Move dda->c out of DDA into move_state as well.
This also required to get rid of the usage of this variable when waiting for temperature in dda_queue.*. Hope I got this later part right.
This commit is contained in:
Markus Hitter
parent
51be23177a
commit
2421b788b9
16
dda.c
16
dda.c
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@ -173,6 +173,7 @@ void dda_init(void) {
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#ifdef ACCELERATION_RAMPING
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move_state.n = 1;
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move_state.c = ((uint32_t)((double)F_CPU / sqrt((double)(STEPS_PER_MM_X * ACCELERATION)))) << 8;
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#endif
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}
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@ -356,8 +357,6 @@ void dda_create(DDA *dda, TARGET *target) {
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#endif
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// c is initial step time in IOclk ticks (currently, IOclk ticks = F_CPU)
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// yes, this assumes always the x axis as the critical one regarding acceleration. If we want to implement per-axis acceleration, things get tricky ...
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// TODO: as this number ends exactly where it starts, move it out into a state variable
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dda->c = ((uint32_t)((double)F_CPU / sqrt((double)(STEPS_PER_MM_X * ACCELERATION)))) << 8;
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dda->c_min = (move_duration / target->F) << 8;
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if (dda->c_min < c_limit)
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dda->c_min = c_limit;
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@ -431,7 +430,14 @@ void dda_start(DDA *dda) {
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dda->live = 1;
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// set timeout for first step
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#ifdef ACCELERATION_RAMPING
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if (dda->c_min > move_state.c) // can be true when look-ahead removed all deceleration steps
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setTimer(dda->c_min >> 8);
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else
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setTimer(move_state.c >> 8);
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#else
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setTimer(dda->c >> 8);
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#endif
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}
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}
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@ -553,7 +559,7 @@ void dda_step(DDA *dda) {
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if (recalc_speed) {
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move_state.n += 4;
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// be careful of signedness!
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dda->c = (int32_t)dda->c - ((int32_t)(dda->c * 2) / move_state.n);
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move_state.c = (int32_t)move_state.c - ((int32_t)(move_state.c * 2) / move_state.n);
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}
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dda->step_no++;
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@ -593,10 +599,10 @@ void dda_step(DDA *dda) {
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// we don't hit maximum speed exactly with acceleration calculation, so limit it here
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// the nice thing about _not_ setting dda->c to dda->c_min is, the move stops at the exact same c as it started, so we have to calculate c only once for the time being
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// TODO: set timer only if dda->c has changed
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if (dda->c_min > dda->c)
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if (dda->c_min > move_state.c)
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setTimer(dda->c_min >> 8);
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else
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setTimer(dda->c >> 8);
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setTimer(move_state.c >> 8);
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#else
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setTimer(dda->c >> 8);
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#endif
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6
dda.h
6
dda.h
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@ -54,10 +54,10 @@ typedef struct {
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// uint32_t e_steps; ///< number of steps on E axis
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#ifdef ACCELERATION_RAMPING
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// /// time until next step
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// uint32_t c;
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// /// counts actual steps done
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// uint32_t step_no;
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/// time until next step
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uint32_t c;
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/// tracking variable
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int32_t n;
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#endif
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@ -117,7 +117,9 @@ typedef struct {
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uint32_t total_steps;
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// linear acceleration variables: c and end_c are 24.8 fixed point timer values, n is the tracking variable
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#ifndef ACCELERATION_RAMPING
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uint32_t c; ///< time until next step
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#endif
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#ifdef ACCELERATION_REPRAP
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uint32_t end_c; ///< time between 2nd last step and last step
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int32_t n; ///< precalculated step time offset variable. At every step we calculate \f$c = c - (2 c / n)\f$; \f$n+=4\f$. See http://www.embedded.com/columns/technicalinsights/56800129?printable=true for full description
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15
dda_queue.c
15
dda_queue.c
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@ -64,7 +64,7 @@ void queue_step() {
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DDA* current_movebuffer = &movebuffer[mb_tail];
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if (current_movebuffer->live) {
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if (current_movebuffer->waitfor_temp) {
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setTimer(current_movebuffer->c >> 8);
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setTimer(HEATER_WAIT_TIMEOUT);
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if (temp_achieved()) {
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current_movebuffer->live = current_movebuffer->waitfor_temp = 0;
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serial_writestr_P(PSTR("Temp achieved\n"));
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@ -106,13 +106,6 @@ void enqueue(TARGET *t) {
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// it's a wait for temp
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new_movebuffer->waitfor_temp = 1;
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new_movebuffer->nullmove = 0;
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#if (F_CPU & 0xFF000000) == 0
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// set "step" timeout to 1 second
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new_movebuffer->c = F_CPU << 8;
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#else
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// set "step" timeout to maximum
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new_movebuffer->c = 0xFFFFFF00;
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#endif
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}
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// make certain all writes to global memory
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@ -163,13 +156,13 @@ void next_move() {
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// tail must be set before setTimer call as setTimer
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// reenables the timer interrupt, potentially exposing
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// mb_tail to the timer interrupt routine.
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mb_tail = t;
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mb_tail = t;
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if (current_movebuffer->waitfor_temp) {
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#ifndef REPRAP_HOST_COMPATIBILITY
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serial_writestr_P(PSTR("Waiting for target temp\n"));
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#endif
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current_movebuffer->live = 1;
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setTimer(current_movebuffer->c >> 8);
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setTimer(HEATER_WAIT_TIMEOUT);
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}
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else {
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dda_start(current_movebuffer);
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@ -177,7 +170,7 @@ void next_move() {
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}
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if (queue_empty())
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setTimer(0);
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}
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/// DEBUG - print queue.
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@ -3,6 +3,14 @@
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#include "dda.h"
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#if (F_CPU & 0xFF000000) == 0
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// set timeout to 1 second
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#define HEATER_WAIT_TIMEOUT (F_CPU << 8)
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#else
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// set timeout to maximum
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#define HEATER_WAIT_TIMEOUT 0xFFFFFF00
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#endif
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/*
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variables
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*/
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