Various minor updates and variable definition corrections. Removed deprecated acceleration manager.
- Removed deprecated acceleration manager (non-functional since v0.7b) - Updated variable types and function headers. - Updated stepper interrupt to ISR() from SIGNAL()+sei(). - General code cleanup.
This commit is contained in:
Sonny Jeon
parent
4bf0085ae6
commit
12bae58994
6
main.c
6
main.c
@ -36,7 +36,7 @@
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int main(void)
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{
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sei();
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sei(); // Enable interrupts
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serial_init(BAUD_RATE);
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protocol_init();
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@ -47,8 +47,8 @@ int main(void)
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gc_init();
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limits_init();
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for(;;){
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sleep_mode(); // Wait for it ...
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while (1) {
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// sleep_mode(); // Wait for it ...
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protocol_process(); // ... process the serial protocol
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}
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return 0; /* never reached */
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@ -48,9 +48,6 @@ void mc_dwell(double seconds)
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void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, uint8_t axis_1,
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uint8_t axis_linear, double feed_rate, uint8_t invert_feed_rate, double radius, uint8_t isclockwise)
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{
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// int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
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// plan_set_acceleration_manager_enabled(false); // disable acceleration management for the duration of the arc
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double center_axis0 = position[axis_0] + offset[axis_0];
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double center_axis1 = position[axis_1] + offset[axis_1];
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double linear_travel = target[axis_linear] - position[axis_linear];
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@ -141,8 +138,6 @@ void mc_arc(double *position, double *target, double *offset, uint8_t axis_0, ui
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}
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// Ensure last segment arrives at target location.
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plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
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// plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
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}
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#endif
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20
nuts_bolts.c
20
nuts_bolts.c
@ -1,3 +1,23 @@
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/*
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nuts_bolts.c - Shared functions
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Grbl is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "nuts_bolts.h"
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#include <stdint.h>
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#include <stdlib.h>
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@ -1,5 +1,5 @@
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/*
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motion_control.h - cartesian robot controller.
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nuts_bolts.h - Header file for shared definitions, variables, and functions
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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88
planner.c
88
planner.c
@ -46,12 +46,11 @@ static int32_t position[3]; // The current position of the tool in a
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static double previous_unit_vec[3]; // Unit vector of previous path line segment
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static double previous_nominal_speed; // Nominal speed of previous path line segment
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static uint8_t acceleration_manager_enabled; // Acceleration management active?
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// Returns the index of the next block in the ring buffer
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// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
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static int8_t next_block_index(int8_t block_index) {
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static uint8_t next_block_index(uint8_t block_index)
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{
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block_index++;
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if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
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return(block_index);
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@ -59,7 +58,8 @@ static int8_t next_block_index(int8_t block_index) {
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// Returns the index of the previous block in the ring buffer
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static int8_t prev_block_index(int8_t block_index) {
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static uint8_t prev_block_index(uint8_t block_index)
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{
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if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
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block_index--;
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return(block_index);
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@ -68,7 +68,8 @@ static int8_t prev_block_index(int8_t block_index) {
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// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
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// given acceleration:
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static double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration) {
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static double estimate_acceleration_distance(double initial_rate, double target_rate, double acceleration)
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{
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return( (target_rate*target_rate-initial_rate*initial_rate)/(2*acceleration) );
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}
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@ -86,7 +87,8 @@ static double estimate_acceleration_distance(double initial_rate, double target_
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// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
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// a total travel of distance. This can be used to compute the intersection point between acceleration and
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// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
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static double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance) {
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static double intersection_distance(double initial_rate, double final_rate, double acceleration, double distance)
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{
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return( (2*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4*acceleration) );
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}
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@ -96,13 +98,15 @@ static double intersection_distance(double initial_rate, double final_rate, doub
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// NOTE: sqrt() reimplimented here from prior version due to improved planner logic. Increases speed
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// in time critical computations, i.e. arcs or rapid short lines from curves. Guaranteed to not exceed
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// BLOCK_BUFFER_SIZE calls per planner cycle.
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static double max_allowable_speed(double acceleration, double target_velocity, double distance) {
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static double max_allowable_speed(double acceleration, double target_velocity, double distance)
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{
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return( sqrt(target_velocity*target_velocity-2*acceleration*distance) );
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}
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// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
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static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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static void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next)
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{
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if (!current) { return; } // Cannot operate on nothing.
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if (next) {
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@ -128,8 +132,9 @@ static void planner_reverse_pass_kernel(block_t *previous, block_t *current, blo
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the reverse pass.
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static void planner_reverse_pass() {
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auto int8_t block_index = block_buffer_head;
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static void planner_reverse_pass()
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{
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uint8_t block_index = block_buffer_head;
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block_t *block[3] = {NULL, NULL, NULL};
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while(block_index != block_buffer_tail) {
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block_index = prev_block_index( block_index );
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@ -143,7 +148,8 @@ static void planner_reverse_pass() {
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// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
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static void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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static void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next)
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{
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if(!previous) { return; } // Begin planning after buffer_tail
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// If the previous block is an acceleration block, but it is not long enough to complete the
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@ -167,8 +173,9 @@ static void planner_forward_pass_kernel(block_t *previous, block_t *current, blo
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the forward pass.
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static void planner_forward_pass() {
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int8_t block_index = block_buffer_tail;
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static void planner_forward_pass()
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{
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uint8_t block_index = block_buffer_tail;
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block_t *block[3] = {NULL, NULL, NULL};
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while(block_index != block_buffer_head) {
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@ -194,8 +201,8 @@ static void planner_forward_pass() {
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// The factors represent a factor of braking and must be in the range 0.0-1.0.
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// This converts the planner parameters to the data required by the stepper controller.
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// NOTE: Final rates must be computed in terms of their respective blocks.
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static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor) {
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static void calculate_trapezoid_for_block(block_t *block, double entry_factor, double exit_factor)
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{
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block->initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
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block->final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
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int32_t acceleration_per_minute = block->rate_delta*ACCELERATION_TICKS_PER_SECOND*60.0; // (step/min^2)
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@ -235,8 +242,9 @@ static void calculate_trapezoid_for_block(block_t *block, double entry_factor, d
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// planner_recalculate() after updating the blocks. Any recalulate flagged junction will
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// compute the two adjacent trapezoids to the junction, since the junction speed corresponds
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// to exit speed and entry speed of one another.
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static void planner_recalculate_trapezoids() {
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int8_t block_index = block_buffer_tail;
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static void planner_recalculate_trapezoids()
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{
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uint8_t block_index = block_buffer_tail;
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block_t *current;
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block_t *next = NULL;
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@ -281,49 +289,41 @@ static void planner_recalculate_trapezoids() {
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// All planner computations are performed with doubles (float on Arduinos) to minimize numerical round-
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// off errors. Only when planned values are converted to stepper rate parameters, these are integers.
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static void planner_recalculate() {
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static void planner_recalculate()
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{
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planner_reverse_pass();
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planner_forward_pass();
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planner_recalculate_trapezoids();
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}
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void plan_init() {
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void plan_init()
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{
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block_buffer_head = 0;
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block_buffer_tail = 0;
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plan_set_acceleration_manager_enabled(true);
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clear_vector(position);
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clear_vector_double(previous_unit_vec);
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previous_nominal_speed = 0.0;
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}
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void plan_set_acceleration_manager_enabled(uint8_t enabled) {
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if ((!!acceleration_manager_enabled) != (!!enabled)) {
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st_synchronize();
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acceleration_manager_enabled = !!enabled;
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}
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}
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int plan_is_acceleration_manager_enabled() {
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return(acceleration_manager_enabled);
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}
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void plan_discard_current_block() {
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void plan_discard_current_block()
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{
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if (block_buffer_head != block_buffer_tail) {
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block_buffer_tail = next_block_index( block_buffer_tail );
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}
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}
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block_t *plan_get_current_block() {
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block_t *plan_get_current_block()
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{
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if (block_buffer_head == block_buffer_tail) { return(NULL); }
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return(&block_buffer[block_buffer_tail]);
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}
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// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
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// millimaters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
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// millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
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// rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
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void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate) {
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void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t invert_feed_rate)
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{
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// Calculate target position in absolute steps
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int32_t target[3];
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target[X_AXIS] = lround(x*settings.steps_per_mm[X_AXIS]);
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@ -331,7 +331,7 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
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target[Z_AXIS] = lround(z*settings.steps_per_mm[Z_AXIS]);
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// Calculate the buffer head after we push this byte
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int next_buffer_head = next_block_index( block_buffer_head );
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uint8_t next_buffer_head = next_block_index( block_buffer_head );
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// If the buffer is full: good! That means we are well ahead of the robot.
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// Rest here until there is room in the buffer.
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while(block_buffer_tail == next_buffer_head) { sleep_mode(); }
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@ -384,9 +384,6 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
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block->rate_delta = ceil( block->step_event_count*inverse_millimeters *
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settings.acceleration / (60 * ACCELERATION_TICKS_PER_SECOND )); // (step/min/acceleration_tick)
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// Perform planner-enabled calculations
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if (acceleration_manager_enabled) {
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// Compute path unit vector
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double unit_vec[3];
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@ -447,21 +444,12 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
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memcpy(previous_unit_vec, unit_vec, sizeof(unit_vec)); // previous_unit_vec[] = unit_vec[]
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previous_nominal_speed = block->nominal_speed;
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} else {
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// Acceleration planner disabled. Set minimum that is required.
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block->initial_rate = block->nominal_rate;
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block->final_rate = block->nominal_rate;
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block->accelerate_until = 0;
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block->decelerate_after = block->step_event_count;
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block->rate_delta = 0;
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}
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// Move buffer head
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block_buffer_head = next_buffer_head;
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// Update position
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memcpy(position, target, sizeof(target)); // position[] = target[]
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if (acceleration_manager_enabled) { planner_recalculate(); }
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planner_recalculate();
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st_cycle_start();
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}
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15
planner.h
15
planner.h
@ -27,11 +27,11 @@
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// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
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// the source g-code and may never actually be reached if acceleration management is active.
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typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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uint32_t steps_x, steps_y, steps_z; // Step count along each axis
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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uint32_t steps_x, steps_y, steps_z; // Step count along each axis
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int32_t step_event_count; // The number of step events required to complete this block
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uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
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// Fields used by the motion planner to manage acceleration
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double nominal_speed; // The nominal speed for this block in mm/min
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@ -42,11 +42,12 @@ typedef struct {
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uint8_t nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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uint32_t initial_rate; // The jerk-adjusted step rate at start of block
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uint32_t final_rate; // The minimal rate at exit
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uint32_t initial_rate; // The step rate at start of block
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uint32_t final_rate; // The step rate at end of block
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int32_t rate_delta; // The steps/minute to add or subtract when changing speed (must be positive)
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uint32_t accelerate_until; // The index of the step event on which to stop acceleration
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uint32_t decelerate_after; // The index of the step event on which to start decelerating
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uint32_t nominal_rate; // The nominal step rate for this block in step_events/minute
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} block_t;
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@ -65,12 +66,6 @@ void plan_discard_current_block();
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// Gets the current block. Returns NULL if buffer empty
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block_t *plan_get_current_block();
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// Enables or disables acceleration-management for upcoming blocks
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void plan_set_acceleration_manager_enabled(uint8_t enabled);
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// Is acceleration-management currently enabled?
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int plan_is_acceleration_manager_enabled();
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// Reset the position vector
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void plan_set_current_position(double x, double y, double z);
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20
protocol.c
20
protocol.c
@ -31,10 +31,12 @@
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#include <avr/pgmspace.h>
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#define LINE_BUFFER_SIZE 50
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static char line[LINE_BUFFER_SIZE];
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static uint8_t char_counter;
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static char line[LINE_BUFFER_SIZE]; // Line to be executed. Zero-terminated.
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static uint8_t char_counter; // Last character counter in line variable.
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static uint8_t iscomment; // Comment/block delete flag for processor to ignore comment characters.
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static void status_message(int status_code) {
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static void status_message(int status_code)
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{
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if (status_code == 0) {
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printPgmString(PSTR("ok\r\n"));
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} else {
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@ -57,12 +59,15 @@ static void status_message(int status_code) {
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void protocol_init()
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{
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char_counter = 0; // Reset line input
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iscomment = false;
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printPgmString(PSTR("\r\nGrbl " GRBL_VERSION));
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printPgmString(PSTR("\r\n"));
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}
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// Executes one line of input according to protocol
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uint8_t protocol_execute_line(char *line) {
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uint8_t protocol_execute_line(char *line)
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{
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if(line[0] == '$') {
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return(settings_execute_line(line)); // Delegate lines starting with '$' to the settings module
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} else {
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@ -70,15 +75,16 @@ uint8_t protocol_execute_line(char *line) {
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}
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}
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// Process one line of incoming serial data. Remove unneeded characters and capitalize.
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void protocol_process()
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{
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char c;
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uint8_t iscomment = false;
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while((c = serial_read()) != SERIAL_NO_DATA)
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{
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if ((c == '\n') || (c == '\r')) { // End of block reached
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if ((c == '\n') || (c == '\r')) { // End of line reached
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if (char_counter > 0) {// Line is complete. Then execute!
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line[char_counter] = 0; // terminate string
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line[char_counter] = 0; // Terminate string
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status_message(protocol_execute_line(line));
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} else {
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// Empty or comment line. Skip block.
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@ -3,6 +3,7 @@
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Part of Grbl
|
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|
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Copyright (c) 2009-2011 Simen Svale Skogsrud
|
||||
Copyright (c) 2011 Sungeun K. Jeon
|
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|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
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|
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8
serial.c
8
serial.c
@ -71,7 +71,7 @@ void serial_write(uint8_t data) {
|
||||
if (next_head == TX_BUFFER_SIZE) { next_head = 0; }
|
||||
|
||||
// Wait until there's a space in the buffer
|
||||
while (next_head == tx_buffer_tail) { sleep_mode(); };
|
||||
while (next_head == tx_buffer_tail) { };//sleep_mode(); };
|
||||
|
||||
// Store data and advance head
|
||||
tx_buffer[tx_buffer_head] = data;
|
||||
@ -82,8 +82,8 @@ void serial_write(uint8_t data) {
|
||||
}
|
||||
|
||||
// Data Register Empty Interrupt handler
|
||||
SIGNAL(USART_UDRE_vect) {
|
||||
// temporary tx_buffer_tail (to optimize for volatile)
|
||||
ISR(USART_UDRE_vect) {
|
||||
// Temporary tx_buffer_tail (to optimize for volatile)
|
||||
uint8_t tail = tx_buffer_tail;
|
||||
|
||||
// Send a byte from the buffer
|
||||
@ -111,7 +111,7 @@ uint8_t serial_read()
|
||||
}
|
||||
}
|
||||
|
||||
SIGNAL(USART_RX_vect)
|
||||
ISR(USART_RX_vect)
|
||||
{
|
||||
uint8_t data = UDR0;
|
||||
uint8_t next_head = rx_buffer_head + 1;
|
||||
|
||||
36
stepper.c
36
stepper.c
@ -79,7 +79,7 @@ static uint8_t cycle_start; // Cycle start flag to indicate program start an
|
||||
static void set_step_events_per_minute(uint32_t steps_per_minute);
|
||||
|
||||
// Stepper state initialization
|
||||
void st_wake_up()
|
||||
static void st_wake_up()
|
||||
{
|
||||
// Initialize stepper output bits
|
||||
out_bits = (0) ^ (settings.invert_mask);
|
||||
@ -90,7 +90,7 @@ void st_wake_up()
|
||||
}
|
||||
|
||||
// Stepper shutdown
|
||||
void st_go_idle()
|
||||
static void st_go_idle()
|
||||
{
|
||||
// Cycle finished. Set flag to false.
|
||||
cycle_start = false;
|
||||
@ -133,28 +133,24 @@ static uint8_t iterate_trapezoid_cycle_counter()
|
||||
// config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
|
||||
// It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse.
|
||||
// The bresenham line tracer algorithm controls all three stepper outputs simultaneously with these two interrupts.
|
||||
SIGNAL(TIMER1_COMPA_vect)
|
||||
// NOTE: ISR_NOBLOCK allows SIG_OVERFLOW2 to trigger on-time regardless of time in this handler. This is
|
||||
// the compiler optimizable equivalent of the old SIGNAL() and sei() method.
|
||||
ISR(TIMER1_COMPA_vect,ISR_NOBLOCK)
|
||||
{
|
||||
// TODO: Check if the busy-flag can be eliminated by just disabling this interrupt while we are in it
|
||||
if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt
|
||||
busy = true;
|
||||
|
||||
if(busy){ return; } // The busy-flag is used to avoid reentering this interrupt
|
||||
// Set the direction pins a couple of nanoseconds before we step the steppers
|
||||
STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
|
||||
// Then pulse the stepping pins
|
||||
STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits;
|
||||
// Reset step pulse reset timer so that The Stepper Port Reset Interrupt can reset the signal after
|
||||
// exactly settings.pulse_microseconds microseconds.
|
||||
// TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND)/8);
|
||||
TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3); // Bit shift divide by 8.
|
||||
|
||||
busy = true;
|
||||
sei(); // Re enable interrupts (normally disabled while inside an interrupt handler)
|
||||
// ((We re-enable interrupts in order for SIG_OVERFLOW2 to be able to be triggered
|
||||
// at exactly the right time even if we occasionally spend a lot of time inside this handler.))
|
||||
TCNT2 = -(((settings.pulse_microseconds-2)*TICKS_PER_MICROSECOND) >> 3);
|
||||
|
||||
// If there is no current block, attempt to pop one from the buffer
|
||||
if (current_block == NULL) {
|
||||
// Anything in the buffer?
|
||||
// Anything in the buffer? If so, initialize next motion.
|
||||
current_block = plan_get_current_block();
|
||||
if (current_block != NULL) {
|
||||
trapezoid_generator_reset();
|
||||
@ -256,9 +252,9 @@ SIGNAL(TIMER1_COMPA_vect)
|
||||
|
||||
// This interrupt is set up by SIG_OUTPUT_COMPARE1A when it sets the motor port bits. It resets
|
||||
// the motor port after a short period (settings.pulse_microseconds) completing one step cycle.
|
||||
SIGNAL(TIMER2_OVF_vect)
|
||||
ISR(TIMER2_OVF_vect)
|
||||
{
|
||||
// reset stepping pins (leave the direction pins)
|
||||
// Reset stepping pins (leave the direction pins)
|
||||
STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (settings.invert_mask & STEP_MASK);
|
||||
}
|
||||
|
||||
@ -285,8 +281,10 @@ void st_init()
|
||||
TCCR2B = (1<<CS21); // Full speed, 1/8 prescaler
|
||||
TIMSK2 |= (1<<TOIE2);
|
||||
|
||||
set_step_events_per_minute(6000);
|
||||
set_step_events_per_minute(MINIMUM_STEPS_PER_MINUTE);
|
||||
trapezoid_tick_cycle_counter = 0;
|
||||
current_block = NULL;
|
||||
busy = false;
|
||||
|
||||
// Start in the idle state
|
||||
st_go_idle();
|
||||
@ -338,7 +336,8 @@ static uint32_t config_step_timer(uint32_t cycles)
|
||||
return(actual_cycles);
|
||||
}
|
||||
|
||||
static void set_step_events_per_minute(uint32_t steps_per_minute) {
|
||||
static void set_step_events_per_minute(uint32_t steps_per_minute)
|
||||
{
|
||||
if (steps_per_minute < MINIMUM_STEPS_PER_MINUTE) { steps_per_minute = MINIMUM_STEPS_PER_MINUTE; }
|
||||
cycles_per_step_event = config_step_timer((TICKS_PER_MICROSECOND*1000000*60)/steps_per_minute);
|
||||
}
|
||||
@ -350,7 +349,8 @@ void st_go_home()
|
||||
}
|
||||
|
||||
// Planner external interface to start stepper interrupt and execute the blocks in queue.
|
||||
void st_cycle_start() {
|
||||
void st_cycle_start()
|
||||
{
|
||||
if (!cycle_start) {
|
||||
cycle_start = true;
|
||||
st_wake_up();
|
||||
|
||||
Loading…
Reference in New Issue
Block a user