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time to save, bugfixes in linear acceleration code, fixed point delta t instead of integer, etc

This commit is contained in:
Michael Moon 2010-02-22 12:10:35 +11:00
parent 33ba692f37
commit 8575ae3480
1 changed files with 19 additions and 10 deletions
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29
mendel/dda.c
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@ -114,7 +114,7 @@ const uint8_t msbloc (uint32_t v) {
for (i = 31, c = 0x80000000; i; i--) { for (i = 31, c = 0x80000000; i; i--) {
if (v & c) if (v & c)
return i; return i;
v >>= 1; c >>= 1;
} }
return 0; return 0;
} }
@ -219,13 +219,17 @@ void dda_create(DDA *dda, TARGET *target) {
// changed * 10 to * (F_CPU / 100000) so we can work in cpu_ticks rather than microseconds. // changed * 10 to * (F_CPU / 100000) so we can work in cpu_ticks rather than microseconds.
// timer.c setTimer() routine altered for same reason // timer.c setTimer() routine altered for same reason
uint32_t move_duration = ((distance * 6000) / dda->total_steps) * (F_CPU / 100000);
// changed distance * 6000 .. * F_CPU / 100000 to
// distance * 2400 .. * F_CPU / 40000 so we can move a distance of 1800mm without killing our registers
uint32_t move_duration = ((distance * 2400) / dda->total_steps) * (F_CPU / 40000);
// c is initial step time in IOclk ticks // c is initial step time in IOclk ticks
dda->c = (move_duration / startpoint.F) << 8; dda->c = (move_duration / startpoint.F) << 8;
if (1) { if (1) {
serwrite_uint32(move_duration); serial_writechar(','); serwrite_uint32(move_duration); serial_writechar(',');
serwrite_uint32(dda->c); serial_writechar(',');
} }
if (startpoint.F != target->F) { if (startpoint.F != target->F) {
@ -244,17 +248,20 @@ void dda_create(DDA *dda, TARGET *target) {
// at 65536 mm/min (1092mm/s), ssq/esq overflows, and dsq is also close to overflowing if esq/ssq is small // at 65536 mm/min (1092mm/s), ssq/esq overflows, and dsq is also close to overflowing if esq/ssq is small
// but if ssq-esq is small, ssq/dsq is only a few bits // but if ssq-esq is small, ssq/dsq is only a few bits
// we'll have to do it a few different ways depending on the msb location in each // we'll have to do it a few different ways depending on the msb location in each
if ((msb_tot + msb_ssq) <= 28) { if ((msb_tot + msb_ssq) <= 30) {
// we have room to do all the multiplies first // we have room to do all the multiplies first
serial_writechar('A');
dda->n = ((int32_t) (dda->total_steps * ssq) / dsq) + 1; dda->n = ((int32_t) (dda->total_steps * ssq) / dsq) + 1;
} }
else if (msb_tot > msb_ssq) { else if (msb_tot >= msb_ssq) {
// total steps has more precision // total steps has more precision
serial_writechar('B');
dda->n = (((int32_t) dda->total_steps / dsq) * (int32_t) ssq) + 1; dda->n = (((int32_t) dda->total_steps / dsq) * (int32_t) ssq) + 1;
} }
else { else {
// otherwise // otherwise
dda->n = (((int32_t) ssq / dsq) * (int32_t) dda->total_steps) + 1; serial_writechar('C');
dda->n = (((int32_t) ssq / dsq) * (int32_t) dda->total_steps) + 1;
} }
if (1) { if (1) {
@ -262,9 +269,11 @@ void dda_create(DDA *dda, TARGET *target) {
serial_writestr_P(PSTR(", end_c:")); serwrite_uint32(dda->end_c >> 8); serial_writestr_P(PSTR(", end_c:")); serwrite_uint32(dda->end_c >> 8);
serial_writestr_P(PSTR(", n:")); serwrite_int32(dda->n); serial_writestr_P(PSTR(", n:")); serwrite_int32(dda->n);
serial_writestr_P(PSTR(", md:")); serwrite_uint32(move_duration); serial_writestr_P(PSTR(", md:")); serwrite_uint32(move_duration);
serial_writestr_P(PSTR(", ssq:")); serwrite_int32(ssq); serial_writestr_P(PSTR(", ssq:")); serwrite_uint32(ssq);
serial_writestr_P(PSTR(", esq:")); serwrite_int32(esq); serial_writestr_P(PSTR(", esq:")); serwrite_uint32(esq);
serial_writestr_P(PSTR(", dsq:")); serwrite_int32(dsq); serial_writestr_P(PSTR(", dsq:")); serwrite_int32(dsq);
serial_writestr_P(PSTR(", msbssq:")); serwrite_uint8(msb_ssq);
serial_writestr_P(PSTR(", msbtot:")); serwrite_uint8(msb_tot);
serial_writestr_P(PSTR("}\n")); serial_writestr_P(PSTR("}\n"));
} }
@ -459,12 +468,12 @@ void dda_step(DDA *dda) {
dda->n += 4; dda->n += 4;
setTimer(dda->c >> 8); setTimer(dda->c >> 8);
if (1) { if (0) {
serial_writestr_P(PSTR(" [nc:")); // serial_writestr_P(PSTR("nc:"));
serwrite_uint32(dda->c >> 8); serwrite_uint32(dda->c >> 8);
// serial_writestr_P(PSTR(", nn:")); // serial_writestr_P(PSTR(", nn:"));
// serwrite_uint32(dda->n); // serwrite_uint32(dda->n);
serial_writestr_P(PSTR("]")); serial_writestr_P(PSTR("/"));
} }
} }
else if (dda->c != dda->end_c) { else if (dda->c != dda->end_c) {