ManuelW/grbl-LPC-CoreXY
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Refactored line buffering to eliminate state from motion control and centralize tracking of position. UNTESTED: NEEDS TESTING

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Simen Svale Skogsrud
2011-02-06 23:23:34 +01:00
parent cdcc7bf86e
commit c42741032f
7 changed files with 65 additions and 65 deletions
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8
stepper.c
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@ -110,12 +110,16 @@ 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(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters) {
plan_buffer_line(steps_x, steps_y, steps_z, microseconds, 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[]
}
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse of Grbl. It is executed at the rate set with
// config_step_timer. It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
// It is supported by The Stepper Port Reset Interrupt which it uses to reset the stepper port after each pulse.