ManuelW/grbl-LPC-CoreXY
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pcomplete, fully untested, support for accelleration management with look ahead optimization, finally

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Simen Svale Skogsrud
2011-01-15 00:27:08 +01:00
parent d89b86d3bf
commit 5880e55ce9
8 changed files with 120 additions and 48 deletions
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4
stepper.c
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@ -29,7 +29,7 @@
#include <util/delay.h>
#include "nuts_bolts.h"
#include <avr/interrupt.h>
#include "motion_plan.h"
#include "stepper_plan.h"
#include "wiring_serial.h"
void set_step_events_per_minute(uint32_t steps_per_minute);
@ -120,7 +120,7 @@ inline void trapezoid_generator_tick() {
// 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.
void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters) {
mp_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
ENABLE_STEPPER_DRIVER_INTERRUPT();
}