Minor prescalar optimization. Changed up some defines.
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Sonny Jeon
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420c7c2584
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4224ab4999
15
config.h
15
config.h
@ -58,14 +58,13 @@
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#define COOLANT_FLOOD_PORT PORTC
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#define COOLANT_FLOOD_BIT 0 // Uno Analog Pin 0
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#define ENABLE_M7 0 // DISABLED BY DEFAULT: To enable, change to '1' and recompile.
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#if ENABLE_M7
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// #define ENABLE_M7 // Mist coolant disabled by default. Uncomment to enable.
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#ifdef ENABLE_M7
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#define COOLANT_MIST_DDR DDRC
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#define COOLANT_MIST_PORT PORTC
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#define COOLANT_MIST_BIT 1 // Uno Analog Pin 1
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#endif
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// Define runtime command special characters. These characters are 'picked-off' directly from the
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// serial read data stream and are not passed to the grbl line execution parser. Select characters
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// that do not and must not exist in the streamed g-code program. ASCII control characters may be
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@ -87,7 +86,7 @@
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// entering g-code into grbl, i.e. locating part zero or simple manual machining. If the axes drift,
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// grbl has no way to know this has happened, since stepper motors are open-loop control. Depending
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// on the machine, this parameter may need to be larger or smaller than the default time.
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// NOTE: If set to zero, the delay will not be compiled.
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// NOTE: If the define commented, the delay will not be compiled.
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#define STEPPER_IDLE_LOCK_TIME 25 // (milliseconds) - Integer > 0
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// The temporal resolution of the acceleration management subsystem. Higher number give smoother
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@ -137,7 +136,7 @@
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// As well as, older FTDI FT232RL-based Arduinos(Duemilanove) are known to work with standard
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// terminal programs since their firmware correctly manage these XON/XOFF characters. In any
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// case, please report any successes to grbl administrators!
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#define ENABLE_XONXOFF 0 // Boolean. Default disabled.
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// #define ENABLE_XONXOFF // Default disabled. Uncomment to enable.
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// Creates a delay between the direction pin setting and corresponding step pulse by creating
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// another interrupt (Timer2 compare) to manage it. The main Grbl interrupt (Timer1 compare)
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@ -151,9 +150,9 @@
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// of your successes or difficulties, as we will monitor this and possibly integrate this as a
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// standard feature for future releases. However, we suggest to first try our direction delay
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// hack/solution posted in the Wiki involving inverting the stepper pin mask.
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// NOTE: If set greater than zero, step pulse delay will be compiled and enabled. Also, the
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// total delay added with the Grbl settings pulse microseconds must not exceed 127 ms.
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#define STEP_PULSE_DELAY 0 // Step pulse delay in microseconds. Default disabled.
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// NOTE: Uncomment to enable. The recommended delay should be > 3us but not exceed a total
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// time of 127us when added with the Grbl settings pulse microsecond.
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// #define STEP_PULSE_DELAY 5 // Step pulse delay in microseconds. Default disabled.
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// ---------------------------------------------------------------------------------------
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@ -39,7 +39,7 @@ void coolant_init()
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void coolant_stop()
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{
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#if ENABLE_M7
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#ifdef ENABLE_M7
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COOLANT_MIST_PORT &= ~(1 << COOLANT_MIST_BIT);
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#endif
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COOLANT_FLOOD_PORT &= ~(1 << COOLANT_FLOOD_BIT);
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@ -53,7 +53,7 @@ void coolant_run(uint8_t mode)
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plan_synchronize(); // Ensure coolant turns on when specified in program.
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if (mode == COOLANT_FLOOD_ENABLE) {
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COOLANT_FLOOD_PORT |= (1 << COOLANT_FLOOD_BIT);
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#if ENABLE_M7
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#ifdef ENABLE_M7
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} else if (mode == COOLANT_MIST_ENABLE) {
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COOLANT_MIST_PORT |= (1 << COOLANT_MIST_BIT);
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#endif
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8
gcode.c
8
gcode.c
@ -216,7 +216,7 @@ uint8_t gc_execute_line(char *line)
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case 3: gc.spindle_direction = 1; break;
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case 4: gc.spindle_direction = -1; break;
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case 5: gc.spindle_direction = 0; break;
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#if ENABLE_M7
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#ifdef ENABLE_M7
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case 7: gc.coolant_mode = COOLANT_MIST_ENABLE; break;
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#endif
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case 8: gc.coolant_mode = COOLANT_FLOOD_ENABLE; break;
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@ -578,16 +578,16 @@ static int next_statement(char *letter, double *double_ptr, char *line, uint8_t
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- Evaluation of expressions
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- Variables
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- Multiple home locations
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- Multiple coordinate systems (Up to 6 may be added via config.h)
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- Probing
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- Override control
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- Tool changes
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(*) Indicates optional parameter, enabled through config.h and re-compile
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group 0 = {G92.2, G92.3} (Non modal: Cancel and re-enable G92 offsets)
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group 1 = {G38.2, G81 - G89} (Motion modes: straight probe, canned cycles)
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group 6 = {M6} (Tool change)
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group 8 = {M7} coolant (M7 mist may be enabled via config.h)
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group 8 = {*M7} enable mist coolant
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group 9 = {M48, M49} enable/disable feed and speed override switches
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group 12 = {G55, G56, G57, G58, G59, G59.1, G59.2, G59.3} coordinate system selection
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group 12 = {*G55, *G56, *G57, *G58, *G59, G59.1, G59.2, G59.3} coordinate system selection
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group 13 = {G61, G61.1, G64} path control mode
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*/
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26
stepper.c
26
stepper.c
@ -91,7 +91,7 @@ static void st_wake_up()
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// Initialize stepper output bits
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out_bits = (0) ^ (settings.invert_mask);
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// Initialize step pulse timing from settings. Here to ensure updating after re-writing.
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#if STEP_PULSE_DELAY > 0
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#ifdef STEP_PULSE_DELAY
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// Set total step pulse time after direction pin set. Ad hoc computation from oscilloscope.
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step_pulse_time = -(((settings.pulse_microseconds+STEP_PULSE_DELAY-2)*TICKS_PER_MICROSECOND) >> 3);
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// Set delay between direction pin write and step command.
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@ -113,7 +113,7 @@ void st_go_idle()
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TIMSK1 &= ~(1<<OCIE1A);
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// Force stepper dwell to lock axes for a defined amount of time to ensure the axes come to a complete
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// stop and not drift from residual inertial forces at the end of the last movement.
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#if STEPPER_IDLE_LOCK_TIME > 0
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#ifdef STEPPER_IDLE_LOCK_TIME
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_delay_ms(STEPPER_IDLE_LOCK_TIME);
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#endif
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// Disable steppers by setting stepper disable
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@ -145,7 +145,7 @@ ISR(TIMER1_COMPA_vect)
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// Set the direction pins a couple of nanoseconds before we step the steppers
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STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
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// Then pulse the stepping pins
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#if STEP_PULSE_DELAY > 0
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#ifdef STEP_PULSE_DELAY
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step_bits = (STEPPING_PORT & ~STEP_MASK) | out_bits; // Store out_bits to prevent overwriting.
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#else // Normal operation
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STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | out_bits;
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@ -314,7 +314,7 @@ ISR(TIMER2_OVF_vect)
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TCCR2B = 0; // Disable Timer2 to prevent re-entering this interrupt when it's not needed.
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}
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#if STEP_PULSE_DELAY > 0
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#ifdef STEP_PULSE_DELAY
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// This interrupt is used only when STEP_PULSE_DELAY is enabled. Here, the step pulse is
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// initiated after the STEP_PULSE_DELAY time period has elapsed. The ISR TIMER2_OVF interrupt
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// will then trigger after the appropriate settings.pulse_microseconds, as in normal operation.
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@ -358,7 +358,7 @@ void st_init()
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TCCR2B = 0; // Disable timer until needed.
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TIMSK2 |= (1<<TOIE2);
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#if STEP_PULSE_DELAY > 0
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#ifdef STEP_PULSE_DELAY
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TIMSK2 |= (1<<OCIE2A); // Enable Timer2 Compare Match A interrupt
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#endif
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@ -371,36 +371,36 @@ void st_init()
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static uint32_t config_step_timer(uint32_t cycles)
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{
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uint16_t ceiling;
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uint16_t prescaler;
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uint8_t prescaler;
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uint32_t actual_cycles;
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if (cycles <= 0xffffL) {
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ceiling = cycles;
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prescaler = 0; // prescaler: 0
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prescaler = 1; // prescaler: 0
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actual_cycles = ceiling;
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} else if (cycles <= 0x7ffffL) {
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ceiling = cycles >> 3;
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prescaler = 1; // prescaler: 8
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prescaler = 2; // prescaler: 8
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actual_cycles = ceiling * 8L;
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} else if (cycles <= 0x3fffffL) {
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ceiling = cycles >> 6;
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prescaler = 2; // prescaler: 64
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prescaler = 3; // prescaler: 64
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actual_cycles = ceiling * 64L;
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} else if (cycles <= 0xffffffL) {
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ceiling = (cycles >> 8);
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prescaler = 3; // prescaler: 256
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prescaler = 4; // prescaler: 256
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actual_cycles = ceiling * 256L;
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} else if (cycles <= 0x3ffffffL) {
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ceiling = (cycles >> 10);
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prescaler = 4; // prescaler: 1024
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prescaler = 5; // prescaler: 1024
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actual_cycles = ceiling * 1024L;
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} else {
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// Okay, that was slower than we actually go. Just set the slowest speed
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ceiling = 0xffff;
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prescaler = 4;
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prescaler = 6;
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actual_cycles = 0xffff * 1024;
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}
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// Set prescaler
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TCCR1B = (TCCR1B & ~(0x07<<CS10)) | ((prescaler+1)<<CS10);
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TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (prescaler<<CS10);
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// Set ceiling
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OCR1A = ceiling;
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return(actual_cycles);
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