersion": 1,
"requires": true,
"dependencies": {
{
"name": "bbctrl",
- "version": "0.4.0",
+ "version": "0.4.2",
"homepage": "http://buildbotics.com/",
"repository": "https://github.com/buildbotics/bbctrl-firmware",
"license": "GPL-3.0+",
if (status == STAT_OK) cmd.active = true; // Disables LCD booting message
}
- block = 0; // Command consumed
-
switch (status) {
case STAT_OK: break;
case STAT_NOP: break;
case STAT_MACHINE_ALARMED: STATUS_WARNING(status, ""); break;
- default: STATUS_ERROR(status, ""); break;
+ default: STATUS_ERROR(status, "%s", block); break;
}
+ block = 0; // Command consumed
+
return true;
}
CMD('s', seek, 1) // [switch][flags:active|error]
CMD('a', set_axis, 1) // [axis][position] Set axis position
CMD('l', line, 1) // [targetVel][maxJerk][axes][times]
-CMD('%', sync_speed, 1) // [offset][speed]
+CMD('%', sync_speed, 1) // [offset][speed] Command synchronized speed
+CMD('p', speed, 1) // [speed] Spindle speed
CMD('I', input, 1) // [a|d][port][mode][timeout] Read input
CMD('d', dwell, 1) // [seconds]
CMD('P', pause, 1) // [type] Pause control
SPI_CS_X_PIN,
SPI_CS_A_PIN,
SPI_CS_Z_PIN,
- SPIN_PWM_PIN,
+ PWM_PIN,
SWITCH_2_PIN,
RS485_RO_PIN,
RS485_DI_PIN,
// Timer assignments
// NOTE, TCC1 free
#define TIMER_STEP TCC0 // Step timer (see stepper.h)
-#define TIMER_PWM TCD1 // PWM timer (see pwm_spindle.c)
+#define TIMER_PWM TCD1 // PWM timer (see pwm.c)
#define M1_TIMER TCD0
#define M2_TIMER TCE0
#define STEP_TIMER_INTLVL TC_OVFINTLVL_HI_gc
#define STEP_LOW_LEVEL_ISR ADCB_CH0_vect
#define STEP_PULSE_WIDTH (F_CPU * 0.000002 / 2) // 2uS w/ clk/2
-#define SEGMENT_TIME (0.004 / 60.0) // mins
+#define SEGMENT_MS 4
+#define SEGMENT_TIME (SEGMENT_MS / 60000.0) // mins
// DRV8711 settings
+// NOTE, PWM frequency = 1 / (2 * DTIME + TBLANK + TOFF)
+// We have PWM frequency = 1 / (2 * 850nS + 1uS + 6.5uS) ~= 110kHz
#define DRV8711_OFF 12
#define DRV8711_BLANK (0x32 | DRV8711_BLANK_ABT_bm)
#define DRV8711_DECAY (DRV8711_DECAY_DECMOD_MIXED | 16)
DRV8711_STALL_VDIV_4 | 200)
#define DRV8711_DRIVE (DRV8711_DRIVE_IDRIVEP_50 | \
DRV8711_DRIVE_IDRIVEN_100 | \
- DRV8711_DRIVE_TDRIVEP_250 | \
- DRV8711_DRIVE_TDRIVEN_250 | \
+ DRV8711_DRIVE_TDRIVEP_500 | \
+ DRV8711_DRIVE_TDRIVEN_500 | \
DRV8711_DRIVE_OCPDEG_1 | \
- DRV8711_DRIVE_OCPTH_250)
+ DRV8711_DRIVE_OCPTH_500)
#define DRV8711_TORQUE DRV8711_TORQUE_SMPLTH_50
+// NOTE, Datasheet suggests 850ns DTIME with the optional gate resistor
+// installed. See page 30 section 8.1.2 of DRV8711 datasheet.
#define DRV8711_CTRL (DRV8711_CTRL_ISGAIN_10 | \
- DRV8711_CTRL_DTIME_450 | \
+ DRV8711_CTRL_DTIME_850 | \
DRV8711_CTRL_EXSTALL_bm)
#define SERIAL_CTS_THRESH 4
-// Spindle settings
-#define SPEED_QUEUE_SIZE 64
-#define SPEED_OFFSET 6 // ms
+// PWM settings
+#define POWER_MAX_UPDATES SEGMENT_MS
// Input
#define INPUT_BUFFER_LEN 128 // text buffer size (255 max)
uint8_t status;
uint16_t flags;
+ bool reset_flags;
bool stalled;
drv8711_state_t state;
}
+static bool _driver_fault(int driver) {return drivers[driver].flags & 0x1f;}
+
+
static float _driver_get_current(int driver) {
+ if (_driver_fault(driver)) return 0;
+
drv8711_driver_t *drv = &drivers[driver];
switch (drv->state) {
switch (DRV8711_CMD_ADDR(command)) {
case DRV8711_STATUS_REG:
drv->status = spi.responses[driver];
-
- if ((drv->status & drv->flags) != drv->status)
- drv->flags |= drv->status;
+ drv->flags |= drv->status;
break;
case DRV8711_OFF_REG:
// We read back the OFF register to test for communication failure.
if ((spi.responses[driver] & 0x1ff) != DRV8711_OFF)
drv->flags |= DRV8711_COMM_ERROR_bm;
+ else drv->flags &= ~DRV8711_COMM_ERROR_bm;
break;
}
}
switch (DRV8711_CMD_ADDR(*command)) {
case DRV8711_STATUS_REG:
- if (!DRV8711_CMD_IS_READ(*command))
- // Clear STATUS flags
- *command = (*command & 0xf000) | (0x0fff & ~(drv->status));
+ if (!DRV8711_CMD_IS_READ(*command)) {
+ if (drv->reset_flags) { // Clear STATUS flags
+ *command = (*command & 0xf000) | (0x0fff & ~drv->status);
+ drv->reset_flags = false;
+ drv->flags = 0;
+
+ } else *command = (*command & 0xf000) | 0x0fff; // Don't clear flags
+ }
break;
case DRV8711_TORQUE_REG: // Update motor current setting
switch_id_t stall_sw = drivers[i].stall_sw;
switch_set_type(stall_sw, SW_NORMALLY_OPEN);
switch_set_callback(stall_sw, _stall_switch_cb);
+
+ drivers[i].reset_flags = true; // Reset flags once on startup
}
switch_set_type(SW_MOTOR_FAULT, SW_NORMALLY_OPEN);
bool get_motor_fault() {return motor_fault;}
+void set_driver_flags(int driver, uint16_t flags) {
+ drivers[driver].reset_flags = true;
+}
+
+
uint16_t get_driver_flags(int driver) {return drivers[driver].flags;}
uint16_t get_status_strings(int driver) {return get_driver_flags(driver);}
bool get_driver_stalled(int driver) {return drivers[driver].stalled;}
-
-
-// Command callback
-void command_mreset(int argc, char *argv[]) {
- if (argc == 1)
- for (int driver = 0; driver < DRIVERS; driver++)
- drivers[driver].flags = 0;
-
- else {
- int driver = atoi(argv[1]);
- if (driver < DRIVERS) drivers[driver].flags = 0;
- }
-}
// Hard stop the motors and the spindle
st_shutdown();
- spindle_stop();
+ spindle_estop();
// Set machine state
state_estop();
float time;
float vel;
float accel;
- float max_vel;
float max_accel;
float max_jerk;
+ power_update_t power_updates[2 * POWER_MAX_UPDATES];
exec_cb_t cb;
} seg;
} ex;
float exec_get_acceleration() {return ex.accel;}
void exec_set_jerk(float j) {ex.jerk = j;}
+
+
void exec_set_cb(exec_cb_t cb) {ex.cb = cb;}
isfinite(target[AXIS_B]) && isfinite(target[AXIS_C]),
STAT_BAD_FLOAT);
+ // Prep power updates
+ st_prep_power(ex.seg.power_updates);
+
+ // Shift power updates
+ for (unsigned i = 0; i < POWER_MAX_UPDATES; i++) {
+ ex.seg.power_updates[i] = ex.seg.power_updates[i + POWER_MAX_UPDATES];
+ ex.seg.power_updates[i + POWER_MAX_UPDATES].state = POWER_IGNORE;
+ }
+
// Update position
copy_vector(ex.position, target);
// Wait for next seg if time is too short and we are still moving
if (t < SEGMENT_TIME && (!t || v)) {
- if (!v) ex.velocity = ex.accel = ex.jerk = 0;
+ if (!v) {
+ exec_set_velocity(0);
+ exec_set_acceleration(0);
+ exec_set_jerk(0);
+ ex.seg.time = 0;
+ }
ex.cb = ex.seg.cb;
return STAT_AGAIN;
}
// Update velocity and accel
- ex.velocity = v;
- ex.accel = a;
+ exec_set_velocity(v);
+ exec_set_acceleration(a);
if (t <= SEGMENT_TIME) {
// Move
stat_t exec_segment(float time, const float target[], float vel, float accel,
- float maxVel, float maxAccel, float maxJerk) {
+ float maxAccel, float maxJerk,
+ const power_update_t power_updates[]) {
ESTOP_ASSERT(time <= SEGMENT_TIME, STAT_SHORT_SEG_TIME);
+ // Copy power updates in to the correct position given the time offset
+ float nextT = ex.seg.time + time;
+ const float stepT = 1.0 / 60000; // 1ms in mins
+ float t = 0.5 / 60000; // 0.5ms in mins
+ unsigned j = 0;
+ for (unsigned i = 0; t < nextT && j < POWER_MAX_UPDATES; i++) {
+ if (ex.seg.time < t) ex.seg.power_updates[i] = power_updates[j++];
+ t += stepT;
+ }
+
copy_vector(ex.seg.target, target);
- ex.seg.time += time;
+ ex.seg.time = nextT;
ex.seg.vel = vel;
ex.seg.accel = accel;
- ex.seg.max_vel = maxVel;
ex.seg.max_accel = maxAccel;
ex.seg.max_jerk = maxJerk;
ex.seg.cb = ex.cb;
#include "config.h"
+#include "spindle.h"
#include "status.h"
#include <stdbool.h>
void exec_get_position(float p[AXES]);
float exec_get_axis_position(int axis);
+float exec_get_power_scale();
void exec_set_velocity(float v);
float exec_get_velocity();
void exec_set_acceleration(float a);
void exec_move_to_target(const float target[]);
stat_t exec_segment(float time, const float target[], float vel, float accel,
- float maxVel, float maxAccel, float maxJerk);
+ float maxAccel, float maxJerk,
+ const power_update_t power_updates[]);
stat_t exec_next();
deinit_cb_t deinit_cb;
bool shutdown;
bool changed;
- float speed;
+ float power;
float actual_freq;
float actual_current;
case 0: { // Update direction
hy_ctrl_state_t state = HUANYANG_STOP;
if (!hy.shutdown && !estop_triggered()) {
- if (0 < hy.speed)
+ if (0 < hy.power)
state = (hy_ctrl_state_t)(HUANYANG_RUN | HUANYANG_FORWARD);
- else if (hy.speed < 0)
+ else if (hy.power < 0)
state = (hy_ctrl_state_t)(HUANYANG_RUN | HUANYANG_REV_FWD);
}
case 4: { // Update freqency
// Compute frequency in Hz
- float freq = fabs(hy.speed * hy.max_freq);
+ float freq = fabs(hy.power * hy.max_freq);
// Frequency write command
_freq_write(freq * 100);
}
-void huanyang_set(float speed) {
- if (hy.speed != speed && !hy.shutdown) {
- hy.speed = speed;
+void huanyang_set(float power) {
+ if (hy.power != power && !hy.shutdown) {
+ hy.power = power;
hy.changed = true;
}
}
void huanyang_init();
void huanyang_deinit(deinit_cb_t cb);
-void huanyang_set(float speed);
+void huanyang_set(float power);
float huanyang_get();
#include "config.h"
#include "exec.h"
-#include "axis.h"
#include "command.h"
#include "spindle.h"
#include "util.h"
float target[AXES];
float times[7];
float target_vel;
- float max_vel;
float max_accel;
float max_jerk;
} line_t;
-typedef struct {
- float time;
- float speed;
-} speed_t;
-
-
static struct {
line_t line;
float iA; // Initial section acceleration
float jerk;
float lV; // Last velocity
+ float lD; // Last distance
- float lineT;
- speed_t speed;
+ power_update_t power_updates[POWER_MAX_UPDATES];
} l;
}
-static void _load_sync_speeds(float startT, float endT) {
- // Convert from mins to ms
- startT *= 60000;
- endT *= 60000;
-
- while (true) {
- // Load new sync speed if needed and available
- if (l.speed.time < 0 && command_peek() == COMMAND_sync_speed)
- l.speed = *(speed_t *)(command_next() + 1);
-
- // Exit if we don't have a speed or it's not ready to be set
- if (l.speed.time < 0 || endT < l.speed.time) break;
-
- // Queue speed
- spindle_set_speed(round(l.speed.time - startT), l.speed.speed);
- l.speed.time = -1; // Mark done
- }
-}
-
-
static stat_t _exec_segment(float time, const float target[], float vel,
float accel) {
- return exec_segment(time, target, vel, accel, l.line.max_vel,
- l.line.max_accel, l.line.max_jerk);
+ return exec_segment(time, target, vel, accel, l.line.max_accel,
+ l.line.max_jerk, l.power_updates);
}
t = section_time;
}
- // Handle synchronous speeds
- _load_sync_speeds(l.lineT + t - seg_time, l.lineT + t);
-
// Compute distance and velocity
float d = _segment_distance(t);
float v = _segment_velocity(t);
// Don't allow overshoot
if (l.line.length < d) d = l.line.length;
+ // Handle synchronous speeds
+ spindle_load_power_updates(l.power_updates, l.lD, d);
+ l.lD = d;
+
// Check if section complete
if (t == section_time) {
if (_section_next()) {
l.seg = 0;
l.iD = d;
l.iV = v;
- l.lineT += t;
} else {
exec_set_cb(0);
for (int axis = 0; axis < AXES; axis++)
if (line.unit[axis]) line.unit[axis] /= line.length;
- // Compute max velocity
- line.max_vel = FLT_MAX;
- for (int axis = 0; axis < AXES; axis++)
- if (line.unit[axis]) {
- float axis_max_vel = axis_get_velocity_max(axis) / fabs(line.unit[axis]);
- if (axis_max_vel < line.max_vel) line.max_vel = axis_max_vel;
- }
-
// Queue
command_push(COMMAND_line, &line);
void command_line_exec(void *data) {
l.line = *(line_t *)data;
- l.lineT = 0;
- l.speed.time = -1;
-
// Setup first section
l.seg = 0;
l.iD = 0;
+ l.lD = 0;
// If current velocity is non-zero use last target velocity
l.iV = exec_get_velocity() ? l.lV : 0;
l.lV = l.line.target_vel;
// Set callback
exec_set_cb(_line_exec);
}
-
-
-stat_t command_sync_speed(char *cmd) {
- speed_t s;
-
- cmd++; // Skip command code
-
- // Get target velocity
- if (!decode_float(&cmd, &s.time)) return STAT_BAD_FLOAT;
- if (!decode_float(&cmd, &s.speed)) return STAT_BAD_FLOAT;
-
- // Queue
- command_push(COMMAND_sync_speed, &s);
-
- return STAT_OK;
-}
-
-
-unsigned command_sync_speed_size() {return sizeof(speed_t);}
-
-
-void command_sync_speed_exec(void *data) {
- speed_t s = *(speed_t *)data;
- spindle_set_speed(0, s.speed);
-}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ This file ("the software") is free software: you can redistribute it
+ and/or modify it under the terms of the GNU General Public License,
+ version 2 as published by the Free Software Foundation. You should
+ have received a copy of the GNU General Public License, version 2
+ along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+ The software 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
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#include "pwm.h"
+
+#include "config.h"
+#include "estop.h"
+#include "outputs.h"
+
+#include <math.h>
+
+
+typedef struct {
+ bool initialized;
+ float freq; // base frequency for PWM driver, in Hz
+ float min_duty;
+ float max_duty;
+ float power;
+} pwm_t;
+
+
+static pwm_t pwm = {0};
+
+
+static void _set_enable(bool enable) {
+ outputs_set_active(TOOL_ENABLE_PIN, enable);
+}
+
+
+static void _set_dir(bool clockwise) {
+ outputs_set_active(TOOL_DIR_PIN, !clockwise);
+}
+
+
+static void _update_clock(uint16_t period) {
+ if (estop_triggered()) period = 0;
+
+ // Disable
+ if (!period) {
+ TIMER_PWM.CTRLB = 0; // Disable clock control of pin
+ OUTCLR_PIN(PWM_PIN);
+ _set_enable(false);
+ return;
+ }
+ _set_enable(true);
+
+ // 100% duty
+ if (period == 0xffff) {
+ TIMER_PWM.CTRLB = 0; // Disable clock control of pin
+ OUTSET_PIN(PWM_PIN);
+ return;
+ }
+
+ // Configure clock
+ TIMER_PWM.CTRLB = TC1_CCAEN_bm | TC_WGMODE_SINGLESLOPE_gc;
+ TIMER_PWM.CCA = period;
+}
+
+
+static float _compute_duty(float power) {
+ power = fabsf(power);
+ if (!power) return 0; // 0% duty
+ if (power == 1 && pwm.max_duty == 1) return 1; // 100% duty
+ return power * (pwm.max_duty - pwm.min_duty) + pwm.min_duty;
+}
+
+
+static uint16_t _compute_period(float duty) {return TIMER_PWM.PER * duty;}
+
+
+static void _update_pwm() {
+ if (pwm.initialized)
+ _update_clock(_compute_period(_compute_duty(pwm.power)));
+}
+
+
+static void _update_freq() {
+ // Set clock period and optimal prescaler value
+ float prescale = (F_CPU >> 16) / pwm.freq;
+
+ if (prescale <= 1) {
+ TIMER_PWM.PER = F_CPU / pwm.freq;
+ TIMER_PWM.CTRLA = TC_CLKSEL_DIV1_gc;
+
+ } else if (prescale <= 2) {
+ TIMER_PWM.PER = F_CPU / 2 / pwm.freq;
+ TIMER_PWM.CTRLA = TC_CLKSEL_DIV2_gc;
+
+ } else if (prescale <= 4) {
+ TIMER_PWM.PER = F_CPU / 4 / pwm.freq;
+ TIMER_PWM.CTRLA = TC_CLKSEL_DIV4_gc;
+
+ } else if (prescale <= 8) {
+ TIMER_PWM.PER = F_CPU / 8 / pwm.freq;
+ TIMER_PWM.CTRLA = TC_CLKSEL_DIV8_gc;
+
+ } else if (prescale <= 64) {
+ TIMER_PWM.PER = F_CPU / 64 / pwm.freq;
+ TIMER_PWM.CTRLA = TC_CLKSEL_DIV64_gc;
+
+ } else TIMER_PWM.CTRLA = 0;
+
+ _update_pwm();
+}
+
+
+void pwm_init() {
+ pwm.initialized = true;
+ pwm.power = 0;
+
+ // Configure IO
+ _set_dir(true);
+ _set_enable(false);
+ _update_freq();
+
+ // PWM output
+ OUTCLR_PIN(PWM_PIN);
+ DIRSET_PIN(PWM_PIN);
+}
+
+
+float pwm_get() {return pwm.power;}
+
+
+void pwm_deinit(deinit_cb_t cb) {
+ pwm.initialized = false;
+
+ _set_enable(false);
+
+ // Float PWM output pin
+ DIRCLR_PIN(PWM_PIN);
+
+ // Disable clock
+ TIMER_PWM.CTRLA = 0;
+
+ cb();
+}
+
+
+power_update_t pwm_get_update(float power) {
+ power_update_t update = {
+ 0 <= power ? POWER_FORWARD : POWER_REVERSE,
+ power,
+ _compute_period(_compute_duty(power))
+ };
+
+ return update;
+}
+
+
+// Called from hi-priority stepper interrupt, must be very fast
+void pwm_update(power_update_t update) {
+ if (!pwm.initialized || update.state == POWER_IGNORE) return;
+ _update_clock(update.period);
+ if (update.period) _set_dir(update.state == POWER_FORWARD);
+ pwm.power = update.power;
+}
+
+
+// Var callbacks
+float get_pwm_min_duty() {return pwm.min_duty * 100;}
+
+
+void set_pwm_min_duty(float value) {
+ pwm.min_duty = value / 100;
+ _update_pwm();
+}
+
+
+float get_pwm_max_duty() {return pwm.max_duty * 100;}
+
+
+void set_pwm_max_duty(float value) {
+ pwm.max_duty = value / 100;
+ _update_pwm();
+}
+
+
+float get_pwm_duty() {return _compute_duty(pwm.power);}
+float get_pwm_freq() {return pwm.freq;}
+
+
+void set_pwm_freq(float value) {
+ if (value < 8) value = 8;
+ if (320000 < value) value = 320000;
+ pwm.freq = value;
+ _update_freq();
+}
+
+
+bool get_pwm_invert() {return PINCTRL_PIN(PWM_PIN) & PORT_INVEN_bm;}
+
+
+void set_pwm_invert(bool invert) {
+ if (invert) PINCTRL_PIN(PWM_PIN) |= PORT_INVEN_bm;
+ else PINCTRL_PIN(PWM_PIN) &= ~PORT_INVEN_bm;
+}
--- /dev/null
+/******************************************************************************\
+
+ This file is part of the Buildbotics firmware.
+
+ Copyright (c) 2015 - 2018, Buildbotics LLC
+ All rights reserved.
+
+ This file ("the software") is free software: you can redistribute it
+ and/or modify it under the terms of the GNU General Public License,
+ version 2 as published by the Free Software Foundation. You should
+ have received a copy of the GNU General Public License, version 2
+ along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+ The software 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
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the software. If not, see
+ <http://www.gnu.org/licenses/>.
+
+ For information regarding this software email:
+ "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#include "spindle.h"
+
+
+void pwm_init();
+float pwm_get();
+void pwm_deinit(deinit_cb_t cb);
+power_update_t pwm_get_update(float power);
+void pwm_update(power_update_t update);
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2018, Buildbotics LLC
- All rights reserved.
-
- This file ("the software") is free software: you can redistribute it
- and/or modify it under the terms of the GNU General Public License,
- version 2 as published by the Free Software Foundation. You should
- have received a copy of the GNU General Public License, version 2
- along with the software. If not, see <http://www.gnu.org/licenses/>.
-
- The software 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
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with the software. If not, see
- <http://www.gnu.org/licenses/>.
-
- For information regarding this software email:
- "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-#include "pwm_spindle.h"
-
-#include "config.h"
-#include "estop.h"
-#include "outputs.h"
-
-#include <math.h>
-
-
-typedef struct {
- uint8_t time;
- uint16_t period;
- bool clockwise;
-} update_t;
-
-
-#define RING_BUF_NAME update_q
-#define RING_BUF_TYPE update_t
-#define RING_BUF_INDEX_TYPE volatile uint8_t
-#define RING_BUF_SIZE SPEED_QUEUE_SIZE
-#include "ringbuf.def"
-
-
-typedef struct {
- float freq; // base frequency for PWM driver, in Hz
- float min_duty;
- float max_duty;
- float duty;
- float speed;
- uint8_t time;
-} pwm_spindle_t;
-
-
-static pwm_spindle_t spindle = {0};
-
-
-static void _set_enable(bool enable) {
- outputs_set_active(TOOL_ENABLE_PIN, enable);
-}
-
-
-static void _set_dir(bool clockwise) {
- outputs_set_active(TOOL_DIR_PIN, !clockwise);
-}
-
-
-static void _update_clock(uint16_t period) {
- if (estop_triggered()) period = 0;
-
- // Disable
- if (!period) {
- TIMER_PWM.CTRLB = 0; // Disable clock control of pin
- OUTCLR_PIN(SPIN_PWM_PIN);
- _set_enable(false);
- return;
- }
- _set_enable(true);
-
- // 100% duty
- if (period == 0xffff) {
- TIMER_PWM.CTRLB = 0; // Disable clock control of pin
- OUTSET_PIN(SPIN_PWM_PIN);
- return;
- }
-
- // Configure clock
- TIMER_PWM.CTRLB = TC1_CCAEN_bm | TC_WGMODE_SINGLESLOPE_gc;
- TIMER_PWM.CCA = period;
-}
-
-
-static float _compute_duty(float speed) {
- if (!speed) return 0; // 0% duty
- if (speed == 1 && spindle.max_duty == 1) return 1; // 100% duty
- return speed * (spindle.max_duty - spindle.min_duty) + spindle.min_duty;
-}
-
-
-static uint16_t _compute_period(float speed) {
- spindle.speed = speed;
- spindle.duty = _compute_duty(speed);
-
- if (!spindle.duty) return 0;
- if (spindle.duty == 1) return 0xffff;
- return TIMER_PWM.PER * spindle.duty;
-}
-
-
-static void _update_pwm() {_update_clock(_compute_period(spindle.speed));}
-
-
-static void _update_freq() {
- // Set clock period and optimal prescaler value
- float prescale = (F_CPU >> 16) / spindle.freq;
-
- if (prescale <= 1) {
- TIMER_PWM.PER = F_CPU / spindle.freq;
- TIMER_PWM.CTRLA = TC_CLKSEL_DIV1_gc;
-
- } else if (prescale <= 2) {
- TIMER_PWM.PER = F_CPU / 2 / spindle.freq;
- TIMER_PWM.CTRLA = TC_CLKSEL_DIV2_gc;
-
- } else if (prescale <= 4) {
- TIMER_PWM.PER = F_CPU / 4 / spindle.freq;
- TIMER_PWM.CTRLA = TC_CLKSEL_DIV4_gc;
-
- } else if (prescale <= 8) {
- TIMER_PWM.PER = F_CPU / 8 / spindle.freq;
- TIMER_PWM.CTRLA = TC_CLKSEL_DIV8_gc;
-
- } else if (prescale <= 64) {
- TIMER_PWM.PER = F_CPU / 64 / spindle.freq;
- TIMER_PWM.CTRLA = TC_CLKSEL_DIV64_gc;
-
- } else TIMER_PWM.CTRLA = 0;
-
- _update_pwm();
-}
-
-
-void pwm_spindle_init() {
- update_q_init();
-
- // Configure IO
- _set_dir(true);
- _set_enable(false);
- _update_freq();
-
- // PWM output
- OUTCLR_PIN(SPIN_PWM_PIN);
- DIRSET_PIN(SPIN_PWM_PIN);
-}
-
-
-void pwm_spindle_deinit(deinit_cb_t cb) {
- _set_enable(false);
-
- // Float PWM output pin
- DIRCLR_PIN(SPIN_PWM_PIN);
-
- // Disable clock
- TIMER_PWM.CTRLA = 0;
-
- cb();
-}
-
-
-void pwm_spindle_set(uint8_t time, float speed) {
- if (update_q_full()) update_q_init();
-
- update_t d = {
- (uint8_t)(spindle.time + time + SPEED_OFFSET),
- _compute_period(fabsf(speed)),
- 0 < speed
- };
-
- update_q_push(d);
-}
-
-
-float pwm_spindle_get() {return spindle.speed;}
-
-
-void pwm_spindle_update() {
- bool set = false;
- uint16_t period;
- bool clockwise;
-
- while (!update_q_empty()) {
- update_t d = update_q_peek();
- if (spindle.time != d.time) break;
- update_q_pop();
- set = true;
- period = d.period;
- clockwise = d.clockwise;
- }
-
- if (set) {
- _update_clock(period);
- if (period) _set_dir(clockwise);
- }
-
- spindle.time++;
-}
-
-
-// Var callbacks
-float get_pwm_min_duty() {return spindle.min_duty * 100;}
-
-
-void set_pwm_min_duty(float value) {
- spindle.min_duty = value / 100;
- _update_pwm();
-}
-
-
-float get_pwm_max_duty() {return spindle.max_duty * 100;}
-
-
-void set_pwm_max_duty(float value) {
- spindle.max_duty = value / 100;
- _update_pwm();
-}
-
-
-float get_pwm_duty() {return spindle.duty;}
-float get_pwm_freq() {return spindle.freq;}
-
-
-void set_pwm_freq(float value) {
- if (value < 8) value = 8;
- if (320000 < value) value = 320000;
- spindle.freq = value; _update_freq();
-}
-
-
-bool get_pwm_invert() {return PINCTRL_PIN(SPIN_PWM_PIN) & PORT_INVEN_bm;}
-
-
-void set_pwm_invert(bool invert) {
- if (invert) PINCTRL_PIN(SPIN_PWM_PIN) |= PORT_INVEN_bm;
- else PINCTRL_PIN(SPIN_PWM_PIN) &= ~PORT_INVEN_bm;
-}
+++ /dev/null
-/******************************************************************************\
-
- This file is part of the Buildbotics firmware.
-
- Copyright (c) 2015 - 2018, Buildbotics LLC
- All rights reserved.
-
- This file ("the software") is free software: you can redistribute it
- and/or modify it under the terms of the GNU General Public License,
- version 2 as published by the Free Software Foundation. You should
- have received a copy of the GNU General Public License, version 2
- along with the software. If not, see <http://www.gnu.org/licenses/>.
-
- The software 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
- Lesser General Public License for more details.
-
- You should have received a copy of the GNU Lesser General Public
- License along with the software. If not, see
- <http://www.gnu.org/licenses/>.
-
- For information regarding this software email:
- "Joseph Coffland" <joseph@buildbotics.com>
-
-\******************************************************************************/
-
-#pragma once
-
-#include "spindle.h"
-
-
-void pwm_spindle_init();
-void pwm_spindle_deinit(deinit_cb_t cb);
-void pwm_spindle_set(uint8_t time, float speed);
-float pwm_spindle_get();
-void pwm_spindle_update();
\******************************************************************************/
#include "spindle.h"
-#include "pwm_spindle.h"
+#include "pwm.h"
#include "huanyang.h"
#include "vfd_spindle.h"
+#include "stepper.h"
#include "config.h"
-#include "pgmspace.h"
+#include "command.h"
+#include "exec.h"
+#include "util.h"
#include <math.h>
+typedef struct {
+ float dist;
+ float speed;
+} sync_speed_t;
+
+
static struct {
spindle_type_t type;
float override;
+ sync_speed_t sync_speed;
float speed;
bool reversed;
float min_rpm;
float max_rpm;
+ bool dynamic_power;
+ float inv_feed;
+
+ bool dirty;
spindle_type_t next_type;
} spindle = {
.type = SPINDLE_TYPE_DISABLED,
- .override = 1
+ .override = 1,
+ .sync_speed = {-1, 0}
};
-spindle_type_t spindle_get_type() {return spindle.type;}
-
-
-void spindle_set_speed(uint8_t time, float speed) {
- spindle.speed = speed;
-
+static float _speed_to_power(float speed) {
speed *= spindle.override;
bool negative = speed < 0;
- if (spindle.max_rpm <= fabs(speed)) speed = negative ? -1 : 1;
- else if (fabs(speed) < spindle.min_rpm) speed = 0;
+ if (fabs(speed) < spindle.min_rpm) speed = 0;
+ else if (spindle.max_rpm <= fabs(speed)) speed = negative ? -1 : 1;
else speed /= spindle.max_rpm;
- if (spindle.reversed) speed = -speed;
-
- switch (spindle.type) {
- case SPINDLE_TYPE_DISABLED: break;
- case SPINDLE_TYPE_PWM: pwm_spindle_set(time, speed); break;
- case SPINDLE_TYPE_HUANYANG: huanyang_set(speed); break;
- default: vfd_spindle_set(speed); break;
- }
+ return spindle.reversed ? -speed : speed;
}
-float _get_speed() {
- float speed = 0;
-
- switch (spindle.type) {
- case SPINDLE_TYPE_DISABLED: break;
- case SPINDLE_TYPE_PWM: speed = pwm_spindle_get(); break;
- case SPINDLE_TYPE_HUANYANG: speed = huanyang_get(); break;
- default: speed = vfd_spindle_get(); break;
- }
-
- return speed * spindle.max_rpm;
+static power_update_t _get_update() {
+ float power = _speed_to_power(spindle.speed);
+ if (spindle.dynamic_power)
+ power *= spindle.inv_feed ? spindle.inv_feed * exec_get_velocity() : 1;
+ return pwm_get_update(power);
}
-void spindle_stop() {spindle_set_speed(0, 0);}
-
+static void _set_speed(float speed) {
+ spindle.speed = speed;
+ spindle.dirty = false;
-bool spindle_is_reversed() {return spindle.reversed;}
+ if (spindle.type == SPINDLE_TYPE_PWM) {
+ // PWM speed updates must be synchronized with stepper movement
+ power_update_t update = _get_update();
+ spindle_update(update);
+ return;
+ }
+ float power = _speed_to_power(speed);
-void spindle_update() {
- if (spindle.type == SPINDLE_TYPE_PWM) pwm_spindle_update();
+ switch (spindle.type) {
+ case SPINDLE_TYPE_DISABLED: break;
+ case SPINDLE_TYPE_HUANYANG: huanyang_set(power); break;
+ default: vfd_spindle_set(power); break;
+ }
}
-static void _update_speed() {spindle_set_speed(0, spindle.speed);}
-
-
static void _deinit_cb() {
spindle.type = spindle.next_type;
spindle.next_type = SPINDLE_TYPE_DISABLED;
switch (spindle.type) {
case SPINDLE_TYPE_DISABLED: break;
- case SPINDLE_TYPE_PWM: pwm_spindle_init(); break;
+ case SPINDLE_TYPE_PWM: pwm_init(); break;
case SPINDLE_TYPE_HUANYANG: huanyang_init(); break;
default: vfd_spindle_init(); break;
}
- spindle_set_speed(0, spindle.speed);
+ spindle.dirty = true;
}
-// Var callbacks
-uint8_t get_tool_type() {return spindle.type;}
-
-
-void set_tool_type(uint8_t value) {
- if (value == spindle.type) return;
+static void _set_type(spindle_type_t type) {
+ if (type == spindle.type) return;
spindle_type_t old_type = spindle.type;
- spindle.next_type = (spindle_type_t)value;
+ spindle.next_type = type;
spindle.type = SPINDLE_TYPE_DISABLED;
switch (old_type) {
case SPINDLE_TYPE_DISABLED: _deinit_cb(); break;
- case SPINDLE_TYPE_PWM: pwm_spindle_deinit(_deinit_cb); break;
+ case SPINDLE_TYPE_PWM: pwm_deinit(_deinit_cb); break;
case SPINDLE_TYPE_HUANYANG: huanyang_deinit(_deinit_cb); break;
default: vfd_spindle_deinit(_deinit_cb); break;
}
}
-float get_speed() {return _get_speed();}
-void set_speed(float speed) {spindle_set_speed(0, speed);}
+spindle_type_t spindle_get_type() {return spindle.type;}
+
+
+void spindle_load_power_updates(power_update_t updates[], float minD,
+ float maxD) {
+ float stepD = (maxD - minD) * (1.0 / POWER_MAX_UPDATES);
+ float d = minD + 1e-3; // Starting distance
+
+ for (unsigned i = 0; i < POWER_MAX_UPDATES; i++) {
+ bool set = false;
+
+ d += stepD; // Ending distance for this power step
+ updates[i].state = POWER_IGNORE;
+
+ while (true) {
+ // Load new sync speed if needed and available
+ if (spindle.sync_speed.dist < 0 && command_peek() == COMMAND_sync_speed)
+ spindle.sync_speed = *(sync_speed_t *)(command_next() + 1);
+
+ // Exit if we don't have a speed or it's not ready to be set
+ if (spindle.sync_speed.dist < 0 || d < spindle.sync_speed.dist) break;
+
+ set = true;
+ spindle.speed = spindle.sync_speed.speed;
+ spindle.sync_speed.dist = -1; // Mark done
+ }
+
+ // Prep power update
+ if (spindle.type == SPINDLE_TYPE_PWM) updates[i] = _get_update();
+ else if (set) _set_speed(spindle.speed); // Set speed now for non-PWM
+ }
+}
+
+
+void spindle_update(power_update_t update) {return pwm_update(update);}
+
+
+static void _flush_sync_speeds() {
+ spindle.sync_speed.dist = -1;
+ while (command_peek() == COMMAND_sync_speed) command_next();
+}
+
+
+// Called from lo-level stepper interrupt
+void spindle_idle() {
+ if (spindle.dirty) _set_speed(spindle.speed);
+ _flush_sync_speeds(); // Flush speeds in case we are holding there are more
+}
+
+
+float spindle_get_speed() {
+ float speed = 0;
+
+ switch (spindle.type) {
+ case SPINDLE_TYPE_DISABLED: break;
+ case SPINDLE_TYPE_PWM: speed = pwm_get(); break;
+ case SPINDLE_TYPE_HUANYANG: speed = huanyang_get(); break;
+ default: speed = vfd_spindle_get(); break;
+ }
+
+ return speed * spindle.max_rpm;
+}
+
+
+void spindle_stop() {
+ _flush_sync_speeds();
+ _set_speed(0);
+}
+
+
+void spindle_estop() {_set_type(SPINDLE_TYPE_DISABLED);}
+bool spindle_is_reversed() {return spindle.reversed;}
+
+
+// Var callbacks
+uint8_t get_tool_type() {return spindle.type;}
+void set_tool_type(uint8_t value) {_set_type((spindle_type_t)value);}
+float get_speed() {return spindle_get_speed();}
bool get_tool_reversed() {return spindle.reversed;}
void set_tool_reversed(bool reversed) {
if (spindle.reversed != reversed) {
spindle.reversed = reversed;
- _update_speed();
+ spindle.dirty = true;
}
}
float get_max_spin() {return spindle.max_rpm;}
-void set_max_spin(float value) {spindle.max_rpm = value; _update_speed();}
+void set_max_spin(float value) {spindle.max_rpm = value; spindle.dirty = true;}
float get_min_spin() {return spindle.min_rpm;}
-void set_min_spin(float value) {spindle.min_rpm = value; _update_speed();}
+void set_min_spin(float value) {spindle.min_rpm = value; spindle.dirty = true;}
uint16_t get_speed_override() {return spindle.override * 1000;}
void set_speed_override(uint16_t value) {
spindle.override = value / 1000.0;
- _update_speed();
+ spindle.dirty = true;
+}
+
+
+bool get_dynamic_power() {return spindle.dynamic_power;}
+
+
+void set_dynamic_power(bool enable) {
+ if (spindle.dynamic_power == enable) return;
+ spindle.dynamic_power = enable;
+ spindle.dirty = true;
}
+
+
+float get_inverse_feed() {return spindle.inv_feed;}
+
+
+void set_inverse_feed(float iF) {
+ if (spindle.inv_feed == iF) return;
+ spindle.inv_feed = iF;
+ spindle.dirty = true;
+}
+
+
+// Command callbacks
+stat_t command_sync_speed(char *cmd) {
+ sync_speed_t s;
+
+ cmd++; // Skip command code
+
+ // Get distance and speed
+ if (!decode_float(&cmd, &s.dist)) return STAT_BAD_FLOAT;
+ if (!decode_float(&cmd, &s.speed)) return STAT_BAD_FLOAT;
+
+ // Queue
+ command_push(COMMAND_sync_speed, &s);
+
+ return STAT_OK;
+}
+
+
+unsigned command_sync_speed_size() {return sizeof(sync_speed_t);}
+
+
+void command_sync_speed_exec(void *data) {
+ spindle.sync_speed.dist = -1; // Flush any left over
+ _set_speed(((sync_speed_t *)data)->speed);
+}
+
+
+stat_t command_speed(char *cmd) {
+ cmd++; // Skip command code
+
+ // Get speed
+ float speed;
+ if (!decode_float(&cmd, &speed)) return STAT_BAD_FLOAT;
+
+ // Queue
+ command_push(COMMAND_speed, &speed);
+
+ return STAT_OK;
+}
+
+
+unsigned command_speed_size() {return sizeof(float);}
+void command_speed_exec(void *data) {_set_speed(*(float *)data);}
#include <stdint.h>
+typedef enum {
+ POWER_IGNORE,
+ POWER_FORWARD,
+ POWER_REVERSE
+} power_state_t;
+
+
+typedef struct {
+ power_state_t state;
+ float power;
+ uint16_t period; // Used by PWM
+} power_update_t;
+
+
typedef enum {
SPINDLE_TYPE_DISABLED,
SPINDLE_TYPE_PWM,
spindle_type_t spindle_get_type();
+float spindle_get_speed();
void spindle_stop();
+void spindle_estop();
bool spindle_is_reversed();
-void spindle_update();
-void spindle_set_speed(uint8_t time, float speed);
+void spindle_load_power_updates(power_update_t updates[], float minD,
+ float maxD);
+void spindle_update(power_update_t update);
+void spindle_idle();
status_level_pgmstr(level));
// Message
+ printf_P(PSTR("%" PRPSTR), status_to_pgmstr(code));
+
if (msg && pgm_read_byte(msg)) {
+ putchar(':');
+ putchar(' ');
+
// TODO escape invalid chars
va_start(args, msg);
vfprintf_P(stdout, msg, args);
va_end(args);
-
- } else printf_P(PSTR("%" PRPSTR), status_to_pgmstr(code));
+ }
putchar('"');
#include "util.h"
#include "cpp_magic.h"
#include "exec.h"
-#include "spindle.h"
#include "drv8711.h"
#include <string.h>
bool busy;
bool requesting;
float dwell;
+ uint8_t power_index;
+ power_update_t powers[POWER_MAX_UPDATES];
// Move prep
bool move_ready; // prepped move ready for loader
move_type_t move_type;
float prep_dwell;
+ power_update_t prep_powers[POWER_MAX_UPDATES];
+
uint32_t underflow;
} stepper_t;
-static volatile stepper_t st = {0};
+static stepper_t st = {0};
void stepper_init() {
stat_t status = exec_next();
switch (status) {
- case STAT_NOP: st.busy = false; break; // No command executed
+ case STAT_NOP: // No move executed, idle
+ spindle_idle();
+ st.busy = false;
+ break;
+
case STAT_AGAIN: continue; // No command executed, try again
case STAT_OK: // Move executed
}
+static void _update_power() {
+ if (st.power_index < POWER_MAX_UPDATES)
+ spindle_update(st.powers[st.power_index++]);
+}
+
+
/// Dwell or dequeue and load next move.
static void _load_move() {
static uint8_t tick = 0;
- spindle_update();
+ // Update spindle power on every tick
+ _update_power();
// Dwell
if (0 < st.dwell) {
if (exec_get_velocity()) st.underflow++;
_request_exec_move();
_end_move();
- tick = 0;
+ tick = 0; // Try again in 1ms
return;
}
// Start dwell
st.dwell = st.prep_dwell;
+ // Copy power updates
+ st.power_index = 0;
+ memcpy(st.powers, st.prep_powers, sizeof(st.powers));
+ _update_power();
+
// We are done with this move
st.move_type = MOVE_TYPE_NULL;
st.prep_dwell = 0; // clear dwell
ISR(STEP_TIMER_ISR) {_load_move();}
+void st_prep_power(const power_update_t powers[]) {
+ ESTOP_ASSERT(!st.move_ready, STAT_STEPPER_NOT_READY);
+ memcpy(st.prep_powers, powers, sizeof(st.prep_powers));
+}
+
+
void st_prep_line(const float target[]) {
// Trap conditions that would prevent queuing the line
ESTOP_ASSERT(!st.move_ready, STAT_STEPPER_NOT_READY);
#pragma once
+#include "spindle.h"
+
#include <stdbool.h>
#include <stdint.h>
void st_shutdown();
void st_enable();
bool st_is_busy();
+void st_set_power_scale(float scale);
+void st_prep_power(const power_update_t powers[]);
void st_prep_line(const float target[]);
void st_prep_dwell(float seconds);
}
+static int _index(char c, const char *s) {
+ char *index = strchr(s, c);
+ return index ? index - s : -1;
+}
+
+
static bool _find_var(const char *_name, var_info_t *info) {
char *name = _resolve_name(_name);
if (!name) return false;
strcpy(info->name, name);
#define VAR(NAME, CODE, TYPE, INDEX, SET, ...) \
- if (!strcmp(IF_ELSE(INDEX)(name + 1, name), #CODE)) { \
- IF(INDEX) \
- (i = strchr(INDEX##_LABEL, name[0]) - INDEX##_LABEL; \
- if (i < 0) return false); \
+ if (!strcmp(IF_ELSE(INDEX)(name + 1, name), #CODE) \
+ IF(INDEX)(&& (i = _index(name[0], INDEX##_LABEL)) != -1) \
+ ) { \
\
info->type = TYPE_##TYPE; \
info->index = i; \
- info->get.IF_ELSE(INDEX)(get_##TYPE##_index, get_##TYPE) = get_##NAME; \
+ info->get.IF_ELSE(INDEX)(get_##TYPE##_index, get_##TYPE) = \
+ get_##NAME; \
\
IF(SET)(info->set.IF_ELSE(INDEX) \
(set_##TYPE##_index, set_##TYPE) = set_##NAME;) \
VAR(homed, h, b8, MOTORS, 1, 1) // Motor homed status
VAR(active_current, ac, f32, MOTORS, 0, 1) // Motor current now
-VAR(driver_flags, df, u16, MOTORS, 0, 1) // Motor driver flags
+VAR(driver_flags, df, u16, MOTORS, 1, 1) // Motor driver flags
VAR(status_strings, ds, flags, MOTORS, 0, 1) // Motor driver status
VAR(driver_stalled, sl, b8, MOTORS, 0, 1) // Motor driver status
VAR(encoder, en, s32, MOTORS, 0, 0) // Motor encoder
// Spindle
VAR(tool_type, st, u8, 0, 1, 1) // See spindle.c
-VAR(speed, s, f32, 0, 1, 1) // Current spindle speed
+VAR(speed, s, f32, 0, 0, 1) // Current spindle speed
VAR(tool_reversed, sr, b8, 0, 1, 1) // Reverse tool
VAR(max_spin, sx, f32, 0, 1, 1) // Maximum spindle speed
VAR(min_spin, sm, f32, 0, 1, 1) // Minimum spindle speed
VAR(jerk, j, f32, 0, 0, 1) // Current jerk
VAR(peak_vel, pv, f32, 0, 1, 1) // Peak velocity, set to clear
VAR(peak_accel, pa, f32, 0, 1, 1) // Peak accel, set to clear
+VAR(dynamic_power, dp, b8, 0, 1, 1) // Dynamic power
+VAR(inverse_feed, if, f32, 0, 1, 1) // Inverse feed rate
VAR(hw_id, hid, str, 0, 0, 1) // Hardware ID
VAR(estop, es, b8, 0, 1, 1) // Emergency stop
VAR(estop_reason, er, pstr, 0, 0, 1) // Emergency stop reason
{REG_FWD_WRITE, 1, 8}, // Start drive
{REG_REV_WRITE, 1, 64}, // Reverse
{REG_REV_WRITE, 1, 8}, // Start drive
- {REG_FREQ_ACTECH_READ, 24, 0}, // Actual speed
+ {REG_FREQ_ACTECH_READ, 24, 0}, // Actual freq
{REG_DISCONNECT_WRITE, 1, 2}, // Lock controls and parameters
{REG_DISABLED},
};
bool changed;
bool shutdown;
- float speed;
+ float power;
uint16_t max_freq;
- float actual_speed;
+ float actual_power;
uint16_t status;
uint32_t wait;
static bool _next_state() {
switch (vfd.state) {
case REG_MAX_FREQ_FIXED:
- if (!vfd.speed) vfd.state = REG_STOP_WRITE;
+ if (!vfd.power) vfd.state = REG_STOP_WRITE;
else vfd.state = REG_FREQ_SET;
break;
case REG_FREQ_SIGN_SET:
- if (vfd.speed < 0) vfd.state = REG_REV_WRITE;
- else if (0 < vfd.speed) vfd.state = REG_FWD_WRITE;
+ if (vfd.power < 0) vfd.state = REG_REV_WRITE;
+ else if (0 < vfd.power) vfd.state = REG_FWD_WRITE;
else vfd.state = REG_STOP_WRITE;
break;
switch (regs[vfd.reg].type) {
case REG_MAX_FREQ_READ: vfd.max_freq = value; break;
- case REG_FREQ_READ: vfd.actual_speed = value / (float)vfd.max_freq; break;
+ case REG_FREQ_READ: vfd.actual_power = value / (float)vfd.max_freq; break;
case REG_FREQ_SIGN_READ:
- vfd.actual_speed = (int16_t)value / (float)vfd.max_freq;
+ vfd.actual_power = (int16_t)value / (float)vfd.max_freq;
break;
case REG_FREQ_ACTECH_READ:
- if (vfd.read_count == 2) vfd.actual_speed = value / (float)vfd.max_freq;
+ if (vfd.read_count == 2) vfd.actual_power = value / (float)vfd.max_freq;
if (vfd.read_count < 6) return;
break;
case REG_FREQ_SET:
write = true;
- reg.value = fabs(vfd.speed) * vfd.max_freq;
+ reg.value = fabs(vfd.power) * vfd.max_freq;
break;
case REG_FREQ_SIGN_SET:
write = true;
- reg.value = vfd.speed * vfd.max_freq;
+ reg.value = vfd.power * vfd.max_freq;
break;
case REG_CONNECT_WRITE:
}
-void vfd_spindle_set(float speed) {
- if (vfd.speed != speed) {
- vfd.speed = speed;
+void vfd_spindle_set(float power) {
+ if (vfd.power != power) {
+ vfd.power = power;
vfd.changed = true;
}
}
-float vfd_spindle_get() {return vfd.actual_speed;}
+float vfd_spindle_get() {return vfd.actual_power;}
void vfd_spindle_rtc_callback() {
void vfd_spindle_init();
void vfd_spindle_deinit(deinit_cb_t cb);
-void vfd_spindle_set(float speed);
+void vfd_spindle_set(float power);
float vfd_spindle_get();
void vfd_spindle_rtc_callback();
'use strict'
var api = require('./api');
+var cookie = require('./cookie')('bbctrl-');
var Sock = require('./sock');
},
state: {},
messages: [],
- video_size: 'small',
+ video_size: cookie.get('video-size', 'small'),
errorTimeout: 30,
errorTimeoutStart: 0,
errorShow: false,
toggle_video: function () {
if (this.video_size == 'small') this.video_size = 'large';
else if (this.video_size == 'large') this.video_size = 'small';
+ cookie.set('video-size', this.video_size);
},
var klass = (homed ? 'homed' : 'unhomed') + ' axis-' + axis;
var state = 'UNHOMED';
var icon = 'question-circle';
+ var fault = this.state[motor_id + 'df'] & 0x1f;
var title;
- if (0 < dim && dim < pathDim) {
+ if (fault) {
+ state = 'FAULT';
+ klass += ' error';
+ icon = 'exclamation-circle';
+
+ } else if (0 < dim && dim < pathDim) {
state = 'NO FIT';
klass += ' error';
icon = 'ban';
title = 'Tool path dimensions exceed axis dimensions by ' +
this._length_str(pathDim - dim) + '.';
break;
+
+ case 'FAULT':
+ title = 'Motor driver fault. A potentially damaging electrical ' +
+ 'condition was detected and the motor driver was shutdown. ' +
+ 'Please power down the controller and check your motor cabling. ' +
+ 'See the "Motor Faults" table on the "Indicators" for more ' +
+ 'information.';
+ break;
}
return {
function _msg_equal(a, b) {
- return a.level == b.level && a.location == b.location && a.code == b.code &&
+ return a.level == b.level && a.source == b.source && a.where == b.where &&
a.msg == b.msg;
}
var repeat = messages.length && _msg_equal(msg, messages[0]);
if (repeat) messages[0].repeat++;
else {
- msg.repeat = 1;
messages.unshift(msg);
while (256 < messages.length) messages.pop();
}
plan_time: function () {return this.state.plan_time},
+ plan_time_remaining: function () {
+ if (!(this.is_stopping || this.is_running || this.is_holding)) return 0;
+ return this.toolpath.time - this.plan_time
+ },
+
+
eta: function () {
if (this.mach_state != 'RUNNING') return '';
- var remaining = this.toolpath.time - this.plan_time;
+ var remaining = this.plan_time_remaining;
var d = new Date();
d.setSeconds(d.getSeconds() + remaining);
return d.toLocaleString();
progress: function () {
- if (!this.toolpath.time) return 0;
+ if (!this.toolpath.time || this.is_ready) return 0;
var p = this.plan_time / this.toolpath.time;
return p < 1 ? p : 1;
}
load: function () {
var file = this.state.selected;
- if (this.last_file == file) return;
+ if (this.last_file == file || typeof file == 'undefined' ||
+ typeof file == 'null') return;
this.last_file = file;
if (typeof file != 'undefined') this.$broadcast('gcode-load', file);
load_toolpath: function (file) {
this.toolpath = {};
- if (typeof file == 'undefined') return;
+ if (typeof file == 'undefined' || typeof file == 'null') return;
api.get('path/' + file).done(function (toolpath) {
if (this.last_file != file) return;
load_history: function (index) {this.mdi = this.history[index];},
- open: function (e) {$('.gcode-file-input').click()},
+
+
+ open: function (e) {
+ // TODO browser caches file if name is same even if contents changed
+ $('.gcode-file-input').click();
+ },
upload: function (e) {
api.upload('file', fd)
.done(function () {
+ this.last_file = undefined; // Force reload
this.$broadcast('gcode-reload', file.name);
this.update();
}.bind(this));
--- /dev/null
+/******************************************************************************\
+
+ Copyright 2018. Buildbotics LLC
+ All Rights Reserved.
+
+ For information regarding this software email:
+ Joseph Coffland
+ joseph@buildbotics.com
+
+ This software is free software: you clan redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public License
+ as published by the Free Software Foundation, either version 2.1 of
+ the License, or (at your option) any later version.
+
+ This software 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
+ Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public
+ License along with the C! library. If not, see
+ <http://www.gnu.org/licenses/>.
+
+\******************************************************************************/
+
+'use strict'
+
+
+module.exports = function (prefix) {
+ if (typeof prefix == 'undefined') prefix = '';
+
+ var cookie = {
+ get: function (name, defaultValue) {
+ var decodedCookie = decodeURIComponent(document.cookie);
+ var ca = decodedCookie.split(';');
+ name = prefix + name + '=';
+
+ for (var i = 0; i < ca.length; i++) {
+ var c = ca[i];
+ while (c.charAt(0) == ' ') c = c.substring(1);
+ if (!c.indexOf(name)) return c.substring(name.length, c.length);
+ }
+
+ return defaultValue;
+ },
+
+
+ set: function (name, value, days) {
+ var offset = 2147483647; // Max value
+ if (typeof days != 'undefined') offset = days * 24 * 60 * 60 * 1000;
+ var d = new Date();
+ d.setTime(d.getTime() + offset);
+ var expires = 'expires=' + d.toUTCString();
+ document.cookie = prefix + name + '=' + value + ';' + expires + ';path=/';
+ },
+
+
+ set_bool: function (name, value) {
+ cookie.set(name, value ? 'true' : 'false');
+ },
+
+
+ get_bool: function (name, defaultValue) {
+ return cookie.get(name, defaultValue ? 'true' : 'false') == 'true';
+ }
+ }
+
+ return cookie;
+}
methods: {
load: function (file) {
- if (file == this.file) return;
+ if (file == this.file || typeof file == 'undefined' ||
+ typeof file == 'null') return;
this.clear();
this.file = file;
case 2: return 10;
case 3: return 12;
}
+ },
+
+
+ motor_fault_class: function (motor, fault) {
+ if (typeof motor == 'undefined') {
+ var status = this.state['fa'];
+ if (typeof status == 'undefined') return 'fa-question';
+ return 'fa-thumbs-' + (status ? 'down error' : 'up success')
+ }
+
+ var status = this.state[motor + 'ds'];
+ if (typeof status == 'undefined') return 'fa-question';
+ return status.indexOf(fault) == -1 ? 'fa-thumbs-up success' :
+ 'fa-thumbs-down error';
+ },
+
+
+ motor_reset: function (motor) {
+ if (typeof motor == 'undefined') {
+ var cmd = '';
+ for (var i = 0; i < 4; i++)
+ cmd += '\\$' + i + 'df=0\n';
+ this.$dispatch('send', cmd);
+
+ } else this.$dispatch('send', '\\$' + motor + 'df=0');
}
}
}
var parts = [];
if (DAY <= value) {
- parts.push(value / DAY);
+ parts.push(Math.floor(value / DAY));
value %= DAY;
}
if (HR <= value) {
- parts.push(value / HR);
+ parts.push(Math.floor(value / HR));
value %= HR;
}
if (MIN <= value) {
- parts.push(value / MIN);
+ parts.push(Math.floor(value / MIN));
value %= MIN;
} else parts.push(0);
'use strict'
var orbit = require('./orbit');
+var cookie = require('./cookie')('bbctrl-');
function get(obj, name, defaultValue) {
data: function () {
return {
- enabled: true,
+ enabled: false,
loading: false,
- small: true,
+ snapView: cookie.get('snap-view', 'isometric'),
+ small: cookie.get_bool('small-path-view', true),
surfaceMode: 'cut',
- showPath: true,
- showTool: true,
- showBBox: true,
- showAxes: true,
- error: false,
- message: ''
+ showPath: cookie.get_bool('show-path', true),
+ showTool: cookie.get_bool('show-tool', true),
+ showBBox: cookie.get_bool('show-bbox', true),
+ showAxes: cookie.get_bool('show-axes', true),
+ showIntensity: cookie.get_bool('show-intensity', false)
}
},
watch: {
toolpath: function () {Vue.nextTick(this.update)},
surfaceMode: function (mode) {this.update_surface_mode(mode)},
- small: function () {Vue.nextTick(this.update_view)},
- showPath: function (enable) {set_visible(this.path, enable)},
- showTool: function (enable) {set_visible(this.tool, enable)},
- showAxes: function (enable) {set_visible(this.axes, enable)},
+
+
+ small: function (enable) {
+ cookie.set_bool('small-path-view', enable);
+ Vue.nextTick(this.update_view)
+ },
+
+
+ showPath: function (enable) {
+ cookie.set_bool('show-path', enable);
+ set_visible(this.pathView, enable)
+ },
+
+
+ showTool: function (enable) {
+ cookie.set_bool('show-tool', enable);
+ set_visible(this.toolView, enable)
+ },
+
+
+ showAxes: function (enable) {
+ cookie.set_bool('show-axes', enable);
+ set_visible(this.axesView, enable)
+ },
+
+
+ showIntensity: function (enable) {
+ cookie.set_bool('show-intensity', enable);
+ Vue.nextTick(this.update)
+ },
showBBox: function (enable) {
- set_visible(this.bbox, enable);
- set_visible(this.envelope, enable);
+ cookie.set_bool('show-bbox', enable);
+ set_visible(this.bboxView, enable);
+ set_visible(this.envelopeView, enable);
},
if (!this.enabled) return;
// Reset message
- this.message = ''
- this.error = false;
this.loading = !this.hasPath;
// Update scene
this.scene = new THREE.Scene();
if (this.hasPath) {
this.draw(this.scene);
- this.snap('isometric');
+ this.snap(this.snapView);
}
this.update_view();
update_tool: function (tool) {
if (!this.enabled) return;
- if (typeof tool == 'undefined') tool = this.tool;
+ if (typeof tool == 'undefined') tool = this.toolView;
if (typeof tool == 'undefined') return;
tool.position.x = this.x.pos;
tool.position.y = this.y.pos;
update_envelope: function (envelope) {
if (!this.enabled || !this.axes.homed) return;
- if (typeof envelope == 'undefined') envelope = this.envelope;
+ if (typeof envelope == 'undefined') envelope = this.envelopeView;
if (typeof envelope == 'undefined') return;
var min = new THREE.Vector3();
this.target.appendChild(this.renderer.domElement);
} catch (e) {
- console.log(e);
- this.error = true;
- this.message = 'WebGL not supported';
- this.enabled = false;
+ console.log('WebGL not supported: ', e);
return;
}
+ this.enabled = true;
// Camera
this.camera = new THREE.PerspectiveCamera(45, 4 / 3, 1, 1000);
this.controls.dampingFactor = 0.2;
this.controls.rotateSpeed = 0.25;
this.controls.enableZoom = true;
- //this.controls.enablePan = false;
// Move lights with scene
this.controls.addEventListener('change', function (scope) {
var mesh = new THREE.Mesh(geometry, material);
this.update_tool(mesh);
+ mesh.visible = this.showTool;
scene.add(mesh);
return mesh;
},
},
- draw_path: function (scene) {
- var cutting = [0, 1, 0];
- var rapid = [1, 0, 0];
+ get_color: function (rapid, speed) {
+ if (rapid) return [1, 0, 0];
+
+ var intensity = speed / this.toolpath.maxSpeed;
+ if (typeof speed == 'undefined' || !this.showIntensity) intensity = 1;
+ return [0, intensity, 0.5 * (1 - intensity)];
+ },
+
+ draw_path: function (scene) {
+ var s = undefined;
var x = this.x.pos;
var y = this.y.pos;
var z = this.z.pos;
for (var i = 0; i < this.toolpath.path.length; i++) {
var step = this.toolpath.path[i];
- var newColor = step.rapid ? rapid : cutting;
+
+ s = get(step, 's', s);
+ var newColor = this.get_color(step.rapid, s);
// Handle color change
if (!i || newColor != color) {
colors.push.apply(colors, color);
}
+ // Draw to move target
x = get(step, 'x', x);
y = get(step, 'y', y);
z = get(step, 'z', z);
scene.add(this.lights);
// Model
- this.path = this.draw_path(scene);
+ this.pathView = this.draw_path(scene);
this.surfaceMesh = this.draw_surface(scene, this.surfaceMaterial);
this.workpieceMesh = this.draw_workpiece(scene, this.surfaceMaterial);
this.update_surface_mode(this.surfaceMode);
var bbox = this.get_model_bounds();
// Tool, axes & bounds
- this.tool = this.draw_tool(scene, bbox);
- this.axes = this.draw_axes(scene, bbox);
- this.bbox = this.draw_bbox(scene, bbox);
- this.envelope = this.draw_envelope(scene);
+ this.toolView = this.draw_tool(scene, bbox);
+ this.axesView = this.draw_axes(scene, bbox);
+ this.bboxView = this.draw_bbox(scene, bbox);
+ this.envelopeView = this.draw_envelope(scene);
},
if (typeof o != 'undefined') bbox.union(o.geometry.boundingBox);
}
- add(this.path);
+ add(this.pathView);
add(this.surfaceMesh);
add(this.workpieceMesh);
snap: function (view) {
+ if (view != this.snapView) {
+ this.snapView = view;
+ cookie.set('snap-view', view);
+ }
+
var bbox = this.get_model_bounds();
this.controls.reset();
bbox.getCenter(this.controls.target);
units: function () {
return (this.metric || !this.template.iunit) ?
this.template.unit : this.template.iunit;
+ },
+
+
+ title: function () {
+ var s = 'Default ' + this.template.default + ' ' +
+ (this.template.unit || '');
+ if (typeof this.template.help != 'undefined')
+ s = this.template.help + '\n' + s;
+ return s;
}
},
table.info
tr
- th Time
- td(title="Total run time (days:hours:mins:secs)")
- span(v-if="plan_time") {{plan_time | time}} of
- | {{toolpath.time | time}}
+ th Remaining
+ td(title="Total run time (days:hours:mins:secs)").
+ #[span(v-if="plan_time_remaining") {{plan_time_remaining | time}} of]
+ {{toolpath.time | time}}
tr
th ETA
td.eta {{eta}}
th
td
+ table.motor_fault
+ tr
+ th.header(colspan=99)
+ | Motor Faults
+ .fa(:class="motor_fault_class()", title="General motor driver fault")
+
+ tr
+ th Motor
+ th(title="Overtemperature fault"): .fa.fa-thermometer-full
+ th(title="Overcurrent motor channel A") A #[.fa.fa-bolt]
+ th(title="Predriver fault motor channel A")
+ | A #[.fa.fa-exclamation-triangle]
+ th(title="Overcurrent motor channel B") B #[.fa.fa-bolt]
+ th(title="Predriver fault motor channel B")
+ | B #[.fa.fa-exclamation-triangle]
+ th(title="Driver communication failure"): .fa.fa-handshake-o
+ th(title="Reset all motor flags")
+ .fa.fa-eraser(@click="motor_reset()")
+
+ tr(v-for="motor in [0, 1, 2, 3]")
+ td {{motor}}
+ td: .fa(:class="motor_fault_class(motor, 'temp')",
+ title="Overtemperature fault")
+ td: .fa(:class="motor_fault_class(motor, 'current a')",
+ title="Overcurrent motor channel A")
+ td: .fa(:class="motor_fault_class(motor, 'fault a')",
+ title="Predriver fault motor channel A")
+ td: .fa(:class="motor_fault_class(motor, 'current b')",
+ title="Overcurrent motor channel B")
+ td: .fa(:class="motor_fault_class(motor, 'fault b')",
+ title="Predriver fault motor channel B")
+ td: .fa(:class="motor_fault_class(motor, 'comm')",
+ title="Driver communication failure")
+ td(:title="'Reset motor ' + motor + ' flags'")
+ .fa.fa-eraser(@click="motor_reset(motor)")
+
table.measurements
tr
th.header(colspan=5) Measurements
//-/////////////////////////////////////////////////////////////////////////////
script#path-viewer-template(type="text/x-template")
- .path-viewer(:class="{small: small, error: error}")
+ .path-viewer(v-show="enabled", :class="{small: small}")
.path-viewer-toolbar
.tool-button(title="Toggle path view size.",
@click="small = !small", :class="{active: !small}")
.fa.fa-arrows-alt
- .tool-button(@click="showTool = !showTool", :active="showTool",
+ .tool-button(@click="showTool = !showTool", :class="{active: showTool}",
title="Show/hide tool.")
img(src="images/tool.png")
- .tool-button(@click="showBBox = !showBBox", :active="showBBox",
+ .tool-button(@click="showBBox = !showBBox", :class="{active: showBBox}",
title="Show/hide bounding box.")
img(src="images/bbox.png")
- .tool-button(@click="showAxes = !showAxes", :active="showAxes",
+ .tool-button(@click="showAxes = !showAxes", :class="{active: showAxes}",
title="Show/hide axes.")
img(src="images/axes.png")
+ .tool-button(@click="showIntensity = !showIntensity",
+ :class="{active: showIntensity}", title="Show/hide LASER intensity.")
+ img(src="images/intensity.png")
+
each view in "isometric top front".split(" ")
.tool-button(@click=`snap('${view}')`, title=`Snap to ${view} view.`)
img(src=`images/${view}.png`)
div(v-if="progress && progress < 1")
| Simulating run {{progress | non_zero_percent 0}}. . .
div(v-if="!progress || progress == 1") Loading. . .
- | {{message}}
table.path-viewer-messages(
v-if="typeof toolpath.messages != 'undefined' && " +
//-/////////////////////////////////////////////////////////////////////////////
script#templated-input-template(type="text/x-template")
- .pure-control-group(class="tmpl-input-{{name}}",
- title="Default {{template.default}} {{template.unit || ''}}")
+ .pure-control-group(class="tmpl-input-{{name}}", :title="title")
label(:for="name") {{name}}
select(v-if="template.type == 'enum' || template.values", v-model="view",
log.error(str(value))
trace = ''.join(traceback.format_exception(typ, value, tb))
+ log.error(trace)
log.debug(trace)
except Exception as e:
- log.warning('While loading camera')
+ log.warning('While loading camera: %s' % e)
if not self.dev is None:
self.dev.close()
self.dev = None
SET_AXIS = 'a'
LINE = 'l'
SYNC_SPEED = '%'
+SPEED = 'p'
INPUT = 'I'
DWELL = 'd'
PAUSE = 'P'
cmd += str(i) + encode_float(times[i] / 60000) # to mins
# Speeds
- for speed in speeds:
- cmd += '\n' + sync_speed(speed[0], speed[1])
+ for dist, speed in speeds:
+ cmd += '\n' + sync_speed(dist, speed)
return cmd
-def speed(speed): return set_float('s', speed)
+def speed(value): return SPEED + encode_float(value)
-def sync_speed(time, speed):
- return SYNC_SPEED + encode_float(time) + encode_float(speed)
+def sync_speed(dist, speed):
+ return SYNC_SPEED + encode_float(dist) + encode_float(speed)
def input(port, mode, timeout):
self.lcd = bbctrl.LCD(self)
self.mach = bbctrl.Mach(self)
self.preplanner = bbctrl.Preplanner(self)
- self.planTimer = bbctrl.PlanTimer(self)
self.jog = bbctrl.Jog(self)
self.pwr = bbctrl.Pwr(self)
safe_remove('upload' + filename)
self.ctrl.preplanner.delete_plans(filename)
- if self.ctrl.state.get('selected') == filename:
+ if self.ctrl.state.get('selected', '') == filename:
self.ctrl.state.set('selected', '')
G90 G28.3 %(axis)s[#<_%(axis)s_home_position>]
'''
+motor_fault_error = '''\
+Motor %d driver fault. A potentially damaging electrical condition was \
+detected and the motor driver was shutdown. Please power down the controller \
+and check your motor cabling. See the "Motor Faults" table on the "Indicators" \
+for more information.\
+'''
def overrides(interface_class):
def overrider(method):
self.ctrl = ctrl
self.planner = bbctrl.Planner(ctrl)
+ self.unpausing = False
ctrl.state.set('cycle', 'idle')
self._update_cycle_cb(False)
# Handle EStop
if update.get('xx', '') == 'ESTOPPED': self.planner.reset()
+ # Unpause sync
+ if update.get('xx', '') != 'HOLDING': self.unpausing = False
+
# Update cycle now, if it has changed
self._update_cycle()
+ # Detect motor faults
+ for motor in range(4):
+ key = '%ddf' % motor
+ if key in update and update[key] & 0x1f:
+ log.error(motor_fault_error % motor)
+
+ # Unpause
if (('xx' in update or 'pr' in update) and
self.ctrl.state.get('xx', '') == 'HOLDING'):
pause_reason = self.ctrl.state.get('pr', '')
def _unpause(self):
+ if self._get_state() != 'HOLDING' or self.unpausing: return
+ self.unpausing = True
+
pause_reason = self.ctrl.state.get('pr', '')
log.info('Unpause: ' + pause_reason)
def start(self):
+ filename = self.ctrl.state.get('selected', '')
+ if not filename: return
self._begin_cycle('running')
- self.planner.load('upload/' + self.ctrl.state.get('selected'))
+ self.planner.load('upload/' + filename)
super().resume()
# Show enabled axes
row = 0
for axis in 'xyzabc':
- if state.is_axis_enabled(axis):
+ if state.is_axis_faulted(axis):
+ self.text(' FAULT %s' % axis.upper(), 9, row)
+ row += 1
+
+ elif state.is_axis_enabled(axis):
position = state.get(axis + 'p', 0)
position += state.get('offset_' + axis, 0)
position /= scale
+++ /dev/null
-################################################################################
-# #
-# This file is part of the Buildbotics firmware. #
-# #
-# Copyright (c) 2015 - 2018, Buildbotics LLC #
-# All rights reserved. #
-# #
-# This file ("the software") is free software: you can redistribute it #
-# and/or modify it under the terms of the GNU General Public License, #
-# version 2 as published by the Free Software Foundation. You should #
-# have received a copy of the GNU General Public License, version 2 #
-# along with the software. If not, see <http://www.gnu.org/licenses/>. #
-# #
-# The software 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 #
-# Lesser General Public License for more details. #
-# #
-# You should have received a copy of the GNU Lesser General Public #
-# License along with the software. If not, see #
-# <http://www.gnu.org/licenses/>. #
-# #
-# For information regarding this software email: #
-# "Joseph Coffland" <joseph@buildbotics.com> #
-# #
-################################################################################
-
-import logging
-import time
-import bbctrl
-
-log = logging.getLogger('PlanTimer')
-
-
-class PlanTimer(object):
- def __init__(self, ctrl):
- self.ctrl = ctrl
- self.plan_times = None
-
- self.reset()
- self.ctrl.state.set('plan_time', 0)
- ctrl.state.add_listener(self._update)
- self._report()
-
-
- def reset(self):
- self.plan_time = 0
- self.move_start = None
- self.hold_start = None
- self.plan_index = 0
-
-
- def _report(self):
- if (self.plan_times is not None and
- self.plan_index < len(self.plan_times) and
- self.move_start is not None):
- state = self.ctrl.state.get('xx', '')
-
- if state in ['STOPPING', 'RUNNING']:
- t = self.plan_time
- delta = time.time() - self.move_start
- nextT = self.plan_times[self.plan_index][1]
- if t + delta < nextT: t += delta
- else: t = nextT
-
- self.ctrl.state.set('plan_time', round(t))
-
- self.ctrl.ioloop.call_later(1, self._report)
-
-
- def _update_state(self, state):
- if state in ['READY', 'ESTOPPED']:
- self.ctrl.state.set('plan_time', 0)
- self.reset()
-
- elif state == 'HOLDING': self.hold_start = time.time()
- elif (state == 'RUNNING' and self.hold_start is not None and
- self.move_start is not None):
- self.move_start += time.time() - self.hold_start
- self.hold_start = None
-
-
- def _update_times(self, filename):
- if not filename: return
- future = self.ctrl.preplanner.get_plan(filename)
-
- def cb(future):
- if (filename != self.ctrl.state.get('selected') or
- future.cancelled()): return
-
- self.reset()
- path, meta = future.result()
- self.plan_times = meta['times']
-
- self.ctrl.ioloop.add_future(future, cb)
-
-
- def _update_time(self, currentID):
- if self.plan_times is None: return
-
- while self.plan_index < len(self.plan_times):
- id, t = self.plan_times[self.plan_index]
- if id <= currentID: self.move_start = time.time()
- if currentID <= id: break
- self.plan_time = t
- self.plan_index += 1
-
-
- def _update(self, update):
- # Check state
- if 'xx' in update: self._update_state(update['xx'])
-
- # Get plan times
- if 'selected' in update: self._update_times(update['selected'])
-
- # Get plan time for current id
- if 'id' in update: self._update_time(update['id'])
import re
import logging
import threading
+import time
from collections import deque
import camotics.gplan as gplan # pylint: disable=no-name-in-module,import-error
import bbctrl.Cmd as Cmd
ctrl.state.add_listener(self._update)
self.reset()
+ self._report_time()
def is_busy(self): return self.is_running() or self.cmdq.is_active()
'max-vel': self._get_config_vector('vm', 1000),
'max-accel': self._get_config_vector('am', 1000000),
'max-jerk': self._get_config_vector('jm', 1000000),
+ 'rapid-auto-off': self.ctrl.config.get('rapid-auto-off'),
# TODO junction deviation & accel
}
program_start = self.ctrl.config.get('program-start')
if program_start: config['program-start'] = program_start
-
overrides = {}
tool_change = self.ctrl.config.get('tool-change')
self.cmdq.enqueue(id, self.ctrl.state.set, name, value)
+ def _report_time(self):
+ state = self.ctrl.state.get('xx', '')
+
+ if state in ['STOPPING', 'RUNNING'] and self.move_start:
+ delta = time.time() - self.move_start
+ if self.move_time < delta: delta = self.move_time
+ plan_time = self.current_plan_time + delta
+
+ self.ctrl.state.set('plan_time', round(plan_time))
+
+ elif state != 'HOLDING': self.ctrl.state.set('plan_time', 0)
+
+ self.ctrl.ioloop.call_later(1, self._report_time)
+
+
+ def _plan_time_restart(self):
+ self.plan_time = self.ctrl.state.get('plan_time', 0)
+
+
+ def _update_time(self, plan_time, move_time):
+ self.current_plan_time = plan_time
+ self.move_time = move_time
+ self.move_start = time.time()
+
+
+ def _enqueue_line_time(self, block):
+ if block.get('first', False) or block.get('seeking', False): return
+
+ # Sum move times
+ move_time = sum(block['times']) / 1000 # To seconds
+
+ self.cmdq.enqueue(block['id'], self._update_time, self.plan_time,
+ move_time)
+
+ self.plan_time += move_time
+
+
+ def _enqueue_dwell_time(self, block):
+ self.cmdq.enqueue(block['id'], self._update_time, self.plan_time,
+ block['seconds'])
+ self.plan_time += block['seconds']
+
+
def __encode(self, block):
type, id = block['type'], block['id']
if type != 'set': log.info('Cmd:' + json.dumps(block))
if type == 'line':
+ self._enqueue_line_time(block)
return Cmd.line(block['target'], block['exit-vel'],
block['max-accel'], block['max-jerk'],
block['times'], block.get('speeds', []))
name, value = block['name'], block['value']
if name == 'message':
- self.cmdq.enqueue(
- id, self.ctrl.msgs.broadcast, {'message': value})
-
- if name in ['line', 'tool']:
- self._enqueue_set_cmd(id, name, value)
+ msg = dict(message = value)
+ self.cmdq.enqueue(id, self.ctrl.msgs.broadcast, msg)
+ if name in ['line', 'tool']: self._enqueue_set_cmd(id, name, value)
if name == 'speed': return Cmd.speed(value)
if len(name) and name[0] == '_':
if len(name) != 2 or name[1] not in 'xyzabc':
self._enqueue_set_cmd(id, name[1:], value)
+ if name == '_feed': # Must come after _enqueue_set_cmd() above
+ return Cmd.set_sync('if', 1 / value if value else 0)
+
if name[0:1] == '_' and name[1:2] in 'xyzabc':
if name[2:] == '_home': return Cmd.set_axis(name[1], value)
if type == 'output':
return Cmd.output(block['port'], int(float(block['value'])))
- if type == 'dwell': return Cmd.dwell(block['seconds'])
+ if type == 'dwell':
+ self._enqueue_dwell_time(block)
+ return Cmd.dwell(block['seconds'])
+
if type == 'pause': return Cmd.pause(block['pause-type'])
if type == 'seek':
return Cmd.seek(block['switch'], block['active'], block['error'])
return Cmd.set_sync('id', block['id']) + '\n' + cmd
+ def reset_times(self):
+ self.move_start = 0
+ self.move_time = 0
+ self.plan_time = 0
+ self.current_plan_time = 0
+
+
def reset(self):
- if (hasattr(self.ctrl, 'mach')): self.ctrl.mach.stop()
+ if hasattr(self.ctrl, 'mach'): self.ctrl.mach.stop()
self.planner = gplan.Planner()
self.planner.set_resolver(self._get_var_cb)
self.planner.set_logger(self._log_cb, 1, 'LinePlanner:3')
self.cmdq.clear()
+ self.reset_times()
def mdi(self, cmd, with_limits = True):
log.info('MDI:' + cmd)
self.planner.load_string(cmd, self.get_config(True, with_limits))
+ self.reset_times()
def load(self, path):
log.info('GCode:' + path)
self.planner.load(path, self.get_config(False, True))
+ self.reset_times()
def stop(self):
position[axis] = state.get(axis + 'p')
log.info('Planner restart: %d %s' % (id, json.dumps(position)))
+ self.cmdq.clear()
+ self.cmdq.release(id)
+ self._plan_time_restart()
self.planner.restart(id, position)
if self.planner.is_synchronizing():
def plan_hash(path, config):
+ path = 'upload/' + path
h = hashlib.sha256()
+ h.update('v2'.encode('utf8'))
h.update(hash_dump(config))
- with open('upload/' + path, 'rb') as f: h.update(f.read())
+
+ with open(path, 'rb') as f:
+ while True:
+ buf = f.read(1024 * 1024)
+ if not buf: break
+ h.update(buf)
+
return h.hexdigest()
+def compute_unit(a, b):
+ unit = dict()
+ length = 0
+
+ for axis in 'xyzabc':
+ if axis in a and axis in b:
+ unit[axis] = b[axis] - a[axis]
+ length += unit[axis] * unit[axis]
+
+ length = math.sqrt(length)
+
+ for axis in 'xyzabc':
+ if axis in unit: unit[axis] /= length
+
+ return unit
+
+
+def compute_move(start, unit, dist):
+ move = dict()
+
+ for axis in 'xyzabc':
+ if axis in unit and axis in start:
+ move[axis] = start[axis] + unit[axis] * dist
+
+ return move
+
+
class Preplanner(object):
- def __init__(self, ctrl, threads = 4, max_plan_time = 600,
+ def __init__(self, ctrl, threads = 4, max_preplan_time = 600,
max_loop_time = 30):
self.ctrl = ctrl
- self.max_plan_time = max_plan_time
+ self.max_preplan_time = max_preplan_time
self.max_loop_time = max_loop_time
- ctrl.state.add_listener(self._update)
-
for dir in ['plans', 'meta']:
if not os.path.exists(dir): os.mkdir(dir)
self.pool = ThreadPoolExecutor(threads)
self.lock = threading.Lock()
+ # Must be last
+ ctrl.state.add_listener(self._update)
+
def _update(self, update):
if not 'selected' in update: return
filename = update['selected']
+ if filename is None: return
future = self.get_plan(filename)
def set_bounds(type, bounds):
bounds[type][axis])
def cb(future):
- if (filename != self.ctrl.state.get('selected') or
+ if (filename != self.ctrl.state.get('selected', '') or
future.cancelled()): return
path, meta = future.result()
def delete_all_plans(self):
- for path in glob.glob('plans/*'):
+ files = glob.glob('plans/*')
+ files += glob.glob('meta/*')
+
+ for path in files:
try:
os.unlink(path)
except OSError: pass
def delete_plans(self, filename):
- for path in glob.glob('plans/' + filename + '.*'):
+ files = glob.glob('plans/' + filename + '.*')
+ files += glob.glob('meta/' + filename + '.*')
+
+ for path in files:
try:
os.unlink(path)
except OSError: pass
def get_plan(self, filename):
+ if filename is None: raise Exception('Filename cannot be None')
+
with self.lock:
if filename in self.plans: plan = self.plans[filename]
else:
maxLineTime = time.time()
totalTime = 0
position = {}
+ maxSpeed = 0
+ currentSpeed = None
rapid = False
moves = []
- times = []
bounds = dict(min = {}, max = {})
messages = []
count = 0
cancelled = False
+ # Initialized axis states and bounds
for axis in 'xyzabc':
position[axis] = 0
bounds['min'][axis] = math.inf
if bounds['max'][axis] < value: bounds['max'][axis] = value
+ def update_speed(s):
+ nonlocal currentSpeed, maxSpeed
+ if currentSpeed == s: return False
+ currentSpeed = s
+ if maxSpeed < s: maxSpeed = s
+ return True
+
+
+ # Capture planner log messages
levels = dict(I = 'info', D = 'debug', W = 'warning', E = 'error',
C = 'critical')
def log_cb(level, msg, filename, line, column):
if level in levels: level = levels[level]
+
+ # Ignore missing tool warning
+ if (level == 'warning' and
+ msg.startswith('Auto-creating missing tool')):
+ return
+
messages.append(dict(level = level, msg = msg, filename = filename,
line = line, column = column))
+ # Initialize planner
self.ctrl.mach.planner.log_intercept(log_cb)
planner = gplan.Planner()
planner.set_resolver(get_var_cb)
planner.load('upload/' + filename, config)
+ # Execute plan
try:
while planner.has_more():
cmd = planner.next()
if planner.is_synchronizing(): planner.synchronize(0)
if cmd['type'] == 'line':
- if 'first' in cmd: continue
+ if not (cmd.get('first', False) or
+ cmd.get('seeking', False)):
+ totalTime += sum(cmd['times']) / 1000
- totalTime += sum(cmd['times']) / 1000
- times.append((cmd['id'], totalTime))
target = cmd['target']
move = {}
+ startPos = dict()
for axis in 'xyzabc':
if axis in target:
+ startPos[axis] = position[axis]
position[axis] = target[axis]
move[axis] = target[axis]
add_to_bounds(axis, move[axis])
if 'rapid' in cmd: move['rapid'] = cmd['rapid']
+ if 'speeds' in cmd:
+ unit = compute_unit(startPos, target)
+
+ for d, s in cmd['speeds']:
+ cur = currentSpeed
+
+ if update_speed(s):
+ m = compute_move(startPos, unit, d)
+ m['s'] = cur
+ moves.append(m)
+ move['s'] = s
+
moves.append(move)
- elif cmd['type'] == 'set' and cmd['name'] == 'line':
- line = cmd['value']
- if maxLine < line:
- maxLine = line
- maxLineTime = time.time()
+ elif cmd['type'] == 'set':
+ if cmd['name'] == 'line':
+ line = cmd['value']
+ if maxLine < line:
+ maxLine = line
+ maxLineTime = time.time()
+
+ elif cmd['name'] == 'speed':
+ s = cmd['value']
+ if update_speed(s): moves.append({'s': s})
- elif cmd['type'] == 'dwell':
- totalTime += cmd['seconds']
- times.append((cmd['id'], totalTime))
+ elif cmd['type'] == 'dwell': totalTime += cmd['seconds']
if not self._progress(filename, maxLine / totalLines):
cancelled = True
raise Exception('Plan canceled.')
- if self.max_plan_time < time.time() - start:
+ if self.max_preplan_time < time.time() - start:
raise Exception('Max planning time (%d sec) exceeded.' %
- self.max_plan_time)
+ self.max_preplan_time)
if self.max_loop_time < time.time() - maxLineTime:
raise Exception('Max loop time (%d sec) exceeded.' %
# Encode data as string
data = dict(time = totalTime, lines = totalLines, path = moves,
- messages = messages)
+ maxSpeed = maxSpeed, messages = messages)
data = gzip.compress(dump_json(data).encode('utf8'))
# Meta data
- meta = dict(times = times, bounds = bounds)
+ meta = dict(bounds = bounds)
meta_comp = gzip.compress(dump_json(meta).encode('utf8'))
# Save plan & meta data
return axes
+ def is_motor_faulted(self, motor):
+ return self.get('%ddf' % motor, 0) & 0x1f
+
+
+ def is_axis_faulted(self, axis):
+ motor = self.find_motor(axis)
+ return motor is not None and self.is_motor_faulted(motor)
+
+
def axis_homing_mode(self, axis):
motor = self.find_motor(axis)
if motor is None: return 'disabled'
self.write_json(dict(progress = progress))
return
- if data is not None:
- data = data[0] # We only want the compressed path
- self.set_header('Content-Encoding', 'gzip')
-
- # Respond with chunks to avoid long delays
- SIZE = 102400
- chunks = [data[i:i + SIZE] for i in range(0, len(data), SIZE)]
- for chunk in chunks:
- self.write(chunk)
- yield self.flush()
+ try:
+ if data is not None:
+ data = data[0] # We only want the compressed path
+ self.set_header('Content-Encoding', 'gzip')
+
+ # Respond with chunks to avoid long delays
+ SIZE = 102400
+ chunks = [data[i:i + SIZE] for i in range(0, len(data), SIZE)]
+ for chunk in chunks:
+ self.write(chunk)
+ yield self.flush()
+
+ except tornado.iostream.StreamClosedError as e: pass
class HomeHandler(bbctrl.APIHandler):
from bbctrl.MainLCDPage import MainLCDPage
from bbctrl.IPLCDPage import IPLCDPage
from bbctrl.Camera import Camera, VideoHandler
-from bbctrl.PlanTimer import PlanTimer
import bbctrl.Cmd as Cmd
import bbctrl.v4l2 as v4l2
]
-V4L2_CTRL_CLASS_USER = 0x00980000
-V4L2_CTRL_CLASS_MPEG = 0x00990000
-V4L2_CTRL_CLASS_CAMERA = 0x009a0000
-V4L2_CTRL_CLASS_FM_TX = 0x009b0000
-
+V4L2_CTRL_CLASS_USER = 0x00980000 # Old-style 'user' controls
+V4L2_CTRL_CLASS_MPEG = 0x00990000 # MPEG-compression controls
+V4L2_CTRL_CLASS_CAMERA = 0x009a0000 # Camera class controls
+V4L2_CTRL_CLASS_FM_TX = 0x009b0000 # FM Modulator controls
+V4L2_CTRL_CLASS_FLASH = 0x009c0000 # Camera flash controls
+V4L2_CTRL_CLASS_JPEG = 0x009d0000 # JPEG-compression controls
+V4L2_CTRL_CLASS_IMAGE_SOURCE = 0x009e0000 # Image source controls
+V4L2_CTRL_CLASS_IMAGE_PROC = 0x009f0000 # Image processing controls
+V4L2_CTRL_CLASS_DV = 0x00a00000 # Digital Video controls
+V4L2_CTRL_CLASS_FM_RX = 0x00a10000 # FM Receiver controls
+V4L2_CTRL_CLASS_RF_TUNER = 0x00a20000 # RF tuner controls
+V4L2_CTRL_CLASS_DETECT = 0x00a30000 # Detection controls
def V4L2_CTRL_ID_MASK():
return 0x0fffffff
V4L2_CID_TUNE_ANTENNA_CAPACITOR = V4L2_CID_FM_TX_CLASS_BASE + 114
+# JPEG-class control IDs
+
+V4L2_CID_JPEG_CLASS_BASE = V4L2_CTRL_CLASS_JPEG | 0x900
+V4L2_CID_JPEG_CLASS = V4L2_CTRL_CLASS_JPEG | 1
+
+V4L2_CID_JPEG_CHROMA_SUBSAMPLING = V4L2_CID_JPEG_CLASS_BASE + 1
+
+v4l2_jpeg_chroma_subsampling = enum
+(
+ V4L2_JPEG_CHROMA_SUBSAMPLING_444,
+ V4L2_JPEG_CHROMA_SUBSAMPLING_422,
+ V4L2_JPEG_CHROMA_SUBSAMPLING_420,
+ V4L2_JPEG_CHROMA_SUBSAMPLING_411,
+ V4L2_JPEG_CHROMA_SUBSAMPLING_410,
+ V4L2_JPEG_CHROMA_SUBSAMPLING_GRAY,
+) = range(6)
+
+V4L2_CID_JPEG_RESTART_INTERVAL = V4L2_CID_JPEG_CLASS_BASE + 2
+V4L2_CID_JPEG_COMPRESSION_QUALITY = V4L2_CID_JPEG_CLASS_BASE + 3
+
+V4L2_CID_JPEG_ACTIVE_MARKER = V4L2_CID_JPEG_CLASS_BASE + 4
+V4L2_JPEG_ACTIVE_MARKER_APP0 = 1 << 0
+V4L2_JPEG_ACTIVE_MARKER_APP1 = 1 << 1
+V4L2_JPEG_ACTIVE_MARKER_COM = 1 << 16
+V4L2_JPEG_ACTIVE_MARKER_DQT = 1 << 17
+V4L2_JPEG_ACTIVE_MARKER_DHT = 1 << 18
+
+
#
# Tuning
#
"pwm-spindle": {
"pwm-inverted": {
+ "help": "Invert the PWM signal output.",
"type": "bool",
"default": false,
"code": "pi"
"max": 320000,
"default": 1000,
"code": "sf"
+ },
+ "rapid-auto-off": {
+ "help": "Turn tool off during rapid moves. Useful for LASERs.",
+ "type": "bool",
+ "default": false
+ },
+ "dynamic-power": {
+ "help":
+ "Adjust tool power based on velocity and feed rate. Useful for LASERs.",
+ "type": "bool",
+ "default": false,
+ "code": "dp"
}
},
/*!
- * Font Awesome 4.5.0 by @davegandy - http://fontawesome.io - @fontawesome
+ * Font Awesome 4.7.0 by @davegandy - http://fontawesome.io - @fontawesome
* License - http://fontawesome.io/license (Font: SIL OFL 1.1, CSS: MIT License)
- */@font-face{font-family:'FontAwesome';src:url('../fonts/fontawesome-webfont.eot?v=4.5.0');src:url('../fonts/fontawesome-webfont.eot?#iefix&v=4.5.0') format('embedded-opentype'),url('../fonts/fontawesome-webfont.woff2?v=4.5.0') format('woff2'),url('../fonts/fontawesome-webfont.woff?v=4.5.0') format('woff'),url('../fonts/fontawesome-webfont.ttf?v=4.5.0') format('truetype'),url('../fonts/fontawesome-webfont.svg?v=4.5.0#fontawesomeregular') format('svg');font-weight:normal;font-style:normal}.fa{display:inline-block;font:normal normal normal 14px/1 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projects / bbctrl-firmware / commitdiff
