ManuelW/grbl-LPC-CoreXY
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Merge tag 'v1.1f.20170131'

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Todd Fleming
2017-03-11 10:09:48 -05:00
parent ed82dd90b6 f51268e855
commit ee65b9a7e2
19 changed files with 318 additions and 102 deletions
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20
grbl/stepper.c
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@ -44,11 +44,17 @@
// NOTE: AMASS cutoff frequency multiplied by ISR overdrive factor must not exceed maximum step frequency.
// NOTE: Current settings are set to overdrive the ISR to no more than 16kHz, balancing CPU overhead
// and timer accuracy. Do not alter these settings unless you know what you are doing.
#define MAX_AMASS_LEVEL 3
// AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.
#define AMASS_LEVEL1 (F_CPU/8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
#define AMASS_LEVEL2 (F_CPU/4000) // Over-drives ISR (x4)
#define AMASS_LEVEL3 (F_CPU/2000) // Over-drives ISR (x8)
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
#define MAX_AMASS_LEVEL 3
// AMASS_LEVEL0: Normal operation. No AMASS. No upper cutoff frequency. Starts at LEVEL1 cutoff frequency.
#define AMASS_LEVEL1 (F_CPU/8000) // Over-drives ISR (x2). Defined as F_CPU/(Cutoff frequency in Hz)
#define AMASS_LEVEL2 (F_CPU/4000) // Over-drives ISR (x4)
#define AMASS_LEVEL3 (F_CPU/2000) // Over-drives ISR (x8)
#if MAX_AMASS_LEVEL <= 0
error "AMASS must have 1 or more levels to operate correctly."
#endif
#endif
// Stores the planner block Bresenham algorithm execution data for the segments in the segment
@ -646,8 +652,8 @@ void st_prep_buffer()
st_prep_block->direction_bits = pl_block->direction_bits;
uint8_t idx;
#ifndef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
for (idx=0; idx<N_AXIS; idx++) { st_prep_block->steps[idx] = pl_block->steps[idx]; }
st_prep_block->step_event_count = pl_block->step_event_count;
for (idx=0; idx<N_AXIS; idx++) { st_prep_block->steps[idx] = (pl_block->steps[idx] << 1); }
st_prep_block->step_event_count = (pl_block->step_event_count << 1);
#else
// With AMASS enabled, simply bit-shift multiply all Bresenham data by the max AMASS
// level, such that we never divide beyond the original data anywhere in the algorithm.