ManuelW/grbl-LPC-CoreXY
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Push old dev_2 draft to work on other things.

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- **NON-FUNCTIONAL**
- Contains an old draft of separating the stepper driver direct access
to the planner buffer. This is designed to keep the stepper and planner
modules independent and prevent overwriting or other complications. In
this way, feedrate override should be able to be installed as well.
- A number of planner optimizations are installed too.
- Not sure where the bugs are. Either in the new planner optimizations,
new stepper module updates, or in both. Or it just could be that the
Arduino AVR is choking with the new things it has to do.
This commit is contained in:
Sonny Jeon
2013-08-19 09:24:22 -06:00
parent 1fa3dad206
commit 7a175bd2db
23 changed files with 3160 additions and 704 deletions
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33
motion_control.c
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@ -72,7 +72,7 @@ void mc_line(float *target, float feed_rate, uint8_t invert_feed_rate)
else { break; }
} while (1);
plan_buffer_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
plan_buffer_line(target, feed_rate, invert_feed_rate);
// If idle, indicate to the system there is now a planned block in the buffer ready to cycle
// start. Otherwise ignore and continue on.
@ -148,8 +148,8 @@ void mc_arc(float *position, float *target, float *offset, uint8_t axis_0, uint8
This is important when there are successive arc motions.
*/
// Computes: cos_T = 1 - theta_per_segment^2/2, sin_T = theta_per_segment - theta_per_segment^3/6) in ~52usec
float cos_T = 2 - theta_per_segment*theta_per_segment;
float sin_T = theta_per_segment*0.16666667*(cos_T + 4);
float cos_T = 2.0 - theta_per_segment*theta_per_segment;
float sin_T = theta_per_segment*0.16666667*(cos_T + 4.0);
cos_T *= 0.5;
float arc_target[N_AXIS];
@ -229,37 +229,34 @@ void mc_go_home()
// At the same time, set up pull-off maneuver from axes limit switches that have been homed.
// This provides some initial clearance off the switches and should also help prevent them
// from falsely tripping when hard limits are enabled.
// TODO: Need to improve dir_mask[] to be more axes independent.
float pulloff_target[N_AXIS];
clear_vector_float(pulloff_target); // Zero pulloff target.
clear_vector_long(sys.position); // Zero current position for now.
uint8_t dir_mask[N_AXIS];
dir_mask[X_AXIS] = (1<<X_DIRECTION_BIT);
dir_mask[Y_AXIS] = (1<<Y_DIRECTION_BIT);
dir_mask[Z_AXIS] = (1<<Z_DIRECTION_BIT);
uint8_t i;
for (i=0; i<N_AXIS; i++) {
uint8_t idx;
for (idx=0; idx<N_AXIS; idx++) {
// Set up pull off targets and machine positions for limit switches homed in the negative
// direction, rather than the traditional positive. Leave non-homed positions as zero and
// do not move them.
if (HOMING_LOCATE_CYCLE & bit(i)) {
if (settings.homing_dir_mask & dir_mask[i]) {
pulloff_target[i] = settings.homing_pulloff-settings.max_travel[i];
sys.position[i] = -lround(settings.max_travel[i]*settings.steps_per_mm[i]);
// NOTE: settings.max_travel[] is stored as a negative value.
if (HOMING_LOCATE_CYCLE & bit(idx)) {
if ( settings.homing_dir_mask & get_direction_mask(idx) ) {
pulloff_target[idx] = settings.homing_pulloff+settings.max_travel[idx];
sys.position[idx] = lround(settings.max_travel[idx]*settings.steps_per_mm[idx]);
} else {
pulloff_target[i] = -settings.homing_pulloff;
pulloff_target[idx] = -settings.homing_pulloff;
}
}
}
sys_sync_current_position();
plan_sync_position(); // Sync planner position to home for pull-off move.
sys.state = STATE_IDLE; // Set system state to IDLE to complete motion and indicate homed.
mc_line(pulloff_target, settings.homing_seek_rate, false);
st_cycle_start(); // Move it. Nothing should be in the buffer except this motion.
plan_synchronize(); // Make sure the motion completes.
// The gcode parser position circumvented by the pull-off maneuver, so sync position vectors.
sys_sync_current_position();
// The gcode parser position circumvented by the pull-off maneuver, so sync position now.
gc_sync_position();
// If hard limits feature enabled, re-enable hard limits pin change register after homing cycle.
if (bit_istrue(settings.flags,BITFLAG_HARD_LIMIT_ENABLE)) { LIMIT_PCMSK |= LIMIT_MASK; }