Bug fixes for timers, added some wdt support for limit debounce.
- Typo in timer def, - Handle 8 bit timers correctly, - Don't skip TOP count in CTC mode - added SREG for atomic bit operations
This commit is contained in:
ashelly
127
sim/simulator.c
127
sim/simulator.c
@ -4,7 +4,7 @@
|
||||
|
||||
Part of Grbl Simulator
|
||||
|
||||
Copyright (c) 2012 Jens Geisler
|
||||
Copyright (c) 2012-2014 Jens Geisler, Adam Shelly
|
||||
|
||||
Grbl is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
@ -32,7 +32,7 @@
|
||||
#include "eeprom.h"
|
||||
|
||||
|
||||
int block_position[]= {0,0,0}; //step count after most recently planned block
|
||||
int block_position[N_AXIS]= {0}; //step count after most recently planned block
|
||||
uint32_t block_number= 0;
|
||||
|
||||
sim_vars_t sim={0};
|
||||
@ -50,6 +50,11 @@ void init_simulator(float time_multiplier) {
|
||||
#ifdef STEP_PULSE_DELAY
|
||||
compa_vect[0] = interrupt_TIMER0_COMPA_vect;
|
||||
#endif
|
||||
#ifdef ENABLE_SOFTWARE_DEBOUNCE
|
||||
wdt_vect = interrupt_WDT_vect;
|
||||
#endif
|
||||
pc_vect = interrupt_LIMIT_INT_vect;
|
||||
|
||||
|
||||
sim.next_print_time = args.step_time;
|
||||
sim.speedup = time_multiplier;
|
||||
@ -94,43 +99,43 @@ void sim_loop(){
|
||||
|
||||
while (!sim.exit || sys.state>2 ) { //don't quit until idle
|
||||
|
||||
if (sim.speedup) {
|
||||
//calculate how many ticks to do.
|
||||
uint32_t ns_now = platform_ns();
|
||||
uint32_t ns_elapsed = (ns_now-ns_prev)*sim.speedup; //todo: try multipling nsnow
|
||||
simulated_ticks += F_CPU/1e9*ns_elapsed;
|
||||
ns_prev = ns_now;
|
||||
}
|
||||
else {
|
||||
simulated_ticks++; //as fast as possible
|
||||
}
|
||||
|
||||
while (sim.masterclock < simulated_ticks){
|
||||
if (sim.speedup) {
|
||||
//calculate how many ticks to do.
|
||||
uint32_t ns_now = platform_ns();
|
||||
uint32_t ns_elapsed = (ns_now-ns_prev)*sim.speedup; //todo: try multipling nsnow
|
||||
simulated_ticks += F_CPU/1e9*ns_elapsed;
|
||||
ns_prev = ns_now;
|
||||
}
|
||||
else {
|
||||
simulated_ticks++; //as fast as possible
|
||||
}
|
||||
|
||||
while (sim.masterclock < simulated_ticks){
|
||||
|
||||
//only read serial port as fast as the baud rate allows
|
||||
bool read_serial = (sim.masterclock >= next_byte_tick);
|
||||
//only read serial port as fast as the baud rate allows
|
||||
bool read_serial = (sim.masterclock >= next_byte_tick);
|
||||
|
||||
//do low level hardware
|
||||
simulate_hardware(read_serial);
|
||||
//do low level hardware
|
||||
simulate_hardware(read_serial);
|
||||
|
||||
//print the steps.
|
||||
//For further decoupling, could maintain own counter of STEP_PORT pulses,
|
||||
//print the steps.
|
||||
//For further decoupling, could maintain own counter of STEP_PORT pulses,
|
||||
// print that instead of sys.position.
|
||||
print_steps(0);
|
||||
|
||||
if (read_serial){
|
||||
next_byte_tick+=sim.baud_ticks;
|
||||
//recent block can only change after input, so check here.
|
||||
printBlock();
|
||||
}
|
||||
print_steps(0);
|
||||
|
||||
if (read_serial){
|
||||
next_byte_tick+=sim.baud_ticks;
|
||||
//recent block can only change after input, so check here.
|
||||
printBlock();
|
||||
}
|
||||
|
||||
//TODO:
|
||||
// set limit pins based on position,
|
||||
// set probe pin when probing.
|
||||
// if VARIABLE_SPINDLE, measure pwm pin to report speed?
|
||||
}
|
||||
//TODO:
|
||||
// set limit pins based on position,
|
||||
// set probe pin when probing.
|
||||
// if VARIABLE_SPINDLE, measure pwm pin to report speed?
|
||||
}
|
||||
|
||||
platform_sleep(0); //yield
|
||||
platform_sleep(0); //yield
|
||||
}
|
||||
}
|
||||
|
||||
@ -143,22 +148,22 @@ void print_steps(bool force)
|
||||
|
||||
if (sim.next_print_time == 0.0) { return; } //no printing
|
||||
if (current_block != printed_block ) {
|
||||
//new block.
|
||||
if (block_number) { //print values from the end of prev block
|
||||
fprintf(args.step_out_file, "%20.15f %d, %d, %d\n", sim.sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
|
||||
}
|
||||
printed_block = current_block;
|
||||
if (current_block == NULL) { return; }
|
||||
// print header
|
||||
fprintf(args.step_out_file, "# block number %d\n", block_number++);
|
||||
//new block.
|
||||
if (block_number) { //print values from the end of prev block
|
||||
fprintf(args.step_out_file, "%20.15f %d, %d, %d\n", sim.sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
|
||||
}
|
||||
printed_block = current_block;
|
||||
if (current_block == NULL) { return; }
|
||||
// print header
|
||||
fprintf(args.step_out_file, "# block number %d\n", block_number++);
|
||||
}
|
||||
//print at correct interval while executing block
|
||||
else if ((current_block && sim.sim_time>=sim.next_print_time) || force ) {
|
||||
fprintf(args.step_out_file, "%20.15f %d, %d, %d\n", sim.sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
|
||||
fflush(args.step_out_file);
|
||||
fprintf(args.step_out_file, "%20.15f %d, %d, %d\n", sim.sim_time, sys.position[X_AXIS], sys.position[Y_AXIS], sys.position[Z_AXIS]);
|
||||
fflush(args.step_out_file);
|
||||
|
||||
//make sure the simulation time doesn't get ahead of next_print_time
|
||||
while (sim.next_print_time<=sim.sim_time) sim.next_print_time += args.step_time;
|
||||
//make sure the simulation time doesn't get ahead of next_print_time
|
||||
while (sim.next_print_time<=sim.sim_time) sim.next_print_time += args.step_time;
|
||||
}
|
||||
}
|
||||
|
||||
@ -189,15 +194,15 @@ void printBlock() {
|
||||
|
||||
b= plan_get_recent_block();
|
||||
if(b!=last_block && b!=NULL) {
|
||||
int i;
|
||||
for (i=0;i<N_AXIS;i++){
|
||||
if(b->direction_bits & get_direction_mask(i)) block_position[i]-= b->steps[i];
|
||||
else block_position[i]+= b->steps[i];
|
||||
fprintf(args.block_out_file,"%d, ", block_position[i]);
|
||||
}
|
||||
fprintf(args.block_out_file,"%f", b->entry_speed_sqr);
|
||||
fprintf(args.block_out_file,"\n");
|
||||
fflush(args.block_out_file); //TODO: needed?
|
||||
int i;
|
||||
for (i=0;i<N_AXIS;i++){
|
||||
if(b->direction_bits & get_direction_mask(i)) block_position[i]-= b->steps[i];
|
||||
else block_position[i]+= b->steps[i];
|
||||
fprintf(args.block_out_file,"%d, ", block_position[i]);
|
||||
}
|
||||
fprintf(args.block_out_file,"%f", b->entry_speed_sqr);
|
||||
fprintf(args.block_out_file,"\n");
|
||||
fflush(args.block_out_file); //TODO: needed?
|
||||
|
||||
last_block= b;
|
||||
}
|
||||
@ -212,12 +217,12 @@ void grbl_out(uint8_t data){
|
||||
|
||||
buf[len++]=data;
|
||||
if(data=='\n' || data=='\r' || len>=127) {
|
||||
if (args.comment_char && !continuation){
|
||||
fprintf(args.grbl_out_file,"%c ",args.comment_char);
|
||||
}
|
||||
buf[len]=0;
|
||||
fprintf(args.grbl_out_file,"%s",buf);
|
||||
continuation = (len>=128); //print comment on next line unless we are only printing to avoid buffer overflow)
|
||||
len=0;
|
||||
if (args.comment_char && !continuation){
|
||||
fprintf(args.grbl_out_file,"%c ",args.comment_char);
|
||||
}
|
||||
buf[len]=0;
|
||||
fprintf(args.grbl_out_file,"%s",buf);
|
||||
continuation = (len>=128); //print comment on next line unless we are only printing to avoid buffer overflow)
|
||||
len=0;
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user