323 development of rotary delta kinematics for esp32fr

README.md

@@ -157,7 +157,7 @@ NOTES:
 
 µCNC with a configuration similar to Grbl is be able to keep up to 30KHz step rate for a 3 axis machine on an Arduino Uno at 16Mhz. (the stated rate depends on the length of the segments too, since many short length segments don't allow full speed to be achieved). For this specific type of use (like in laser engraving) a 16-bit version of stepping algorithm is possible pushing the theoretical step rate limit to 40KHz on a single UNO board.
 
-### Current µCNC supported hardware
+### µCNC current supported hardware
 
 µCNC initial development was done both around Arduino UNO board just like GRBL. But µCNC can also be installed in other AVR boards like Arduino Mega (for Ramps), or similar boards (like Rambo). Other MCU's have and will be integrated in µCNC:
 
@@ -173,6 +173,16 @@ It can run on:
 - NXP LPC1768 - v1.5.x (eeprom emulation and analog still being developed) 
 - Windows PC (used for simulation/debugging only - ISR on Windows doesn't allow to use it as a real alternative)
 
+### µCNC current supported kinematics
+
+µCNC is designed to be support both linear and non-linear kinematics and can be extended to support other types of kinematics.
+Currently µCNC supports the following kinematics:
+
+- Cartesian
+- CoreXY
+- Linear delta robot
+- Rotary delta robot
+
 ### µCNC roadmap
 
 A couple of changes were introduced with version 1.2.0 of µCNC to prepare for future and easier expansions.

makefiles/virtual/uCNC.dev

@@ -29,7 +29,7 @@ IncludeVersionInfo=0
 SupportXPThemes=0
 CompilerSet=1
 CompilerSettings=000000e0a0000000001000000
-UnitCount=70
+UnitCount=73
 
 [VersionInfo]
 Major=1
@@ -511,7 +511,7 @@ OverrideBuildCmd=0
 BuildCmd=
 
 [Unit47]
-FileName=..\..\uCNC\src\hal\kinematics\kinematic_delta.c
+FileName=..\..\uCNC\src\hal\kinematics\kinematic_linear_delta.c
 CompileCpp=0
 Folder=
 Compile=1
@@ -571,7 +571,7 @@ OverrideBuildCmd=0
 BuildCmd=
 
 [Unit48]
-FileName=..\..\uCNC\src\hal\kinematics\kinematic_delta.h
+FileName=..\..\uCNC\src\hal\kinematics\kinematic_linear_delta.h
 CompileCpp=0
 Folder=
 Compile=1
@@ -751,7 +751,27 @@ OverrideBuildCmd=0
 BuildCmd=
 
 [Unit71]
-FileName=..\..\uCNC\src\hal\tools\tools\laser_ppi.c
+FileName=..\..\uCNC\src\hal\kinematics\kinematic_delta.c
+CompileCpp=0
+Folder=
+Compile=1
+Link=1
+Priority=1000
+OverrideBuildCmd=0
+BuildCmd=
+
+[Unit72]
+FileName=..\..\uCNC\src\hal\kinematics\kinematic_delta.h
+CompileCpp=0
+Folder=
+Compile=1
+Link=1
+Priority=1000
+OverrideBuildCmd=0
+BuildCmd=
+
+[Unit73]
+FileName=..\..\uCNC\src\utils.h
 CompileCpp=0
 Folder=
 Compile=1

uCNC/src/cnc_hal_config_helper.h

@@ -2077,7 +2077,7 @@ typedef uint16_t step_t;
 #endif
 #endif
 
-#if (KINEMATIC == KINEMATIC_DELTA)
+#if (defined(KINEMATICS_MOTION_BY_SEGMENTS))
 #ifdef ENABLE_DUAL_DRIVE_AXIS
 #error "Delta does not support dual drive axis"
 #endif

uCNC/src/core/interpolator.c

@@ -107,7 +107,7 @@ static uint8_t prev_dss;
 static int16_t prev_spindle;
 // pointer to the segment being executed
 static itp_segment_t *itp_rt_sgm;
-#if (defined(ENABLE_DUAL_DRIVE_AXIS) || (KINEMATIC == KINEMATIC_DELTA))
+#if (defined(ENABLE_DUAL_DRIVE_AXIS) || defined(IS_DELTA_KINEMATICS))
 static volatile uint8_t itp_step_lock;
 #endif
 
@@ -218,7 +218,7 @@ void itp_init(void)
 	memset(itp_blk_data, 0, sizeof(itp_blk_data));
 	memset(itp_sgm_data, 0, sizeof(itp_sgm_data));
 	itp_rt_sgm = NULL;
-#if (defined(ENABLE_DUAL_DRIVE_AXIS) || (KINEMATIC == KINEMATIC_DELTA))
+#if (defined(ENABLE_DUAL_DRIVE_AXIS) || defined(IS_DELTA_KINEMATICS))
 	itp_step_lock = 0;
 #endif
 #endif
@@ -280,7 +280,7 @@ void itp_run(void)
 
 // overwrites previous values
 #ifdef ENABLE_BACKLASH_COMPENSATION
-			itp_blk_data[itp_blk_data_write].backlash_comp = itp_cur_plan_block->backlash_comp;
+			itp_blk_data[itp_blk_data_write].backlash_comp = itp_cur_plan_block->planner_flags.bit.backlash_comp;
 #endif
 
 			itp_blk_data[itp_blk_data_write].dirbits = itp_cur_plan_block->dirbits;
@@ -292,11 +292,10 @@ void itp_run(void)
 			itp_blk_data[itp_blk_data_write].dirbits |= CHECKFLAG(itp_blk_data[itp_blk_data_write].dirbits, STEP_DUAL1) ? STEP_DUAL1_MASK : 0;
 #endif
 #endif
-			itp_blk_data[itp_blk_data_write].total_steps = itp_cur_plan_block->total_steps << 1;
+			step_t total_steps = itp_cur_plan_block->steps[itp_cur_plan_block->main_stepper];
+			itp_blk_data[itp_blk_data_write].total_steps = total_steps << 1;
 
-			float total_step_inv = 1.0f / (float)itp_cur_plan_block->total_steps;
-			feed_convert = 60.f / (float)g_settings.step_per_mm[itp_cur_plan_block->main_stepper];
-			float sqr_step_speed = 0;
+			feed_convert = itp_cur_plan_block->feed_conversion;
 
 #ifdef STEP_ISR_SKIP_IDLE
 			itp_blk_data[itp_blk_data_write].idle_axis = 0;
@@ -306,8 +305,7 @@ void itp_run(void)
 #endif
 			for (uint8_t i = 0; i < STEPPER_COUNT; i++)
 			{
-				sqr_step_speed += fast_flt_pow2((float)itp_cur_plan_block->steps[i]);
-				itp_blk_data[itp_blk_data_write].errors[i] = itp_cur_plan_block->total_steps;
+				itp_blk_data[itp_blk_data_write].errors[i] = total_steps;
 				itp_blk_data[itp_blk_data_write].steps[i] = itp_cur_plan_block->steps[i] << 1;
 #ifdef STEP_ISR_SKIP_IDLE
 				if (!itp_cur_plan_block->steps[i])
@@ -317,14 +315,11 @@ void itp_run(void)
 #endif
 			}
 
-			sqr_step_speed *= fast_flt_pow2(total_step_inv);
-			feed_convert *= fast_flt_sqrt(sqr_step_speed);
-
 			// flags block for recalculation of speeds
 			itp_needs_update = true;
 		}
 
-		uint32_t remaining_steps = itp_cur_plan_block->total_steps;
+		uint32_t remaining_steps = itp_cur_plan_block->steps[itp_cur_plan_block->main_stepper];
 
 		sgm = &itp_sgm_data[itp_sgm_data_write];
 
@@ -509,7 +504,7 @@ void itp_run(void)
 			}
 
 			// computes how many steps it will perform at this speed and frame window
-			segm_steps = (uint16_t)roundf(partial_distance);
+			segm_steps = (uint16_t)lroundf(partial_distance);
 		} while (segm_steps == 0);
 
 		avg_speed = fast_flt_div2(current_speed + initial_speed);
@@ -620,9 +615,9 @@ void itp_run(void)
 		}
 
 		itp_cur_plan_block->entry_feed_sqr = fast_flt_pow2(current_speed);
-		itp_cur_plan_block->total_steps = remaining_steps;
+		itp_cur_plan_block->steps[itp_cur_plan_block->main_stepper] = remaining_steps;
 
-		if (itp_cur_plan_block->total_steps == 0)
+		if (remaining_steps == 0)
 		{
 			itp_blk_buffer_write();
 			itp_cur_plan_block = NULL;
@@ -694,7 +689,7 @@ void itp_run(void)
 
 // overwrites previous values
 #ifdef ENABLE_BACKLASH_COMPENSATION
-			itp_blk_data[itp_blk_data_write].backlash_comp = itp_cur_plan_block->flags_u.flags_t.backlash_comp;
+			itp_blk_data[itp_blk_data_write].backlash_comp = itp_cur_plan_block->planner_flags.bit.backlash_comp;
 #endif
 			itp_blk_data[itp_blk_data_write].dirbits = itp_cur_plan_block->dirbits;
 #ifdef ENABLE_DUAL_DRIVE_AXIS
@@ -705,11 +700,10 @@ void itp_run(void)
 			itp_blk_data[itp_blk_data_write].dirbits |= CHECKFLAG(itp_blk_data[itp_blk_data_write].dirbits, STEP_DUAL1) ? STEP_DUAL1_MASK : 0;
 #endif
 #endif
-			itp_blk_data[itp_blk_data_write].total_steps = itp_cur_plan_block->total_steps << 1;
+			step_t total_steps = itp_cur_plan_block->steps[itp_cur_plan_block->main_stepper];
+			itp_blk_data[itp_blk_data_write].total_steps = total_steps << 1;
 
-			float total_step_inv = 1.0f / (float)itp_cur_plan_block->total_steps;
-			feed_convert = 60.f / (float)g_settings.step_per_mm[itp_cur_plan_block->main_stepper];
-			float sqr_step_speed = 0;
+			feed_convert = itp_cur_plan_block->feed_conversion;
 
 #ifdef STEP_ISR_SKIP_IDLE
 			itp_blk_data[itp_blk_data_write].idle_axis = 0;
@@ -719,12 +713,7 @@ void itp_run(void)
 #endif
 			for (uint8_t i = 0; i < STEPPER_COUNT; i++)
 			{
-#ifdef ENABLE_LASER_PPI
-				sqr_step_speed += (i != (STEPPER_COUNT - 1)) ? (fast_flt_pow2((float)itp_cur_plan_block->steps[i])) : 0;
-#else
-				sqr_step_speed += fast_flt_pow2((float)itp_cur_plan_block->steps[i]);
-#endif
-				itp_blk_data[itp_blk_data_write].errors[i] = itp_cur_plan_block->total_steps;
+				itp_blk_data[itp_blk_data_write].errors[i] = total_steps;
 				itp_blk_data[itp_blk_data_write].steps[i] = itp_cur_plan_block->steps[i] << 1;
 #ifdef STEP_ISR_SKIP_IDLE
 				if (!itp_cur_plan_block->steps[i])
@@ -734,9 +723,6 @@ void itp_run(void)
 #endif
 			}
 
-			sqr_step_speed *= fast_flt_pow2(total_step_inv);
-			feed_convert *= fast_flt_sqrt(sqr_step_speed);
-
 			// flags block for recalculation of speeds
 			itp_needs_update = true;
 			// in every new block speed update is needed
@@ -746,7 +732,7 @@ void itp_run(void)
 			half_speed_change = fast_flt_div2(half_speed_change);
 		}
 
-		uint32_t remaining_steps = itp_cur_plan_block->total_steps;
+		uint32_t remaining_steps = itp_cur_plan_block->steps[itp_cur_plan_block->main_stepper];
 
 		sgm = &itp_sgm_data[itp_sgm_data_write];
 
@@ -969,9 +955,9 @@ void itp_run(void)
 			itp_cur_plan_block->entry_feed_sqr = junction_speed_sqr;
 		}
 
-		itp_cur_plan_block->total_steps = remaining_steps;
+		itp_cur_plan_block->steps[itp_cur_plan_block->main_stepper] = remaining_steps;
 
-		if (itp_cur_plan_block->total_steps == 0)
+		if (remaining_steps == 0)
 		{
 			itp_blk_buffer_write();
 			itp_cur_plan_block = NULL;
@@ -1078,16 +1064,14 @@ int32_t itp_get_rt_position_index(int8_t index)
 
 void itp_reset_rt_position(float *origin)
 {
-	if (g_settings.homing_enabled)
-	{
-		kinematics_apply_inverse(origin, itp_rt_step_pos);
-	}
-	else
+	if (!g_settings.homing_enabled)
 	{
-		memset(itp_rt_step_pos, 0, sizeof(itp_rt_step_pos));
 		memset(origin, 0, (sizeof(float) * AXIS_COUNT));
 	}
 
+	// sync origin and steppers position
+	kinematics_apply_inverse(origin, itp_rt_step_pos);
+
 #if STEPPERS_ENCODERS_MASK != 0
 	encoders_itp_reset_rt_position(origin);
 #endif
@@ -1136,7 +1120,7 @@ void itp_sync_spindle(void)
 #endif
 }
 
-#if (defined(ENABLE_DUAL_DRIVE_AXIS) || (KINEMATIC == KINEMATIC_DELTA))
+#if (defined(ENABLE_DUAL_DRIVE_AXIS) || defined(IS_DELTA_KINEMATICS))
 void itp_lock_stepper(uint8_t lockmask)
 {
 	itp_step_lock = lockmask;
@@ -1619,7 +1603,7 @@ MCU_CALLBACK void mcu_step_cb(void)
 		mcu_disable_global_isr(); // lock isr before clearin busy flag
 		itp_busy = false;
 
-#if (defined(ENABLE_DUAL_DRIVE_AXIS) || (KINEMATIC == KINEMATIC_DELTA))
+#if (defined(ENABLE_DUAL_DRIVE_AXIS) || defined(IS_DELTA_KINEMATICS))
 		stepbits &= ~itp_step_lock;
 #endif
 	}

uCNC/src/core/interpolator.h

@@ -41,7 +41,7 @@ extern "C"
 	float itp_get_rt_feed(void);
 	uint8_t itp_sync(void);
 	void itp_sync_spindle(void);
-#if (defined(ENABLE_DUAL_DRIVE_AXIS) || (KINEMATIC == KINEMATIC_DELTA))
+#if (defined(ENABLE_DUAL_DRIVE_AXIS) || defined(KINEMATICS_MOTION_BY_SEGMENTS))
 	void itp_lock_stepper(uint8_t lockmask);
 #endif
 #ifdef GCODE_PROCESS_LINE_NUMBERS

uCNC/src/core/io_control.c

@@ -110,7 +110,7 @@ MCU_IO_CALLBACK void mcu_limits_changed_cb(void)
 #endif
 		if (limit_combined)
 		{
-#if (defined(DUAL_DRIVE0_ENABLE_SELFSQUARING) || defined(DUAL_DRIVE1_ENABLE_SELFSQUARING) || (KINEMATIC == KINEMATIC_DELTA))
+#if (defined(DUAL_DRIVE0_ENABLE_SELFSQUARING) || defined(DUAL_DRIVE1_ENABLE_SELFSQUARING) || defined(IS_DELTA_KINEMATICS))
 			if (cnc_get_exec_state((EXEC_RUN | EXEC_HOMING)) == (EXEC_RUN | EXEC_HOMING) && (io_lock_limits_mask & limit_combined))
 			{
 				// if homing and dual drive axis are enabled
@@ -137,7 +137,7 @@ MCU_IO_CALLBACK void mcu_limits_changed_cb(void)
 					}
 				}
 #endif
-#if (KINEMATIC == KINEMATIC_DELTA)
+#if (defined(IS_DELTA_KINEMATICS))
 				if ((limit_combined & LIMITS_DELTA_MASK))
 				{
 					if (limit_combined != LIMITS_DELTA_MASK)
@@ -154,7 +154,7 @@ MCU_IO_CALLBACK void mcu_limits_changed_cb(void)
 			}
 #endif
 
-#if (defined(DUAL_DRIVE0_ENABLE_SELFSQUARING) || defined(DUAL_DRIVE1_ENABLE_SELFSQUARING) || (KINEMATIC == KINEMATIC_DELTA))
+#if (defined(DUAL_DRIVE0_ENABLE_SELFSQUARING) || defined(DUAL_DRIVE1_ENABLE_SELFSQUARING) || defined(IS_DELTA_KINEMATICS))
 			itp_lock_stepper(0); // unlocks axis
 #endif
 			itp_stop();