Merge branch 'master' of github.com:triffid/FiveD_on_Arduino
This commit is contained in:
Michael Moon
commit
bbf74cc660
33
dda.c
33
dda.c
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@ -106,7 +106,7 @@ const uint8_t msbloc (uint32_t v) {
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*/
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void dda_create(DDA *dda, TARGET *target) {
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uint32_t distance;
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uint32_t distance, c_limit, c_limit_calc;
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// initialise DDA to a known state
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dda->allflags = 0;
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@ -199,16 +199,37 @@ void dda_create(DDA *dda, TARGET *target) {
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// distance * 2400 .. * F_CPU / 40000 so we can move a distance of up to 1800mm without overflowing
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uint32_t move_duration = ((distance * 2400) / dda->total_steps) * (F_CPU / 40000);
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// similarly, find out how fast we can run our axes.
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// 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.
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c_limit = 0;
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c_limit_calc = ((dda->x_delta * UM_PER_STEP_X * 2400) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_X) << 8;
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if (c_limit_calc > c_limit)
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c_limit = c_limit_calc;
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c_limit_calc = ((dda->y_delta * UM_PER_STEP_Y * 2400) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Y) << 8;
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if (c_limit_calc > c_limit)
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c_limit = c_limit_calc;
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c_limit_calc = ((dda->z_delta * UM_PER_STEP_Z * 2400) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_Z) << 8;
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if (c_limit_calc > c_limit)
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c_limit = c_limit_calc;
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c_limit_calc = ((dda->e_delta * UM_PER_STEP_E * 2400) / dda->total_steps * (F_CPU / 40000) / MAXIMUM_FEEDRATE_E) << 8;
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if (c_limit_calc > c_limit)
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c_limit = c_limit_calc;
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#ifdef ACCELERATION_REPRAP
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// c is initial step time in IOclk ticks
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dda->c = (move_duration / startpoint.F) << 8;
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if (dda->c < c_limit)
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dda->c = c_limit;
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dda->end_c = (move_duration / target->F) << 8;
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if (dda->end_c < c_limit)
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dda->end_c = c_limit;
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if (debug_flags & DEBUG_DDA) {
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serial_writestr_P(PSTR(",md:")); serwrite_uint32(move_duration);
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serial_writestr_P(PSTR(",c:")); serwrite_uint32(dda->c >> 8);
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}
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if (startpoint.F != target->F) {
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if (dda->c != dda->end_c) {
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uint32_t stF = startpoint.F / 4;
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uint32_t enF = target->F / 4;
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// now some constant acceleration stuff, courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
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@ -219,7 +240,6 @@ void dda_create(DDA *dda, TARGET *target) {
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uint8_t msb_ssq = msbloc(ssq);
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uint8_t msb_tot = msbloc(dda->total_steps);
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dda->end_c = (move_duration / target->F) << 8;
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// the raw equation WILL overflow at high step rates, but 64 bit math routines take waay too much space
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// at 65536 mm/min (1092mm/s), ssq/esq overflows, and dsq is also close to overflowing if esq/ssq is small
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// but if ssq-esq is small, ssq/dsq is only a few bits
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@ -252,15 +272,20 @@ void dda_create(DDA *dda, TARGET *target) {
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else
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dda->accel = 0;
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#elif defined ACCELERATION_RAMPING
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dda->ramp_steps = dda->total_steps / 2;
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// add the last bit of dda->total_steps to always round up
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dda->ramp_steps = dda->total_steps / 2 + (dda->total_steps & 1);
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dda->step_no = 0;
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// c is initial step time in IOclk ticks
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dda->c = ACCELERATION_STEEPNESS << 8;
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dda->c_min = (move_duration / target->F) << 8;
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if (dda->c_min < c_limit)
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dda->c_min = c_limit;
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dda->n = 1;
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dda->ramp_state = RAMP_UP;
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#else
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dda->c = (move_duration / target->F) << 8;
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if (dda->c < c_limit)
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dda->c = c_limit;
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#endif
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}
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49
gcode.c
49
gcode.c
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@ -271,6 +271,14 @@ void scan_char(uint8_t c) {
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if (read_digit.exponent == 0)
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read_digit.exponent = 1;
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break;
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#ifdef DEBUG
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case ' ':
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case '\t':
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case 10:
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case 13:
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// ignore
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break;
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#endif
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default:
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// can't do ranges in switch..case, so process actual digits here
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@ -280,7 +288,14 @@ void scan_char(uint8_t c) {
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if (read_digit.exponent)
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read_digit.exponent++;
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}
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// everything else is ignored
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#ifdef DEBUG
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else {
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// invalid
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serial_writechar('?');
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serial_writechar(c);
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serial_writechar('?');
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}
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#endif
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}
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} else if ( next_target.seen_parens_comment == 1 && c == ')')
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next_target.seen_parens_comment = 0; // recognize stuff after a (comment)
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@ -311,15 +326,8 @@ void scan_char(uint8_t c) {
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#endif
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) {
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// process
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if (next_target.seen_G || next_target.seen_M) {
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process_gcode_command(&next_target);
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serial_writestr_P(PSTR("ok\n"));
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}
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else {
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// write "OK" for invalid/unknown commands as well
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serial_writestr_P(PSTR("ok huh?\n"));
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}
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process_gcode_command(&next_target);
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serial_writestr_P(PSTR("ok\n"));
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// expect next line number
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if (next_target.seen_N == 1)
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@ -341,13 +349,16 @@ void scan_char(uint8_t c) {
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// reset variables
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next_target.seen_X = next_target.seen_Y = next_target.seen_Z = \
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next_target.seen_E = next_target.seen_F = next_target.seen_G = \
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next_target.seen_S = next_target.seen_P = next_target.seen_N = \
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next_target.seen_M = next_target.seen_checksum = \
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next_target.seen_semi_comment = next_target.seen_parens_comment = \
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next_target.checksum_read = next_target.checksum_calculated = 0;
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next_target.seen_E = next_target.seen_F = next_target.seen_S = \
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next_target.seen_P = next_target.seen_N = next_target.seen_M = \
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next_target.seen_checksum = next_target.seen_semi_comment = \
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next_target.seen_parens_comment = next_target.checksum_read = \
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next_target.checksum_calculated = 0;
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last_field = 0;
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read_digit.sign = read_digit.mantissa = read_digit.exponent = 0;
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// assume a G1 by default
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next_target.seen_G = 1;
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next_target.G = 1;
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}
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}
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@ -393,14 +404,6 @@ void process_gcode_command(GCODE_COMMAND *gcmd) {
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// G1 - synchronised motion
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case 1:
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// check speeds here
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if (gcmd->seen_Z) {
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if (gcmd->target.F > MAXIMUM_FEEDRATE_Z)
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gcmd->target.F = MAXIMUM_FEEDRATE_Z;
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}
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else if (gcmd->target.F > MAXIMUM_FEEDRATE_X)
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gcmd->target.F = MAXIMUM_FEEDRATE_X;
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enqueue(&gcmd->target);
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break;
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@ -41,9 +41,7 @@
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Each movement starts at the speed of the previous command and accelerates or decelerates linearly to reach target speed at the end of the movement.
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Can also be set in Makefile
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*/
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#ifndef ACCELERATION_RAMPING
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#define ACCELERATION_REPRAP
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#endif
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/*
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acceleration and deceleration ramping.
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2
mendel.c
2
mendel.c
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@ -108,7 +108,7 @@ void init(void) {
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wd_reset();
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// say hi to host
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serial_writestr_P(PSTR("Start\nOK\n"));
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serial_writestr_P(PSTR("Start\nok\n"));
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}
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1
timer.c
1
timer.c
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@ -104,7 +104,6 @@ void setTimer(uint32_t delay)
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// the result is the timer counts up to the appropriate time and then fires an interrupt.
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setTimerResolution(0); // stop timer
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TCNT1 = 0; // reset timer
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GTCCR = MASK(PSRSYNC); // reset prescaler - affects timer 0 too but since it's doing PWM, it's not using the prescaler
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setTimerCeiling(getTimerCeiling(delay)); // set timeout
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