ManuelW/grbl-LPC-CoreXY
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arc code complete with support for both R and IJK style blocks

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This commit is contained in:
Simen Svale Skogsrud
2009-02-01 11:58:21 +01:00
parent e21064bd86
commit 9799955555
6 changed files with 161 additions and 213 deletions
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79
motion_control.c
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@ -58,6 +58,7 @@ struct ArcMotionParameters {
uint8_t axis_x, axis_y; // maps the arc axes to stepper axes
int32_t target[3]; // The target position in absolute steps
int8_t plane_steppers[3]; // A vector with the steppers of axis_x and axis_y set to 1, the remaining 0
int incomplete; // True if the arc has not reached its target yet
};
/* The whole state of the motion-control-system in one struct. Makes the code a little bit hard to
@ -81,6 +82,7 @@ uint8_t direction_bits; // The direction bits to be used with any upcoming step-
void set_stepper_directions(int8_t *direction);
inline void step_steppers(uint8_t *enabled);
inline void step_axis(uint8_t axis);
void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, int invert_feed_rate);
void mc_init()
{
@ -98,11 +100,13 @@ void mc_dwell(uint32_t milliseconds)
// unless invert_feed_rate is true. Then the feed_rate states the number of seconds for the whole movement.
void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_feed_rate)
{
state.mode = MC_MODE_LINEAR;
state.linear.target[X_AXIS] = trunc(x*X_STEPS_PER_MM);
state.linear.target[Y_AXIS] = trunc(y*Y_STEPS_PER_MM);
state.linear.target[Z_AXIS] = trunc(z*Z_STEPS_PER_MM);
prepare_linear_motion(trunc(x*X_STEPS_PER_MM), trunc(y*Y_STEPS_PER_MM), trunc(z*Z_STEPS_PER_MM), feed_rate, invert_feed_rate);
}
// Same as mc_linear_motion but accepts target in absolute step coordinates
void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, int invert_feed_rate)
{
state.mode = MC_MODE_LINEAR;
uint8_t axis; // loop variable
// Determine direction and travel magnitude for each axis
@ -202,6 +206,7 @@ void mc_arc(double theta, double angular_travel, double radius, int axis_1, int
// mm/second -> microseconds/step. Assumes all axes have the same steps/mm as the x axis
state.pace =
ONE_MINUTE_OF_MICROSECONDS / (feed_rate * X_STEPS_PER_MM);
state.arc.incomplete = true;
}
#define check_arc_target \
@ -209,7 +214,7 @@ void mc_arc(double theta, double angular_travel, double radius, int axis_1, int
state.arc.target_x * state.arc.target_direction_y) && \
(state.arc.y * state.arc.target_direction_x <= \
state.arc.target_y * state.arc.target_direction_x)) \
{ state.mode = MC_MODE_AT_REST; }
{ state.arc.incomplete = false; }
// Internal method used by execute_arc to trace horizontally in the general direction provided by dx and dy
void step_arc_along_x(int8_t dx, int8_t dy)
@ -259,6 +264,8 @@ void map_local_arc_directions_to_stepper_directions(int8_t dx, int8_t dy)
set_stepper_directions(direction);
}
/*
Quandrants of the arc
\ 7|0 /
@ -269,6 +276,7 @@ void map_local_arc_directions_to_stepper_directions(int8_t dx, int8_t dy)
/ | \
x- / 4|3 \ x+ */
#ifdef UNROLLED_ARC_LOOP // This function only used by the unrolled arc loop
// Determine within which quadrant of the circle the provided coordinate falls
int quadrant(uint32_t x,uint32_t y)
{
@ -289,70 +297,93 @@ int quadrant(uint32_t x,uint32_t y)
}
}
}
#endif
// Will trace the configured arc until the target is reached. Slightly unrolled for speed.
// Will trace the configured arc until the target is reached.
void execute_arc()
{
int q = quadrant(state.arc.x, state.arc.y);
uint32_t start_x = state.arc.x;
uint32_t start_y = state.arc.y;
int dx, dy; // Trace directions
// state.mode is set to 0 (MC_MODE_AT_REST) when target is reached
while(state.mode == MC_MODE_ARC)
while(state.arc.incomplete)
{
#ifdef UNROLLED_ARC_LOOP
// Unrolling the arc code is fast, but costs about 830 bytes of extra code space.
int q = quadrant(state.arc.x, state.arc.y);
if (state.arc.angular_direction) {
switch (q) {
case 0:
map_local_arc_directions_to_stepper_directions(1,-1);
while(state.mode && (state.arc.x>state.arc.y)) { step_arc_along_x(1,-1); }
while(state.arc.incomplete && (state.arc.x>state.arc.y)) { step_arc_along_x(1,-1); }
case 1:
map_local_arc_directions_to_stepper_directions(1,-1);
while(state.mode && (state.arc.y>0)) { step_arc_along_y(1,-1); }
while(state.arc.incomplete && (state.arc.y>0)) { step_arc_along_y(1,-1); }
case 2:
map_local_arc_directions_to_stepper_directions(-1,-1);
while(state.mode && (state.arc.y>-state.arc.x)) { step_arc_along_y(-1,-1); }
while(state.arc.incomplete && (state.arc.y>-state.arc.x)) { step_arc_along_y(-1,-1); }
case 3:
map_local_arc_directions_to_stepper_directions(-1,-1);
while(state.mode && (state.arc.x>0)) { step_arc_along_x(-1,-1); }
while(state.arc.incomplete && (state.arc.x>0)) { step_arc_along_x(-1,-1); }
case 4:
map_local_arc_directions_to_stepper_directions(-1,1);
while(state.mode && (state.arc.y<state.arc.x)) { step_arc_along_x(-1,1); }
while(state.arc.incomplete && (state.arc.y<state.arc.x)) { step_arc_along_x(-1,1); }
case 5:
map_local_arc_directions_to_stepper_directions(-1,1);
while(state.mode && (state.arc.y<0)) { step_arc_along_y(-1,1); }
while(state.arc.incomplete && (state.arc.y<0)) { step_arc_along_y(-1,1); }
case 6:
map_local_arc_directions_to_stepper_directions(1,-1);
while(state.mode && (state.arc.y<-state.arc.x)) { step_arc_along_y(1,1); }
while(state.arc.incomplete && (state.arc.y<-state.arc.x)) { step_arc_along_y(1,1); }
case 7:
map_local_arc_directions_to_stepper_directions(1,1);
while(state.mode && (state.arc.x<0)) { step_arc_along_x(1,1); }
while(state.arc.incomplete && (state.arc.x<0)) { step_arc_along_x(1,1); }
}
} else {
switch (q) {
case 7:
map_local_arc_directions_to_stepper_directions(-1,-1);
while(state.mode && (state.arc.y>-state.arc.x)) { step_arc_along_x(-1,-1); }
while(state.arc.incomplete && (state.arc.y>-state.arc.x)) { step_arc_along_x(-1,-1); }
case 6:
map_local_arc_directions_to_stepper_directions(-1,-1);
while(state.mode && (state.arc.y>0)) { step_arc_along_y(-1,-1); }
while(state.arc.incomplete && (state.arc.y>0)) { step_arc_along_y(-1,-1); }
case 5:
map_local_arc_directions_to_stepper_directions(1,-1);
while(state.mode && (state.arc.y>state.arc.x)) { step_arc_along_y(1,-1); }
while(state.arc.incomplete && (state.arc.y>state.arc.x)) { step_arc_along_y(1,-1); }
case 4:
map_local_arc_directions_to_stepper_directions(1,-1);
while(state.mode && (state.arc.x<0)) { step_arc_along_x(1,-1); }
while(state.arc.incomplete && (state.arc.x<0)) { step_arc_along_x(1,-1); }
case 3:
map_local_arc_directions_to_stepper_directions(1,1);
while(state.mode && (state.arc.y<-state.arc.x)) { step_arc_along_x(1,1); }
while(state.arc.incomplete && (state.arc.y<-state.arc.x)) { step_arc_along_x(1,1); }
case 2:
map_local_arc_directions_to_stepper_directions(1,1);
while(state.mode && (state.arc.y<0)) { step_arc_along_y(1,1); }
while(state.arc.incomplete && (state.arc.y<0)) { step_arc_along_y(1,1); }
case 1:
map_local_arc_directions_to_stepper_directions(-1,1);
while(state.mode && (state.arc.y<state.arc.x)) { step_arc_along_y(-1,1); }
while(state.arc.incomplete && (state.arc.y<state.arc.x)) { step_arc_along_y(-1,1); }
case 0:
map_local_arc_directions_to_stepper_directions(-1,1);
while(state.mode && (state.arc.x>0)) { step_arc_along_x(-1,1); }
while(state.arc.incomplete && (state.arc.x>0)) { step_arc_along_x(-1,1); }
}
}
#else
dx = (state.arc.y!=0) ? sign(state.arc.y) * state.arc.angular_direction : -sign(state.arc.x);
dy = (state.arc.x!=0) ? -sign(state.arc.x) * state.arc.angular_direction : -sign(state.arc.y);
if (fabs(state.arc.x)<fabs(state.arc.y)) {
step_arc_along_x(dx,dy);
} else {
step_arc_along_y(dx,dy);
}
#endif
}
// Update the tool position to the new actual position
state.position[state.arc.axis_x] += state.arc.x-start_x;
state.position[state.arc.axis_y] += state.arc.y-start_y;
// Because of rounding errors we might be off by a step or two. Adjust for this
// To be implemented
//void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, int invert_feed_rate)
}
void mc_go_home()