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time to save again

This commit is contained in:
Michael Moon 2010-01-15 18:53:44 +11:00
parent 73898a186e
commit dc17a8cc5b
1 changed files with 86 additions and 8 deletions
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94
mendel/mendel.c
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@ -11,9 +11,11 @@
machine variables machine variables
*/ */
#define AXIS_COUNT 5 #define AXIS_COUNT 5
#define AXIS_HOMING_COUNT 3
// steps per rev * mm per tooth * teeth per rev // steps per rev * mm per tooth * teeth per rev
#define STEPS_PER_MM (3200 * 4.77 * 16) #define STEPS_PER_MM (3200 * 4.77 * 16)
#define STEPS_PER_IN (STEPS_PER_MM * 25.4)
#define MAX_MM_PER_SEC 40 #define MAX_MM_PER_SEC 40
#define MAX_IMMED_MM_PER_SEC 20 #define MAX_IMMED_MM_PER_SEC 20
@ -35,6 +37,12 @@ uint8_t command;
uint8_t command_digit; uint8_t command_digit;
uint8_t axis; uint8_t axis;
uint8_t option_bitfield;
#define OPTION_RELATIVE 1
#define OPTION_SYNCHRONISE 2
#define OPTION_HOME_WHEN_COMPLETE 4
#define OPTION_UNIT_INCHES 8
// volatile uint32_t xpos = 0; // volatile uint32_t xpos = 0;
// volatile uint32_t ypos = 0; // volatile uint32_t ypos = 0;
// volatile uint32_t zpos = 0; // volatile uint32_t zpos = 0;
@ -52,8 +60,10 @@ struct axis {
volatile uint32_t pos; volatile uint32_t pos;
int32_t target; int32_t target;
uint32_t newtarget_mantissa; uint32_t newtarget_mantissa;
uint8_t newtarget_exp; uint8_t newtarget_opt;
uint8_t newtarget_sign; #define newtarget_opt_sign 0x80
#define newtarget_opt_set 0x40
#define newtarget_opt_exp 0x3F
uint16_t speed; uint16_t speed;
} axes[AXIS_COUNT]; } axes[AXIS_COUNT];
@ -118,28 +128,96 @@ int main (void)
if (axis_char_to_id(c) < 255) { if (axis_char_to_id(c) < 255) {
axis = axis_char_to_id(c); axis = axis_char_to_id(c);
axes[axis].newtarget_mantissa = 0; axes[axis].newtarget_mantissa = 0;
axes[axis].newtarget_exp = 0; axes[axis].newtarget_opt = 0;
state = STATE_WAIT_FOR_DATA_DIGIT; state = STATE_WAIT_FOR_DATA_DIGIT;
} }
break; break;
case STATE_WAIT_FOR_DATA_DIGIT: case STATE_WAIT_FOR_DATA_DIGIT:
if (c == '-') { if (c == '-') {
axes[axis].newtarget_sign = 1; axes[axis].newtarget_opt |= newtarget_opt_sign;
} }
if (c >= '0' && c <= '9') { if (c >= '0' && c <= '9') {
axes[axis].newtarget_mantissa = (axes[axis].newtarget_mantissa * 10) + (c - '0'); axes[axis].newtarget_mantissa = (axes[axis].newtarget_mantissa * 10) + (c - '0');
if (axes[axis].newtarget_exp) if (axes[axis].newtarget_opt & newtarget_opt_exp)
axes[axis].newtarget_exp++; axes[axis].newtarget_opt++;
} }
if (c == '.') { if (c == '.') {
axes[axis].newtarget_exp = 1; axes[axis].newtarget_opt |= 1;
} }
break; break;
} }
if (c == 13) { if (c == 13) {
if (command == 'G') {
uint8_t i;
switch (command_digit) {
// G30 - go home via point
case 30:
option_bitfield |= OPTION_HOME_WHEN_COMPLETE;
// G0 - rapid, unsynchronised motion
case 0:
option_bitfield &= ~OPTION_SYNCHRONISE;
break;
// G1 - synchronised motion
case 1:
option_bitfield |= OPTION_SYNCHRONISE;
break;
// G2 - Arc Clockwise
// G3 - Arc Counter-clockwise
// G4 - Dwell
// G20 - inches as units
// G21 - mm as units
// G28 - go home
case 28:
for (i = 0; i < AXIS_HOMING_COUNT; i++) {
option_bitfield &= ~OPTION_SYNCHRONISE;
axes[i].target = 0;
}
break;
// G90 - absolute positioning
case 90:
option_bitfield &= ~OPTION_RELATIVE;
break;
// G91 - relative positioning
case 91:
option_bitfield |= OPTION_RELATIVE;
break;
// G92 - set home
case 92:
for (i = 0; i < AXIS_HOMING_COUNT; i++) {
axes[i].pos = axes[i].target = 0;
}
break;
// TODO: spit an error
}
}
else if (command == 'M') {
switch (command_digit) {
// TODO: spit an error
}
}
// update axes;
uint8_t i; uint8_t i;
for (i = 0; i < AXIS_COUNT; i++) { for (i = 0; i < AXIS_COUNT; i++) {
uint32_t n = axes[i].newtarget_mantissa; if (axes[i].newtarget_opt & newtarget_opt_set) {
float n = axes[i].newtarget_mantissa;
uint8_t exp = axes[i].newtarget_opt & newtarget_opt_exp;
if (axes[i].newtarget_opt & newtarget_opt_sign)
n = -n;
if (exp == 1)
n /= 10;
if (exp == 2)
n /= 100;
if (exp == 3)
n /= 1000;
if (exp == 4)
n /= 10000;
if (exp == 5)
n /= 100000;
if (option_bitfield & OPTION_UNIT_INCHES)
axes[i].target = n * STEPS_PER_IN;
else
axes[i].target = n * STEPS_PER_MM;
}
} }
} }
} }