It's alive! (cue evil cackle). still has some bugs, eg small movements with large delta F cause weirdness, queueing lots of moves end-to-end causes some to not execute but appear as complete in the queue
This commit is contained in:
Michael Moon
parent
d302329eee
commit
4fc004c6c2
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@ -32,7 +32,7 @@ F_CPU = 16000000L
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##############################################################################
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ARCH = avr-
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OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -DDEBUG=0
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OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -DDEBUG=1
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# OPTIMIZE = -O0
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CFLAGS = -g -Wall -Wstrict-prototypes $(OPTIMIZE) -mmcu=$(MCU_TARGET) -DF_CPU=$(F_CPU) $(DEFS) -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -save-temps
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LDFLAGS = -Wl,--as-needed -Wl,--gc-sections
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@ -54,9 +54,10 @@ all: $(PROGRAM).hex $(PROGRAM).lst size
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program: $(PROGRAM).hex
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stty $(PROGBAUD) raw ignbrk hup < $(PROGPORT)
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@sleep 0.2
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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 -hup -echo < $(PROGPORT)
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stty 57600 raw ignbrk -hup -echo < $(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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@ -26,6 +26,34 @@
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#define SET_INPUT(IO) _SET_INPUT(IO)
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#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
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/*
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ports and functions
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*/
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// UART
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#define RXD DIO0
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#define TXD DIO1
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// SPI
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#define SCK DIO13
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#define MISO DIO12
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#define MOSI DIO11
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#define SS DIO10
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// TWI (I2C)
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#define SCL AIO5
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#define SDA AIO4
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// timers and PWM
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#define OC0A DIO6
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#define OC0B DIO5
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#define OC1A DIO9
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#define OC1B DIO10
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#define OC2A DIO11
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#define OC2B DIO3
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#define ICP1 DIO8
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/*
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pins
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*/
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@ -10,6 +10,7 @@
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#include <avr/interrupt.h>
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#include "arduino.h"
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#include "pinout.h"
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// global clock
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#ifdef GLOBAL_CLOCK
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@ -38,6 +39,7 @@ void clock_setup() {
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}
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ISR(TIMER2_COMPA_vect) {
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// WRITE(SCK, 0);
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// global clock
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#ifdef GLOBAL_CLOCK
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clock++;
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@ -47,6 +49,7 @@ ISR(TIMER2_COMPA_vect) {
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clock_flag_250ms = 255;
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clock_counter_250ms = 0;
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}
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// WRITE(SCK, 1);
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}
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#ifdef GLOBAL_CLOCK
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@ -11,7 +11,8 @@ uint32_t clock_read(void);
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extern volatile uint8_t clock_flag_250ms;
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#define CLOCK_FLAG_250MS_TEMPCHECK 1
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#define CLOCK_FLAG_250MS_REPORT 2
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#define CLOCK_FLAG_250MS_TEMPCHECK 1
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#define CLOCK_FLAG_250MS_REPORT 2
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#define CLOCL_FLAG_250MS_STEPTIMEOUT 4
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#endif /* _CLOCK_H */
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46
mendel/dda.c
46
mendel/dda.c
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@ -18,6 +18,12 @@
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#define DEBUG 0
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#endif
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/*
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step timeout
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*/
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uint8_t steptimeout = 0;
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/*
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move queue
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*/
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@ -201,6 +207,7 @@ void dda_create(TARGET *target, DDA *dda) {
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dda->f_delta = dda->total_steps;
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}
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else {
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// if we boost the number of steps here, many will only be F-steps which take no time- maybe we should calculate move_distance first?
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dda->f_scale = 1;
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dda->total_steps = dda->f_delta;
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}
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@ -253,6 +260,10 @@ void dda_create(TARGET *target, DDA *dda) {
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// not running yet, we fire up in dda_start()
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dda->live = 0;
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// get steppers ready to go
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steptimeout = 0;
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enable_steppers();
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// fire up
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enableTimerInterrupt();
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}
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@ -269,16 +280,18 @@ void dda_start(DDA *dda) {
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return;
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}
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// set direction outputs
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x_direction(dda->x_direction);
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y_direction(dda->y_direction);
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z_direction(dda->z_direction);
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e_direction(dda->e_direction);
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// ensure steppers are ready to go
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steptimeout = 0;
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enable_steppers();
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dda->firstep = 1;
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dda->live = 1;
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// set timeout for first step
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setTimer(dda->move_duration / current_position.F);
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}
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/*
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@ -321,9 +334,10 @@ void dda_step(DDA *dda) {
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#define REAL_MOVE 32
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#define F_REAL_STEP 64
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WRITE(SCK, 1);
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do {
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WRITE(SCK, 0);
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step_option = 0;
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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(y_min(), y_max(), current_position.Y, dda->endpoint.Y, dda->y_direction) & Y_CAN_STEP;
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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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@ -417,7 +431,7 @@ void dda_step(DDA *dda) {
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}
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}
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if (DEBUG) {
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if (0 && DEBUG) {
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serial_writechar('[');
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serwrite_hex8(step_option);
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serial_writechar(':');
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@ -430,20 +444,28 @@ void dda_step(DDA *dda) {
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serwrite_uint32(dda->move_duration);
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serial_writechar(']');
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}
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WRITE(SCK, 1);
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} while ( ((step_option & REAL_MOVE ) == 0) &&
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((step_option & F_CAN_STEP) != 0) );
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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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unstep();
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// we have stepped in speed and now need to recalculate our delay
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if (((step_option & REAL_MOVE) && (step_option & F_REAL_STEP)) || (dda->firstep)) {
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setTimer(dda->move_duration / current_position.F);
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dda->firstep = 0;
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if (step_option & REAL_MOVE) {
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// we stepped, reset timeout
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steptimeout = 0;
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// we have stepped in speed and now need to recalculate our delay
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// WARNING: this is a divide in interrupt context! (which unfortunately seems unavoidable)
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// we simply don't have the memory to precalculate this for each step,
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// can't use a simplified process because the denominator changes rather than the numerator so the curve is non-linear
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// and don't have a process framework to force it to be done outside interrupt context within a usable period of time
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if (step_option & F_REAL_STEP)
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setTimer(dda->move_duration / current_position.F);
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}
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// if we could step, we're still running
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dda->live = (step_option & (X_CAN_STEP | Y_CAN_STEP | Z_CAN_STEP | E_CAN_STEP | F_CAN_STEP))?1:0;
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WRITE(SCK, 0);
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}
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@ -51,6 +51,8 @@ extern DDA movebuffer[MOVEBUFFER_SIZE];
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extern TARGET startpoint;
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extern TARGET current_position;
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extern uint8_t steptimeout;
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uint8_t queue_full(void);
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uint8_t queue_empty(void);
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void enqueue(TARGET *t);
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@ -45,7 +45,7 @@ int32_t decfloat_to_int(decfloat *df, int32_t multiplicand, int32_t denominator)
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if (df->sign)
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r = -r;
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// exponent- try to keep divides to a minimum at expense of slightly more code
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// exponent- try to keep divides to a minimum for common (small) values at expense of slightly more code
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while (e >= 5) {
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r /= 100000;
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e -= 5;
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@ -126,8 +126,8 @@ void scan_char(uint8_t c) {
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serwrite_uint32(next_target.target.E);
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break;
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case 'F':
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// just save an integer value for F, we need move distance and n_steps to convert it to a useful value, so wait until we have those to convert it
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next_target.target.F = read_digit.mantissa;
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// just use raw integer, we need move distance and n_steps to convert it to a useful value, so wait until we have those to convert it
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next_target.target.F = decfloat_to_int(&read_digit, 1, 1);
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serwrite_uint32(next_target.target.F);
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break;
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case 'S':
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@ -6,9 +6,9 @@
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#include "dda.h"
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typedef struct {
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uint16_t sign :1;
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uint16_t mantissa :11;
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uint16_t exponent :4;
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uint32_t sign :1;
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uint32_t mantissa :24;
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uint32_t exponent :7;
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} decfloat;
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typedef struct {
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@ -12,7 +12,7 @@
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axis calculations, adjust as necessary
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*/
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#define X_STEPS_PER_REV 1600.0
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#define X_STEPS_PER_REV 3200.0
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#define Y_STEPS_PER_REV X_STEPS_PER_REV
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// we need more speed than precision on Z, turn off microstepping
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#define Z_STEPS_PER_REV 200.0
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@ -26,7 +26,7 @@
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// #define XY_COG_CIRCUMFERENCE (XY_COG_RADIUS * PI * 2)
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#define Z_GEAR_RATIO 1.0
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#define EXTRUDER_STEPS_PER_REV 3200.0
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#define EXTRUDER_STEPS_PER_REV E_STEPS_PER_REV
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#define EXTRUDER_SHAFT_RADIUS 5.0
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#define EXTRUDER_INLET_DIAMETER 3.0
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#define EXTRUDER_NOZZLE_DIAMETER 0.8
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@ -40,10 +40,10 @@
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// does this refer to filament or extrudate? extrudate depends on layer thickness.. hm
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#define STEPS_PER_MM_E ((uint32_t) ((EXTRUDER_STEPS_PER_REV / (EXTRUDER_SHAFT_RADIUS * PI * EXTRUDER_INLET_DIAMETER / EXTRUDER_NOZZLE_DIAMETER)) + 0.5))
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#define FEEDRATE_FAST_XY 2400
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#define FEEDRATE_SLOW_XY 120
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#define FEEDRATE_FAST_Z 240
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#define FEEDRATE_SLOW_Z 12
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#define FEEDRATE_FAST_XY 6000
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#define FEEDRATE_SLOW_XY 300
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#define FEEDRATE_FAST_Z 6000
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#define FEEDRATE_SLOW_Z 300
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#define E_STARTSTOP_STEPS 20
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#define FEEDRATE_FAST_E 1200
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@ -19,14 +19,7 @@
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#define DEBUG 0
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#endif
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int main (void)
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{
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uint8_t report;
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// set up serial
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serial_init();
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// set up inputs and outputs
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inline void io_init(void) {
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WRITE(X_STEP_PIN, 0); SET_OUTPUT(X_STEP_PIN);
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WRITE(X_DIR_PIN, 0); SET_OUTPUT(X_DIR_PIN);
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WRITE(X_MIN_PIN, 1); SET_INPUT(X_MIN_PIN);
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@ -42,15 +35,29 @@ int main (void)
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WRITE(E_STEP_PIN, 0); SET_OUTPUT(E_STEP_PIN);
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WRITE(E_DIR_PIN, 0); SET_OUTPUT(E_DIR_PIN);
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WRITE(HEATER_PIN, 0); SET_OUTPUT(HEATER_PIN);
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#ifdef FAN_PIN
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WRITE(FAN_PIN, 0); SET_OUTPUT(FAN_PIN);
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#ifdef HEATER_PIN
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disable_heater(); SET_OUTPUT(HEATER_PIN);
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#endif
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WRITE(SCK, 0); SET_OUTPUT(SCK);
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WRITE(MISO, 1); SET_INPUT(MISO);
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WRITE(SS, 0); SET_OUTPUT(SS);
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#ifdef FAN_PIN
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disable_fan(); SET_OUTPUT(FAN_PIN);
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#endif
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#ifdef STEPPER_ENABLE_PIN
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disable_steppers(); SET_OUTPUT(STEPPER_ENABLE_PIN);
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#endif
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WRITE(SCK, 1); SET_OUTPUT(SCK);
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WRITE(MISO, 1); SET_INPUT(MISO);
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WRITE(SS, 0); SET_OUTPUT(SS);
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}
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inline void init(void) {
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// set up serial
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serial_init();
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// set up inputs and outputs
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io_init();
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// set up timers
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setupTimerInterrupt();
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@ -66,6 +73,13 @@ int main (void)
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// start queue
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//enableTimerInterrupt();
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}
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int main (void)
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{
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uint8_t report;
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init();
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// main loop
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for (;;)
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@ -81,6 +95,17 @@ int main (void)
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temp_tick();
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}
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if (clock_flag_250ms & CLOCK_FLAG_250MS_STEPTIMEOUT) {
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clock_flag_250ms &= ~CLOCK_FLAG_250MS_STEPTIMEOUT;
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if (steptimeout > 25) {
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disable_steppers();
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}
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else {
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steptimeout++;
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}
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}
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if (clock_flag_250ms & CLOCK_FLAG_250MS_REPORT) {
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clock_flag_250ms &= ~CLOCK_FLAG_250MS_REPORT;
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report++;
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@ -12,8 +12,14 @@
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we NEED these for communication
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*/
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// RXD DIO0
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// TXD DIO1
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#define RESERVED_RXD DIO0
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#define RESERVED_TXD DIO1
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/*
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user defined pins
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adjust to suit your electronics,
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or adjust your electronics to suit this
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*/
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#define X_STEP_PIN AIO0
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#define X_DIR_PIN AIO1
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@ -30,7 +36,10 @@
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#define E_STEP_PIN DIO7
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#define E_DIR_PIN DIO8
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#define STEPPER_ENABLE_PIN DIO9
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// list of PWM-able pins and corresponding timers
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// timer1 is reserved for step timing
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// OC0A DIO6
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// OC0B DIO5
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// OC1A DIO9
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@ -41,12 +50,7 @@
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#define HEATER_PIN DIO6
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#define HEATER_PIN_PWM OC0A
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#define FAN_PIN DIO5
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#define SCK DIO13
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#define MISO DIO12
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#define MOSI DIO11
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#define SS DIO10
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// #define FAN_PIN DIO5
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/*
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X Stepper
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@ -105,13 +109,25 @@
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#define enable_heater() WRITE(HEATER_PIN, 1)
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#define disable_heater() WRITE(HEATER_PIN, 0)
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/*
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fan
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*/
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#ifdef FAN_PIN
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#define enable_fan() WRITE(FAN_PIN, 1)
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#define disable_fan() WRITE(FAN_PIN, 0)
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#else
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#define enable_fan() if (0) {}
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#define disable_fan() if (0) {}
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#endif
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/*
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Stepper Enable (ATX PSU pwr_good signal?)
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*/
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#ifdef STEPPER_ENABLE_PIN
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#define enable_steppers() WRITE(STEPPER_ENABLE_PIN, 1)
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#define disable_steppers() WRITE(STEPPER_ENABLE_PIN, 0)
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#define enable_steppers() WRITE(STEPPER_ENABLE_PIN, 0)
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#define disable_steppers() WRITE(STEPPER_ENABLE_PIN, 1)
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#else
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#define enable_steppers() if (0) {}
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#define disable_steppers() if (0) {}
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@ -71,6 +71,8 @@ uint16_t temp_read() {
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WRITE(SS, 0);
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SPCR = 0;
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return 0;
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}
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@ -9,16 +9,19 @@ ISR(TIMER1_COMPA_vect) {
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if(movebuffer[mb_tail].live) {
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// this interrupt can be interruptible
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// TODO: remove when not debugging
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disableTimerInterrupt();
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sei();
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// disableTimerInterrupt();
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||||
// sei();
|
||||
|
||||
// WRITE(SCK, 0);
|
||||
dda_step(&(movebuffer[mb_tail]));
|
||||
// WRITE(SCK, 1);
|
||||
|
||||
cli();
|
||||
enableTimerInterrupt();
|
||||
// cli();
|
||||
// enableTimerInterrupt();
|
||||
}
|
||||
else
|
||||
else {
|
||||
next_move();
|
||||
}
|
||||
}
|
||||
|
||||
void setupTimerInterrupt()
|
||||
|
|
|
|||
Loading…
Reference in New Issue