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Teacup_Firmware
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minor fixes: comments, indenting, etc

This commit is contained in:
Michael Moon 2010-09-18 08:08:31 +10:00
parent f037bb5320
commit c1dbd869f5
3 changed files with 53 additions and 53 deletions
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100
dda.c
View File

@ -252,15 +252,15 @@ void dda_create(DDA *dda, TARGET *target) {
else
dda->accel = 0;
#elif defined ACCELERATION_RAMPING
dda->ramp_steps = dda->total_steps / 2;
dda->step_no = 0;
// c is initial step time in IOclk ticks
dda->c = ACCELERATION_STEEPNESS << 8;
dda->c_min = (move_duration / target->F) << 8;
dda->n = 1;
dda->ramp_state = RAMP_UP;
dda->ramp_steps = dda->total_steps / 2;
dda->step_no = 0;
// c is initial step time in IOclk ticks
dda->c = ACCELERATION_STEEPNESS << 8;
dda->c_min = (move_duration / target->F) << 8;
dda->n = 1;
dda->ramp_state = RAMP_UP;
#else
dda->c = (move_duration / target->F) << 8;
dda->c = (move_duration / target->F) << 8;
#endif
}
@ -383,52 +383,52 @@ void dda_step(DDA *dda) {
#endif
#ifdef ACCELERATION_REPRAP
// linear acceleration magic, courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
if (dda->accel) {
if (
((dda->n > 0) && (dda->c > dda->end_c)) ||
((dda->n < 0) && (dda->c < dda->end_c))
) {
dda->c = (int32_t) dda->c - ((int32_t) (dda->c * 2) / dda->n);
dda->n += 4;
setTimer(dda->c >> 8);
// linear acceleration magic, courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
if (dda->accel) {
if (
((dda->n > 0) && (dda->c > dda->end_c)) ||
((dda->n < 0) && (dda->c < dda->end_c))
) {
dda->c = (int32_t) dda->c - ((int32_t) (dda->c * 2) / dda->n);
dda->n += 4;
setTimer(dda->c >> 8);
}
else if (dda->c != dda->end_c) {
dda->c = dda->end_c;
setTimer(dda->c >> 8);
}
// else we are already at target speed
}
else if (dda->c != dda->end_c) {
dda->c = dda->end_c;
setTimer(dda->c >> 8);
}
// else we are already at target speed
}
#endif
#ifdef ACCELERATION_RAMPING
// - algorithm courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
// - for simplicity, taking even/uneven number of steps into account dropped
// - number of steps moved is always accurate, speed might be one step off
switch (dda->ramp_state) {
case RAMP_UP:
case RAMP_MAX:
if (dda->step_no >= dda->ramp_steps) {
// RAMP_UP: time to decelerate before reaching maximum speed
// RAMP_MAX: time to decelerate
dda->ramp_state = RAMP_DOWN;
dda->n = -((int32_t)2) - dda->n;
// - algorithm courtesy of http://www.embedded.com/columns/technicalinsights/56800129?printable=true
// - for simplicity, taking even/uneven number of steps into account dropped
// - number of steps moved is always accurate, speed might be one step off
switch (dda->ramp_state) {
case RAMP_UP:
case RAMP_MAX:
if (dda->step_no >= dda->ramp_steps) {
// RAMP_UP: time to decelerate before reaching maximum speed
// RAMP_MAX: time to decelerate
dda->ramp_state = RAMP_DOWN;
dda->n = -((int32_t)2) - dda->n;
}
if (dda->ramp_state == RAMP_MAX)
break;
case RAMP_DOWN:
dda->n += 4;
// be careful of signedness!
dda->c = (int32_t)dda->c - ((int32_t)(dda->c * 2) / dda->n);
if (dda->c <= dda->c_min) {
// maximum speed reached
dda->c = dda->c_min;
dda->ramp_state = RAMP_MAX;
dda->ramp_steps = dda->total_steps - dda->step_no;
}
setTimer(dda->c >> 8);
break;
}
if (dda->ramp_state == RAMP_MAX)
break;
case RAMP_DOWN:
dda->n += 4;
// be careful of signedness!
dda->c = (int32_t)dda->c - ((int32_t)(dda->c * 2) / dda->n);
if (dda->c <= dda->c_min) {
// maximum speed reached
dda->c = dda->c_min;
dda->ramp_state = RAMP_MAX;
dda->ramp_steps = dda->total_steps - dda->step_no;
}
setTimer(dda->c >> 8);
break;
}
dda->step_no++;
dda->step_no++;
#endif
if (did_step) {

2
temp.c
View File

@ -3,7 +3,7 @@
This file currently reads temp from a MAX6675 on the SPI bus.
ALL VALUES are in units of 0.25 degrees celsius, so temp_set(500) will set the temperature to 125 celsius, and temp_get() = 600 is reporting a temperature of 150 celsius.
temp fields are 14.2 fixed point, so temp_set(500) will set the temperature to 125 celsius, and temp_get() = 600 is reporting a temperature of 150 celsius.
the conversion to/from this unit is done in gcode.c, near:
if (next_target.M == 104)

4
timer.c
View File

@ -96,7 +96,7 @@ uint16_t getTimerCeiling(const uint32_t delay)
void setTimer(uint32_t delay)
{
// delay is the delay between steps in microsecond ticks.
// delay is the delay between steps in IOclk ticks.
//
// we break it into 5 different resolutions based on the delay.
// then we set the resolution based on the size of the delay.
@ -115,7 +115,7 @@ void setTimer(uint32_t delay)
void delay(uint32_t delay) {
wd_reset();
while (delay > 65535) {
delayMicrosecondsInterruptible(65534);
delayMicrosecondsInterruptible(65533);
delay -= 65535;
wd_reset();
}