reallocated debug pin to time replanning
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@ -84,7 +84,6 @@ inline void trapezoid_generator_reset() {
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// interrupt. It can be assumed that the trapezoid-generator-parameters and the
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// interrupt. It can be assumed that the trapezoid-generator-parameters and the
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// current_block stays untouched by outside handlers for the duration of this function call.
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// current_block stays untouched by outside handlers for the duration of this function call.
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inline void trapezoid_generator_tick() {
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inline void trapezoid_generator_tick() {
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PORTD ^= (1<<2);
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if (current_block) {
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if (current_block) {
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if (step_event_count < current_block->accelerate_until) {
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if (step_event_count < current_block->accelerate_until) {
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trapezoid_rate += current_block->rate_delta;
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trapezoid_rate += current_block->rate_delta;
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@ -98,18 +97,15 @@ inline void trapezoid_generator_tick() {
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set_step_events_per_minute(trapezoid_rate);
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set_step_events_per_minute(trapezoid_rate);
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}
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}
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}
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}
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PORTD ^= (1<<2);
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}
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}
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// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in
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// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in
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// steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
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// steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
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// calculation the caller must also provide the physical length of the line in millimeters.
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// calculation the caller must also provide the physical length of the line in millimeters.
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void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters) {
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void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters) {
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PORTD ^= (1<<2);
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plan_buffer_line(steps_x, steps_y, steps_z, microseconds, millimeters);
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plan_buffer_line(steps_x, steps_y, steps_z, microseconds, millimeters);
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// Ensure that block processing is running by enabling The Stepper Driver Interrupt
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// Ensure that block processing is running by enabling The Stepper Driver Interrupt
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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PORTD ^= (1<<2);
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}
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}
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with
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// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with
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@ -239,7 +235,7 @@ void st_init()
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STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
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STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
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DDRD |= (1<<2);
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DDRD |= (1<<2);
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PORTD |= (1<<2);
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PORTD &= ~(1<<2);
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sei();
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sei();
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}
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}
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@ -235,9 +235,11 @@ void planner_recalculate_trapezoids() {
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// 3. Recalculate trapezoids for all blocks.
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// 3. Recalculate trapezoids for all blocks.
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void planner_recalculate() {
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void planner_recalculate() {
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PORTD ^= (1<<2);
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planner_reverse_pass();
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planner_reverse_pass();
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planner_forward_pass();
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planner_forward_pass();
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planner_recalculate_trapezoids();
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planner_recalculate_trapezoids();
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PORTD ^= (1<<2);
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}
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}
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