ManuelW/grbl-LPC-CoreXY
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eliminated step down-counter in stepper.c

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Simen Svale Skogsrud 2011-01-25 14:02:34 +01:00
parent 5977bd3748
commit 0c262b03c2
2 changed files with 7 additions and 9 deletions
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14
stepper.c
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@ -46,8 +46,7 @@ uint8_t out_bits; // The next stepping-bits to be output
int32_t counter_x, int32_t counter_x,
counter_y, counter_y,
counter_z; // counter variables for the bresenham line tracer counter_z; // counter variables for the bresenham line tracer
uint32_t step_events_left; // The number of step events left to complete the current_block uint32_t step_events_completed; // The count of step events executed in the current block
uint32_t step_event_count; // The count of step events executed in the current block
volatile int busy; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler. volatile int busy; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
uint32_t cycles_per_step_event; // The number of machine cycles between each step event uint32_t cycles_per_step_event; // The number of machine cycles between each step event
@ -85,10 +84,10 @@ inline void trapezoid_generator_reset() {
// current_block stays untouched by outside handlers for the duration of this function call. // current_block stays untouched by outside handlers for the duration of this function call.
inline void trapezoid_generator_tick() { inline void trapezoid_generator_tick() {
if (current_block) { if (current_block) {
if (step_event_count < current_block->accelerate_until) { if (step_events_completed < current_block->accelerate_until) {
trapezoid_rate += current_block->rate_delta; trapezoid_rate += current_block->rate_delta;
set_step_events_per_minute(trapezoid_rate); set_step_events_per_minute(trapezoid_rate);
} else if (step_event_count > current_block->decelerate_after) { } else if (step_events_completed > current_block->decelerate_after) {
// NOTE: We will only reduce speed if the result will be > 0. This catches small // NOTE: We will only reduce speed if the result will be > 0. This catches small
// rounding errors that might leave steps hanging after the last trapezoid tick. // rounding errors that might leave steps hanging after the last trapezoid tick.
if(current_block->rate_delta < trapezoid_rate) { if(current_block->rate_delta < trapezoid_rate) {
@ -143,8 +142,7 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
counter_x = -(current_block->step_event_count >> 1); counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x; counter_y = counter_x;
counter_z = counter_x; counter_z = counter_x;
step_events_left = current_block->step_event_count; step_events_completed = 0;
step_event_count = 0;
} else { } else {
DISABLE_STEPPER_DRIVER_INTERRUPT(); DISABLE_STEPPER_DRIVER_INTERRUPT();
} }
@ -168,8 +166,8 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
counter_z -= current_block->step_event_count; counter_z -= current_block->step_event_count;
} }
// If current block is finished, reset pointer // If current block is finished, reset pointer
step_events_left -= 1; step_event_count += 1; step_events_completed += 1;
if (step_events_left <= 0) { if (step_events_completed >= current_block->step_event_count) {
current_block = NULL; current_block = NULL;
// move the block buffer tail to the next instruction // move the block buffer tail to the next instruction
block_buffer_tail = (block_buffer_tail + 1) % BLOCK_BUFFER_SIZE; block_buffer_tail = (block_buffer_tail + 1) % BLOCK_BUFFER_SIZE;

2
stepper_plan.c
View File

@ -91,9 +91,9 @@ void calculate_trapezoid_for_block(struct Block *block, double entry_factor, dou
// have to use intersection_distance() to calculate when to abort acceleration and start braking // have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block. // in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) { if (plateau_steps < 0) {
plateau_steps = 0;
accelerate_steps = ceil( accelerate_steps = ceil(
intersection_distance(block->initial_rate, final_rate, acceleration_per_minute, block->step_event_count)); intersection_distance(block->initial_rate, final_rate, acceleration_per_minute, block->step_event_count));
plateau_steps = block->step_event_count-(2*accelerate_steps);
} }
block->accelerate_until = accelerate_steps; block->accelerate_until = accelerate_steps;