147 lines
4.8 KiB
C
147 lines
4.8 KiB
C
#ifndef _DDA_H
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#define _DDA_H
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#include <stdint.h>
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#include "config.h"
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#ifdef ACCELERATION_REPRAP
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#ifdef ACCELERATION_RAMPING
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#error Cant use ACCELERATION_REPRAP and ACCELERATION_RAMPING together.
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#endif
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#endif
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/*
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enums
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*/
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// wether we accelerate, run at full speed, break down, etc.
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typedef enum {
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RAMP_UP,
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RAMP_MAX,
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RAMP_DOWN
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} ramp_state_t;
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/*
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types
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*/
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// target is simply a point in space/time
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typedef struct {
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int32_t X;
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int32_t Y;
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int32_t Z;
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int32_t E;
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uint32_t F;
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} TARGET;
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/**
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\struct DDA
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\brief this is a digital differential analyser data struct
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This struct holds all the details of an individual multi-axis move, including pre-calculated acceleration data.
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This struct is filled in by dda_create(), called from enqueue(), called mostly from gcode_process() and from a few other places too (eg \file homing.c)
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*/
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typedef struct {
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/// this is where we should finish
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TARGET endpoint;
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union {
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struct {
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// status fields
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uint8_t nullmove :1; ///< bool: no axes move, maybe we wait for temperatures or change speed
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uint8_t live :1; ///< bool: this DDA is running and still has steps to do
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#ifdef ACCELERATION_REPRAP
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uint8_t accel :1; ///< bool: speed changes during this move, run accel code
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#endif
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// wait for temperature to stabilise flag
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uint8_t waitfor_temp :1; ///< bool: wait for temperatures to reach their set values
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// directions
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uint8_t x_direction :1; ///< direction flag for X axis
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uint8_t y_direction :1; ///< direction flag for Y axis
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uint8_t z_direction :1; ///< direction flag for Z axis
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uint8_t e_direction :1; ///< direction flag for E axis
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};
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uint8_t allflags; ///< used for clearing all flags
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};
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// distances
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uint32_t x_delta; ///< number of steps on X axis
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uint32_t y_delta; ///< number of steps on Y axis
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uint32_t z_delta; ///< number of steps on Z axis
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uint32_t e_delta; ///< number of steps on E axis
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// bresenham counters
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int32_t x_counter; ///< counter for total_steps vs this axis, used for bresenham calculations.
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int32_t y_counter; ///< counter for total_steps vs this axis, used for bresenham calculations.
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int32_t z_counter; ///< counter for total_steps vs this axis, used for bresenham calculations.
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int32_t e_counter; ///< counter for total_steps vs this axis, used for bresenham calculations.
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/// total number of steps: set to \f$\max(\Delta x, \Delta y, \Delta z, \Delta e)\f$
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uint32_t total_steps;
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// linear acceleration variables: c and end_c are 24.8 fixed point timer values, n is the tracking variable
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uint32_t c; ///< time until next step
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#ifdef ACCELERATION_REPRAP
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uint32_t end_c; ///< time between 2nd last step and last step
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int32_t n; ///< precalculated step time offset variable. At every step we calculate \f$c = c - (2 c / n)\f$; \f$n+=4\f$. See http://www.embedded.com/columns/technicalinsights/56800129?printable=true for full description
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#endif
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#ifdef ACCELERATION_RAMPING
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/// start of down-ramp, intitalized with total_steps / 2
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uint32_t ramp_steps;
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/// counts actual steps done
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uint32_t step_no;
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/// 24.8 fixed point timer value, maximum speed
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uint32_t c_min;
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/// tracking variable
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int32_t n;
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/// keep track of whether we're ramping up, down, or plateauing
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ramp_state_t ramp_state;
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#endif
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#ifdef ACCELERATION_TEMPORAL
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/// time between steps on X axis
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uint32_t x_step_interval;
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/// time between steps on Y axis
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uint32_t y_step_interval;
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/// time between steps on Z axis
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uint32_t z_step_interval;
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/// time between steps on E axis
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uint32_t e_step_interval;
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#endif
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} DDA;
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/*
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variables
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*/
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/// steptimeout is set to zero when we step, and increases over time so we can turn the motors off when they've been idle for a while
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extern uint8_t steptimeout;
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/// startpoint holds the endpoint of the most recently created DDA, so we know where the next one created starts. could also be called last_endpoint
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extern TARGET startpoint;
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/// current_position holds the machine's current position. this is only updated when we step, or when G92 (set home) is received.
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extern TARGET current_position;
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/*
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methods
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*/
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uint32_t approx_distance( uint32_t dx, uint32_t dy ) __attribute__ ((hot));
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uint32_t approx_distance_3( uint32_t dx, uint32_t dy, uint32_t dz ) __attribute__ ((hot));
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// const because return value is always the same given the same v
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const uint8_t msbloc (uint32_t v) __attribute__ ((const));
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// create a DDA
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void dda_create(DDA *dda, TARGET *target);
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// start a created DDA (called from timer interrupt)
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void dda_start(DDA *dda) __attribute__ ((hot));
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// DDA takes one step (called from timer interrupt)
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void dda_step(DDA *dda) __attribute__ ((hot));
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#endif /* _DDA_H */
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