ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

rough accelleration stuff

Browse Source
This commit is contained in:
Simen Svale Skogsrud
2010-06-28 23:29:58 +02:00
parent 1088c402ad
commit 703d812b85
8 changed files with 131 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files

46
stepper.c
View File

@ -28,6 +28,7 @@
#include <stdlib.h>
#include <util/delay.h>
#include "nuts_bolts.h"
#include "acceleration.h"
#include <avr/interrupt.h>
#include "wiring_serial.h"
@ -43,25 +44,42 @@ struct Line {
uint32_t steps_x, steps_y, steps_z;
int32_t maximum_steps;
uint8_t direction_bits;
uint32_t rate;
double average_millimeters_per_step_event;
uin32_t ideal_rate; // in step-events/minute
uin32_t exit_rate;
uin32_t brake_point; // the point where braking starts measured in step-events from end point
uint32_t rate; // in cpu-ticks pr. step
};
struct Line line_buffer[LINE_BUFFER_SIZE]; // A buffer for step instructions
volatile int line_buffer_head = 0;
volatile int line_buffer_tail = 0;
volatile int moving = FALSE;
// Variables used by SIG_OUTPUT_COMPARE1A
uint8_t out_bits; // The next stepping-bits to be output
uint8_t out_bits; // The next stepping-bits to be output
struct Line *current_line; // A pointer to the line currently being traced
volatile int32_t counter_x, counter_y, counter_z; // counter variables for the bresenham line tracer
uint32_t iterations; // The number of iterations left to complete the current_line
volatile int busy; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
volatile int32_t counter_x,
counter_y, counter_z; // counter variables for the bresenham line tracer
uint32_t iterations; // The number of iterations left to complete the current_line
volatile int busy; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
void config_step_timer(uint32_t microseconds);
void set_step_events_per_minute(uint32_t steps_per_minute);
uint32_t mm_per_minute_to_step_events_pr_minute(struct Line* line, double mm_per_minute) {
return(mm_per_minute/line->average_millimeters_per_step_event);
}
void update_accelleration_plan() {
// Store the current
int initial_buffer_tail = line_buffer_tail;
}
// 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.
void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds) {
// steps. Microseconds specify how many microseconds the move should take to perform. To aid accelleration
// 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) {
// Calculate the buffer head after we push this byte
int next_buffer_head = (line_buffer_head + 1) % LINE_BUFFER_SIZE;
// If the buffer is full: good! That means we are well ahead of the robot.
@ -75,12 +93,13 @@ void st_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t
line->maximum_steps = max(line->steps_x, max(line->steps_y, line->steps_z));
// Bail if this is a zero-length line
if (line->maximum_steps == 0) { return; };
line->rate = microseconds/line->maximum_steps;
line->rate = (TICKS_PER_MICROSECOND*microseconds)/line->maximum_steps;
uint8_t direction_bits = 0;
if (steps_x < 0) { direction_bits |= (1<<X_DIRECTION_BIT); }
if (steps_y < 0) { direction_bits |= (1<<Y_DIRECTION_BIT); }
if (steps_z < 0) { direction_bits |= (1<<Z_DIRECTION_BIT); }
line->direction_bits = direction_bits;
line->average_millimeters_per_step_event = millimeters/line->maximum_steps
// Move buffer head
line_buffer_head = next_buffer_head;
// enable stepper interrupt
@ -126,8 +145,10 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
counter_y = counter_x;
counter_z = counter_x;
iterations = current_line->maximum_steps;
moving = TRUE;
} else {
// disable this interrupt until there is something to handle
moving = FALSE;
TIMSK1 &= ~(1<<OCIE1A);
PORTD |= (1<<4);
}
@ -225,9 +246,8 @@ void st_flush()
}
// Configures the prescaler and ceiling of timer 1 to produce the given rate as accurately as possible.
void config_step_timer(uint32_t microseconds)
void config_step_timer(uint32_t ticks)
{
uint32_t ticks = microseconds*TICKS_PER_MICROSECOND;
uint16_t ceiling;
uint16_t prescaler;
if (ticks <= 0xffffL) {
@ -256,6 +276,10 @@ void config_step_timer(uint32_t microseconds)
OCR1A = ceiling;
}
void set_step_events_per_minute(uint32_t steps_per_minute) {
config_step_timer((TICKS_PER_MICROSECOND*1000000*60)/steps_per_minute);
}
void st_go_home()
{
// Todo: Perform the homing cycle