dda.c/.h: formattings
This commit is contained in:
Nico Tonnhofer
parent
a0936287f9
commit
99d5a3fbeb
123
dda.c
123
dda.c
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@ -1,35 +1,34 @@
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#include "dda.h"
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#include "dda.h"
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/** \file
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\brief Digital differential analyser - this is where we figure out which steppers need to move, and when they need to move
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\brief Digital differential analyser - this is where we figure out which steppers need to move, and when they need to move
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*/
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#include <string.h>
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#include <stdlib.h>
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#include <math.h>
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#include <string.h>
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#include <stdlib.h>
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#include <math.h>
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#include "dda_maths.h"
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#include "dda_maths.h"
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#include "dda_kinematics.h"
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#include "dda_lookahead.h"
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#include "dda_lookahead.h"
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#include "cpu.h"
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#include "timer.h"
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#include "serial.h"
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#include "gcode_parse.h"
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#include "dda_queue.h"
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#include "debug.h"
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#include "sersendf.h"
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#include "pinio.h"
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#include "timer.h"
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#include "serial.h"
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#include "gcode_parse.h"
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#include "dda_queue.h"
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#include "debug.h"
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#include "sersendf.h"
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#include "pinio.h"
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#include "memory_barrier.h"
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#include "home.h"
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//#include "graycode.c"
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#ifdef DC_EXTRUDER
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#include "heater.h"
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#ifdef DC_EXTRUDER
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#include "heater.h"
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#endif
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/*
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position tracking
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position tracking
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*/
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/// \var startpoint
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@ -100,9 +99,9 @@ int8_t get_direction(DDA *dda, enum axis_e n) {
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/*! Inititalise DDA movement structures
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*/
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void dda_init(void) {
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// set up default feedrate
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if (startpoint.F == 0)
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startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
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// set up default feedrate
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if (startpoint.F == 0)
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startpoint.F = next_target.target.F = SEARCH_FEEDRATE_Z;
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if (startpoint.e_multiplier == 0)
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startpoint.e_multiplier = next_target.target.e_multiplier = 256;
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if (startpoint.f_multiplier == 0)
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@ -111,10 +110,10 @@ void dda_init(void) {
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/*! Distribute a new startpoint to DDA's internal structures without any movement.
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This is needed for example after homing or a G92. The new location must be in startpoint already.
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This is needed for example after homing or a G92. The new location must be in startpoint already.
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*/
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void dda_new_startpoint(void) {
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axes_um_to_steps(startpoint.axis, startpoint_steps.axis);
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axes_um_to_steps(startpoint.axis, startpoint_steps.axis);
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startpoint_steps.axis[E] = um_to_steps(startpoint.axis[E], E);
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}
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@ -122,14 +121,14 @@ void dda_new_startpoint(void) {
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Create a DDA using startpoint, startpoint_steps and a target, save to passed
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location so we can write directly into the queue.
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\param *dda pointer to a dda_queue entry to overwrite
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\param *target the target position of this move
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\param *dda pointer to a dda_queue entry to overwrite
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\param *target the target position of this move
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\ref startpoint the beginning position of this move
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\ref startpoint the beginning position of this move
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This function does a /lot/ of math. It works out directions for each axis, distance travelled, the time between the first and second step
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This function does a /lot/ of math. It works out directions for each axis, distance travelled, the time between the first and second step
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It also pre-fills any data that the selected accleration algorithm needs, and can be pre-computed for the whole move.
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It also pre-fills any data that the selected accleration algorithm needs, and can be pre-computed for the whole move.
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This algorithm is the main limiting factor when queuing movements and can
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become a limitation to print speed if there are lots of tiny, fast movements.
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@ -154,7 +153,7 @@ void dda_new_startpoint(void) {
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void dda_create(DDA *dda, const TARGET *target) {
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axes_uint32_t delta_um;
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axes_int32_t steps;
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uint32_t distance;
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uint32_t distance;
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#ifndef ACCELERATION_TEMPORAL
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uint32_t c_limit, c_limit_calc;
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#endif
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@ -580,33 +579,33 @@ void dda_step(DDA *dda) {
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}
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#endif
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#ifdef ACCELERATION_REPRAP
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// linear acceleration magic, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
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if (dda->accel) {
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#ifdef ACCELERATION_REPRAP
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// linear acceleration magic, courtesy of http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time
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if (dda->accel) {
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if ((dda->c > dda->end_c) && (dda->n > 0)) {
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uint32_t new_c = dda->c - (dda->c * 2) / dda->n;
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uint32_t new_c = dda->c - (dda->c * 2) / dda->n;
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if (new_c <= dda->c && new_c > dda->end_c) {
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dda->c = new_c;
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dda->n += 4;
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}
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else
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dda->c = new_c;
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dda->n += 4;
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}
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else
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dda->c = dda->end_c;
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}
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}
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else if ((dda->c < dda->end_c) && (dda->n < 0)) {
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uint32_t new_c = dda->c + ((dda->c * 2) / -dda->n);
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uint32_t new_c = dda->c + ((dda->c * 2) / -dda->n);
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if (new_c >= dda->c && new_c < dda->end_c) {
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dda->c = new_c;
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dda->n += 4;
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}
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else
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dda->c = new_c;
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dda->n += 4;
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}
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else
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dda->c = dda->end_c;
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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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}
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// else we are already at target speed
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}
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#endif
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}
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// else we are already at target speed
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}
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#endif
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#ifdef ACCELERATION_TEMPORAL
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/** How is this ACCELERATION TEMPORAL expected to work?
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@ -694,16 +693,16 @@ void dda_step(DDA *dda) {
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move_state.steps[Z] == 0 && move_state.steps[E] == 0)
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#endif
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{
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dda->live = 0;
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dda->live = 0;
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dda->done = 1;
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#ifdef LOOKAHEAD
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// If look-ahead was using this move, it could have missed our activation:
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// make sure the ids do not match.
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dda->id--;
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#endif
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#ifdef DC_EXTRUDER
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heater_set(DC_EXTRUDER, 0);
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#endif
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#ifdef DC_EXTRUDER
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heater_set(DC_EXTRUDER, 0);
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#endif
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#ifdef Z_AUTODISABLE
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// Z stepper is only enabled while moving.
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z_disable();
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@ -711,18 +710,18 @@ void dda_step(DDA *dda) {
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// No need to restart timer here.
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// After having finished, dda_start() will do it.
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}
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}
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else {
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psu_timeout = 0;
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psu_timeout = 0;
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#ifndef ACCELERATION_TEMPORAL
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timer_set(dda->c, 0);
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#endif
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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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// we also hope that we don't step before the drivers register the low- limit maximum speed if you think this is a problem.
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unstep();
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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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// we also hope that we don't step before the drivers register the low- limit maximum speed if you think this is a problem.
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unstep();
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}
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/*! Do regular movement maintenance.
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@ -960,8 +959,8 @@ void update_current_position() {
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for (i = X; i < AXIS_COUNT; i++) {
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axis_um = muldiv(move_state.steps[i],
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1000000,
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pgm_read_dword(&steps_per_m_P[i]));
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1000000,
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pgm_read_dword(&steps_per_m_P[i]));
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delta_um[i] = (int32_t)get_direction(dda, i) * axis_um;
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}
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@ -973,8 +972,8 @@ void update_current_position() {
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}
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current_position.F = dda->endpoint.F;
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}
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}
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else {
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memcpy(¤t_position, &startpoint, sizeof(TARGET));
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}
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}
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}
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30
dda.h
30
dda.h
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@ -1,14 +1,14 @@
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#ifndef _DDA_H
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#define _DDA_H
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#ifndef _DDA_H
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#define _DDA_H
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#include <stdint.h>
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#include <stdint.h>
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#include "config_wrapper.h"
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#include "config_wrapper.h"
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#ifdef ACCELERATION_REPRAP
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#ifdef ACCELERATION_RAMPING
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#error Cant use ACCELERATION_REPRAP and ACCELERATION_RAMPING together.
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#endif
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#ifdef ACCELERATION_RAMPING
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#error Cant use ACCELERATION_REPRAP and ACCELERATION_RAMPING together.
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#endif
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#endif
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// The distance of any move and a single axis should never go above this limit.
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@ -35,10 +35,10 @@ typedef uint32_t axes_uint32_t[AXIS_COUNT];
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typedef int32_t axes_int32_t[AXIS_COUNT];
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/**
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\struct TARGET
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\brief target is simply a point in space/time
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\struct TARGET
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\brief target is simply a point in space/time
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X, Y, Z and E are in micrometers unless explcitely stated. F is in mm/min.
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X, Y, Z and E are in micrometers unless explcitely stated. F is in mm/min.
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*/
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typedef struct {
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axes_int32_t axis;
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@ -50,10 +50,10 @@ typedef struct {
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} TARGET;
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/**
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\struct MOVE_STATE
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\brief this struct is made for tracking the current state of the movement
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\struct MOVE_STATE
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\brief this struct is made for tracking the current state of the movement
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Parts of this struct are initialised only once per reboot, so make sure dda_step() leaves them with a value compatible to begin a new movement at the end of the movement. Other parts are filled in by dda_start().
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Parts of this struct are initialised only once per reboot, so make sure dda_step() leaves them with a value compatible to begin a new movement at the end of the movement. Other parts are filled in by dda_start().
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*/
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typedef struct {
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// bresenham counters
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@ -170,7 +170,7 @@ extern TARGET startpoint_steps;
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extern TARGET current_position;
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/*
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methods
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methods
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*/
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int8_t get_direction(DDA *dda, enum axis_e n);
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@ -196,4 +196,4 @@ void dda_clock(void);
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// update current_position
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void update_current_position(void);
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#endif /* _DDA_H */
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#endif /* _DDA_H */
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