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This commit is contained in:
Michael Moon 2010-01-24 15:11:06 +11:00
parent 6fb725a813
commit aa9b59996e
7 changed files with 45 additions and 29 deletions
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60
mendel/dda.c
View File

@ -48,8 +48,8 @@ void enqueue(TARGET *t) {
h++;
if (h == MOVEBUFFER_SIZE)
h = 0;
mb_head = h;
dda_create(t, &movebuffer[h]);
mb_head = h;
}
void next_move() {
@ -57,15 +57,15 @@ void next_move() {
// queue is empty
disable_steppers();
setTimer(DEFAULT_TICK);
disableTimerInterrupt();
// disableTimerInterrupt();
}
else {
uint8_t t = mb_tail;
t++;
if (t == MOVEBUFFER_SIZE)
t = 0;
mb_tail = t;
dda_start(&movebuffer[t]);
mb_tail = t;
}
}
@ -143,7 +143,7 @@ uint32_t abs32(int32_t v) {
void dda_create(TARGET *target, DDA *dda) {
uint32_t distance;
serial_writestr_P("\n{DDA_CREATE: [");
serial_writestr_P(PSTR("\n{DDA_CREATE: ["));
// we end at the passed target
memcpy(&(dda->endpoint), target, sizeof(TARGET));
@ -158,20 +158,7 @@ void dda_create(TARGET *target, DDA *dda) {
serwrite_uint32(dda->y_delta); serial_writechar(',');
serwrite_uint32(dda->z_delta); serial_writechar(',');
serwrite_uint32(dda->e_delta); serial_writechar(',');
serwrite_uint32(dda->f_delta); serial_writestr_P("] [");
// since it's unusual to combine X, Y and Z changes in a single move on reprap, check if we can use simpler approximations before trying the full 3d approximation.
if (dda->z_delta == 0)
distance = approx_distance(dda->x_delta, dda->y_delta);
else if (dda->x_delta == 0 && dda->y_delta == 0)
distance = dda->z_delta;
else
distance = approx_distance_3(dda->x_delta, dda->y_delta, dda->z_delta);
if (distance < 2)
distance = dda->e_delta;
if (distance < 2)
distance = dda->f_delta;
serwrite_uint32(dda->f_delta); serial_writestr_P(PSTR("] ["));
dda->total_steps = dda->x_delta;
if (dda->y_delta > dda->total_steps)
@ -212,19 +199,35 @@ void dda_create(TARGET *target, DDA *dda) {
dda->x_counter = dda->y_counter = dda->z_counter = dda->e_counter = dda->f_counter =
-(dda->total_steps >> 1);
// since it's unusual to combine X, Y and Z changes in a single move on reprap, check if we can use simpler approximations before trying the full 3d approximation.
if (dda->z_delta == 0)
distance = approx_distance(dda->x_delta * 1000, dda->y_delta * 1000) / STEPS_PER_MM_X;
else if (dda->x_delta == 0 && dda->y_delta == 0)
distance = dda->z_delta * 1000 / STEPS_PER_MM_Z;
else
distance = approx_distance_3(dda->x_delta * 1000 * STEPS_PER_MM_Z / STEPS_PER_MM_X, dda->y_delta * 1000 * STEPS_PER_MM_Z / STEPS_PER_MM_Y, dda->z_delta * 1000) / STEPS_PER_MM_Z;
if (distance < 2)
distance = dda->e_delta * 1000 / STEPS_PER_MM_E;
if (distance < 2)
distance = dda->f_delta;
// 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
// mm (distance) * 1000 us/ms * 60000000 us/min / step (total_steps) = mm.us per step.min
// so in the interrupt we must simply calculate
// mm.us per step.min / mm per min (F) = us per step
dda->move_duration = distance * 60000000 / dda->total_steps;
if (dda->total_steps > 0)
dda->move_duration = distance * 60000 / dda->total_steps;
else
dda->move_duration = 0;
serwrite_uint32(dda->move_duration); serial_writestr_P("] }\n");
serwrite_uint32(dda->move_duration); serial_writestr_P(PSTR("] }\n"));
// next dda starts where we finish
memcpy(&startpoint, target, sizeof(TARGET));
// make sure we can run
dda->live = 1;
// not running yet, we fire up in dda_start()
dda->live = 0;
// fire up
enableTimerInterrupt();
@ -236,8 +239,11 @@ void dda_create(TARGET *target, DDA *dda) {
void dda_start(DDA *dda) {
// called from interrupt context: keep it simple!
if (dda->nullmove)
if (dda->nullmove) {
// just change speed?
current_position.F = dda->endpoint.F;
return;
}
x_direction(dda->x_direction);
y_direction(dda->y_direction);
@ -246,6 +252,8 @@ void dda_start(DDA *dda) {
enable_steppers();
dda->firstep = 1;
dda->live = 1;
}
@ -403,8 +411,10 @@ void dda_step(DDA *dda) {
unstep();
// we have stepped in speed and now need to recalculate our delay
if ((step_option & REAL_MOVE) && (step_option & F_REAL_STEP))
if ((step_option & REAL_MOVE) && ((step_option & F_REAL_STEP) || (dda->firstep))) {
setTimer(dda->move_duration / current_position.F);
dda->firstep = 0;
}
// if we could step, we're still running
dda->live = (step_option & (X_CAN_STEP | Y_CAN_STEP | Z_CAN_STEP | E_CAN_STEP | F_CAN_STEP))?1:0;

1
mendel/dda.h
View File

@ -25,6 +25,7 @@ typedef struct {
uint8_t f_direction :1;
uint8_t nullmove :1;
uint8_t live :1;
uint8_t firstep :1;
uint32_t x_delta;
uint32_t y_delta;

2
mendel/gcode.c
View File

@ -12,8 +12,6 @@ uint8_t option_bitfield;
decfloat read_digit;
#define PI 3.1415926535
const char alphabet[] = "GMXYZEFSP";
/*

5
mendel/machine.h
View File

@ -32,4 +32,9 @@
#define E_STARTSTOP_STEPS 20
#define FEEDRATE_FAST_E 1200
/*
should be the same for all machines ;)
*/
#define PI 3.1415926535
#endif /* _MACHINE_H */

2
mendel/serial.c
View File

@ -3,7 +3,7 @@
#include "ringbuffer.h"
#define BUFSIZE 64 + sizeof(ringbuffer)
#define BAUD 19200
#define BAUD 57600
volatile uint8_t _rx_buffer[BUFSIZE];
volatile uint8_t _tx_buffer[BUFSIZE];

1
mendel/sermsg.c
View File

@ -3,6 +3,7 @@
#include "serial.h"
void serwrite_hex4(uint8_t v) {
v &= 0xF;
if (v < 10)
serial_writechar('0' + v);
else

3
mendel/timer.c
View File

@ -12,8 +12,9 @@ ISR(TIMER1_COMPA_vect) {
disableTimerInterrupt();
sei();
dda_step(&movebuffer[mb_tail]);
dda_step(&(movebuffer[mb_tail]));
cli();
enableTimerInterrupt();
}
else