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fixed a few bugs, such as two consecutive moves to a point and back to the start wouldnt be run at all

This commit is contained in:
Michael Moon 2010-01-24 10:26:10 +11:00
parent b6b2951db7
commit bde8ab776d
2 changed files with 16 additions and 16 deletions
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22
mendel/dda.c
View File

@ -151,7 +151,7 @@ void dda_create(TARGET *target, DDA *dda) {
uint32_t distance; uint32_t distance;
// we end at the passed target // we end at the passed target
memcpy(&dda->endpoint, target, sizeof(TARGET)); memcpy(&(dda->endpoint), target, sizeof(TARGET));
dda->x_delta = abs32(dda->endpoint.X - startpoint.X); dda->x_delta = abs32(dda->endpoint.X - startpoint.X);
dda->y_delta = abs32(dda->endpoint.Y - startpoint.Y); dda->y_delta = abs32(dda->endpoint.Y - startpoint.Y);
@ -202,14 +202,14 @@ void dda_create(TARGET *target, DDA *dda) {
dda->f_scale = 1; dda->f_scale = 1;
} }
dda->x_direction = (dda->endpoint.X > startpoint.X)?1:0; dda->x_direction = (dda->endpoint.X >= startpoint.X)?1:0;
dda->y_direction = (dda->endpoint.Y > startpoint.Y)?1:0; dda->y_direction = (dda->endpoint.Y >= startpoint.Y)?1:0;
dda->z_direction = (dda->endpoint.Z > startpoint.Z)?1:0; dda->z_direction = (dda->endpoint.Z >= startpoint.Z)?1:0;
dda->e_direction = (dda->endpoint.E > startpoint.E)?1:0; dda->e_direction = (dda->endpoint.E >= startpoint.E)?1:0;
dda->f_direction = (dda->endpoint.F > startpoint.F)?1:0; dda->f_direction = (dda->endpoint.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);
// 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
@ -218,10 +218,10 @@ void dda_create(TARGET *target, DDA *dda) {
dda->move_duration = distance * 60000000 / dda->total_steps; dda->move_duration = distance * 60000000 / dda->total_steps;
// next dda starts where we finish // next dda starts where we finish
memcpy(&startpoint, &dda->endpoint, sizeof(TARGET)); memcpy(&startpoint, target, sizeof(TARGET));
// make sure we're not running // make sure we can run
dda->live = 0; dda->live = 1;
// fire up // fire up
enableTimerInterrupt(); enableTimerInterrupt();

10
mendel/mendel.c
View File

@ -107,15 +107,15 @@ int main (void)
// target position // target position
serial_writestr_P(PSTR("Tar: ")); serial_writestr_P(PSTR("Tar: "));
serwrite_int32(movebuffer[mb_head].endpoint.X); serwrite_int32(movebuffer[mb_tail].endpoint.X);
serial_writechar(','); serial_writechar(',');
serwrite_int32(movebuffer[mb_head].endpoint.Y); serwrite_int32(movebuffer[mb_tail].endpoint.Y);
serial_writechar(','); serial_writechar(',');
serwrite_int32(movebuffer[mb_head].endpoint.Z); serwrite_int32(movebuffer[mb_tail].endpoint.Z);
serial_writechar(','); serial_writechar(',');
serwrite_uint32(movebuffer[mb_head].endpoint.E); serwrite_uint32(movebuffer[mb_tail].endpoint.E);
serial_writechar(','); serial_writechar(',');
serwrite_uint32(movebuffer[mb_head].endpoint.F); serwrite_uint32(movebuffer[mb_tail].endpoint.F);
serial_writechar('\n'); serial_writechar('\n');
// Queue // Queue