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Fix endstop stop condition for clock-based acceleration. 

This required a strategy change, since move_state.n is no longer
decreasing in steps of 1.
This commit is contained in:
Markus Hitter 2013-10-24 14:53:26 +02:00
parent 3988e47467
commit 4190d6ffb9
2 changed files with 19 additions and 14 deletions
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30
dda.c
View File

@ -422,6 +422,7 @@ void dda_start(DDA *dda) {
move_state.x_counter = move_state.y_counter = move_state.z_counter = \
move_state.e_counter = -(dda->total_steps >> 1);
memcpy(&move_state.x_steps, &dda->x_delta, sizeof(uint32_t) * 4);
move_state.endstop_stop = 0;
#ifdef ACCELERATION_RAMPING
move_state.step_no = 0;
move_state.n = 0;
@ -617,7 +618,7 @@ void dda_step(DDA *dda) {
if ((move_state.x_steps == 0 && move_state.y_steps == 0 &&
move_state.z_steps == 0 && move_state.e_steps == 0)
#ifdef ACCELERATION_RAMPING
|| (dda->endstop_check && move_state.n == 0)
|| (move_state.endstop_stop && move_state.n == 0)
#endif
) {
dda->live = 0;
@ -668,7 +669,7 @@ void dda_clock() {
static volatile uint8_t busy = 0;
DDA *dda;
static DDA *last_dda = NULL;
static uint8_t endstop_stop = 0; ///< Stop due to endstop trigger
uint8_t endstop_trigger = 0;
uint32_t move_step_no, move_c;
uint8_t recalc_speed;
@ -677,7 +678,6 @@ void dda_clock() {
move_state.debounce_count_xmin = move_state.debounce_count_ymin =
move_state.debounce_count_zmin = move_state.debounce_count_xmax =
move_state.debounce_count_ymax = move_state.debounce_count_zmax = 0;
endstop_stop = 0;
last_dda = dda;
}
@ -695,7 +695,7 @@ void dda_clock() {
// means, we trust dda isn't changed behind our back, which could
// in principle (but rarely) happen if endstops are checked not as
// endstop search, but as part of normal operations.
if (endstop_stop == 0) {
if (dda->endstop_check && ! move_state.endstop_stop) {
#if defined X_MIN_PIN || defined X_MAX_PIN
if (dda->endstop_check & 0x1) {
#if defined X_MIN_PIN
@ -710,8 +710,8 @@ void dda_clock() {
else
move_state.debounce_count_xmax = 0;
#endif
endstop_stop = move_state.debounce_count_xmin >= ENDSTOP_STEPS ||
move_state.debounce_count_xmax >= ENDSTOP_STEPS;
endstop_trigger = move_state.debounce_count_xmin >= ENDSTOP_STEPS ||
move_state.debounce_count_xmax >= ENDSTOP_STEPS;
}
#endif
@ -729,8 +729,8 @@ void dda_clock() {
else
move_state.debounce_count_ymax = 0;
#endif
endstop_stop = move_state.debounce_count_ymin >= ENDSTOP_STEPS ||
move_state.debounce_count_ymax >= ENDSTOP_STEPS;
endstop_trigger = move_state.debounce_count_ymin >= ENDSTOP_STEPS ||
move_state.debounce_count_ymax >= ENDSTOP_STEPS;
}
#endif
@ -748,16 +748,21 @@ void dda_clock() {
else
move_state.debounce_count_zmax = 0;
#endif
endstop_stop = move_state.debounce_count_zmin >= ENDSTOP_STEPS ||
move_state.debounce_count_zmax >= ENDSTOP_STEPS;
endstop_trigger = move_state.debounce_count_zmin >= ENDSTOP_STEPS ||
move_state.debounce_count_zmax >= ENDSTOP_STEPS;
}
#endif
// If an endstop is definitely triggered, stop the movement.
if (endstop_stop) {
if (endstop_trigger) {
#ifdef ACCELERATION_RAMPING
// For always smooth operations, don't halt apruptly,
// but start deceleration here.
ATOMIC_START
move_state.endstop_stop = 1;
// A "-=" would cause an overflow.
dda->total_steps = dda->total_steps - dda->rampdown_steps + move_state.step_no;
ATOMIC_END
// Not atomic, because not used in dda_step().
dda->rampdown_steps = move_state.step_no;
dda->rampup_steps = 0; // in case we're still accelerating
@ -767,7 +772,7 @@ void dda_clock() {
endstops_off();
}
} /* if (endstop_stop == 0) */
} /* ! move_state.endstop_stop */
#ifdef ACCELERATION_RAMPING
// For maths about stepper speed profiles, see
@ -814,7 +819,6 @@ void dda_clock() {
move_state.c = move_c;
ATOMIC_END
}
#endif
cli(); // Compensate sei() above.

3
dda.h
View File

@ -85,7 +85,8 @@ typedef struct {
uint32_t all_time; ///< time of the last step of any axis
#endif
/// Endstop debouncing
/// Endstop handling.
uint8_t endstop_stop; ///< Stop due to endstop trigger
uint8_t debounce_count_xmin, debounce_count_ymin, debounce_count_zmin;
uint8_t debounce_count_xmax, debounce_count_ymax, debounce_count_zmax;
} MOVE_STATE;