time to save, think I solved reducing F bug, movement is now lovely!
This commit is contained in:
Michael Moon
parent
6002e10dd7
commit
9b067d383b
74
mendel/dda.c
74
mendel/dda.c
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@ -169,6 +169,12 @@ uint32_t abs32(int32_t v) {
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return (uint32_t) (v);
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}
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uint32_t delta32(uint32_t v1, uint32_t v2) {
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if (v1 >= v2)
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return v1 - v2;
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return v2 - v1;
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}
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/*
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CREATE
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*/
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@ -191,13 +197,29 @@ void dda_create(TARGET *target, DDA *dda) {
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dda->y_delta = abs32(target->Y - startpoint.Y);
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dda->z_delta = abs32(target->Z - startpoint.Z);
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dda->e_delta = abs32(target->E - startpoint.E);
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dda->f_delta = abs32(target->F - startpoint.F);
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dda->f_delta = delta32(target->F, startpoint.F);
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dda->x_direction = (target->X >= startpoint.X)?1:0;
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dda->y_direction = (target->Y >= startpoint.Y)?1:0;
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dda->z_direction = (target->Z >= startpoint.Z)?1:0;
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dda->e_direction = (target->E >= startpoint.E)?1:0;
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dda->f_direction = (target->F >= startpoint.F)?1:0;
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if (DEBUG) {
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if (dda->x_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->x_delta); serial_writechar(',');
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if (dda->y_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->y_delta); serial_writechar(',');
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if (dda->z_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->z_delta); serial_writechar(',');
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if (dda->e_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->e_delta); serial_writechar(',');
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if (dda->f_direction == 0)
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serial_writechar('-');
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serwrite_uint32(dda->f_delta); serial_writestr_P(PSTR("] ["));
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}
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@ -241,12 +263,6 @@ void dda_create(TARGET *target, DDA *dda) {
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// serwrite_uint32(dda->total_steps); serial_writechar(',');
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// }
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dda->x_direction = (target->X >= startpoint.X)?1:0;
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dda->y_direction = (target->Y >= startpoint.Y)?1:0;
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dda->z_direction = (target->Z >= startpoint.Z)?1:0;
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dda->e_direction = (target->E >= startpoint.E)?1:0;
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dda->f_direction = (target->F >= startpoint.F)?1:0;
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dda->x_counter = dda->y_counter = dda->z_counter = dda->e_counter = dda->f_counter =
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-(dda->total_steps >> 1);
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@ -287,13 +303,13 @@ void dda_create(TARGET *target, DDA *dda) {
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void dda_start(DDA *dda) {
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// called from interrupt context: keep it simple!
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if (
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(current_position.X == dda->endpoint.X) &&
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(current_position.Y == dda->endpoint.Y) &&
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(current_position.Z == dda->endpoint.Z) &&
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(current_position.E == dda->endpoint.E)
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) {
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// if (dda->nullmove) {
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// if (
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// (current_position.X == dda->endpoint.X) &&
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// (current_position.Y == dda->endpoint.Y) &&
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// (current_position.Z == dda->endpoint.Z) &&
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// (current_position.E == dda->endpoint.E)
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// ) {
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if (dda->nullmove) {
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// just change speed?
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current_position.F = dda->endpoint.F;
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return;
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@ -325,14 +341,14 @@ uint8_t can_step(uint8_t min, uint8_t max, int32_t current, int32_t target, uint
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// forwards/positive
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if (max)
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return 0;
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if ((current - target) >= 0)
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if (current >= target)
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return 0;
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}
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else {
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// backwards/negative
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if (min)
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return 0;
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if ((target - current) >= 0)
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if (target >= current)
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return 0;
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}
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@ -357,7 +373,6 @@ void dda_step(DDA *dda) {
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WRITE(SCK, 0);
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step_option = 0;
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do {
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// WRITE(SCK, 0);
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@ -433,6 +448,7 @@ void dda_step(DDA *dda) {
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if (step_option & F_CAN_STEP) {
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dda->f_counter -= dda->f_delta;
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// since we don't allow total_steps to be defined by F, we may need to step multiple times if f_delta is greater than total_steps
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while (dda->f_counter < 0) {
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dda->f_counter += dda->total_steps;
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@ -466,8 +482,9 @@ void dda_step(DDA *dda) {
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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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// } while ( ((step_option & REAL_MOVE ) == 0) &&
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// ((step_option & F_CAN_STEP) != 0) );
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} while (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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@ -485,16 +502,15 @@ void dda_step(DDA *dda) {
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setTimer(dda->move_duration / current_position.F);
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// if we could do anything at all, we're still running
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dda->live = (step_option != 0)?1:0;
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// if (
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// (current_position.X == dda->endpoint.X) &&
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// (current_position.Y == dda->endpoint.Y) &&
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// (current_position.Z == dda->endpoint.Z) &&
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// (current_position.E == dda->endpoint.E) &&
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// (current_position.F == dda->endpoint.F)
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// ) {
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// dda->live = 0;
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// }
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// dda->live = (step_option != 0)?1:0;
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// otherwise, must have finished
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if (step_option == 0) {
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dda->live = 0;
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#ifdef STUPIDLY_HIDE_BUGS
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// this magically makes bugs disappear after each move, probably a bad move
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memcpy(¤t_position, &(dda->endpoint), sizeof(TARGET));
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#endif
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}
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WRITE(SCK, 1);
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}
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