ManuelW/grbl-LPC-CoreXY
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refactored stepper_plan -> planner (untested)

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Simen Svale Skogsrud
2011-02-11 00:34:53 +01:00
parent fc1c1b7e09
commit a4c64945e0
7 changed files with 26 additions and 31 deletions
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20
stepper.c
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@ -30,7 +30,7 @@
#include <util/delay.h>
#include "nuts_bolts.h"
#include <avr/interrupt.h>
#include "stepper_plan.h"
#include "planner.h"
#include "wiring_serial.h"
@ -40,13 +40,14 @@
#define STEPPING_MASK (STEP_MASK | DIRECTION_MASK) // All stepping-related bits (step/direction)
#define LIMIT_MASK ((1<<X_LIMIT_BIT)|(1<<Y_LIMIT_BIT)|(1<<Z_LIMIT_BIT)) // All limit bits
#define MINIMUM_STEPS_PER_MINUTE 1200 // The stepper subsystem will never run slower than this, exept when sleeping
#define CYCLES_PER_ACCELERATION_TICK ((TICKS_PER_MICROSECOND*1000000)/ACCELERATION_TICKS_PER_SECOND)
#define MINIMUM_STEPS_PER_MINUTE 1200 // The stepper subsystem will never run slower than this, exept when sleeping
#define ENABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 |= (1<<OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
static block_t *current_block; // A convenience pointer to the block currently being traced
static block_t *current_block; // A pointer to the block currently being traced
// Variables used by The Stepper Driver Interrupt
static uint8_t out_bits; // The next stepping-bits to be output
@ -81,6 +82,10 @@ static uint32_t trapezoid_adjusted_rate; // The current rate of step_events
void set_step_events_per_minute(uint32_t steps_per_minute);
void st_wake_up() {
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
// Initializes the trapezoid generator from the current block. Called whenever a new
// block begins.
inline void trapezoid_generator_reset() {
@ -107,15 +112,6 @@ inline void trapezoid_generator_tick() {
}
}
// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in
// steps. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
void st_buffer_line(double x, double y, double z, double feed_rate, int invert_feed_rate) {
plan_buffer_line(x, y, z, feed_rate, invert_feed_rate);
// Ensure that block processing is running by enabling The Stepper Driver Interrupt
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
void st_get_position_steps(int32_t (*vector)[3]) {
memcpy(vector, position, sizeof(position)); // vector[] = position[]
}