Which includes a seperate file (graycode.c) with the defines and additional variable declaration.
I went with the "graycode" spelling, as there's about ten times as many hits for that as for "greycode" on google. I've read that both spellings are acceptable, but whatever.
Signed-off-by: Michael Moon <triffid.hunter@gmail.com>
After lots of try and error the conclusion was, disabling this
interrupt makes the timer vulnerable to be messed up by
characters incoming over the serial line. So, now the
interrupt is enabled as a move starts and not disabled before
the move, and all subsequent moves are done.
Problem was: For short moves, you have to ramp down before
reaching target speed. The point of return was set to half
of the number of total steps.
Now, what happens is there's an uneven number of steps? In
integer math, 3 / 2 = 1, so the move would ramp one step up,
one step down and ... well, one step even further down, resulting
in a really sloooow step. Slow, like a full second or so.
Adding one to the first half, the movement ramps two steps up,
one down and would do another step at minimum speed, if it wasn't
already at target position. This is about as accurate as we
can get it without introducing more code at interrupt time.
each axis individually, as the combined speed of two or more
axes can be higher than the limit of a single one.
While this is tested to work well for all three acceleration
types, I'm not enthusiastic about the code, as it adds almost
500 bytes. Perhaps an efficient-coding-geek can help :-)
John Gilmore
Michael Moon
Stephan Walter
Markus Hitter