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solved bug where speed would be seemingly random for moves beyond about 71mm, plus lots of tidying

This commit is contained in:
Michael Moon 2010-02-03 23:11:33 +11:00
parent 9b067d383b
commit 5b1245e41d
2 changed files with 47 additions and 25 deletions
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17
mendel/Makefile
View File

@ -32,16 +32,25 @@ F_CPU = 16000000L
##############################################################################
ARCH = avr-
CC = $(ARCH)gcc
OBJDUMP = $(ARCH)objdump
OBJCOPY = $(ARCH)objcopy
OPTIMIZE = -Os -ffunction-sections -finline-functions-called-once -DDEBUG=1
# OPTIMIZE = -O0
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
LDFLAGS = -Wl,--as-needed -Wl,--gc-sections
CC = $(ARCH)gcc
OBJDUMP = $(ARCH)objdump
OBJCOPY = $(ARCH)objcopy
AVRDUDE = avrdude
##############################################################################
# #
# udev rule for /dev/arduino (insert into /etc/udev/rules.d/99-local.rules) #
# SUBSYSTEMS=="usb", ATTRS{idProduct}=="6001", ATTRS{idVendor}=="0403", #
# NAME="%k", SYMLINK+="arduino", SYMLINK+="arduino_$attr{serial}", #
# MODE="0660" #
# #
##############################################################################
PROGPORT = /dev/arduino
PROGBAUD = 19200
@ -54,8 +63,6 @@ all: $(PROGRAM).hex $(PROGRAM).lst size
program: $(PROGRAM).hex
stty $(PROGBAUD) raw ignbrk hup < $(PROGPORT)
@sleep 0.2
@stty $(PROGBAUD) raw ignbrk hup < $(PROGPORT)
$(AVRDUDE) -cstk500v1 -b$(PROGBAUD) -p$(MCU_TARGET) -P$(PROGPORT) -C/etc/avrdude.conf -U flash:w:$^
stty 57600 raw ignbrk -hup -echo ixon < $(PROGPORT)

55
mendel/dda.c
View File

@ -24,6 +24,13 @@
uint8_t steptimeout = 0;
/*
position tracking
*/
TARGET startpoint = { 0, 0, 0, 0, 0 };
TARGET current_position = { 0, 0, 0, 0, 0 };
/*
move queue
*/
@ -32,12 +39,6 @@ uint8_t mb_head = 0;
uint8_t mb_tail = 0;
DDA movebuffer[MOVEBUFFER_SIZE];
/*
position tracking
*/
TARGET startpoint = { 0, 0, 0, 0, 0 };
TARGET current_position = { 0, 0, 0, 0, 0 };
uint8_t queue_full() {
if (mb_tail == 0)
@ -176,7 +177,7 @@ uint32_t delta32(uint32_t v1, uint32_t v2) {
}
/*
CREATE
CREATE a dda given current_position and a target, save to passed location so we can write directly into the queue
*/
void dda_create(TARGET *target, DDA *dda) {
@ -279,12 +280,20 @@ void dda_create(TARGET *target, DDA *dda) {
// if (distance < 2)
// distance = dda->f_delta;
if (DEBUG) {
serwrite_uint32(distance); serial_writechar(',');
}
// pre-calculate move speed in millimeter microseconds per step minute for less math in interrupt context
// mm (distance) * 60000000 us/min / step (total_steps) = mm.us per step.min
// note: um (distance) * 60000 == mm * 60000000
// so in the interrupt we must simply calculate
// mm.us per step.min / mm per min (F) = us per step
dda->move_duration = distance * 60000 / dda->total_steps;
// break this calculation up a bit and lose some precision because 300,000um * 60000 is too big for a uint32
// calculate this with a uint64 if you need the precision, but it'll take longer so routines with lots of short moves may suffer
// 2^32/6000 is about 715mm which should be plenty
dda->move_duration = ((distance * 6000) / dda->total_steps) * 10;
if (DEBUG)
serwrite_uint32(dda->move_duration);
@ -298,7 +307,7 @@ void dda_create(TARGET *target, DDA *dda) {
}
/*
START
Start a prepared DDA
*/
void dda_start(DDA *dda) {
@ -369,11 +378,14 @@ void dda_step(DDA *dda) {
#define REAL_MOVE 32
#define F_REAL_STEP 64
serial_writechar('!');
if (DEBUG)
serial_writechar('!');
WRITE(SCK, 0);
// turn 'L' light OFF so it's obvious if we froze in this routine
// if (DEBUG)
// WRITE(SCK, 0);
do {
// do {
// WRITE(SCK, 0);
step_option &= ~(X_CAN_STEP | Y_CAN_STEP | Z_CAN_STEP | E_CAN_STEP | F_CAN_STEP);
@ -468,6 +480,7 @@ void dda_step(DDA *dda) {
}
}
// this generates too much debug output for all but the slowest step rates
if (0 && DEBUG) {
serial_writechar('[');
serwrite_hex8(step_option);
@ -484,10 +497,7 @@ void dda_step(DDA *dda) {
// } while ( ((step_option & REAL_MOVE ) == 0) &&
// ((step_option & F_CAN_STEP) != 0) );
} while (0);
// turn off step outputs, hopefully they've been on long enough by now to register with the drivers
unstep();
// } while (0);
if (step_option & REAL_MOVE)
// we stepped, reset timeout
@ -502,15 +512,20 @@ void dda_step(DDA *dda) {
setTimer(dda->move_duration / current_position.F);
// if we could do anything at all, we're still running
// dda->live = (step_option != 0)?1:0;
// otherwise, must have finished
if (step_option == 0) {
else if (step_option == 0) {
dda->live = 0;
#ifdef STUPIDLY_HIDE_BUGS
// this magically makes bugs disappear after each move, probably a bad move
// this magically makes bugs disappear after each move, probably a bad idea
memcpy(&current_position, &(dda->endpoint), sizeof(TARGET));
#endif
}
WRITE(SCK, 1);
// turn off step outputs, hopefully they've been on long enough by now to register with the drivers
// if not, too bad. or insert a (very!) small delay here, or fire up a spare timer or something
unstep();
// turn 'L' light back on again
// if (DEBUG)
// WRITE(SCK, 1);
}