purged legacy code, updated todo
This commit is contained in:
Simen Svale Skogsrud
@@ -1,220 +0,0 @@
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// Prepare an arc. theta == start angle, angular_travel == number of radians to go along the arc,
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// positive angular_travel means clockwise, negative means counterclockwise. Radius == the radius of the
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// circle in millimeters. axis_1 and axis_2 selects the plane in tool space.
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// ISSUE: The arc interpolator assumes all axes have the same steps/mm as the X axis.
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void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2, double feed_rate)
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{
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uint32_t radius_steps = round(radius*X_STEPS_PER_MM);
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mc.mode = MC_MODE_ARC;
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// Determine angular direction (+1 = clockwise, -1 = counterclockwise)
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mc.arc.angular_direction = signof(angular_travel);
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// Calculate the initial position and target position in the local coordinate system of the arc
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mc.arc.x = round(sin(theta)*radius_steps);
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mc.arc.y = round(cos(theta)*radius_steps);
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mc.arc.target_x = trunc(sin(theta+angular_travel)*radius_steps);
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mc.arc.target_y = trunc(cos(theta+angular_travel)*radius_steps);
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// Precalculate these values to optimize target detection
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mc.arc.target_direction_x = signof(mc.arc.target_x)*mc.arc.angular_direction;
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mc.arc.target_direction_y = signof(mc.arc.target_y)*mc.arc.angular_direction;
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// The "error" factor is kept up to date so that it is always == (x**2+y**2-radius**2). When error
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// <0 we are inside the arc, when it is >0 we are outside of the arc, and when it is 0 we
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// are exactly on top of the arc.
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mc.arc.error = mc.arc.x*mc.arc.x + mc.arc.y*mc.arc.y - radius_steps*radius_steps;
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// Because the error-value moves in steps of (+/-)2x+1 and (+/-)2y+1 we save a couple of multiplications
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// by keeping track of the doubles of the arc coordinates at all times.
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mc.arc.x2 = 2*mc.arc.x;
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mc.arc.y2 = 2*mc.arc.y;
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// Set up a vector with the steppers we are going to use tracing the plane of this arc
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clear_vector(mc.arc.plane_steppers);
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mc.arc.plane_steppers[axis_1] = 1;
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mc.arc.plane_steppers[axis_2] = 1;
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// And map the local coordinate system of the arc onto the tool axes of the selected plane
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mc.arc.axis_x = axis_1;
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mc.arc.axis_y = axis_2;
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// mm/second -> microseconds/step. Assumes all axes have the same steps/mm as the x axis
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mc.pace =
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ONE_MINUTE_OF_MICROSECONDS / (feed_rate * X_STEPS_PER_MM);
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mc.arc.incomplete = true;
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}
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#define check_arc_target \
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if ((mc.arc.x * mc.arc.target_direction_y >= \
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mc.arc.target_x * mc.arc.target_direction_y) && \
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(mc.arc.y * mc.arc.target_direction_x <= \
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mc.arc.target_y * mc.arc.target_direction_x)) \
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{ mc.arc.incomplete = false; }
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// Internal method used by execute_arc to trace horizontally in the general direction provided by dx and dy
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void step_arc_along_x(int8_t dx, int8_t dy)
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{
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uint32_t diagonal_error;
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mc.arc.x+=dx;
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mc.arc.error += 1+mc.arc.x2*dx;
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mc.arc.x2 += 2*dx;
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diagonal_error = mc.arc.error + 1 + mc.arc.y2*dy;
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if(abs(mc.arc.error) >= abs(diagonal_error)) {
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mc.arc.y += dy;
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mc.arc.y2 += 2*dy;
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mc.arc.error = diagonal_error;
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step_steppers(mc.arc.plane_steppers); // step diagonal
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} else {
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step_axis(mc.arc.axis_x); // step straight
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}
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check_arc_target;
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}
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// Internal method used by execute_arc to trace vertically in the general direction provided by dx and dy
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void step_arc_along_y(int8_t dx, int8_t dy)
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{
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uint32_t diagonal_error;
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mc.arc.y+=dy;
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mc.arc.error += 1+mc.arc.y2*dy;
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mc.arc.y2 += 2*dy;
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diagonal_error = mc.arc.error + 1 + mc.arc.x2*dx;
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if(abs(mc.arc.error) >= abs(diagonal_error)) {
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mc.arc.x += dx;
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mc.arc.x2 += 2*dx;
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mc.arc.error = diagonal_error;
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step_steppers(mc.arc.plane_steppers); // step diagonal
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} else {
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step_axis(mc.arc.axis_y); // step straight
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}
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check_arc_target;
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}
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// Take dx and dy which are local to the arc being generated and map them on to the
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// selected tool-space-axes for the current arc.
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void map_local_arc_directions_to_stepper_directions(int8_t dx, int8_t dy)
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{
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int8_t direction[3];
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direction[mc.arc.axis_x] = dx;
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direction[mc.arc.axis_y] = dy;
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set_stepper_directions(direction);
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}
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/*
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Quandrants of the arc
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\ 7|0 /
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\ | /
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6 \|/ 1 y+
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---------|-----------
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5 /|\ 2 y-
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/ | \
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x- / 4|3 \ x+ */
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#ifdef UNROLLED_ARC_LOOP // This function only used by the unrolled arc loop
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// Determine within which quadrant of the circle the provided coordinate falls
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int quadrant(uint32_t x,uint32_t y)
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{
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// determine if the coordinate is in the quadrants 0,3,4 or 7
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register int quad0347 = abs(x)<abs(y);
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if (x<0) { // quad 4567
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if (y<0) { // quad 45
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return(quad0347 ? 4 : 5);
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} else { // quad 67
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return(quad0347 ? 7 : 6);
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}
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} else {
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if (y<0) { // quad 23
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return(quad0347 ? 3 : 2);
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} else { // quad 01
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return(quad0347 ? 0 : 1);
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}
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}
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}
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#endif
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// Will trace the configured arc until the target is reached.
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void execute_arc()
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{
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uint32_t start_x = mc.arc.x;
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uint32_t start_y = mc.arc.y;
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int dx, dy; // Trace directions
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int steps = 0;
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// mc.mode is set to 0 (MC_MODE_AT_REST) when target is reached
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while(mc.arc.incomplete && (steps<400))
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{
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steps++;
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#ifdef UNROLLED_ARC_LOOP
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// Unrolling the arc code is fast, but costs about 830 bytes of extra code space.
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int q = quadrant(mc.arc.x, mc.arc.y);
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if (mc.arc.angular_direction) {
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switch (q) {
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case 0:
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map_local_arc_directions_to_stepper_directions(1,-1);
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while(mc.arc.incomplete && (mc.arc.x>mc.arc.y)) { step_arc_along_x(1,-1); }
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case 1:
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map_local_arc_directions_to_stepper_directions(1,-1);
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while(mc.arc.incomplete && (mc.arc.y>0)) { step_arc_along_y(1,-1); }
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case 2:
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map_local_arc_directions_to_stepper_directions(-1,-1);
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while(mc.arc.incomplete && (mc.arc.y>-mc.arc.x)) { step_arc_along_y(-1,-1); }
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case 3:
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map_local_arc_directions_to_stepper_directions(-1,-1);
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while(mc.arc.incomplete && (mc.arc.x>0)) { step_arc_along_x(-1,-1); }
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case 4:
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map_local_arc_directions_to_stepper_directions(-1,1);
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while(mc.arc.incomplete && (mc.arc.y<mc.arc.x)) { step_arc_along_x(-1,1); }
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case 5:
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map_local_arc_directions_to_stepper_directions(-1,1);
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while(mc.arc.incomplete && (mc.arc.y<0)) { step_arc_along_y(-1,1); }
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case 6:
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map_local_arc_directions_to_stepper_directions(1,-1);
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while(mc.arc.incomplete && (mc.arc.y<-mc.arc.x)) { step_arc_along_y(1,1); }
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case 7:
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map_local_arc_directions_to_stepper_directions(1,1);
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while(mc.arc.incomplete && (mc.arc.x<0)) { step_arc_along_x(1,1); }
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}
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} else {
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switch (q) {
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case 7:
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map_local_arc_directions_to_stepper_directions(-1,-1);
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while(mc.arc.incomplete && (mc.arc.y>-mc.arc.x)) { step_arc_along_x(-1,-1); }
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case 6:
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map_local_arc_directions_to_stepper_directions(-1,-1);
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while(mc.arc.incomplete && (mc.arc.y>0)) { step_arc_along_y(-1,-1); }
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case 5:
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map_local_arc_directions_to_stepper_directions(1,-1);
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while(mc.arc.incomplete && (mc.arc.y>mc.arc.x)) { step_arc_along_y(1,-1); }
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case 4:
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map_local_arc_directions_to_stepper_directions(1,-1);
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while(mc.arc.incomplete && (mc.arc.x<0)) { step_arc_along_x(1,-1); }
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case 3:
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map_local_arc_directions_to_stepper_directions(1,1);
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while(mc.arc.incomplete && (mc.arc.y<-mc.arc.x)) { step_arc_along_x(1,1); }
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case 2:
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map_local_arc_directions_to_stepper_directions(1,1);
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while(mc.arc.incomplete && (mc.arc.y<0)) { step_arc_along_y(1,1); }
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case 1:
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map_local_arc_directions_to_stepper_directions(-1,1);
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while(mc.arc.incomplete && (mc.arc.y<mc.arc.x)) { step_arc_along_y(-1,1); }
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case 0:
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map_local_arc_directions_to_stepper_directions(-1,1);
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while(mc.arc.incomplete && (mc.arc.x>0)) { step_arc_along_x(-1,1); }
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}
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}
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#else
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dx = (mc.arc.y!=0) ? signof(mc.arc.y) * mc.arc.angular_direction : -signof(mc.arc.x);
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dy = (mc.arc.x!=0) ? -signof(mc.arc.x) * mc.arc.angular_direction : -signof(mc.arc.y);
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map_local_arc_directions_to_stepper_directions(dx,dy);
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if (abs(mc.arc.x)<abs(mc.arc.y)) {
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step_arc_along_x(dx,dy);
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} else {
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step_arc_along_y(dx,dy);
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}
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#endif
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}
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// Update the tool position to the new actual position
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mc.position[mc.arc.axis_x] += mc.arc.x-start_x;
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mc.position[mc.arc.axis_y] += mc.arc.y-start_y;
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// Because of rounding errors we might be off by a step or two. Adjust for this
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// To be implemented
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//void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, int invert_feed_rate)
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mc.mode = MC_MODE_AT_REST;
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}
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3
todo.txt
3
todo.txt
@@ -1,6 +1,5 @@
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* Complete support for using and setting separate seek-rate for G0-commnads
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* Implement homing cycle in stepper.c
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* Implement limit switch support in stepper.c (use port-triggered interrupts?)
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* Tool change M6
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* Implement homing cycle in stepper.c
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* Path Control Modes
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* Spindle speed support
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