ManuelW/grbl-LPC-CoreXY
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tweaks and bugfixes

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This commit is contained in:
Simen Svale Skogsrud
2009-01-29 09:58:29 +01:00
parent ac2e26fda9
commit a9d41c6c64
9 changed files with 75 additions and 62 deletions
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33
stepper.c
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@ -18,6 +18,9 @@
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/* The timer calculations of this module informed by the 'RepRap cartesian firmware' by Zack Smith
and Philipp Tiefenbacher. The circle buffer implementation by the wiring_serial library by David A. Mellis */
#include "stepper.h"
#include "config.h"
#include "nuts_bolts.h"
@ -30,7 +33,7 @@ volatile uint8_t step_buffer[STEP_BUFFER_SIZE]; // A buffer for step instruction
volatile int step_buffer_head = 0;
volatile int step_buffer_tail = 0;
uint8_t state = STEPPER_STATE_STOPPED;
uint8_t stepper_mode = STEPPER_MODE_STOPPED;
// This timer interrupt is executed at the pace set with set_pace. It pops one instruction from
// the step_buffer, executes it. Then it starts timer2 in order to reset the motor port after
@ -77,7 +80,7 @@ void st_init()
// Configure Timer 2
TCCR2A = 0; // Normal operation
TCCT2B = 1<<CS20; // Full speed, no prescaler
TCCR2B = 1<<CS20; // Full speed, no prescaler
TIMSK2 = 0; // All interrupts disabled
// start off with a slow pace
@ -100,7 +103,7 @@ void st_buffer_step(uint8_t motor_port_bits)
// Block until all buffered steps are executed
void st_synchronize()
{
if (state == STEPPER_MODE_RUNNING) {
if (stepper_mode == STEPPER_MODE_RUNNING) {
while(step_buffer_tail != step_buffer_head) { sleep_mode(); }
} else {
st_flush();
@ -119,7 +122,7 @@ void st_start()
// Enable timer interrupt
TIMSK1 |= (1<<OCIE1A);
STEPPERS_ENABLE_PORT |= 1<<STEPPERS_ENABLE_BIT;
state = STEPPER_STATE_RUNNING;
stepper_mode = STEPPER_MODE_RUNNING;
}
// Execute all buffered steps, then stop the stepper subsystem
@ -128,7 +131,7 @@ inline void st_stop()
st_synchronize();
TIMSK1 &= ~(1<<OCIE1A);
STEPPERS_ENABLE_PORT &= ~(1<<STEPPERS_ENABLE_BIT);
state = STEPPER_STATE_STOPPED;
stepper_mode = STEPPER_MODE_STOPPED;
}
void st_set_pace(uint32_t microseconds)
@ -181,25 +184,25 @@ int check_limit_switch(int axis)
// void perform_go_home()
// {
// int axis;
// if(state.home.phase == PHASE_HOME_RETURN) {
// 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++) {
// state.home.away[axis] |= check_limit_switch(axis);
// stepper_mode.home.away[axis] |= check_limit_switch(axis);
// }
// // Step steppers. First retract along Z-axis. Then X and Y.
// if(state.home.away[Z_AXIS]) {
// if(stepper_mode.home.away[Z_AXIS]) {
// step_axis(Z_AXIS);
// } else {
// // Check if all axes are home
// if(!(state.home.away[X_AXIS] || state.home.away[Y_AXIS])) {
// 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(state.home.direction, 1, sizeof(state.home.direction)); // direction = [1,1,1]
// set_direction_bits(state.home.direction);
// state.home.phase == PHASE_HOME_NUDGE;
// 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(state.home.away);
// step_steppers(stepper_mode.home.away);
// }
// } else {
// for(axis=X_AXIS; axis <= Z_AXIS; axis++) {
@ -209,8 +212,8 @@ int check_limit_switch(int axis)
// }
// }
// // When this code is reached it means all axes are free of their limit-switches. Complete the cycle and rest:
// clear_vector(state.position); // By definition this is location [0, 0, 0]
// state.mode = MODE_AT_REST;
// clear_vector(stepper_mode.position); // By definition this is location [0, 0, 0]
// stepper_mode.mode = MODE_AT_REST;
// }
// }