ManuelW/grbl-LPC-CoreXY
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removed a grave little bug in the planner and added a baseline safe speed so that motion sequences do not attempt to go to speed 0, but to a safe, higher speed based on the max_jerk setting

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Simen Svale Skogsrud
2011-02-04 22:09:09 +01:00
parent 0bd0ba6e6e
commit 59a9b64087
3 changed files with 40 additions and 10 deletions
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11
stepper.c
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@ -39,10 +39,11 @@
#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
#define MINIMUM_STEPS_PER_MINUTE 1200 // The stepper subsystem will never run slower than this, exept when sleeping
#define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
#define MINIMUM_STEPS_PER_MINUTE 1200
#define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
static block_t *current_block; // A convenience pointer to the block currently being traced
@ -171,6 +172,12 @@ SIGNAL(TIMER1_COMPA_vect)
// If current block is finished, reset pointer
step_events_completed += 1;
if (step_events_completed >= current_block->step_event_count) {
// printInteger(current_block->exit_rate);
// printString(" == ");
// printInteger(trapezoid_adjusted_rate);
// printString(" <-- exit, actual\n\r");
// printInteger(current_block->rate_delta);
// printString(" <-- delta\n\r");
current_block = NULL;
// move the block buffer tail to the next instruction
block_buffer_tail = (block_buffer_tail + 1) % BLOCK_BUFFER_SIZE;