ManuelW/grbl-LPC-CoreXY
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Max velocity axes independence installed. Fixed intermittent slow trailing steps. Timer0 disable fix.

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- Maximum velocity for each axis is now configurable in settings. All
rapids/seek move at these maximums. All feed rates(including rapids)
may be limited and scaled down so that no axis does not exceed their
limits.

- Moved around auto-cycle start. May change later, but mainly to ensure
the planner buffer is completely full before cycle starting a streaming
program. Otherwise it should auto-start when there is a break in the
serial stream.

- Reverted old block->max_entry_speed_sqr calculations. Feedrate
overrides not close to ready at all.

- Fixed intermittent slow trailing steps for some triangle velocity
profile moves. The acceleration tick counter updating was corrected to
be exact for that particular transition. Should be ok for normal
trapezoidal profiles.

- Fixed the Timer0 disable after a step pulse falling edge. Thanks
@blinkenlight!
This commit is contained in:
Sonny Jeon
2012-12-16 16:23:24 -07:00
parent cc4df3e14b
commit a1397f61c4
10 changed files with 188 additions and 160 deletions
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51
settings.c
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@ -36,7 +36,6 @@ typedef struct {
uint8_t microsteps;
uint8_t pulse_microseconds;
float default_feed_rate;
float default_seek_rate;
uint8_t invert_mask;
float mm_per_arc_segment;
float acceleration;
@ -74,7 +73,9 @@ void settings_reset(bool reset_all) {
settings.steps_per_mm[Z_AXIS] = DEFAULT_Z_STEPS_PER_MM;
settings.pulse_microseconds = DEFAULT_STEP_PULSE_MICROSECONDS;
settings.default_feed_rate = DEFAULT_FEEDRATE;
settings.default_seek_rate = DEFAULT_RAPID_FEEDRATE;
settings.max_velocity[X_AXIS] = DEFAULT_RAPID_FEEDRATE;
settings.max_velocity[Y_AXIS] = DEFAULT_RAPID_FEEDRATE;
settings.max_velocity[Z_AXIS] = DEFAULT_RAPID_FEEDRATE;
settings.acceleration[X_AXIS] = DEFAULT_ACCELERATION;
settings.acceleration[Y_AXIS] = DEFAULT_ACCELERATION;
settings.acceleration[Z_AXIS] = DEFAULT_ACCELERATION;
@ -159,46 +160,48 @@ uint8_t settings_store_global_setting(int parameter, float value) {
case 0: case 1: case 2:
if (value <= 0.0) { return(STATUS_SETTING_VALUE_NEG); }
settings.steps_per_mm[parameter] = value; break;
case 3:
case 3: settings.max_velocity[X_AXIS] = value; break;
case 4: settings.max_velocity[Y_AXIS] = value; break;
case 5: settings.max_velocity[Z_AXIS] = value; break;
case 6: settings.acceleration[X_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 7: settings.acceleration[Y_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 8: settings.acceleration[Z_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 9:
if (value < 3) { return(STATUS_SETTING_STEP_PULSE_MIN); }
settings.pulse_microseconds = round(value); break;
case 4: settings.default_feed_rate = value; break;
case 5: settings.default_seek_rate = value; break;
case 6: settings.invert_mask = trunc(value); break;
case 7: settings.stepper_idle_lock_time = round(value); break;
case 8: settings.acceleration[X_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 9: settings.acceleration[Y_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 10: settings.acceleration[Z_AXIS] = value*60*60; break; // Convert to mm/min^2 for grbl internal use.
case 11: settings.junction_deviation = fabs(value); break;
case 12: settings.mm_per_arc_segment = value; break;
case 13: settings.n_arc_correction = round(value); break;
case 14: settings.decimal_places = round(value); break;
case 15:
case 10: settings.default_feed_rate = value; break;
case 11: settings.invert_mask = trunc(value); break;
case 12: settings.stepper_idle_lock_time = round(value); break;
case 13: settings.junction_deviation = fabs(value); break;
case 14: settings.mm_per_arc_segment = value; break;
case 15: settings.n_arc_correction = round(value); break;
case 16: settings.decimal_places = round(value); break;
case 17:
if (value) { settings.flags |= BITFLAG_REPORT_INCHES; }
else { settings.flags &= ~BITFLAG_REPORT_INCHES; }
break;
case 16: // Reset to ensure change. Immediate re-init may cause problems.
case 18: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_AUTO_START; }
else { settings.flags &= ~BITFLAG_AUTO_START; }
break;
case 17: // Reset to ensure change. Immediate re-init may cause problems.
case 19: // Reset to ensure change. Immediate re-init may cause problems.
if (value) { settings.flags |= BITFLAG_INVERT_ST_ENABLE; }
else { settings.flags &= ~BITFLAG_INVERT_ST_ENABLE; }
break;
case 18:
case 20:
if (value) { settings.flags |= BITFLAG_HARD_LIMIT_ENABLE; }
else { settings.flags &= ~BITFLAG_HARD_LIMIT_ENABLE; }
limits_init(); // Re-init to immediately change. NOTE: Nice to have but could be problematic later.
break;
case 19:
case 21:
if (value) { settings.flags |= BITFLAG_HOMING_ENABLE; }
else { settings.flags &= ~BITFLAG_HOMING_ENABLE; }
break;
case 20: settings.homing_dir_mask = trunc(value); break;
case 21: settings.homing_feed_rate = value; break;
case 22: settings.homing_seek_rate = value; break;
case 23: settings.homing_debounce_delay = round(value); break;
case 24: settings.homing_pulloff = value; break;
case 22: settings.homing_dir_mask = trunc(value); break;
case 23: settings.homing_feed_rate = value; break;
case 24: settings.homing_seek_rate = value; break;
case 25: settings.homing_debounce_delay = round(value); break;
case 26: settings.homing_pulloff = value; break;
default:
return(STATUS_INVALID_STATEMENT);
}