From 7f9a9d27e2303199e6d430b6ce8e024d638a2832 Mon Sep 17 00:00:00 2001 From: Simen Svale Skogsrud Date: Tue, 3 Feb 2009 23:36:04 +0100 Subject: [PATCH] stepper signals looks good on scope --- motion_control.c | 2 +- nuts_bolts.h | 2 +- stepper.c | 34 +- testbench/echotest.rb | 7216 ++++++++++++++++++++++++++++++++++++++- testbench/gcodetest.png | Bin 0 -> 1623 bytes 5 files changed, 7097 insertions(+), 157 deletions(-) create mode 100644 testbench/gcodetest.png diff --git a/motion_control.c b/motion_control.c index 8a5f8b1..38b1f45 100644 --- a/motion_control.c +++ b/motion_control.c @@ -323,7 +323,7 @@ void execute_go_home() } void mc_execute() { - st_set_pace(mc.pace); +// st_set_pace(mc.pace); printByte('~'); while(mc.mode) { // Loop because one task might start another task switch(mc.mode) { diff --git a/nuts_bolts.h b/nuts_bolts.h index 91eabbc..6e90e27 100644 --- a/nuts_bolts.h +++ b/nuts_bolts.h @@ -30,7 +30,7 @@ #define true 1 // Decide the sign of a value -#define signof(a) ((a>0) ? 1 : ((a<0) ? -1 : 0)) +#define signof(a) (((a)>0) ? 1 : (((a)<0) ? -1 : 0)) #define clear_vector(a) memset(a, 0, sizeof(a)) diff --git a/stepper.c b/stepper.c index c5fedab..4bbc375 100644 --- a/stepper.c +++ b/stepper.c @@ -29,7 +29,7 @@ #include "wiring_serial.h" -#define TICKS_PER_MICROSECOND F_CPU/1000000 +#define TICKS_PER_MICROSECOND (F_CPU/1000000) #define STEP_BUFFER_SIZE 100 volatile uint8_t step_buffer[STEP_BUFFER_SIZE]; // A buffer for step instructions @@ -44,15 +44,17 @@ uint8_t echo_steps = true; // five microseconds. SIGNAL(SIG_OUTPUT_COMPARE1A) { - if (step_buffer_head != step_buffer_tail) { - // Set the stepper port according to the instructions - STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | step_buffer[step_buffer_tail]; - // Reset and start timer 2 which will reset the motor port after 5 microsecond - // TCNT2 = 0; // reset counter - // OCR2A = 5*TICKS_PER_MICROSECOND; // set the time - // TIMSK2 |= (1<' - @ready_for_command = true - end end end @canvas[250-@x,250-@y] = PNG::Color::Black @@ -70,13 +67,6 @@ Thread.new do end def send_command(command) - while !@ready_for_command do - sleep(1) - puts "Processing ..." - if (Time.now-@last_byte > 5) - return - end - end sleep(0.5) puts "Sent: #{command}" @input << "[sent #{command}]" @@ -86,135 +76,7087 @@ end blocks = <<-END.split("\n").map{|s|s.strip} -N10 G00 Z100.000 G53 -N15 G00 X38.105 Y71.468 G53 -N20 Z2.0 F200 G53 -N25 G01 Z-0.2 G53 -N30 X37.177 Y74.406 G53 -N35 X37.779 Y74.698 G53 -N40 X41.077 Y76.347 G53 -N45 X42.177 Y73.719 G53 -N50 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