ManuelW/grbl-LPC-CoreXY
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reallocated debug pin to time replanning

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This commit is contained in:
Simen Svale Skogsrud 2011-01-24 23:18:07 +01:00
parent c481c29dc5
commit 4869e7b1cc
2 changed files with 3 additions and 5 deletions
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6
stepper.c
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@ -84,7 +84,6 @@ inline void trapezoid_generator_reset() {
// interrupt. It can be assumed that the trapezoid-generator-parameters and the // interrupt. It can be assumed that the trapezoid-generator-parameters and the
// current_block stays untouched by outside handlers for the duration of this function call. // current_block stays untouched by outside handlers for the duration of this function call.
inline void trapezoid_generator_tick() { inline void trapezoid_generator_tick() {
PORTD ^= (1<<2);
if (current_block) { if (current_block) {
if (step_event_count < current_block->accelerate_until) { if (step_event_count < current_block->accelerate_until) {
trapezoid_rate += current_block->rate_delta; trapezoid_rate += current_block->rate_delta;
@ -98,18 +97,15 @@ inline void trapezoid_generator_tick() {
set_step_events_per_minute(trapezoid_rate); set_step_events_per_minute(trapezoid_rate);
} }
} }
PORTD ^= (1<<2);
} }
// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in // Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in
// steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration // steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters. // calculation the caller must also provide the physical length of the line in millimeters.
void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters) { void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters) {
PORTD ^= (1<<2);
plan_buffer_line(steps_x, steps_y, steps_z, microseconds, millimeters); plan_buffer_line(steps_x, steps_y, steps_z, microseconds, millimeters);
// Ensure that block processing is running by enabling The Stepper Driver Interrupt // Ensure that block processing is running by enabling The Stepper Driver Interrupt
ENABLE_STEPPER_DRIVER_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT();
PORTD ^= (1<<2);
} }
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with
@ -239,7 +235,7 @@ void st_init()
STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT; STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
DDRD |= (1<<2); DDRD |= (1<<2);
PORTD |= (1<<2); PORTD &= ~(1<<2);
sei(); sei();
} }

2
stepper_plan.c
View File

@ -235,9 +235,11 @@ void planner_recalculate_trapezoids() {
// 3. Recalculate trapezoids for all blocks. // 3. Recalculate trapezoids for all blocks.
void planner_recalculate() { void planner_recalculate() {
PORTD ^= (1<<2);
planner_reverse_pass(); planner_reverse_pass();
planner_forward_pass(); planner_forward_pass();
planner_recalculate_trapezoids(); planner_recalculate_trapezoids();
PORTD ^= (1<<2);
} }