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-rw-r--r--klippy/stepcompress.c498
1 files changed, 498 insertions, 0 deletions
diff --git a/klippy/stepcompress.c b/klippy/stepcompress.c
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+++ b/klippy/stepcompress.c
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+// Stepper pulse schedule compression
+//
+// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+//
+// The goal of this code is to take a series of scheduled stepper
+// pulse times and compress them into a handful of commands that can
+// be efficiently transmitted and executed on a microcontroller (mcu).
+// The mcu accepts step pulse commands that take interval, count, and
+// add parameters such that 'count' pulses occur, with each step event
+// calculating the next step event time using:
+// next_wake_time = last_wake_time + interval; interval += add
+// This code is writtin in C (instead of python) for processing
+// efficiency - the repetitive integer math is vastly faster in C.
+
+#include <math.h> // sqrt
+#include <stddef.h> // offsetof
+#include <stdint.h> // uint32_t
+#include <stdio.h> // fprintf
+#include <stdlib.h> // malloc
+#include <string.h> // memset
+#include "serialqueue.h" // struct queue_message
+
+#define CHECK_LINES 1
+#define QUEUE_START_SIZE 1024
+
+struct stepcompress {
+ // Buffer management
+ uint32_t *queue, *queue_end, *queue_pos, *queue_next;
+ // Internal tracking
+ uint32_t relclock, max_error;
+ // Error checking
+ uint32_t errors;
+ // Message generation
+ uint64_t last_step_clock;
+ struct list_head msg_queue;
+ uint32_t queue_step_msgid, oid;
+};
+
+
+/****************************************************************
+ * Queue management
+ ****************************************************************/
+
+// Shuffle the internal queue to avoid having to allocate more ram
+static void
+clean_queue(struct stepcompress *sc)
+{
+ uint32_t *src = sc->queue_pos, *dest = sc->queue;
+ while (src < sc->queue_next)
+ *dest++ = *src++ - sc->relclock;
+ sc->queue_pos = sc->queue;
+ sc->queue_next = dest;
+ sc->relclock = 0;
+}
+
+// Expand the internal queue of step times
+static void
+expand_queue(struct stepcompress *sc, int count)
+{
+ if (sc->queue + count <= sc->queue_end) {
+ clean_queue(sc);
+ return;
+ }
+ int alloc = sc->queue_end - sc->queue;
+ int pos = sc->queue_pos - sc->queue;
+ int next = sc->queue_next - sc->queue;
+ if (!alloc)
+ alloc = QUEUE_START_SIZE;
+ while (next + count > alloc)
+ alloc *= 2;
+ sc->queue = realloc(sc->queue, alloc * sizeof(*sc->queue));
+ sc->queue_end = sc->queue + alloc;
+ sc->queue_pos = sc->queue + pos;
+ sc->queue_next = sc->queue + next;
+}
+
+// Check if the internal queue needs to be expanded, and expand if so
+static inline void
+check_expand(struct stepcompress *sc, int count)
+{
+ if (sc->queue_next + count > sc->queue_end)
+ expand_queue(sc, count);
+}
+
+
+/****************************************************************
+ * Step compression
+ ****************************************************************/
+
+#define DIV_UP(n,d) (((n) + (d) - 1) / (d))
+
+static inline int32_t
+idiv_up(int32_t n, int32_t d)
+{
+ return (n>=0) ? DIV_UP(n,d) : (n/d);
+}
+
+static inline int32_t
+idiv_down(int32_t n, int32_t d)
+{
+ return (n>=0) ? (n/d) : (n - d + 1) / d;
+}
+
+struct points {
+ int32_t minp, maxp;
+};
+
+// Given a requested step time, return the minimum and maximum
+// acceptable times
+static struct points
+minmax_point(struct stepcompress *sc, uint32_t *pos)
+{
+ uint32_t prevpoint = pos > sc->queue_pos ? *(pos-1) - sc->relclock : 0;
+ uint32_t point = *pos - sc->relclock;
+ uint32_t max_error = (point - prevpoint) / 2;
+ if (max_error > sc->max_error)
+ max_error = sc->max_error;
+ return (struct points){ point - max_error, point };
+}
+
+// The maximum add delta between two valid quadratic sequences of the
+// form "add*count*(count-1)/2 + interval*count" is "(6 + 4*sqrt(2)) *
+// maxerror / (count*count)". The "6 + 4*sqrt(2)" is 11.65685, but
+// using 11 and rounding up when dividing works well in practice.
+#define QUADRATIC_DEV 11
+
+struct step_move {
+ uint32_t interval;
+ uint16_t count;
+ int16_t add;
+};
+
+// Find a 'step_move' that covers a series of step times
+static struct step_move
+compress_bisect_add(struct stepcompress *sc)
+{
+ uint32_t *last = sc->queue_next;
+ if (last > sc->queue_pos + 65535)
+ last = sc->queue_pos + 65535;
+ struct points point = minmax_point(sc, sc->queue_pos);
+ int32_t origmininterval = point.minp, origmaxinterval = point.maxp;
+ int32_t add = 0, minadd=-0x8001, maxadd=0x8000;
+ int32_t bestadd=0, bestcount=0, bestinterval=0;
+
+ for (;;) {
+ // Find longest valid sequence with the given 'add'
+ int32_t mininterval = origmininterval, maxinterval = origmaxinterval;
+ int32_t count = 1, addfactor = 0;
+ for (;;) {
+ if (sc->queue_pos + count >= last)
+ return (struct step_move){ maxinterval, count, add };
+ point = minmax_point(sc, sc->queue_pos + count);
+ addfactor += count;
+ int32_t c = add*addfactor;
+ int32_t nextmininterval = mininterval;
+ if (c + nextmininterval*(count+1) < point.minp)
+ nextmininterval = DIV_UP(point.minp - c, count+1);
+ int32_t nextmaxinterval = maxinterval;
+ if (c + nextmaxinterval*(count+1) > point.maxp)
+ nextmaxinterval = (point.maxp - c) / (count+1);
+ if (nextmininterval > nextmaxinterval)
+ break;
+ count += 1;
+ mininterval = nextmininterval;
+ maxinterval = nextmaxinterval;
+ }
+ if (count > bestcount || (count == bestcount && add > bestadd)) {
+ bestcount = count;
+ bestadd = add;
+ bestinterval = maxinterval;
+ }
+
+ // Check if a greater or lesser add could extend the sequence
+ int32_t maxreach = add*addfactor + maxinterval*(count+1);
+ if (maxreach < point.minp)
+ origmaxinterval = maxinterval;
+ else
+ origmininterval = mininterval;
+
+ if ((minadd+1)*addfactor + origmaxinterval*(count+1) < point.minp)
+ minadd = idiv_up(point.minp - origmaxinterval*(count+1)
+ , addfactor) - 1;
+ if ((maxadd-1)*addfactor + origmininterval*(count+1) > point.maxp)
+ maxadd = idiv_down(point.maxp - origmininterval*(count+1)
+ , addfactor) + 1;
+
+ // The maximum valid deviation between two quadratic sequences
+ // can be calculated and used to further limit the add range.
+ if (count > 1) {
+ int32_t errdelta = DIV_UP(sc->max_error*QUADRATIC_DEV, count*count);
+ if (minadd < add - errdelta)
+ minadd = add - errdelta;
+ if (maxadd > add + errdelta)
+ maxadd = add + errdelta;
+ }
+
+ // Bisect valid add range and try again with new 'add'
+ add = (maxadd + minadd) / 2;
+ if (add <= minadd || add >= maxadd)
+ break;
+ }
+ if (bestcount < 2)
+ bestadd = 0;
+ return (struct step_move){ bestinterval, bestcount, bestadd };
+}
+
+
+/****************************************************************
+ * Step compress checking
+ ****************************************************************/
+
+// Verify that a given 'step_move' matches the actual step times
+static void
+check_line(struct stepcompress *sc, struct step_move move)
+{
+ if (!CHECK_LINES)
+ return;
+ int err = 0;
+ if (!move.count || !move.interval || move.interval >= 0x80000000) {
+ fprintf(stderr, "ERROR: Point out of range: %d %d %d\n"
+ , move.interval, move.count, move.add);
+ err++;
+ }
+ uint32_t interval = move.interval, p = interval;
+ uint16_t i;
+ for (i=0; i<move.count; i++) {
+ struct points point = minmax_point(sc, sc->queue_pos + i);
+ if (p < point.minp || p > point.maxp) {
+ fprintf(stderr, "ERROR: Point %d of %d: %d not in %d:%d\n"
+ , i+1, move.count, p, point.minp, point.maxp);
+ err++;
+ }
+ interval += move.add;
+ p += interval;
+ }
+ sc->errors += err;
+}
+
+
+/****************************************************************
+ * Step compress interface
+ ****************************************************************/
+
+// Allocate a new 'stepcompress' object
+struct stepcompress *
+stepcompress_alloc(uint32_t max_error, uint32_t queue_step_msgid, uint32_t oid)
+{
+ struct stepcompress *sc = malloc(sizeof(*sc));
+ memset(sc, 0, sizeof(*sc));
+ sc->max_error = max_error;
+ list_init(&sc->msg_queue);
+ sc->queue_step_msgid = queue_step_msgid;
+ sc->oid = oid;
+ return sc;
+}
+
+// Schedule a step event at the specified step_clock time
+void
+stepcompress_push(struct stepcompress *sc, double step_clock)
+{
+ check_expand(sc, 1);
+ step_clock += 0.5 + sc->relclock - sc->last_step_clock;
+ *sc->queue_next++ = step_clock;
+}
+
+// Schedule 'steps' number of steps with a constant time between steps
+// using the formula: step_clock = clock_offset + step_num*factor
+double
+stepcompress_push_factor(struct stepcompress *sc
+ , double steps, double step_offset
+ , double clock_offset, double factor)
+{
+ // Calculate number of steps to take
+ double ceil_steps = ceil(steps - step_offset);
+ double next_step_offset = ceil_steps - (steps - step_offset);
+ int count = ceil_steps;
+ check_expand(sc, count);
+
+ // Calculate each step time
+ uint32_t *qn = sc->queue_next, *end = &qn[count];
+ clock_offset += 0.5 + sc->relclock - sc->last_step_clock;
+ double pos = step_offset;
+ while (qn < end) {
+ *qn++ = clock_offset + pos*factor;
+ pos += 1.0;
+ }
+ sc->queue_next = qn;
+ return next_step_offset;
+}
+
+// Schedule 'steps' number of steps using the formula:
+// step_clock = clock_offset + sqrt(step_num*factor + sqrt_offset)
+double
+stepcompress_push_sqrt(struct stepcompress *sc, double steps, double step_offset
+ , double clock_offset, double sqrt_offset, double factor)
+{
+ // Calculate number of steps to take
+ double ceil_steps = ceil(steps - step_offset);
+ double next_step_offset = ceil_steps - (steps - step_offset);
+ int count = ceil_steps;
+ check_expand(sc, count);
+
+ // Calculate each step time
+ uint32_t *qn = sc->queue_next, *end = &qn[count];
+ clock_offset += 0.5 + sc->relclock - sc->last_step_clock;
+ double pos = step_offset + sqrt_offset/factor;
+ if (factor >= 0.0)
+ while (qn < end) {
+ *qn++ = clock_offset + sqrt(pos*factor);
+ pos += 1.0;
+ }
+ else
+ while (qn < end) {
+ *qn++ = clock_offset - sqrt(pos*factor);
+ pos += 1.0;
+ }
+ sc->queue_next = end;
+ return next_step_offset;
+}
+
+// Convert previously scheduled steps into commands for the mcu
+static void
+stepcompress_flush(struct stepcompress *sc, uint64_t move_clock)
+{
+ if (sc->queue_pos >= sc->queue_next)
+ return;
+ while (move_clock > sc->last_step_clock) {
+ struct step_move move = compress_bisect_add(sc);
+ check_line(sc, move);
+
+ uint32_t msg[5] = {
+ sc->queue_step_msgid, sc->oid, move.interval, move.count, move.add
+ };
+ struct queue_message *qm = message_alloc_and_encode(msg, 5);
+ qm->req_clock = sc->last_step_clock;
+ list_add_tail(&qm->node, &sc->msg_queue);
+
+ uint32_t addfactor = move.count*(move.count-1)/2;
+ uint32_t ticks = move.add*addfactor + move.interval*move.count;
+ sc->last_step_clock += ticks;
+ if (sc->queue_pos + move.count >= sc->queue_next) {
+ sc->queue_pos = sc->queue_next = sc->queue;
+ sc->relclock = 0;
+ break;
+ }
+ sc->queue_pos += move.count;
+ sc->relclock += ticks;
+ }
+}
+
+// Reset the internal state of the stepcompress object
+void
+stepcompress_reset(struct stepcompress *sc, uint64_t last_step_clock)
+{
+ stepcompress_flush(sc, UINT64_MAX);
+ sc->last_step_clock = last_step_clock;
+}
+
+// Queue an mcu command to go out in order with stepper commands
+void
+stepcompress_queue_msg(struct stepcompress *sc, uint32_t *data, int len)
+{
+ stepcompress_flush(sc, UINT64_MAX);
+
+ struct queue_message *qm = message_alloc_and_encode(data, len);
+ qm->min_clock = -1;
+ qm->req_clock = sc->last_step_clock;
+ list_add_tail(&qm->node, &sc->msg_queue);
+}
+
+// Return the count of internal errors found
+uint32_t
+stepcompress_get_errors(struct stepcompress *sc)
+{
+ return sc->errors;
+}
+
+
+/****************************************************************
+ * Step compress synchronization
+ ****************************************************************/
+
+// The steppersync object is used to synchronize the output of mcu
+// step commands. The mcu can only queue a limited number of step
+// commands - this code tracks when items on the mcu step queue become
+// free so that new commands can be transmitted. It also ensures the
+// mcu step queue is ordered between steppers so that no stepper
+// starves the other steppers of space in the mcu step queue.
+
+struct steppersync {
+ // Serial port
+ struct serialqueue *sq;
+ struct command_queue *cq;
+ // Storage for associated stepcompress objects
+ struct stepcompress **sc_list;
+ int sc_num;
+ // Storage for list of pending move clocks
+ uint64_t *move_clocks;
+ int num_move_clocks;
+};
+
+// Allocate a new 'stepperysync' object
+struct steppersync *
+steppersync_alloc(struct serialqueue *sq, struct stepcompress **sc_list
+ , int sc_num, int move_num)
+{
+ struct steppersync *ss = malloc(sizeof(*ss));
+ memset(ss, 0, sizeof(*ss));
+ ss->sq = sq;
+ ss->cq = serialqueue_alloc_commandqueue();
+
+ ss->sc_list = malloc(sizeof(*sc_list)*sc_num);
+ memcpy(ss->sc_list, sc_list, sizeof(*sc_list)*sc_num);
+ ss->sc_num = sc_num;
+
+ ss->move_clocks = malloc(sizeof(*ss->move_clocks)*move_num);
+ memset(ss->move_clocks, 0, sizeof(*ss->move_clocks)*move_num);
+ ss->num_move_clocks = move_num;
+
+ return ss;
+}
+
+// Implement a binary heap algorithm to track when the next available
+// 'struct move' in the mcu will be available
+static void
+heap_replace(struct steppersync *ss, uint64_t req_clock)
+{
+ uint64_t *mc = ss->move_clocks;
+ int nmc = ss->num_move_clocks, pos = 0;
+ for (;;) {
+ int child1_pos = 2*pos+1, child2_pos = 2*pos+2;
+ uint64_t child2_clock = child2_pos < nmc ? mc[child2_pos] : UINT64_MAX;
+ uint64_t child1_clock = child1_pos < nmc ? mc[child1_pos] : UINT64_MAX;
+ if (req_clock <= child1_clock && req_clock <= child2_clock) {
+ mc[pos] = req_clock;
+ break;
+ }
+ if (child1_clock < child2_clock) {
+ mc[pos] = child1_clock;
+ pos = child1_pos;
+ } else {
+ mc[pos] = child2_clock;
+ pos = child2_pos;
+ }
+ }
+}
+
+// Find and transmit any scheduled steps prior to the given 'move_clock'
+void
+steppersync_flush(struct steppersync *ss, uint64_t move_clock)
+{
+ // Flush each stepcompress to the specified move_clock
+ int i;
+ for (i=0; i<ss->sc_num; i++)
+ stepcompress_flush(ss->sc_list[i], move_clock);
+
+ // Order commands by the reqclock of each pending command
+ struct list_head msgs;
+ list_init(&msgs);
+ uint64_t min_clock = ss->move_clocks[0];
+ for (;;) {
+ // Find message with lowest reqclock
+ uint64_t req_clock = MAX_CLOCK;
+ struct queue_message *qm = NULL;
+ for (i=0; i<ss->sc_num; i++) {
+ struct stepcompress *sc = ss->sc_list[i];
+ if (!list_empty(&sc->msg_queue)) {
+ struct queue_message *m = list_first_entry(
+ &sc->msg_queue, struct queue_message, node);
+ if (m->req_clock < req_clock) {
+ qm = m;
+ req_clock = m->req_clock;
+ }
+ }
+ }
+ if (!qm || (!qm->min_clock && req_clock > move_clock))
+ break;
+
+ // Set the min_clock for this command
+ if (!qm->min_clock) {
+ qm->min_clock = min_clock;
+ heap_replace(ss, req_clock);
+ min_clock = ss->move_clocks[0];
+ } else {
+ qm->min_clock = min_clock;
+ }
+
+ // Batch this command
+ list_del(&qm->node);
+ list_add_tail(&qm->node, &msgs);
+ }
+
+ // Transmit commands
+ if (!list_empty(&msgs))
+ serialqueue_send_batch(ss->sq, ss->cq, &msgs);
+}
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