ManuelW/grbl-LPC-CoreXY
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cleaned up methods for enabling/disabling acceleration manger

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This commit is contained in:
Simen Svale Skogsrud 2011-02-06 22:25:01 +01:00
parent 7092b0e1fe
commit cdcc7bf86e
4 changed files with 16 additions and 32 deletions
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18
motion_control.c
View File

@ -31,12 +31,10 @@
// The current position of the tool in absolute steps
int32_t position[3];
int8_t acceleration_management_enabled;
void mc_init()
{
clear_vector(position);
acceleration_management_enabled = TRUE;
}
void mc_dwell(uint32_t milliseconds)
@ -45,15 +43,6 @@ void mc_dwell(uint32_t milliseconds)
_delay_ms(milliseconds);
}
void mc_set_acceleration_manager_enabled(uint8_t enabled) {
if (enabled) {
plan_enable_acceleration_management();
} else {
plan_disable_acceleration_management();
}
acceleration_management_enabled = enabled;
}
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// 1/feed_rate minutes.
@ -96,7 +85,8 @@ void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rat
void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2,
int axis_linear, double feed_rate, int invert_feed_rate)
{
plan_disable_acceleration_management(); // disable acceleration management for the duration of the arc
int acceleration_manager_was_enabled = plan_is_acceleration_manager_enabled();
plan_set_acceleration_manager_enabled(FALSE); // disable acceleration management for the duration of the arc
double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));
if (millimeters_of_travel == 0.0) { return; }
uint16_t segments = ceil(millimeters_of_travel/settings.mm_per_arc_segment);
@ -122,8 +112,8 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
target[axis_1] = center_x+sin(theta)*radius;
target[axis_2] = center_y+cos(theta)*radius;
mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
}
mc_set_acceleration_manager_enabled(acceleration_management_enabled); // restore acceleration management setting
}
plan_set_acceleration_manager_enabled(acceleration_manager_was_enabled);
}
void mc_go_home()

3
motion_control.h
View File

@ -27,9 +27,6 @@
// Initializes the motion_control subsystem resources
void mc_init();
// Enables or disables the look ahead acceleration manager. (Default: on)
void mc_set_acceleration_manager_enabled(uint8_t enabled);
// Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
// unless invert_feed_rate is true. Then the feed_rate means that the motion should be completed in
// (1 minute)/feed_rate time.

21
stepper_plan.c
View File

@ -65,7 +65,7 @@ block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructio
volatile int block_buffer_head; // Index of the next block to be pushed
volatile int block_buffer_tail; // Index of the block to process now
static uint8_t acceleration_management; // Acceleration management active?
static uint8_t acceleration_manager_enabled; // Acceleration management active?
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
@ -333,21 +333,18 @@ void planner_recalculate() {
void plan_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
plan_enable_acceleration_management();
plan_set_acceleration_manager_enabled(TRUE);
}
void plan_enable_acceleration_management() {
if (!acceleration_management) {
void plan_set_acceleration_manager_enabled(int enabled) {
if ((!!acceleration_manager_enabled) != (!!enabled)) {
st_synchronize();
acceleration_management = TRUE;
acceleration_manager_enabled = !!enabled;
}
}
void plan_disable_acceleration_management() {
if(acceleration_management) {
st_synchronize();
acceleration_management = FALSE;
}
int plan_is_acceleration_manager_enabled() {
return(acceleration_manager_enabled);
}
// Add a new linear movement to the buffer. steps_x, _y and _z is the signed, relative motion in
@ -393,7 +390,7 @@ void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_
block->rate_delta = ceil(
((settings.acceleration*60.0)/(ACCELERATION_TICKS_PER_SECOND))/ // acceleration mm/sec/sec per acceleration_tick
travel_per_step); // convert to: acceleration steps/min/acceleration_tick
if (acceleration_management) {
if (acceleration_manager_enabled) {
double safe_speed_factor = factor_for_safe_speed(block);
calculate_trapezoid_for_block(block, safe_speed_factor, safe_speed_factor); // compute a conservative acceleration trapezoid for now
} else {
@ -411,7 +408,7 @@ void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_
// Move buffer head
block_buffer_head = next_buffer_head;
if (acceleration_management) {
if (acceleration_manager_enabled) {
planner_recalculate();
} else {
calculate_trapezoid_for_block(block, 1.0, 1.0);

6
stepper_plan.h
View File

@ -68,8 +68,8 @@ void plan_init();
void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t microseconds, double millimeters);
// Enables acceleration-management for upcoming blocks
void plan_enable_acceleration_management();
// Disables acceleration-management for upcoming blocks
void plan_disable_acceleration_management();
void plan_set_acceleration_manager_enabled(int enabled);
// Is acceleration-management currently enabled?
int plan_is_acceleration_manager_enabled();
#endif