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time to save, think I solved reducing F bug, movement is now lovely!

This commit is contained in:
Michael Moon 2010-02-03 19:56:51 +11:00
parent 6002e10dd7
commit 9b067d383b
1 changed files with 45 additions and 29 deletions
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74
mendel/dda.c
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@ -169,6 +169,12 @@ uint32_t abs32(int32_t v) {
return (uint32_t) (v); return (uint32_t) (v);
} }
uint32_t delta32(uint32_t v1, uint32_t v2) {
if (v1 >= v2)
return v1 - v2;
return v2 - v1;
}
/* /*
CREATE CREATE
*/ */
@ -191,13 +197,29 @@ void dda_create(TARGET *target, DDA *dda) {
dda->y_delta = abs32(target->Y - startpoint.Y); dda->y_delta = abs32(target->Y - startpoint.Y);
dda->z_delta = abs32(target->Z - startpoint.Z); dda->z_delta = abs32(target->Z - startpoint.Z);
dda->e_delta = abs32(target->E - startpoint.E); dda->e_delta = abs32(target->E - startpoint.E);
dda->f_delta = abs32(target->F - startpoint.F); dda->f_delta = delta32(target->F, startpoint.F);
dda->x_direction = (target->X >= startpoint.X)?1:0;
dda->y_direction = (target->Y >= startpoint.Y)?1:0;
dda->z_direction = (target->Z >= startpoint.Z)?1:0;
dda->e_direction = (target->E >= startpoint.E)?1:0;
dda->f_direction = (target->F >= startpoint.F)?1:0;
if (DEBUG) { if (DEBUG) {
if (dda->x_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->x_delta); serial_writechar(','); serwrite_uint32(dda->x_delta); serial_writechar(',');
if (dda->y_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->y_delta); serial_writechar(','); serwrite_uint32(dda->y_delta); serial_writechar(',');
if (dda->z_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->z_delta); serial_writechar(','); serwrite_uint32(dda->z_delta); serial_writechar(',');
if (dda->e_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->e_delta); serial_writechar(','); serwrite_uint32(dda->e_delta); serial_writechar(',');
if (dda->f_direction == 0)
serial_writechar('-');
serwrite_uint32(dda->f_delta); serial_writestr_P(PSTR("] [")); serwrite_uint32(dda->f_delta); serial_writestr_P(PSTR("] ["));
} }
@ -241,12 +263,6 @@ void dda_create(TARGET *target, DDA *dda) {
// serwrite_uint32(dda->total_steps); serial_writechar(','); // serwrite_uint32(dda->total_steps); serial_writechar(',');
// } // }
dda->x_direction = (target->X >= startpoint.X)?1:0;
dda->y_direction = (target->Y >= startpoint.Y)?1:0;
dda->z_direction = (target->Z >= startpoint.Z)?1:0;
dda->e_direction = (target->E >= startpoint.E)?1:0;
dda->f_direction = (target->F >= startpoint.F)?1:0;
dda->x_counter = dda->y_counter = dda->z_counter = dda->e_counter = dda->f_counter = dda->x_counter = dda->y_counter = dda->z_counter = dda->e_counter = dda->f_counter =
-(dda->total_steps >> 1); -(dda->total_steps >> 1);
@ -287,13 +303,13 @@ void dda_create(TARGET *target, DDA *dda) {
void dda_start(DDA *dda) { void dda_start(DDA *dda) {
// called from interrupt context: keep it simple! // called from interrupt context: keep it simple!
if ( // if (
(current_position.X == dda->endpoint.X) && // (current_position.X == dda->endpoint.X) &&
(current_position.Y == dda->endpoint.Y) && // (current_position.Y == dda->endpoint.Y) &&
(current_position.Z == dda->endpoint.Z) && // (current_position.Z == dda->endpoint.Z) &&
(current_position.E == dda->endpoint.E) // (current_position.E == dda->endpoint.E)
) { // ) {
// if (dda->nullmove) { if (dda->nullmove) {
// just change speed? // just change speed?
current_position.F = dda->endpoint.F; current_position.F = dda->endpoint.F;
return; return;
@ -325,14 +341,14 @@ uint8_t can_step(uint8_t min, uint8_t max, int32_t current, int32_t target, uint
// forwards/positive // forwards/positive
if (max) if (max)
return 0; return 0;
if ((current - target) >= 0) if (current >= target)
return 0; return 0;
} }
else { else {
// backwards/negative // backwards/negative
if (min) if (min)
return 0; return 0;
if ((target - current) >= 0) if (target >= current)
return 0; return 0;
} }
@ -357,7 +373,6 @@ void dda_step(DDA *dda) {
WRITE(SCK, 0); WRITE(SCK, 0);
step_option = 0;
do { do {
// WRITE(SCK, 0); // WRITE(SCK, 0);
@ -433,6 +448,7 @@ void dda_step(DDA *dda) {
if (step_option & F_CAN_STEP) { if (step_option & F_CAN_STEP) {
dda->f_counter -= dda->f_delta; dda->f_counter -= dda->f_delta;
// 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
while (dda->f_counter < 0) { while (dda->f_counter < 0) {
dda->f_counter += dda->total_steps; dda->f_counter += dda->total_steps;
@ -466,8 +482,9 @@ void dda_step(DDA *dda) {
// WRITE(SCK, 1); // WRITE(SCK, 1);
} while ( ((step_option & REAL_MOVE ) == 0) && // } while ( ((step_option & REAL_MOVE ) == 0) &&
((step_option & F_CAN_STEP) != 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 // turn off step outputs, hopefully they've been on long enough by now to register with the drivers
unstep(); unstep();
@ -485,16 +502,15 @@ void dda_step(DDA *dda) {
setTimer(dda->move_duration / current_position.F); setTimer(dda->move_duration / current_position.F);
// if we could do anything at all, we're still running // if we could do anything at all, we're still running
dda->live = (step_option != 0)?1:0; // dda->live = (step_option != 0)?1:0;
// if ( // otherwise, must have finished
// (current_position.X == dda->endpoint.X) && if (step_option == 0) {
// (current_position.Y == dda->endpoint.Y) && dda->live = 0;
// (current_position.Z == dda->endpoint.Z) && #ifdef STUPIDLY_HIDE_BUGS
// (current_position.E == dda->endpoint.E) && // this magically makes bugs disappear after each move, probably a bad move
// (current_position.F == dda->endpoint.F) memcpy(&current_position, &(dda->endpoint), sizeof(TARGET));
// ) { #endif
// dda->live = 0; }
// }
WRITE(SCK, 1); WRITE(SCK, 1);
} }