ManuelW/grbl-LPC-CoreXY
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look ahead planner complete and enabled save the acceleration limiting forward scan. Not tested on real hardware, just logic analyzer

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Simen Svale Skogsrud
2011-01-24 20:55:25 +01:00
parent 8325bfb96e
commit 0bc0fd7757
3 changed files with 80 additions and 50 deletions
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20
stepper.c
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@ -67,17 +67,15 @@ uint32_t trapezoid_rate; // The current rate of step_events accord
//
// time ----->
//
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates until
//
// block->accelerate_ticks by block->rate_delta each tick, then stays up for block->plateau_ticks and
// decelerates for the rest of the block until the trapezoid generator is reset for the next block.
// The slope of acceleration is always +/- block->rate_delta. Any stage may be skipped by setting the
// duration to 0 ticks.
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates by block->rate_delta
// during the first block->accelerate_until step_events then keeps going at constant speed until the step-evet count reaches
// block->decelerate_after until the trapezoid generator is reset for the next block.
// The slope of acceleration is always +/- block->rate_delta and is applied at a constant rate by trapezoid_generator_tick()
// that is called ACCELERATION_TICKS_PER_SECOND times per second.
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
inline void reset_trapezoid_generator() {
inline void trapezoid_generator_reset() {
trapezoid_rate = current_block->initial_rate;
set_step_events_per_minute(trapezoid_rate);
}
@ -122,7 +120,9 @@ SIGNAL(TIMER1_COMPA_vect)
#else
SIGNAL(SIG_OUTPUT_COMPARE1A)
#endif
{
{
// TODO: Check if the busy-flag can be eliminated by just disabeling this interrupt while we are in it
if(busy){ return; } // The busy-flag is used to avoid reentering this interrupt
// Set the direction pins a cuple of nanoseconds before we step the steppers
STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
@ -143,7 +143,7 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
if (block_buffer_head != block_buffer_tail) {
// Retrieve a new line and get ready to step it
current_block = &block_buffer[block_buffer_tail];
reset_trapezoid_generator();
trapezoid_generator_reset();
counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x;
counter_z = counter_x;