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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27
stepper.c
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@ -47,7 +47,7 @@ typedef struct {
// Used by Pramod Ranade inverse time algorithm
int32_t delta_d; // Ranade distance traveled per interrupt tick
int32_t d_counter; // Ranade distance traveled since last step event
uint16_t ramp_count; // Acceleration interrupt tick counter.
uint32_t ramp_count; // Acceleration interrupt tick counter.
uint8_t ramp_type; // Ramp type variable.
uint8_t execute_step; // Flags step execution for each interrupt.
@ -144,10 +144,8 @@ ISR(TIMER2_COMPA_vect)
// SPINDLE_ENABLE_PORT ^= 1<<SPINDLE_ENABLE_BIT; // Debug: Used to time ISR
if (busy) { return; } // The busy-flag is used to avoid reentering this interrupt
// Set direction pins. New block dir will always be set one timer tick before any step pulse.
STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (out_bits & DIRECTION_MASK);
// Pulse stepper pins, if flagged.
// Pulse stepper port pins, if flagged. New block dir will always be set one timer tick
// before any step pulse due to algorithm design.
if (st.execute_step) {
st.execute_step = false;
STEPPING_PORT = ( STEPPING_PORT & ~(DIRECTION_MASK | STEP_MASK) ) | out_bits;
@ -170,8 +168,9 @@ ISR(TIMER2_COMPA_vect)
// of a block, hence helping minimize total time spent in this interrupt.
// Initialize direction bits for block
out_bits = current_block->direction_bits ^ (settings.invert_mask & DIRECTION_MASK);
out_bits = current_block->direction_bits ^ settings.invert_mask;
st.execute_step = true; // Set flag to set direction bits.
// Initialize Bresenham variables
st.counter_x = (current_block->step_event_count >> 1);
st.counter_y = st.counter_x;
@ -216,7 +215,7 @@ ISR(TIMER2_COMPA_vect)
if (st.delta_d > current_block->rate_delta) {
st.delta_d -= current_block->rate_delta;
} else {
st.delta_d = MINIMUM_STEP_RATE; // Prevent integer overflow
st.delta_d >>= 1; // Integer divide by 2 until complete. Also prevents overflow.
}
}
}
@ -278,10 +277,14 @@ ISR(TIMER2_COMPA_vect)
if (st.ramp_type != DECEL_RAMP) {
// Acceleration and cruise handled by ramping. Just check for deceleration.
if (st.step_events_remaining <= current_block->decelerate_after) {
if (st.step_events_remaining == current_block->decelerate_after) {
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2;
}
st.ramp_type = DECEL_RAMP;
if (st.step_events_remaining == current_block->decelerate_after) {
if (st.delta_d == current_block->nominal_rate) {
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK/2; // Set ramp counter for trapezoid
} else {
st.ramp_count = INTERRUPTS_PER_ACCELERATION_TICK-st.ramp_count; // Set ramp counter for triangle
}
}
}
}
} else {
@ -302,7 +305,7 @@ ISR(TIMER2_COMPA_vect)
ISR(TIMER0_OVF_vect)
{
STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | (settings.invert_mask & STEP_MASK);
TCNT0 = 0; // Disable timer until needed.
TCCR0B = 0; // Disable timer until needed.
}