ManuelW/grbl-LPC-CoreXY
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Arc mm_per_segment removed, now in terms of tolerance. Stepper ramp counter variable type corrected.

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- Arc mm_per_segment parameter was removed and replaced with an
arc_tolerance parameter, which scales all arc segments automatically to
radius, such that the line segment error doesn't exceed the tolerance.
Significantly improves arc performance through larger radius arc,
because the segments are much longer and the planner buffer has more to
work with.

- Moved n_arc correction from the settings to config.h. Mathematically
this doesn't need to be a setting anymore, as the default config value
will work for all known CNC applications. The error does not accumulate
as much anymore, since the small angle approximation used by the arc
generation has been updated to a third-order approximation and how the
line segment length scale with radius and tolerance now. Left in
config.h for extraneous circumstances.

- Corrected the st.ramp_count variable (acceleration tick counter) to a
8-bit vs. 32-bit variable. Should make the stepper algorithm just a
touch faster overall.
This commit is contained in:
Sonny Jeon
2012-12-19 17:30:09 -07:00
parent a1397f61c4
commit 3dfffa622d
8 changed files with 208 additions and 128 deletions
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28
settings.c
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@ -79,7 +79,7 @@ void settings_reset(bool reset_all) {
settings.acceleration[X_AXIS] = DEFAULT_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_ACCELERATION;
settings.mm_per_arc_segment = DEFAULT_MM_PER_ARC_SEGMENT;
settings.arc_tolerance = DEFAULT_ARC_TOLERANCE;
settings.invert_mask = DEFAULT_STEPPING_INVERT_MASK;
settings.junction_deviation = DEFAULT_JUNCTION_DEVIATION;
}
@ -97,7 +97,6 @@ void settings_reset(bool reset_all) {
settings.homing_pulloff = DEFAULT_HOMING_PULLOFF;
settings.stepper_idle_lock_time = DEFAULT_STEPPER_IDLE_LOCK_TIME;
settings.decimal_places = DEFAULT_DECIMAL_PLACES;
settings.n_arc_correction = DEFAULT_N_ARC_CORRECTION;
write_global_settings();
}
@ -173,35 +172,34 @@ uint8_t settings_store_global_setting(int parameter, float value) {
case 11: settings.invert_mask = trunc(value); break;
case 12: settings.stepper_idle_lock_time = round(value); break;
case 13: settings.junction_deviation = fabs(value); break;
case 14: settings.mm_per_arc_segment = value; break;
case 15: settings.n_arc_correction = round(value); break;
case 16: settings.decimal_places = round(value); break;
case 17:
case 14: settings.arc_tolerance = value; break;
case 15: settings.decimal_places = round(value); break;
case 16:
if (value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
break;
case 18: // Reset to ensure change. Immediate re-init may cause problems.
case 17: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_AUTO_START; }
else { settings.flags &= ~BITFLAG_AUTO_START; }
break;
case 19: // Reset to ensure change. Immediate re-init may cause problems.
case 18: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 20:
case 19:
if (value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 21:
case 20:
if (value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else { settings.flags &= ~BITFLAG_HOMING_ENABLE; }
break;
case 22: settings.homing_dir_mask = trunc(value); break;
case 23: settings.homing_feed_rate = value; break;
case 24: settings.homing_seek_rate = value; break;
case 25: settings.homing_debounce_delay = round(value); break;
case 26: settings.homing_pulloff = value; break;
case 21: settings.homing_dir_mask = trunc(value); break;
case 22: settings.homing_feed_rate = value; break;
case 23: settings.homing_seek_rate = value; break;
case 24: settings.homing_debounce_delay = round(value); break;
case 25: settings.homing_pulloff = value; break;
default:
return(STATUS_INVALID_STATEMENT);
}