ManuelW/grbl-LPC-CoreXY
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Commenting updates. Minor bug fix with exit of soft limit event.

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Sonny Jeon
2014-02-19 07:21:40 -07:00
parent 3df61e0ec5
commit b332d6edbb
5 changed files with 37 additions and 32 deletions
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28
stepper.c
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@ -541,7 +541,7 @@ void st_prep_buffer()
// Initialize segment buffer data for generating the segments.
prep.steps_remaining = pl_block->step_event_count;
prep.step_per_mm = prep.steps_remaining/pl_block->millimeters;
prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR*pl_block->millimeters/prep.steps_remaining;
prep.req_mm_increment = REQ_MM_INCREMENT_SCALAR/prep.step_per_mm;
prep.dt_remainder = 0.0; // Reset for new planner block
@ -639,8 +639,8 @@ void st_prep_buffer()
float time_var = dt_max; // Time worker variable
float mm_var; // mm-Distance worker variable
float speed_var; // Speed worker variable
float mm_remaining = pl_block->millimeters;
float minimum_mm = pl_block->millimeters-prep.req_mm_increment;
float mm_remaining = pl_block->millimeters; // New segment distance from end of block.
float minimum_mm = mm_remaining-prep.req_mm_increment; // Guarantee at least one step.
if (minimum_mm < 0.0) { minimum_mm = 0.0; }
do {
@ -691,7 +691,9 @@ void st_prep_buffer()
if (dt < dt_max) { time_var = dt_max - dt; } // **Incomplete** At ramp junction.
else {
if (mm_remaining > minimum_mm) { // Check for very slow segments with zero steps.
dt_max += DT_SEGMENT; // Increase segment time to ensure at least one step in segment.
// Increase segment time to ensure at least one step in segment. Override and loop
// through distance calculations until minimum_mm or mm_complete.
dt_max += DT_SEGMENT;
time_var = dt_max - dt;
} else {
break; // **Complete** Exit loop. Segment execution time maxed.
@ -716,8 +718,9 @@ void st_prep_buffer()
prep_segment->n_step = last_n_steps_remaining-n_steps_remaining; // Compute number of steps to execute.
// Bail if we are at the end of a feed hold and don't have a step to execute.
if (sys.state == STATE_HOLD) {
if (prep_segment->n_step == 0) {
if (prep_segment->n_step == 0) {
if (sys.state == STATE_HOLD) {
// Less than one step to decelerate to zero speed, but already very close. AMASS
// requires full steps to execute. So, just bail.
prep.current_speed = 0.0;
@ -776,7 +779,11 @@ void st_prep_buffer()
}
#endif
// Determine end of segment conditions. Setup initial conditions for next segment.
// Segment complete! Increment segment buffer indices.
segment_buffer_head = segment_next_head;
if ( ++segment_next_head == SEGMENT_BUFFER_SIZE ) { segment_next_head = 0; }
// Setup initial conditions for next segment.
if (mm_remaining > prep.mm_complete) {
// Normal operation. Block incomplete. Distance remaining in block to be executed.
pl_block->millimeters = mm_remaining;
@ -793,6 +800,7 @@ void st_prep_buffer()
plan_cycle_reinitialize();
sys.state = STATE_QUEUED; // End cycle.
return; // Bail!
// TODO: Try to move QUEUED setting into cycle re-initialize.
} else { // End of planner block
@ -802,12 +810,6 @@ void st_prep_buffer()
}
}
// New step segment initialization completed. Increment segment buffer indices.
segment_buffer_head = segment_next_head;
if ( ++segment_next_head == SEGMENT_BUFFER_SIZE ) { segment_next_head = 0; }
if (sys.state == STATE_QUEUED) { return; } // Bail if hold completes
// int32_t blength = segment_buffer_head - segment_buffer_tail;
// if (blength < 0) { blength += SEGMENT_BUFFER_SIZE; }
// printInteger(blength);