presumably fixed the feed rate computation

config.h

@@ -21,7 +21,7 @@
 #ifndef config_h
 #define config_h
 
-#define VERSION "0.1"
+#define VERSION "0.0"
 
 #define X_STEPS_PER_MM 5.0
 #define Y_STEPS_PER_MM 5.0
@@ -64,9 +64,6 @@
 
 #define BAUD_RATE 19200
 
-// Unrolling the arc code is faster, but consumes about 830 extra bytes of code space.
-// #define UNROLLED_ARC_LOOP
-
 #define STEP_MASK (1<<X_STEP_BIT)|(1<<Y_STEP_BIT)|(1<<Z_STEP_BIT)
 #define DIRECTION_MASK (1<<X_DIRECTION_BIT)|(1<<Y_DIRECTION_BIT)|(1<<Z_DIRECTION_BIT)
 #define STEPPING_MASK STEP_MASK | DIRECTION_MASK

motion_control.c

@@ -34,6 +34,7 @@
 #include <stdlib.h>
 #include "nuts_bolts.h"
 #include "stepper.h"
+#include "serial_protocol.h"
 
 #include "wiring_serial.h"
 
@@ -50,7 +51,8 @@ struct LinearMotionParameters {
 };
 
 struct ArcMotionParameters {
-  int8_t angular_direction; // 1 = clockwise, -1 = anticlockwise
+  int8_t direction[3];                             // The direction of travel along each axis (-1, 0 or 1)
+  int8_t angular_direction;                        // 1 = clockwise, -1 = anticlockwise
   int32_t x, y, target_x, target_y;                // current position and target position in the 
                                                    // local coordinate system of the arc-generator where [0,0] is the 
                                                    // center of the arc.
@@ -80,7 +82,6 @@ struct MotionControlState {
 };
 struct MotionControlState mc;
 
-
 void set_stepper_directions(int8_t *direction);
 inline void step_steppers(uint8_t *enabled);
 inline void step_axis(uint8_t axis);
@@ -118,6 +119,8 @@ void mc_linear_motion(double x, double y, double z, float feed_rate, int invert_
 // 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;
@@ -149,13 +152,15 @@ void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate,
   	mc.pace = 
   	  (feed_rate*1000000)/mc.linear.maximum_steps;	  
   } else {
-  	// Ask old Phytagoras to estimate how many steps our next move is going to take us:
+  	// Ask old Phytagoras to estimate how many mm our next move is going to take us:
-  	uint32_t steps_to_travel = 
+  	double millimeters_to_travel = 
-      ceil(sqrt(pow((X_STEPS_PER_MM*mc.linear.step_count[X_AXIS]),2) + 
+      ceil(sqrt(pow((mc.linear.step_count[X_AXIS]),2) + 
-                pow((Y_STEPS_PER_MM*mc.linear.step_count[Y_AXIS]),2) + 
+                pow((mc.linear.step_count[Y_AXIS]),2) + 
-                pow((Z_STEPS_PER_MM*mc.linear.step_count[Z_AXIS]),2)));
+                pow((mc.linear.step_count[Z_AXIS]),2)));
+    // Calculate the microseconds between steps that we should wait in order to travel the 
+    // designated amount of millimeters in the amount of steps we are going to generate
   	mc.pace = 
-  	  ((steps_to_travel * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / mc.linear.maximum_steps;	  
+  	  round(((millimeters_to_travel * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / mc.linear.maximum_steps);	  
   }
 }
 
@@ -194,6 +199,7 @@ void execute_linear_motion()
 // ISSUE: The arc interpolator assumes all axes have the same steps/mm as the X axis.
 void mc_arc(double theta, double angular_travel, double radius, int axis_1, int axis_2, double feed_rate)
 {  
+  memset(&mc.arc, 0, sizeof(mc.arc));
   uint32_t radius_steps = round(radius*X_STEPS_PER_MM);
   mc.mode = MC_MODE_ARC;
   // Determine angular direction (+1 = clockwise, -1 = counterclockwise)
@@ -216,15 +222,20 @@ void mc_arc(double theta, double angular_travel, double radius, int axis_1, int
   mc.arc.y2 = 2*mc.arc.y; 
   
   // Set up a vector with the steppers we are going to use tracing the plane of this arc
-  clear_vector(mc.arc.plane_steppers);
   mc.arc.plane_steppers[axis_1] = 1;
   mc.arc.plane_steppers[axis_2] = 1;
   // And map the local coordinate system of the arc onto the tool axes of the selected plane
   mc.arc.axis_x = axis_1;
   mc.arc.axis_y = axis_2;
-  // mm/second -> microseconds/step. Assumes all axes have the same steps/mm as the x axis
+  // The amount of steppings performed while tracing a full circle is equal to the sum of sides in a 
-  mc.pace = 
+  // square inscribed in the circle. We use this to estimate the amount of steps as if this arc was a full circle:
-    ONE_MINUTE_OF_MICROSECONDS / (feed_rate * X_STEPS_PER_MM);
+  uint32_t steps_in_full_circle = round(radius_steps * 4 * (1/sqrt(2)));
+  // We then calculate the millimeters of travel along the circumference of that same full circle
+  double millimeters_circumference = 2*radius*M_PI;
+  // Then we calculate the microseconds between each step as if we will trace the full circle.
+  // It doesn't matter what fraction of the circle we are actuallyt going to trace. The pace is the same.
+	mc.pace = 
+	  round(((millimeters_circumference * ONE_MINUTE_OF_MICROSECONDS) / feed_rate) / steps_in_full_circle);	  
   mc.arc.incomplete = true;
 }
 
@@ -279,7 +290,6 @@ void execute_arc()
   uint32_t start_x = mc.arc.x;
   uint32_t start_y = mc.arc.y;
   int dx, dy; // Trace directions
-  int8_t direction[3];
 
   // mc.mode is set to 0 (MC_MODE_AT_REST) when target is reached
   while(mc.arc.incomplete)
@@ -289,9 +299,9 @@ void execute_arc()
 
     // Take dx and dy which are local to the arc being generated and map them on to the 
     // selected tool-space-axes for the current arc.
-    direction[mc.arc.axis_x] = dx;
+    mc.arc.direction[mc.arc.axis_x] = dx;
-    direction[mc.arc.axis_y] = dy;
+    mc.arc.direction[mc.arc.axis_y] = dy;
-    set_stepper_directions(direction);
+    set_stepper_directions(mc.arc.direction);
 
     if (abs(mc.arc.x)<abs(mc.arc.y)) {
       step_arc_along_x(dx,dy);    
@@ -303,9 +313,7 @@ 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;
-  // Because of rounding errors we might be off by a step or two. Adjust for this
+  // Todo: Because of rounding errors we might still be off by a step or two. 
-    // To be implemented
-  //void prepare_linear_motion(uint32_t x, uint32_t y, uint32_t z, float feed_rate, int invert_feed_rate)
   mc.mode = MC_MODE_AT_REST;  
 }
 
@@ -323,8 +331,8 @@ void execute_go_home()
 }
 
 void mc_execute() {
-//  st_set_pace(mc.pace);
+  st_set_pace(mc.pace);
-  printByte('~');
+  sp_send_execution_marker();
   while(mc.mode) { // Loop because one task might start another task
     switch(mc.mode) {
       case MC_MODE_AT_REST: break;

serial_protocol.c

@@ -36,6 +36,12 @@ void prompt() {
   line_counter = 0;
 }
 
+void sp_send_execution_marker()
+{
+  printByte(EXECUTION_MARKER);
+}
+
+
 void print_result() {
   double position[3];
   int inches_mode;
@@ -77,20 +83,18 @@ void sp_process()
   char c;
   while((c = serialRead()) != -1) 
   {
-    //printByte(c); // Echo
+    if(c == '\r') {  // Line is complete. Then execute!
-    if(c == '\r') {
       line[line_counter] = 0;
-      //printByte(EXECUTION_MARKER);
       gc_execute_line(line);
       line_counter = 0;
       print_result();
       prompt();
-    } else if (c == ' ' || c == '\t') {
+    } else if (c == ' ' || c == '\t') { // Throw away whitepace
-      // Throw away whitepace
+    } else if (c >= 'a' && c <= 'z') { // Upcase lowercase
-    } else if (c >= 'a' && c <= 'z') {
       line[line_counter++] = c-'a'+'A';
     } else {
       line[line_counter++] = c;
     }
   }
 }
+

serial_protocol.h

@@ -25,7 +25,12 @@
 // A character to acknowledge that the execution has started
 #define EXECUTION_MARKER '~'
 
+// Initialize the serial protocol
 void sp_init();
+// Called by motion control just before the motion starts
+void sp_send_execution_marker();
+// Read command lines from the serial port and execute them as they
+// come in. Blocks until the serial buffer is emptied. 
 void sp_process();
 
 #endif

stepper.c

@@ -100,7 +100,6 @@ void st_buffer_step(uint8_t motor_port_bits)
 {
   if (echo_steps) {
     printByte('!'+motor_port_bits);
-//    printIntegerInBase(motor_port_bits,2);printByte('\r');printByte('\n');
   }
 
 	int i = (step_buffer_head + 1) % STEP_BUFFER_SIZE;

todo.txt

@@ -1,3 +1,5 @@
+* Use bitmasks, not vectors to build steps in motion_control
+* Arcs might be a step or two off because of FP gotchas. Must add a little nudge in the end there
 * Generalize feed rate code and support inverse feed rate for arcs
 * Implement homing cycle in stepper.c
 * Implement limit switch support in stepper.c (use port-triggered interrupts?)