ManuelW/grbl-LPC-CoreXY
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general clean up after refactoring

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Simen Svale Skogsrud
2010-03-03 13:04:51 +01:00
parent 49ca861dc0
commit 7e152851cc
8 changed files with 18 additions and 180 deletions
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88
stepper.c
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@ -33,7 +33,7 @@
#include "wiring_serial.h"
#define TICKS_PER_MICROSECOND (F_CPU/1000000)
#define LINE_BUFFER_SIZE 8
#define LINE_BUFFER_SIZE 10
struct Line {
uint32_t steps_x, steps_y, steps_z;
@ -52,15 +52,11 @@ struct Line *current_line;
volatile int32_t counter_x, counter_y, counter_z;
uint32_t iterations;
uint8_t stepper_mode = STEPPER_MODE_STOPPED;
void config_pace_timer(uint32_t microseconds);
void config_step_timer(uint32_t microseconds);
// 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) {
// Buffer nothing unless stepping subsystem is running
if (stepper_mode != STEPPER_MODE_RUNNING) { return; }
// 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.
@ -108,7 +104,7 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
PORTD ^= (1<<5);
// Retrieve a new line and get ready to step it
current_line = &line_buffer[line_buffer_tail];
config_pace_timer(current_line->rate);
config_step_timer(current_line->rate);
counter_x = -(current_line->maximum_steps/2);
counter_y = counter_x;
counter_z = counter_x;
@ -182,24 +178,21 @@ void st_init()
TCCR2A = 0; // Normal operation
TCCR2B = (1<<CS21); // Full speed, 1/8 prescaler
TIMSK2 = 0; // All interrupts disabled
TIMSK2 |= (1<<TOIE2);
// set enable pin
STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
sei();
// start off with a mellow pace
config_pace_timer(20000);
}
// Block until all buffered steps are executed
void st_synchronize()
{
if (stepper_mode == STEPPER_MODE_RUNNING) {
while(line_buffer_tail != line_buffer_head) { sleep_mode(); }
} else {
st_flush();
}
while(line_buffer_tail != line_buffer_head) { sleep_mode(); }
}
// Cancel all pending steps
// Cancel all buffered steps
void st_flush()
{
cli();
@ -208,42 +201,8 @@ void st_flush()
sei();
}
// Start the stepper subsystem
void st_start()
{
// Enable timer interrupts
TIMSK1 |= (1<<OCIE1A);
TIMSK2 |= (1<<TOIE2);
// set enable pin
STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
stepper_mode = STEPPER_MODE_RUNNING;
}
// Execute all buffered steps, then stop the stepper subsystem
inline void st_stop()
{
// flush pending operations
st_synchronize();
// disable timer interrupts
TIMSK1 &= ~(1<<OCIE1A);
TIMSK2 &= ~(1<<TOIE2);
// reset enable pin
STEPPERS_ENABLE_PORT &= ~(1<<STEPPERS_ENABLE_BIT);
stepper_mode = STEPPER_MODE_STOPPED;
}
// Returns a bitmask with the stepper bit for the given axis set
uint8_t st_bit_for_stepper(int axis) {
switch(axis) {
case X_AXIS: return(1<<X_STEP_BIT);
case Y_AXIS: return(1<<Y_STEP_BIT);
case Z_AXIS: return(1<<Z_STEP_BIT);
}
return(0);
}
// Configures the prescaler and ceiling of timer 1 to produce the given pace as accurately as possible.
void config_pace_timer(uint32_t microseconds)
void config_step_timer(uint32_t microseconds)
{
uint32_t ticks = microseconds*TICKS_PER_MICROSECOND;
uint16_t ceiling;
@ -274,34 +233,7 @@ void config_pace_timer(uint32_t microseconds)
OCR1A = ceiling;
}
int check_limit_switches()
{
// Dual read as crude debounce
return((LIMIT_PORT & LIMIT_MASK) | (LIMIT_PORT & LIMIT_MASK));
}
int check_limit_switch(int axis)
{
uint8_t mask = 0;
switch (axis) {
case X_AXIS: mask = 1<<X_LIMIT_BIT; break;
case Y_AXIS: mask = 1<<Y_LIMIT_BIT; break;
case Z_AXIS: mask = 1<<Z_LIMIT_BIT; break;
}
return((LIMIT_PORT&mask) || (LIMIT_PORT&mask));
}
void st_go_home()
{
// Todo: Perform the homing cycle
}
// Convert from millimeters to step-counts along the designated axis
int32_t st_millimeters_to_steps(double millimeters, int axis) {
switch(axis) {
case X_AXIS: return(round(millimeters*X_STEPS_PER_MM));
case Y_AXIS: return(round(millimeters*Y_STEPS_PER_MM));
case Z_AXIS: return(round(millimeters*Z_STEPS_PER_MM));
}
return(0);
}