time to save
This commit is contained in:
Michael Moon
parent
3c7784cc3b
commit
33ba692f37
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@ -66,7 +66,7 @@ program: $(PROGRAM).hex
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@sleep 0.1
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@stty $(PROGBAUD) raw ignbrk hup < $(PROGPORT)
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$(AVRDUDE) -cstk500v1 -b$(PROGBAUD) -p$(MCU_TARGET) -P$(PROGPORT) -C/etc/avrdude.conf -U flash:w:$^
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stty 38400 raw ignbrk -hup -echo ixon < $(PROGPORT)
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stty 115200 raw ignbrk -hup -echo ixon < $(PROGPORT)
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clean:
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rm -rf *.o *.elf *.lst *.map *.sym *.lss *.eep *.srec *.bin *.hex *.al *.i *.s *~
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@ -40,7 +40,6 @@ void clock_setup() {
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}
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ISR(TIMER2_COMPA_vect) {
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WRITE(SCK, 1);
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// global clock
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#ifdef GLOBAL_CLOCK
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clock++;
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@ -54,7 +53,6 @@ ISR(TIMER2_COMPA_vect) {
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clock_counter_1s = 0;
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}
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}
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WRITE(SCK, 0);
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}
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#ifdef GLOBAL_CLOCK
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118
mendel/dda.c
118
mendel/dda.c
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@ -131,7 +131,7 @@ void dda_create(DDA *dda, TARGET *target) {
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dda->live = 0;
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dda->total_steps = 0;
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if (DEBUG)
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if (1)
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serial_writestr_P(PSTR("\n{DDA_CREATE: ["));
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// we end at the passed target
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@ -149,7 +149,7 @@ void dda_create(DDA *dda, TARGET *target) {
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dda->e_direction = (target->E >= startpoint.E)?1:0;
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// dda->f_direction = (target->F >= startpoint.F)?1:0;
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if (DEBUG) {
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if (1) {
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if (dda->x_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->x_delta); serial_writechar(',');
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@ -161,7 +161,7 @@ void dda_create(DDA *dda, TARGET *target) {
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serwrite_uint32(dda->z_delta); serial_writechar(',');
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if (dda->e_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->e_delta); serial_writechar(',');
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serwrite_uint32(dda->e_delta);/* serial_writechar(',');*/
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// if (dda->f_direction == 0)
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// serial_writechar('-');
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// serwrite_uint32(dda->f_delta);
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@ -177,6 +177,10 @@ void dda_create(DDA *dda, TARGET *target) {
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if (dda->e_delta > dda->total_steps)
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dda->total_steps = dda->e_delta;
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if (1) {
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serwrite_uint32(dda->total_steps); serial_writechar(',');
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}
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if (dda->total_steps == 0) {
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dda->nullmove = 1;
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}
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@ -185,10 +189,6 @@ void dda_create(DDA *dda, TARGET *target) {
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steptimeout = 0;
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power_on();
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if (DEBUG) {
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serwrite_uint32(dda->total_steps); serial_writechar(',');
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}
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dda->x_counter = dda->y_counter = dda->z_counter = dda->e_counter = dda->f_counter =
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-(dda->total_steps >> 1);
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@ -203,7 +203,7 @@ void dda_create(DDA *dda, TARGET *target) {
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if (distance < 2)
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distance = dda->e_delta * UM_PER_STEP_E;
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if (DEBUG) {
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if (1) {
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serwrite_uint32(distance); serial_writechar(',');
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}
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@ -222,44 +222,51 @@ void dda_create(DDA *dda, TARGET *target) {
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uint32_t move_duration = ((distance * 6000) / dda->total_steps) * (F_CPU / 100000);
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// c is initial step time in IOclk ticks
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dda->c = move_duration / startpoint.F;
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dda->c = (move_duration / startpoint.F) << 8;
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if (1) {
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serwrite_uint32(move_duration); serial_writechar(',');
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}
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if (startpoint.F != target->F) {
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// now some linear acceleration stuff, courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
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uint32_t ssq = startpoint.F * startpoint.F;
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uint32_t esq = target->F * target->F;
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uint32_t dsq = esq - ssq;
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uint32_t stF = startpoint.F / 4;
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uint32_t enF = target->F / 4;
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// now some constant acceleration stuff, courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
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uint32_t ssq = (stF * stF);
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uint32_t esq = (enF * enF);
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int32_t dsq = (int32_t) (esq - ssq) / 4;
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dda->end_c = move_duration / target->F;
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uint8_t msb_ssq = msbloc(ssq);
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uint8_t msb_tot = msbloc(dda->total_steps);
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dda->end_c = (move_duration / target->F) << 8;
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// the raw equation WILL overflow at high step rates, but 64 bit math routines take waay too much space
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// at 65536 mm/min (1092mm/s), ssq/esq overflows, and dsq is also close to overflowing if esq/ssq is small
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// but if ssq-esq is small, ssq/dsq is only a few bits
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// we'll have to do it a few different ways depending on the msb location in each
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if ((msbloc(dda->total_steps) + msbloc(ssq)) < 28) {
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if ((msb_tot + msb_ssq) <= 28) {
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// we have room to do all the multiplies first
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dda->n = ((dda->total_steps * ssq * 4) / dsq) + 1;
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dda->n = ((int32_t) (dda->total_steps * ssq) / dsq) + 1;
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}
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// else
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// if ((msbloc(dda->total_steps) + msbloc(ssq)) < 30) {
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// // we have room to do the main multiply first
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// dda->n = (((dda->total_steps * ssq) / dsq) << 2) | 1;
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// }
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else if (msbloc(dda->total_steps) > msbloc(ssq)) {
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else if (msb_tot > msb_ssq) {
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// total steps has more precision
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if (msbloc(dda->total_steps) < 28)
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dda->n = (((dda->total_steps << 2) / dsq) * ssq) + 1;
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else
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dda->n = (((dda->total_steps / dsq) * ssq) << 2) | 1;
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dda->n = (((int32_t) dda->total_steps / dsq) * (int32_t) ssq) + 1;
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}
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else {
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// otherwise
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if (msbloc(ssq) < 28)
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dda->n = (((ssq << 2) / dsq) * dda->total_steps) + 1;
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else
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dda->n = (((ssq / dsq) * dda->total_steps) << 2) | 1;
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dda->n = (((int32_t) ssq / dsq) * (int32_t) dda->total_steps) + 1;
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}
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if (1) {
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serial_writestr_P(PSTR("\n{DDA:CA c:")); serwrite_uint32(dda->c >> 8);
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serial_writestr_P(PSTR(", end_c:")); serwrite_uint32(dda->end_c >> 8);
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serial_writestr_P(PSTR(", n:")); serwrite_int32(dda->n);
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serial_writestr_P(PSTR(", md:")); serwrite_uint32(move_duration);
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serial_writestr_P(PSTR(", ssq:")); serwrite_int32(ssq);
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serial_writestr_P(PSTR(", esq:")); serwrite_int32(esq);
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serial_writestr_P(PSTR(", dsq:")); serwrite_int32(dsq);
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serial_writestr_P(PSTR("}\n"));
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}
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// if (DEBUG)
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// serwrite_uint32(dda->move_duration);
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dda->accel = 1;
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}
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@ -267,7 +274,7 @@ void dda_create(DDA *dda, TARGET *target) {
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dda->accel = 0;
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}
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if (DEBUG)
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if (1)
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serial_writestr_P(PSTR("] }\n"));
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// next dda starts where we finish
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@ -300,7 +307,7 @@ 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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setTimer(dda->c);
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setTimer(dda->c >> 8);
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}
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/*
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@ -337,12 +344,12 @@ void dda_step(DDA *dda) {
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#define Y_CAN_STEP 2
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#define Z_CAN_STEP 4
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#define E_CAN_STEP 8
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#define F_CAN_STEP 16
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#define REAL_MOVE 32
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#define F_REAL_STEP 64
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// #define F_CAN_STEP 16
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// #define REAL_MOVE 32
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// #define F_REAL_STEP 64
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if (DEBUG)
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serial_writechar('!');
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// if (1)
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// serial_writechar('!');
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// step_option |= can_step(x_min(), x_max(), current_position.X, dda->endpoint.X, dda->x_direction) & X_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.X, dda->endpoint.X, dda->x_direction) & X_CAN_STEP;
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@ -351,12 +358,12 @@ void dda_step(DDA *dda) {
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// step_option |= can_step(z_min(), z_max(), current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.Z, dda->endpoint.Z, dda->z_direction) & Z_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.E, dda->endpoint.E, dda->e_direction) & E_CAN_STEP;
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step_option |= can_step(0 , 0 , current_position.F, dda->endpoint.F, dda->f_direction) & F_CAN_STEP;
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// step_option |= can_step(0 , 0 , current_position.F, dda->endpoint.F, dda->f_direction) & F_CAN_STEP;
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if (step_option & X_CAN_STEP) {
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dda->x_counter -= dda->x_delta;
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if (dda->x_counter < 0) {
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step_option |= REAL_MOVE;
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// step_option |= REAL_MOVE;
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x_step();
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if (dda->x_direction)
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@ -371,7 +378,7 @@ void dda_step(DDA *dda) {
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if (step_option & Y_CAN_STEP) {
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dda->y_counter -= dda->y_delta;
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if (dda->y_counter < 0) {
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step_option |= REAL_MOVE;
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// step_option |= REAL_MOVE;
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y_step();
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if (dda->y_direction)
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@ -386,7 +393,7 @@ void dda_step(DDA *dda) {
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if (step_option & Z_CAN_STEP) {
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dda->z_counter -= dda->z_delta;
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if (dda->z_counter < 0) {
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step_option |= REAL_MOVE;
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// step_option |= REAL_MOVE;
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z_step();
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if (dda->z_direction)
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@ -401,7 +408,7 @@ void dda_step(DDA *dda) {
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if (step_option & E_CAN_STEP) {
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dda->e_counter -= dda->e_delta;
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if (dda->e_counter < 0) {
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step_option |= REAL_MOVE;
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// step_option |= REAL_MOVE;
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e_step();
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if (dda->e_direction)
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@ -448,18 +455,26 @@ void dda_step(DDA *dda) {
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((dda->n > 0) && (dda->c > dda->end_c)) ||
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((dda->n < 0) && (dda->c < dda->end_c))
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) {
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dda->c = dda->c - ((dda->c * 2) / dda->n);
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dda->c = (int32_t) dda->c - ((int32_t) (dda->c * 2) / dda->n);
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dda->n += 4;
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setTimer(dda->c);
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setTimer(dda->c >> 8);
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if (1) {
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serial_writestr_P(PSTR(" [nc:"));
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serwrite_uint32(dda->c >> 8);
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// serial_writestr_P(PSTR(", nn:"));
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// serwrite_uint32(dda->n);
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serial_writestr_P(PSTR("]"));
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}
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}
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else if (dda->c != dda->end_c) {
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dda->c = dda->end_c;
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setTimer(dda->c);
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setTimer(dda->c >> 8);
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}
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// else we are already at target speed
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}
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if (step_option & REAL_MOVE)
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if (step_option)
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// we stepped, reset timeout
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steptimeout = 0;
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@ -473,11 +488,16 @@ void dda_step(DDA *dda) {
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// if we could do anything at all, we're still running
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// otherwise, must have finished
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else if (step_option == 0) {
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else {
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dda->live = 0;
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// linear acceleration code doesn't use F during a move, so we must update it here
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current_position.F = dda->endpoint.F;
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}
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// if (1) {
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// serial_writechar('x'); serwrite_hex8(step_option);
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// }
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// turn off step outputs, hopefully they've been on long enough by now to register with the drivers
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// if not, too bad. or insert a (very!) small delay here, or fire up a spare timer or something
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unstep();
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@ -1,5 +1,7 @@
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#include "dda_queue.h"
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#include <string.h>
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#include "timer.h"
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#include "serial.h"
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#include "sermsg.h"
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@ -41,14 +43,14 @@ void enqueue(TARGET *t) {
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}
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void next_move() {
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#if STEP_INTERRUPT_INTERRUPTIBLE
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if (!queue_empty()) {
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#else
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if (queue_empty()) {
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#if STEP_INTERRUPT_INTERRUPTIBLE
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#else
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disableTimerInterrupt();
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#endif
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memcpy(&startpoint, ¤t_position, sizeof(TARGET));
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}
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else {
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#endif
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// next item
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uint8_t t = mb_tail;
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t++;
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@ -536,12 +536,27 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
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serial_writestr_P(PSTR(",F:"));
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serwrite_int32(current_position.F);
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serial_writestr_P(PSTR("}\n"));
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serial_writestr_P(PSTR("{X:"));
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serwrite_int32(startpoint.X);
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serial_writestr_P(PSTR(",Y:"));
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serwrite_int32(startpoint.Y);
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serial_writestr_P(PSTR(",Z:"));
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serwrite_int32(startpoint.Z);
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serial_writestr_P(PSTR(",E:"));
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serwrite_int32(startpoint.E);
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serial_writestr_P(PSTR(",F:"));
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serwrite_int32(startpoint.F);
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serial_writestr_P(PSTR("}\n"));
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print_queue();
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break;
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// DEBUG: read arbitrary memory location
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case 253:
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serwrite_hex8(*(volatile uint8_t *)(gcmd->S));
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break;
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// DEBUG: write arbitrary memory locatiom
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case 254:
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serwrite_hex8(gcmd->S);
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@ -4,7 +4,7 @@
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#include "arduino.h"
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#define BUFSIZE 64
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#define BAUD 38400
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#define BAUD 115200
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#define ASCII_XOFF 19
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#define ASCII_XON 17
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@ -76,15 +76,12 @@ void serial_init()
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ISR(USART_RX_vect)
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{
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WRITE(SCK, 1);
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if (buf_canwrite(rx))
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buf_push(rx, UDR0);
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WRITE(SCK, 0);
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}
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ISR(USART_UDRE_vect)
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{
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WRITE(SCK, 1);
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#if XONXOFF
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if (flowflags & FLOWFLAG_SEND_XOFF) {
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UDR0 = ASCII_XOFF;
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@ -100,7 +97,6 @@ ISR(USART_UDRE_vect)
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buf_pop(tx, UDR0);
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else
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UCSR0B &= ~MASK(UDRIE0);
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WRITE(SCK, 0);
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}
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/*
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@ -17,12 +17,10 @@ volatile uint8_t wd_flag = 0;
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// }
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ISR(WDT_vect) {
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WRITE(SCK, 1);
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// watchdog has tripped- no main loop activity for 0.5s, probably a bad thing
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// if watchdog fires again, we will reset
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// perhaps we should do something more intelligent in this interrupt?
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wd_flag |= 1;
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WRITE(SCK, 0);
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}
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void wd_init() {
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