ManuelW/grbl-LPC-CoreXY
1
0
Fork 0
Code Issues Pull Requests Releases 1 Wiki Activity

Fix bug with premature step end. Refactored _delay_ms() and square() for better portability.

Browse Source 
- Fixed a premature step end bug dating back to Simen's 0.7b edge
version is fixed, from which this code is forked from. Caused by Timer2
constantly overflowing calling the Step Reset Interrupt every 128usec.
Now Timer2 is always disabled after a step end and should free up some
cycles for the main program. Could be more than one way to fix this
problem. I'm open to suggestions.

- _delay_ms() refactored to accept only constants to comply with
current compilers. square() removed since not available with some
compilers.
This commit is contained in:
Sonny Jeon
2012-01-15 18:25:12 -07:00
parent 89a3b37e02
commit d27dd13a54
8 changed files with 39 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
planner.c
View File

@ -376,8 +376,8 @@ void plan_buffer_line(double x, double y, double z, double feed_rate, uint8_t in
delta_mm[X_AXIS] = (target[X_AXIS]-pl.position[X_AXIS])/settings.steps_per_mm[X_AXIS];
delta_mm[Y_AXIS] = (target[Y_AXIS]-pl.position[Y_AXIS])/settings.steps_per_mm[Y_AXIS];
delta_mm[Z_AXIS] = (target[Z_AXIS]-pl.position[Z_AXIS])/settings.steps_per_mm[Z_AXIS];
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
square(delta_mm[Z_AXIS]));
block->millimeters = sqrt(delta_mm[X_AXIS]*delta_mm[X_AXIS] + delta_mm[Y_AXIS]*delta_mm[Y_AXIS] +
delta_mm[Z_AXIS]*delta_mm[Z_AXIS]);
double inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate speed in mm/minute for each axis. No divide by zero due to previous checks.
@ -476,9 +476,10 @@ void plan_set_current_position(double x, double y, double z)
{
// To correlate status reporting work position correctly, the planner must force the steppers to
// empty the block buffer and synchronize with the planner, as the real-time machine position and
// the planner position at the end of the buffer are different. This will only be called with a
// G92 is executed, which typically is used only at the beginning of a g-code program.
// TODO: Find a robust way to avoid a planner synchronize, but may require a bit of ingenuity.
// the planner position at the end of the buffer can be and are usually different. This function is
// only called with a G92, which typically is used only at the beginning of a g-code program or
// between different operations.
// TODO: Find a robust way to avoid a planner synchronize, but this may require a bit of ingenuity.
plan_synchronize();
// Update the system coordinate offsets from machine zero