ManuelW/grbl-LPC-CoreXY
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Fixed a number of bugs caused by using abs() on floats and long ints. Added support for selectively inverting bits of the stepping port. Debugged, optimized and cleaned up timing code for the step-pulses.

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This commit is contained in:
Simen Svale Skogsrud
2010-02-27 19:55:09 +01:00
parent 6ac3b3f2e6
commit a42c03601d
14 changed files with 4430 additions and 106 deletions
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75
stepper.c
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@ -25,6 +25,7 @@
#include "stepper.h"
#include "config.h"
#include <math.h>
#include <util/delay.h>
#include "nuts_bolts.h"
#include <avr/interrupt.h>
@ -57,15 +58,14 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
// This is not a step-instruction, but a pace-change-marker: change pace
config_pace_timer(next_pace);
next_pace = 0;
} else {
// Set the direction pins a nanosecond or two before you step the steppers
} else {
popped ^= STEPPING_INVERT_MASK;
// Set the direction pins a cuple of nanoseconds before we step the steppers
STEPPING_PORT = (STEPPING_PORT & ~DIRECTION_MASK) | (popped & DIRECTION_MASK);
// Then pulse the stepping pins
STEPPING_PORT = (STEPPING_PORT & ~STEP_MASK) | popped;
// 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 trigger time
TIMSK2 |= (1<<OCIE2A); // enable interrupt
// Reset step pulse reset timer
TCNT2 = -(((STEP_PULSE_MICROSECONDS-4)*TICKS_PER_MICROSECOND)/8);
}
// move the step buffer tail to the next instruction
step_buffer_tail = (step_buffer_tail + 1) % STEP_BUFFER_SIZE;
@ -73,11 +73,11 @@ SIGNAL(SIG_OUTPUT_COMPARE1A)
}
// This interrupt is set up by SIG_OUTPUT_COMPARE1A when it sets the motor port bits. It resets
// the motor port after a short period (5us) completing one step cycle.
SIGNAL(SIG_OUTPUT_COMPARE2A)
// the motor port after a short period (STEP_PULSE_MICROSECONDS) completing one step cycle.
SIGNAL(SIG_OVERFLOW2)
{
STEPPING_PORT = STEPPING_PORT & ~STEP_MASK; // reset stepping pins (leave the direction pins)
TIMSK2 &= ~(1<<OCIE2A); // disable this timer interrupt until next time
// reset stepping pins (leave the direction pins)
STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | (STEPPING_INVERT_MASK & STEPPING_MASK);
}
// Initialize and start the stepper motor subsystem
@ -85,10 +85,10 @@ void st_init()
{
// Configure directions of interface pins
STEPPING_DDR |= STEPPING_MASK;
printInteger(STEPPING_DDR);
STEPPING_PORT = (STEPPING_PORT & ~STEPPING_MASK) | STEPPING_INVERT_MASK;
LIMIT_DDR &= ~(LIMIT_MASK);
STEPPERS_ENABLE_DDR |= 1<<STEPPERS_ENABLE_BIT;
// waveform generation = 0100 = CTC
TCCR1B &= ~(1<<WGM13);
TCCR1B |= (1<<WGM12);
@ -101,17 +101,16 @@ void st_init()
// Configure Timer 2
TCCR2A = 0; // Normal operation
TCCR2B = 1<<CS20; // Full speed, no prescaler
TCCR2B = (1<<CS21); // Full speed, 1/8 prescaler
TIMSK2 = 0; // All interrupts disabled
sei();
// start off with a mellow pace
config_pace_timer(20000);
st_start();
}
void st_buffer_step(uint8_t motor_port_bits)
inline void st_buffer_step(uint8_t motor_port_bits)
{
// Buffer nothing unless stepping subsystem is running
if (stepper_mode != STEPPER_MODE_RUNNING) { return; }
@ -119,7 +118,7 @@ void st_buffer_step(uint8_t motor_port_bits)
int next_buffer_head = (step_buffer_head + 1) % STEP_BUFFER_SIZE;
// If the buffer is full: good! That means we are well ahead of the robot.
// Nap until there is room for more steps.
while(step_buffer_tail == next_buffer_head) { sleep_mode(); }
while(step_buffer_tail == next_buffer_head) { sleep_mode(); }
// Push byte
step_buffer[step_buffer_head] = motor_port_bits;
step_buffer_head = next_buffer_head;
@ -146,8 +145,10 @@ void st_flush()
// Start the stepper subsystem
void st_start()
{
// Enable timer interrupt
// Enable timer interrupts
TIMSK1 |= (1<<OCIE1A);
TIMSK2 |= (1<<TOIE2);
// set enable pin
STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
stepper_mode = STEPPER_MODE_RUNNING;
}
@ -155,8 +156,12 @@ void st_start()
// Execute all buffered steps, then stop the stepper subsystem
inline void st_stop()
{
// flush pending operations
st_synchronize();
// disable timer interrupts
TIMSK1 &= ~(1<<OCIE1A);
TIMSK2 &= ~(1<<TOIE2);
// reset enable pin
STEPPERS_ENABLE_PORT &= ~(1<<STEPPERS_ENABLE_BIT);
stepper_mode = STEPPER_MODE_STOPPED;
}
@ -238,42 +243,6 @@ int check_limit_switch(int axis)
return((LIMIT_PORT&mask) || (LIMIT_PORT&mask));
}
// void perform_go_home()
// {
// int axis;
// if(stepper_mode.home.phase == PHASE_HOME_RETURN) {
// // We are running all axes in reverse until all limit switches are tripped
// // Check all limit switches:
// for(axis=X_AXIS; axis <= Z_AXIS; axis++) {
// stepper_mode.home.away[axis] |= check_limit_switch(axis);
// }
// // Step steppers. First retract along Z-axis. Then X and Y.
// if(stepper_mode.home.away[Z_AXIS]) {
// step_axis(Z_AXIS);
// } else {
// // Check if all axes are home
// if(!(stepper_mode.home.away[X_AXIS] || stepper_mode.home.away[Y_AXIS])) {
// // All axes are home, prepare next phase: to nudge the tool carefully out of the limit switches
// memset(stepper_mode.home.direction, 1, sizeof(stepper_mode.home.direction)); // direction = [1,1,1]
// set_direction_bits(stepper_mode.home.direction);
// stepper_mode.home.phase == PHASE_HOME_NUDGE;
// return;
// }
// step_steppers(stepper_mode.home.away);
// }
// } else {
// for(axis=X_AXIS; axis <= Z_AXIS; axis++) {
// if(check_limit_switch(axis)) {
// step_axis(axis);
// return;
// }
// }
// // When this code is reached it means all axes are free of their limit-switches. Complete the cycle and rest:
// clear_vector(stepper_mode.position); // By definition this is location [0, 0, 0]
// stepper_mode.mode = MODE_AT_REST;
// }
// }
void st_go_home()
{
// Todo: Perform the homing cycle