Fix:
dda_lookahead.c:327:17: warning: 'crossF' may be used
uninitialized in this function [-Wmaybe-uninitialized]
sersendf_P(PSTR("Initial crossing speed: %lu\n"), crossF);
^
Should be done for temptable in ThermistorTable.h, too, but this
would mess up an existing users' configuration.
This tries to put emphasis on the fact that you have to read
these values with pgm_read_*() instead of just using the variable.
Unfortunately, gcc compiler neither inserts PROGMEM reading
instructions automatically when reading data stored in flash,
nor does it complain or warn about the missing read instructions.
As such it's very easy to accidently handle data stored in flash
just like normal data. It'll compile and work ... you just read
arbitrary data (often, but not always zeros) instead of what you
intend.
Many places in the code use individual variables for int/uint values
for X, Y, Z, and E. A tip from a comment suggests making these into
arrays for scalability in the future. Replace the discrete variables
with arrays so the code can be simplified in the future.
Previously, ramps were calculated with the combined speed,
which can differ from the speed of the fast axis by factor 2.
This solves part 2 of issue #68.
This is a preparation towards going through the existing movement
queue backwards with dda_join_moves() to allow higher feedrates
for lots of short movements.
There are three locations in the code that repeat a pattern of
"If z=0 then use 2d-approx(dx,dy), else if x==0 && y==0 then use dz,
else use 3d-approx".
Teach approx_distance_3 to detect these conditions for us and apply
the same logic. Replace the three call locations with a simple call
to approx_distance_3.
Binary size for the LOOKAHEAD case drops by almost 400 bytes:
old: FLASH : 21242 bytes 149% 70% 34% 17%
new: FLASH : 20844 bytes 146% 68% 33% 17%
The size for non-LOOKAHEAD drops by 40 bytes:
old: FLASH : 16592 bytes 116% 55% 27% 13%
new: FLASH : 16552 bytes 116% 54% 27% 13%
We can actually do a little better if we consider the zero-ness of all
three axes, but this does make the code a little bit bigger. Another
change will consider that option. This change simply tries to mimic
the existing functionality.
The new one solely looks at speed differences of individual axes.
This means individual jerks for each axis (good!) and relative
simple maths (also good!).
For details and maths, see comments in the code and
https://github.com/Traumflug/Teacup_Firmware/issues/45 .
This is mostly a preparation for reverse walks through the movement queue,
where crossing speed calculation is done only once, while actually used
speeds can be raised successively with repeated walks.
This code was accidentally removed long ago in a botched merge. This
patch recovers it and makes it build again. I've done minimal testing
and some necessary cleanup. It compiles and runs, but it probably still
has a few dust bunnies here and there.
I added registers and pin definitions to simulator.h and
simulator/simulator.c which I needed to match my Gen7-based config.
Other configs or non-AVR ports will need to define more or different
registers. Some registers are 16-bits, some are 8-bit, and some are just
constant values (enums). A more clever solution would read in the
chip-specific header and produce saner definitions which covered all
GPIOs. But this commit just takes the quick and easy path to support my
own hardware.
Most of this code originated in these commits:
commit cbf41dd4ad
Author: Stephan Walter <stephan@walter.name>
Date: Mon Oct 18 20:28:08 2010 +0200
document simulation
commit 3028b297f3
Author: Stephan Walter <stephan@walter.name>
Date: Mon Oct 18 20:15:59 2010 +0200
Add simulation code: use "make sim"
Additional tweaks:
Revert va_args processing for AVR, but keep 'int' generalization
for simulation. gcc wasn't lying. The sim really aborts without this.
Remove delay(us) from simulator (obsolete).
Improve the README.sim to demonstrate working pronterface connection
to sim. Also fix the build instructions.
Appease all stock configs.
Stub out intercom and shush usb_serial when building simulator.
Pretend to be all chip-types for config appeasement.
Replace sim_timer with AVR-simulator timer:
The original sim_timer and sim_clock provided direct replacements
for timer/clock.c in the main code. But when the main code changed,
simcode did not. The main clock.c was dropped and merged into timer.c.
Also, the timer.c now has movement calculation code in it in some
cases (ACCELERATION_TEMPORAL) and it would be wrong to teach the
simulator to do the same thing. Instead, teach the simulator to
emulate the AVR Timer1 functionality, reacting to values written to
OCR1A and OCR1B timer comparison registers.
Whenever OCR1A/B are changed, the sim_setTimer function needs to be
called. It is called automatically after a timer event, so changes
within the timer ISRs do not need to bother with this.
A C++ class could make this requirement go away by noticing the
assignment. On the other hand, a chip-agnostic timer.c would help
make the main code more portable. The latter cleanup is probably
better for us in the long run.
This means, modify existing code to let the lookahead algorithms
do their work. It also means to remove some unused code in
dda_lookahead.c and reordering some code to make it work with
LOOKAHEAD undefined.
Markus Hitter
David Forrest
Phil Hord
Roland Brochard