ManuelW/grbl-LPC-CoreXY
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added code to estimate steps in arc in order to support helical motion

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Simen Svale Skogsrud
2009-02-09 15:47:51 +01:00
parent 2992683c8d
commit c2981be94a
5 changed files with 178 additions and 30 deletions
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28
stepper.c
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@ -112,19 +112,20 @@ void st_init()
void st_buffer_step(uint8_t motor_port_bits)
{
if (echo_steps && !(motor_port_bits&0x80)) {
// Echo steps. If bit 7 is set, the message is internal to Grbl and should not be echoed
// Buffer nothing unless stepping subsystem is running
if (stepper_mode != STEPPER_MODE_RUNNING) { return; }
// Echo steps. If bit 7 is set, the message is internal to Grbl and should not be echoed
if (echo_steps && !(motor_port_bits&0x80)) {
printByte('!'+motor_port_bits);
}
int i = (step_buffer_head + 1) % STEP_BUFFER_SIZE;
// Calculate the buffer head after we push this byte
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 == i) { sleep_mode(); }
while(step_buffer_tail == next_buffer_head) { sleep_mode(); }
// Push byte
step_buffer[step_buffer_head] = motor_port_bits;
step_buffer_head = i;
step_buffer_head = next_buffer_head;
}
// Block until all buffered steps are executed
@ -163,18 +164,24 @@ inline void st_stop()
stepper_mode = STEPPER_MODE_STOPPED;
}
// Buffer a pace change. Pace is the rate with which steps are executed. It is measured in microseconds from step to step.
// It is continually adjusted to achieve constant actual feed rate. Unless pace-changes was buffered along with the steps
// they govern they might change at slightly wrong moments in time as the pace would change while the stepper buffer was
// still churning out the previous movement.
void st_buffer_pace(uint32_t microseconds)
{
// Do nothing if the pace in unchanged
if (current_pace == microseconds) { return; }
// Do nothing if the pace in unchanged or the stepping subsytem is not running
if ((current_pace == microseconds) || (stepper_mode != STEPPER_MODE_RUNNING)) { return; }
// If the single-element pace "buffer" is full, sleep until it is popped
while (next_pace != 0) {
sleep_mode();
}
// Buffer the pace change
next_pace = microseconds;
st_buffer_step(PACE_CHANGE_MARKER); // Place a pace-change marker in the step-buffer
}
// Returns a bitmask with the stepper bit for the given axis set
uint8_t st_bit_for_stepper(int axis) {
switch(axis) {
case X_AXIS: return(1<<X_STEP_BIT);
@ -184,6 +191,7 @@ uint8_t st_bit_for_stepper(int axis) {
return(0);
}
// Configures the prescaler and ceiling of timer 1 to produce the given pace as accurately as possible.
void config_pace_timer(uint32_t microseconds)
{
uint32_t ticks = microseconds*TICKS_PER_MICROSECOND;