ManuelW/grbl-LPC-CoreXY
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fixed buffering of pace changes and general cleaning

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This commit is contained in:
Simen Svale Skogsrud
2009-02-08 20:40:24 +01:00
parent 8a0c9fd180
commit c07a322589
5 changed files with 64 additions and 44 deletions
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39
motion_control.c
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@ -60,7 +60,6 @@ struct ArcMotionParameters {
int32_t error, x2, y2; // error is always == (x**2 + y**2 - radius**2),
// x2 is always 2*x, y2 is always 2*y
uint8_t axis_x, axis_y; // maps the arc axes to stepper axes
int32_t target[3]; // The target position in absolute steps
int8_t plane_steppers[3]; // A vector with the steppers of axis_x and axis_y set to 1, the remaining 0
int incomplete; // True if the arc has not reached its target yet
};
@ -102,18 +101,12 @@ void mc_dwell(uint32_t milliseconds)
// Prepare for linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate states the number of seconds for the whole movement.
void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_feed_rate)
{
prepare_linear_motion(trunc(x*X_STEPS_PER_MM), trunc(y*Y_STEPS_PER_MM), trunc(z*Z_STEPS_PER_MM), feed_rate, invert_feed_rate);
}
// Same as mc_linear_motion but accepts target in absolute step coordinates
void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, int invert_feed_rate)
{
memset(&mc.linear, 0, sizeof(mc.arc));
mc.linear.target[X_AXIS] = x;
mc.linear.target[Y_AXIS] = y;
mc.linear.target[Z_AXIS] = z;
mc.linear.target[X_AXIS] = x*X_STEPS_PER_MM;
mc.linear.target[Y_AXIS] = y*Y_STEPS_PER_MM;
mc.linear.target[Z_AXIS] = z*Z_STEPS_PER_MM;
mc.mode = MC_MODE_LINEAR;
uint8_t axis; // loop variable
@ -125,9 +118,8 @@ void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate,
// Find the magnitude of the axis with the longest travel
mc.linear.maximum_steps = max(mc.linear.step_count[Z_AXIS],
max(mc.linear.step_count[X_AXIS], mc.linear.step_count[Y_AXIS]));
if(mc.linear.maximum_steps == 0) { return; }
// Nothing to do?
if ((mc.linear.maximum_steps) == 0)
if (mc.linear.maximum_steps == 0)
{
mc.mode = MC_MODE_AT_REST;
return;
@ -306,8 +298,7 @@ void execute_arc()
// Update the tool position to the new actual position
mc.position[mc.arc.axis_x] += mc.arc.x-start_x;
mc.position[mc.arc.axis_y] += mc.arc.y-start_y;
// Todo: Because of rounding errors we might still be off by a step or two.
mc.mode = MC_MODE_AT_REST;
mc.mode = MC_MODE_AT_REST;
}
void mc_go_home()
@ -324,15 +315,17 @@ void execute_go_home()
}
void mc_execute() {
st_set_pace(mc.pace);
sp_send_execution_marker();
while(mc.mode) { // Loop because one task might start another task
switch(mc.mode) {
case MC_MODE_AT_REST: break;
case MC_MODE_DWELL: st_synchronize(); _delay_ms(mc.dwell_milliseconds); mc.mode = MC_MODE_AT_REST; break;
case MC_MODE_LINEAR: execute_linear_motion(); break;
case MC_MODE_ARC: execute_arc(); break;
case MC_MODE_HOME: execute_go_home(); break;
if (mc.mode != MC_MODE_AT_REST) {
st_buffer_pace(mc.pace);
sp_send_execution_marker();
while(mc.mode) { // Loop because one task might start another task
switch(mc.mode) {
case MC_MODE_AT_REST: break;
case MC_MODE_DWELL: st_synchronize(); _delay_ms(mc.dwell_milliseconds); mc.mode = MC_MODE_AT_REST; break;
case MC_MODE_LINEAR: execute_linear_motion(); break;
case MC_MODE_ARC: execute_arc(); break;
case MC_MODE_HOME: execute_go_home(); break;
}
}
}
}