ManuelW/grbl-LPC-CoreXY
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Simplify setting of STATE_CYCLE and ISR interval.

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Set sys.state to STATE_CYCLE directly instead of calling back to
st_wakeup().

Convert get_step_time() to a constant and rename it to ISR_INTERVAL.
This commit is contained in:
michmerr 2014-01-28 11:37:31 -08:00
parent 783100db7d
commit 59e906f7e8
2 changed files with 10 additions and 48 deletions
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52
sim/simulator.c
View File

@ -29,6 +29,11 @@
#include "../nuts_bolts.h"
#include "simulator.h"
// Derived from OCR2A set during stepper init. Not simplified because
// OCR2A formula results in an unsigned int, which results in a slightly
// different value than simplifying to 1 / ISR_TICKS_PER_SECOND.
#define ISR_INTERVAL ((F_CPU/ISR_TICKS_PER_SECOND)/8) * 8.0 / F_CPU
// This variable is needed to determine if execute_runtime() is called in a loop
// waiting for the buffer to empty, as in plan_synchronize()
// it is reset in serial_write() because this is certainly called at the end of
@ -85,13 +90,15 @@ void sim_stepper() {
// to let it handle sys.cycle_start etc.
if(current_block==NULL) {
interrupt_TIMER2_COMPA_vect();
sim_time+= get_step_time();
sim_time+= ISR_INTERVAL;
return;
}
sys.state = STATE_CYCLE;
while(current_block==plan_get_current_block()) {
interrupt_TIMER2_COMPA_vect();
sim_time+= get_step_time();
sim_time+= ISR_INTERVAL;
// Check to see if we should print some info
if(step_time>0.0) {
@ -108,6 +115,7 @@ void sim_stepper() {
}
}
// always print stepper values at the end of a block
if(step_time>0.0) {
fprintf(step_out_file, "%20.15f, %d, %d, %d\n", sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
@ -171,12 +179,6 @@ void printBlock() {
// Only when plan_synchronize() wait for the whole buffer to clear, the stepper interrupt
// to finish all pending moves.
void handle_buffer() {
if (plan_check_full_buffer() && sys.state != STATE_CYCLE) {
// Autostart the cycle, and call st_wake_up()
sys.state = STATE_CYCLE;
st_wake_up();
}
// runtime_second_call is reset by serial_write() after every command.
// Only when execute_runtime() is called repeatedly by plan_synchronize()
// runtime_second_call will be incremented above 2
@ -189,37 +191,3 @@ void handle_buffer() {
}
}
double get_step_time() {
/* code for the old stepper algorithm
uint16_t ceiling;
uint16_t prescaler;
uint32_t actual_cycles;
uint8_t invalid_prescaler= 0;
prescaler= ((TCCR1B>>CS10) & 0x07) - 1;
ceiling= OCR1A;
switch(prescaler) {
case 0:
actual_cycles= ceiling;
break;
case 1:
actual_cycles= ceiling * 8L;
break;
case 2:
actual_cycles = ceiling * 64L;
break;
case 3:
actual_cycles = ceiling * 256L;
break;
case 4:
actual_cycles = ceiling * 1024L;
break;
default:
invalid_prescaler= 1;
}
if(invalid_prescaler) return 12345.0;
else return (double)actual_cycles/F_CPU;*/
return (double)((ocr2a+1)*8)/(double)(F_CPU);
}

6
sim/simulator.h
View File

@ -51,10 +51,4 @@ void handle_buffer();
// Print information about the most recently inserted block
void printBlock();
// Calculate the time between stepper interrupt calls from TCCR1B and OCR1A AVR registers
// which are set in config_step_timer in stepper.c
// This reconstructs the stepper-internal value of variable st.cycles_per_step_event
// The reconstruction is done to truely decouple the simulator from the actual grbl code
double get_step_time();
#endif