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more use of sersendf_P, comments for clarity, enable steppers

This commit is contained in:
Michael Moon 2010-11-08 21:40:10 +11:00
parent 15349a1760
commit ba7d9a082f
1 changed files with 19 additions and 14 deletions
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33
dda.c
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@ -214,9 +214,8 @@ void dda_create(DDA *dda, TARGET *target) {
if (dda->e_delta > dda->total_steps) if (dda->e_delta > dda->total_steps)
dda->total_steps = dda->e_delta; dda->total_steps = dda->e_delta;
if (debug_flags & DEBUG_DDA) { if (debug_flags & DEBUG_DDA)
serial_writestr_P(PSTR("ts:")); serwrite_uint32(dda->total_steps); sersendf_P(PSTR("ts:%lu"), dda->total_steps);
}
if (dda->total_steps == 0) { if (dda->total_steps == 0) {
dda->nullmove = 1; dda->nullmove = 1;
@ -244,9 +243,8 @@ void dda_create(DDA *dda, TARGET *target) {
if (distance < 2) if (distance < 2)
distance = dda->e_delta * UM_PER_STEP_E; distance = dda->e_delta * UM_PER_STEP_E;
if (debug_flags & DEBUG_DDA) { if (debug_flags & DEBUG_DDA)
serial_writestr_P(PSTR(",ds:")); serwrite_uint32(distance); sersendf_P(PSTR(",ds:%lu"), distance);
}
// pre-calculate move speed in millimeter microseconds per step minute for less math in interrupt context // 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) * 60000000 us/min / step (total_steps) = mm.us per step.min
@ -268,15 +266,19 @@ void dda_create(DDA *dda, TARGET *target) {
// similarly, find out how fast we can run our axes. // similarly, find out how fast we can run our axes.
// do this for each axis individually, as the combined speed of two or more axes can be higher than the capabilities of a single one. // do this for each axis individually, as the combined speed of two or more axes can be higher than the capabilities of a single one.
c_limit = 0; c_limit = 0;
// check X axis
c_limit_calc = ( (dda->x_delta * (UM_PER_STEP_X * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_X) << 8; c_limit_calc = ( (dda->x_delta * (UM_PER_STEP_X * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_X) << 8;
if (c_limit_calc > c_limit) if (c_limit_calc > c_limit)
c_limit = c_limit_calc; c_limit = c_limit_calc;
// check Y axis
c_limit_calc = ( (dda->y_delta * (UM_PER_STEP_Y * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Y) << 8; c_limit_calc = ( (dda->y_delta * (UM_PER_STEP_Y * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Y) << 8;
if (c_limit_calc > c_limit) if (c_limit_calc > c_limit)
c_limit = c_limit_calc; c_limit = c_limit_calc;
// check Z axis
c_limit_calc = ( (dda->z_delta * (UM_PER_STEP_Z * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Z) << 8; c_limit_calc = ( (dda->z_delta * (UM_PER_STEP_Z * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Z) << 8;
if (c_limit_calc > c_limit) if (c_limit_calc > c_limit)
c_limit = c_limit_calc; c_limit = c_limit_calc;
// check E axis
c_limit_calc = ( (dda->e_delta * (UM_PER_STEP_E * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_E) << 8; c_limit_calc = ( (dda->e_delta * (UM_PER_STEP_E * 2400L)) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_E) << 8;
if (c_limit_calc > c_limit) if (c_limit_calc > c_limit)
c_limit = c_limit_calc; c_limit = c_limit_calc;
@ -290,10 +292,8 @@ void dda_create(DDA *dda, TARGET *target) {
if (dda->end_c < c_limit) if (dda->end_c < c_limit)
dda->end_c = c_limit; dda->end_c = c_limit;
if (debug_flags & DEBUG_DDA) { if (debug_flags & DEBUG_DDA)
serial_writestr_P(PSTR(",md:")); serwrite_uint32(move_duration); sersendf_P(PSTR(",md:%lu,c:%lu"), move_duration, dda->c >> 8);
serial_writestr_P(PSTR(",c:")); serwrite_uint32(dda->c >> 8);
}
if (dda->c != dda->end_c) { if (dda->c != dda->end_c) {
uint32_t stF = startpoint.F / 4; uint32_t stF = startpoint.F / 4;
@ -329,9 +329,8 @@ void dda_create(DDA *dda, TARGET *target) {
dda->n = (((int32_t) ssq / dsq) * (int32_t) dda->total_steps) + 1; dda->n = (((int32_t) ssq / dsq) * (int32_t) dda->total_steps) + 1;
} }
if (debug_flags & DEBUG_DDA) { if (debug_flags & DEBUG_DDA)
sersendf_P(PSTR("\n{DDA:CA end_c:%lu, n:%ld, md:%lu, ssq:%lu, esq:%lu, dsq:%lu, msbssq:%u, msbtot:%u}\n"), dda->end_c >> 8, dda->n, move_duration, ssq, esq, dsq, msb_ssq, msb_tot); sersendf_P(PSTR("\n{DDA:CA end_c:%lu, n:%ld, md:%lu, ssq:%lu, esq:%lu, dsq:%lu, msbssq:%u, msbtot:%u}\n"), dda->end_c >> 8, dda->n, move_duration, ssq, esq, dsq, msb_ssq, msb_tot);
}
dda->accel = 1; dda->accel = 1;
} }
@ -377,13 +376,19 @@ void dda_start(DDA *dda) {
} }
else { else {
if (dda->waitfor_temp) { if (dda->waitfor_temp) {
serial_writestr_P(PSTR("Waiting for target temp\n")); #ifndef REPRAP_HOST_COMPATIBILITY
serial_writestr_P(PSTR("Waiting for target temp\n"));
#endif
} }
else { else {
// ensure steppers are ready to go // ensure steppers are ready to go
steptimeout = 0; steptimeout = 0;
power_on(); power_on();
x_enable();
y_enable();
if (dda->z_delta)
z_enable();
// set direction outputs // set direction outputs
x_direction(dda->x_direction); x_direction(dda->x_direction);
y_direction(dda->y_direction); y_direction(dda->y_direction);