Minor bug fixes: Homing travel calculations. Cycle resuming after spindle and dwell commands.

- Homing travel calculations fixed. It was computing the min travel
rather than max.

- Auto-start disable and pausing after spindle or dwell commands.
Related to plan_synchronize() function call. Now fixed, but still need
to work on the system state.

- Pushed a fix to make this branch more Arduino IDE compatible. Removed
extern call in nuts_bolts.c

- Updated the stepper configuration option of enabling or disabling the
new Adaptive Multi-Axis Step Smoothing Algorithm. Now works either way.

- Updated some copyright info.
This commit is contained in:
Sonny Jeon 2013-12-30 22:02:05 -07:00
parent 47cd40c8dc
commit f10bad43b2
30 changed files with 102 additions and 98 deletions

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@ -2,7 +2,7 @@
config.h - compile time configuration config.h - compile time configuration
Part of Grbl Part of Grbl
Copyright (c) 2011-2013 Sungeun K. Jeon Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
@ -88,7 +88,7 @@
// set this only as high as needed. Approximate successful values can widely range from 50 to 200 or more. // set this only as high as needed. Approximate successful values can widely range from 50 to 200 or more.
#define ACCELERATION_TICKS_PER_SECOND 100 #define ACCELERATION_TICKS_PER_SECOND 100
#define ACTIVE_MULTI_AXIS_STEP_SMOOTHING #define ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
#define ENABLE_SOFTWARE_DEBOUNCE #define ENABLE_SOFTWARE_DEBOUNCE
// Minimum planner junction speed. Sets the default minimum junction speed the planner plans to at // Minimum planner junction speed. Sets the default minimum junction speed the planner plans to at

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@ -2,7 +2,7 @@
coolant_control.c - coolant control methods coolant_control.c - coolant control methods
Part of Grbl Part of Grbl
Copyright (c) 2012 Sungeun K. Jeon Copyright (c) 2012-2014 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,7 +2,7 @@
coolant_control.h - spindle control methods coolant_control.h - spindle control methods
Part of Grbl Part of Grbl
Copyright (c) 2012 Sungeun K. Jeon Copyright (c) 2012-2014 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,7 +2,7 @@
cpu_map.h - CPU and pin mapping configuration file cpu_map.h - CPU and pin mapping configuration file
Part of Grbl Part of Grbl
Copyright (c) 2013 Sungeun K. Jeon Copyright (c) 2013-2014 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,7 +2,7 @@
defaults.h - defaults settings configuration file defaults.h - defaults settings configuration file
Part of Grbl Part of Grbl
Copyright (c) 2012-2013 Sungeun K. Jeon Copyright (c) 2012-2014 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,8 +2,8 @@
gcode.c - rs274/ngc parser. gcode.c - rs274/ngc parser.
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,8 +2,8 @@
gcode.h - rs274/ngc parser. gcode.h - rs274/ngc parser.
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,8 +2,8 @@
limits.c - code pertaining to limit-switches and performing the homing cycle limits.c - code pertaining to limit-switches and performing the homing cycle
Part of Grbl Part of Grbl
Copyright (c) 2012-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2012-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
@ -132,11 +132,12 @@ void limits_go_home(uint8_t cycle_mask, bool approach, float homing_rate)
else { invert_pin = !approach; } else { invert_pin = !approach; }
// Determine travel distance to the furthest homing switch based on user max travel settings. // Determine travel distance to the furthest homing switch based on user max travel settings.
// NOTE: settings.max_travel[] is stored as a negative value.
float max_travel = settings.max_travel[X_AXIS]; float max_travel = settings.max_travel[X_AXIS];
if (max_travel < settings.max_travel[Y_AXIS]) { max_travel = settings.max_travel[Y_AXIS]; } if (max_travel > settings.max_travel[Y_AXIS]) { max_travel = settings.max_travel[Y_AXIS]; }
if (max_travel < settings.max_travel[Z_AXIS]) { max_travel = settings.max_travel[Z_AXIS]; } if (max_travel > settings.max_travel[Z_AXIS]) { max_travel = settings.max_travel[Z_AXIS]; }
max_travel *= 1.25; // Ensure homing switches engaged by over-estimating max travel. max_travel *= -1.25; // Ensure homing switches engaged by over-estimating max travel.
if (approach) { max_travel = -max_travel; } if (!approach) { max_travel = -max_travel; }
// Set target location and rate for active axes. // Set target location and rate for active axes.
float target[N_AXIS]; float target[N_AXIS];

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@ -2,8 +2,8 @@
limits.h - code pertaining to limit-switches and performing the homing cycle limits.h - code pertaining to limit-switches and performing the homing cycle
Part of Grbl Part of Grbl
Copyright (c) 2013-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

2
main.c
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@ -2,8 +2,8 @@
main.c - An embedded CNC Controller with rs274/ngc (g-code) support main.c - An embedded CNC Controller with rs274/ngc (g-code) support
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,8 +2,8 @@
motion_control.c - high level interface for issuing motion commands motion_control.c - high level interface for issuing motion commands
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Copyright (c) 2011 Jens Geisler Copyright (c) 2011 Jens Geisler
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
@ -301,13 +301,7 @@ void mc_homing_cycle()
// NOTE: This function is called from the main loop and mc_line() only and executes when one of // NOTE: This function is called from the main loop and mc_line() only and executes when one of
// two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished, // two conditions exist respectively: There are no more blocks sent (i.e. streaming is finished,
// single commands), or the planner buffer is full and ready to go. // single commands), or the planner buffer is full and ready to go.
void mc_auto_cycle_start() void mc_auto_cycle_start() { if (sys.auto_start) { st_cycle_start(); } }
{
if (sys.auto_start) {
st_cycle_start();
if (bit_isfalse(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = false; } // Reset auto start per settings.
}
}
// Method to ready the system to reset by setting the runtime reset command and killing any // Method to ready the system to reset by setting the runtime reset command and killing any

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@ -2,8 +2,8 @@
motion_control.h - high level interface for issuing motion commands motion_control.h - high level interface for issuing motion commands
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,8 +2,8 @@
nuts_bolts.c - Shared functions nuts_bolts.c - Shared functions
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by
@ -25,7 +25,6 @@
#include "planner.h" #include "planner.h"
#define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float) #define MAX_INT_DIGITS 8 // Maximum number of digits in int32 (and float)
extern float __floatunsisf (unsigned long);
// Extracts a floating point value from a string. The following code is based loosely on // Extracts a floating point value from a string. The following code is based loosely on
// the avr-libc strtod() function by Michael Stumpf and Dmitry Xmelkov and many freely // the avr-libc strtod() function by Michael Stumpf and Dmitry Xmelkov and many freely
@ -79,7 +78,7 @@ int read_float(char *line, uint8_t *char_counter, float *float_ptr)
// Convert integer into floating point. // Convert integer into floating point.
float fval; float fval;
fval = __floatunsisf(intval); fval = (float)intval;
// Apply decimal. Should perform no more than two floating point multiplications for the // Apply decimal. Should perform no more than two floating point multiplications for the
// expected range of E0 to E-4. // expected range of E0 to E-4.

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@ -2,8 +2,8 @@
nuts_bolts.h - Header file for shared definitions, variables, and functions nuts_bolts.h - Header file for shared definitions, variables, and functions
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,7 +2,7 @@
planner.c - buffers movement commands and manages the acceleration profile plan planner.c - buffers movement commands and manages the acceleration profile plan
Part of Grbl Part of Grbl
Copyright (c) 2011-2013 Sungeun K. Jeon Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011 Jens Geisler Copyright (c) 2011 Jens Geisler
@ -255,7 +255,8 @@ uint8_t plan_check_full_buffer()
// during a synchronize call, if it should happen. Also, waits for clean cycle end. // during a synchronize call, if it should happen. Also, waits for clean cycle end.
void plan_synchronize() void plan_synchronize()
{ {
sys.auto_start = true; // Set auto start to resume cycle after synchronize and caller completes. // Check and set auto start to resume cycle after synchronize and caller completes.
if (sys.state == STATE_CYCLE) { sys.auto_start = true; }
while (plan_get_current_block() || (sys.state == STATE_CYCLE)) { while (plan_get_current_block() || (sys.state == STATE_CYCLE)) {
protocol_execute_runtime(); // Check and execute run-time commands protocol_execute_runtime(); // Check and execute run-time commands
if (sys.abort) { return; } // Check for system abort if (sys.abort) { return; } // Check for system abort

View File

@ -2,7 +2,7 @@
planner.h - buffers movement commands and manages the acceleration profile plan planner.h - buffers movement commands and manages the acceleration profile plan
Part of Grbl Part of Grbl
Copyright (c) 2011-2013 Sungeun K. Jeon Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify

View File

@ -2,8 +2,8 @@
print.c - Functions for formatting output strings print.c - Functions for formatting output strings
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,8 +2,8 @@
print.h - Functions for formatting output strings print.h - Functions for formatting output strings
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,8 +2,8 @@
protocol.c - the serial protocol master control unit protocol.c - the serial protocol master control unit
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,8 +2,8 @@
protocol.h - the serial protocol master control unit protocol.h - the serial protocol master control unit
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,7 +2,7 @@
report.c - reporting and messaging methods report.c - reporting and messaging methods
Part of Grbl Part of Grbl
Copyright (c) 2012-2013 Sungeun K. Jeon Copyright (c) 2012-2014 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,7 +2,7 @@
report.h - reporting and messaging methods report.h - reporting and messaging methods
Part of Grbl Part of Grbl
Copyright (c) 2012-2013 Sungeun K. Jeon Copyright (c) 2012-2014 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,8 +2,8 @@
serial.c - Low level functions for sending and recieving bytes via the serial port serial.c - Low level functions for sending and recieving bytes via the serial port
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,8 +2,8 @@
serial.c - Low level functions for sending and recieving bytes via the serial port serial.c - Low level functions for sending and recieving bytes via the serial port
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,8 +2,8 @@
settings.c - eeprom configuration handling settings.c - eeprom configuration handling
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,8 +2,8 @@
settings.h - eeprom configuration handling settings.h - eeprom configuration handling
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

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@ -2,8 +2,8 @@
spindle_control.c - spindle control methods spindle_control.c - spindle control methods
Part of Grbl Part of Grbl
Copyright (c) 2012-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,8 +2,8 @@
spindle_control.h - spindle control methods spindle_control.h - spindle control methods
Part of Grbl Part of Grbl
Copyright (c) 2012-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2012 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by

View File

@ -2,7 +2,7 @@
stepper.c - stepper motor driver: executes motion plans using stepper motors stepper.c - stepper motor driver: executes motion plans using stepper motors
Part of Grbl Part of Grbl
Copyright (c) 2011-2013 Sungeun K. Jeon Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
@ -63,7 +63,11 @@ typedef struct {
uint16_t n_step; // Number of step events to be executed for this segment uint16_t n_step; // Number of step events to be executed for this segment
uint8_t st_block_index; // Stepper block data index. Uses this information to execute this segment. uint8_t st_block_index; // Stepper block data index. Uses this information to execute this segment.
uint16_t cycles_per_tick; // Step distance traveled per ISR tick, aka step rate. uint16_t cycles_per_tick; // Step distance traveled per ISR tick, aka step rate.
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
uint8_t amass_level; uint8_t amass_level;
#else
uint8_t prescaler;
#endif
} segment_t; } segment_t;
static segment_t segment_buffer[SEGMENT_BUFFER_SIZE]; static segment_t segment_buffer[SEGMENT_BUFFER_SIZE];
@ -83,7 +87,9 @@ typedef struct {
uint8_t step_pulse_time; // Step pulse reset time after step rise uint8_t step_pulse_time; // Step pulse reset time after step rise
uint8_t step_outbits; // The next stepping-bits to be output uint8_t step_outbits; // The next stepping-bits to be output
uint8_t dir_outbits; uint8_t dir_outbits;
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
uint32_t steps[N_AXIS]; uint32_t steps[N_AXIS];
#endif
uint16_t step_count; // Steps remaining in line segment motion uint16_t step_count; // Steps remaining in line segment motion
uint8_t exec_block_index; // Tracks the current st_block index. Change indicates new block. uint8_t exec_block_index; // Tracks the current st_block index. Change indicates new block.
@ -278,7 +284,9 @@ ISR(TIMER1_COMPA_vect)
// Initialize new step segment and load number of steps to execute // Initialize new step segment and load number of steps to execute
st.exec_segment = &segment_buffer[segment_buffer_tail]; st.exec_segment = &segment_buffer[segment_buffer_tail];
// Initialize step segment timing per step and load number of steps to execute. // Initialize step segment timing per step and load number of steps to execute.
// TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (st.exec_segment->prescaler<<CS10); #ifndef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (st.exec_segment->prescaler<<CS10);
#endif
OCR1A = st.exec_segment->cycles_per_tick; OCR1A = st.exec_segment->cycles_per_tick;
st.step_count = st.exec_segment->n_step; // NOTE: Can sometimes be zero when moving slow. st.step_count = st.exec_segment->n_step; // NOTE: Can sometimes be zero when moving slow.
// If the new segment starts a new planner block, initialize stepper variables and counters. // If the new segment starts a new planner block, initialize stepper variables and counters.
@ -292,9 +300,11 @@ ISR(TIMER1_COMPA_vect)
st.counter_y = st.counter_x; st.counter_y = st.counter_x;
st.counter_z = st.counter_x; st.counter_z = st.counter_x;
} }
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level; st.steps[X_AXIS] = st.exec_block->steps[X_AXIS] >> st.exec_segment->amass_level;
st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level; st.steps[Y_AXIS] = st.exec_block->steps[Y_AXIS] >> st.exec_segment->amass_level;
st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level; st.steps[Z_AXIS] = st.exec_block->steps[Z_AXIS] >> st.exec_segment->amass_level;
#endif
} else { } else {
// Segment buffer empty. Shutdown. // Segment buffer empty. Shutdown.
st_go_idle(); st_go_idle();
@ -307,21 +317,33 @@ ISR(TIMER1_COMPA_vect)
st.step_outbits = 0; st.step_outbits = 0;
// Execute step displacement profile by Bresenham line algorithm // Execute step displacement profile by Bresenham line algorithm
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_x += st.steps[X_AXIS]; st.counter_x += st.steps[X_AXIS];
#else
st.counter_x += st.exec_block->steps[X_AXIS];
#endif
if (st.counter_x > st.exec_block->step_event_count) { if (st.counter_x > st.exec_block->step_event_count) {
st.step_outbits |= (1<<X_STEP_BIT); st.step_outbits |= (1<<X_STEP_BIT);
st.counter_x -= st.exec_block->step_event_count; st.counter_x -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<X_DIRECTION_BIT)) { sys.position[X_AXIS]--; } if (st.exec_block->direction_bits & (1<<X_DIRECTION_BIT)) { sys.position[X_AXIS]--; }
else { sys.position[X_AXIS]++; } else { sys.position[X_AXIS]++; }
} }
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_y += st.steps[Y_AXIS]; st.counter_y += st.steps[Y_AXIS];
#else
st.counter_y += st.exec_block->steps[Y_AXIS];
#endif
if (st.counter_y > st.exec_block->step_event_count) { if (st.counter_y > st.exec_block->step_event_count) {
st.step_outbits |= (1<<Y_STEP_BIT); st.step_outbits |= (1<<Y_STEP_BIT);
st.counter_y -= st.exec_block->step_event_count; st.counter_y -= st.exec_block->step_event_count;
if (st.exec_block->direction_bits & (1<<Y_DIRECTION_BIT)) { sys.position[Y_AXIS]--; } if (st.exec_block->direction_bits & (1<<Y_DIRECTION_BIT)) { sys.position[Y_AXIS]--; }
else { sys.position[Y_AXIS]++; } else { sys.position[Y_AXIS]++; }
} }
#ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st.counter_z += st.steps[Z_AXIS]; st.counter_z += st.steps[Z_AXIS];
#else
st.counter_z += st.exec_block->steps[Z_AXIS];
#endif
if (st.counter_z > st.exec_block->step_event_count) { if (st.counter_z > st.exec_block->step_event_count) {
st.step_outbits |= (1<<Z_STEP_BIT); st.step_outbits |= (1<<Z_STEP_BIT);
st.counter_z -= st.exec_block->step_event_count; st.counter_z -= st.exec_block->step_event_count;
@ -433,6 +455,7 @@ void st_cycle_start()
sys.state = STATE_CYCLE; sys.state = STATE_CYCLE;
st_prep_buffer(); // Initialize step segment buffer before beginning cycle. st_prep_buffer(); // Initialize step segment buffer before beginning cycle.
st_wake_up(); st_wake_up();
if (bit_isfalse(settings.flags,BITFLAG_AUTO_START)) { sys.auto_start = false; } // Reset auto start per settings.
} }
} }
@ -500,8 +523,8 @@ void st_update_plan_block_parameters()
*/ */
void st_prep_buffer() void st_prep_buffer()
{ {
if (sys.state == STATE_QUEUED) { return; } // Block until a motion state is issued
while (segment_buffer_tail != segment_next_head) { // Check if we need to fill the buffer. while (segment_buffer_tail != segment_next_head) { // Check if we need to fill the buffer.
if (sys.state == STATE_QUEUED) { return; } // Block until a motion state is issued
// Determine if we need to load a new planner block or if the block remainder is replanned. // Determine if we need to load a new planner block or if the block remainder is replanned.
if (pl_block == NULL) { if (pl_block == NULL) {
@ -520,16 +543,16 @@ void st_prep_buffer()
// when the segment buffer completes the planner block, it may be discarded immediately. // when the segment buffer completes the planner block, it may be discarded immediately.
st_prep_block = &st_block_buffer[prep.st_block_index]; st_prep_block = &st_block_buffer[prep.st_block_index];
st_prep_block->direction_bits = pl_block->direction_bits; st_prep_block->direction_bits = pl_block->direction_bits;
#ifdef ACTIVE_MULTI_AXIS_STEP_SMOOTHING #ifndef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
st_prep_block->steps[X_AXIS] = pl_block->steps[X_AXIS] << MAX_AMASS_LEVEL;
st_prep_block->steps[Y_AXIS] = pl_block->steps[Y_AXIS] << MAX_AMASS_LEVEL;
st_prep_block->steps[Z_AXIS] = pl_block->steps[Z_AXIS] << MAX_AMASS_LEVEL;
st_prep_block->step_event_count = pl_block->step_event_count << MAX_AMASS_LEVEL;
#else
st_prep_block->steps[X_AXIS] = pl_block->steps[X_AXIS]; st_prep_block->steps[X_AXIS] = pl_block->steps[X_AXIS];
st_prep_block->steps[Y_AXIS] = pl_block->steps[Y_AXIS]; st_prep_block->steps[Y_AXIS] = pl_block->steps[Y_AXIS];
st_prep_block->steps[Z_AXIS] = pl_block->steps[Z_AXIS]; st_prep_block->steps[Z_AXIS] = pl_block->steps[Z_AXIS];
st_prep_block->step_event_count = pl_block->step_event_count; st_prep_block->step_event_count = pl_block->step_event_count;
#else
st_prep_block->steps[X_AXIS] = pl_block->steps[X_AXIS] << MAX_AMASS_LEVEL;
st_prep_block->steps[Y_AXIS] = pl_block->steps[Y_AXIS] << MAX_AMASS_LEVEL;
st_prep_block->steps[Z_AXIS] = pl_block->steps[Z_AXIS] << MAX_AMASS_LEVEL;
st_prep_block->step_event_count = pl_block->step_event_count << MAX_AMASS_LEVEL;
#endif #endif
// Initialize segment buffer data for generating the segments. // Initialize segment buffer data for generating the segments.
@ -701,7 +724,7 @@ void st_prep_buffer()
float inv_rate = dt/(prep.steps_remaining-steps_remaining); float inv_rate = dt/(prep.steps_remaining-steps_remaining);
cycles = ceil( (TICKS_PER_MICROSECOND*1000000*60)*inv_rate ); // (cycles/step) cycles = ceil( (TICKS_PER_MICROSECOND*1000000*60)*inv_rate ); // (cycles/step)
#ifdef ACTIVE_MULTI_AXIS_STEP_SMOOTHING #ifdef ADAPTIVE_MULTI_AXIS_STEP_SMOOTHING
// Compute step timing and multi-axis smoothing level. // Compute step timing and multi-axis smoothing level.
// NOTE: Only one prescalar is required with AMASS enabled. // NOTE: Only one prescalar is required with AMASS enabled.
if (cycles > AMASS_LEVEL1) { if (cycles > AMASS_LEVEL1) {
@ -712,8 +735,24 @@ void st_prep_buffer()
cycles >>= prep_segment->amass_level; cycles >>= prep_segment->amass_level;
prep_segment->n_step <<= prep_segment->amass_level; prep_segment->n_step <<= prep_segment->amass_level;
} else { prep_segment->amass_level = 0; } } else { prep_segment->amass_level = 0; }
if (cycles < (1UL << 16)) { prep_segment->cycles_per_tick = cycles; } if (cycles < (1UL << 16)) { prep_segment->cycles_per_tick = cycles; } // < 65536 (4.1ms @ 16MHz)
else { prep_segment->cycles_per_tick = 0xffff; } // Just set the slowest speed possible. (4.1ms @ 16MHz) else { prep_segment->cycles_per_tick = 0xffff; } // Just set the slowest speed possible.
#else
// Compute step timing and timer prescalar for normal step generation.
if (cycles < (1UL << 16)) { // < 65536 (4.1ms @ 16MHz)
prep_segment->prescaler = 1; // prescaler: 0
prep_segment->cycles_per_tick = cycles;
} else if (cycles < (1UL << 19)) { // < 524288 (32.8ms@16MHz)
prep_segment->prescaler = 2; // prescaler: 8
prep_segment->cycles_per_tick = cycles >> 3;
} else {
prep_segment->prescaler = 3; // prescaler: 64
if (cycles < (1UL << 22)) { // < 4194304 (262ms@16MHz)
prep_segment->cycles_per_tick = cycles >> 6;
} else { // Just set the slowest speed possible.
prep_segment->cycles_per_tick = 0xffff;
}
}
#endif #endif
// Determine end of segment conditions. Setup initial conditions for next segment. // Determine end of segment conditions. Setup initial conditions for next segment.
@ -754,8 +793,6 @@ void st_prep_buffer()
// int32_t blength = segment_buffer_head - segment_buffer_tail; // int32_t blength = segment_buffer_head - segment_buffer_tail;
// if (blength < 0) { blength += SEGMENT_BUFFER_SIZE; } // if (blength < 0) { blength += SEGMENT_BUFFER_SIZE; }
// printInteger(blength); // printInteger(blength);
if (sys.state & (STATE_QUEUED | STATE_HOMING)) { return; } // Force exit or one prepped segment.
} }
} }
@ -785,31 +822,3 @@ void st_prep_buffer()
we know when the plan is feasible in the context of what's already in the code and not we know when the plan is feasible in the context of what's already in the code and not
require too much more code? require too much more code?
*/ */
// static void st_config_step_timer(uint32_t cycles)
// {
// if (cycles < (1UL << 16)) { // < 65536 (4.1ms @ 16MHz)
// prep_segment->prescaler = 1; // prescaler: 0
// prep_segment->cycles_per_tick = cycles;
// } else {
// prep_segment->prescaler = 2; // prescaler: 8
// if (cycles < (1UL << 19)) { // < 524288 (32.8ms@16MHz)
// prep_segment->cycles_per_tick = cycles >> 3;
//
// // } else if (cycles < (1UL << 22)) { // < 4194304 (262ms@16MHz)
// // prep_segment->prescaler = 3; // prescaler: 64
// // prep_segment->cycles_per_tick = cycles >> 6;
// // } else if (cycles < (1UL << 24)) { // < 16777216 (1.05sec@16MHz)
// // prep_segment->prescaler = 4; // prescaler: 256
// // prep_segment->cycles_per_tick = (cycles >> 8);
// // } else {
// // prep_segment->prescaler = 5; // prescaler: 1024
// // if (cycles < (1UL << 26)) { // < 67108864 (4.19sec@16MHz)
// // prep_segment->cycles_per_tick = (cycles >> 10);
//
// } else { // Just set the slowest speed possible.
// prep_segment->cycles_per_tick = 0xffff;
// }
// printString("X");
// }
// }

View File

@ -2,8 +2,8 @@
stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors stepper.h - stepper motor driver: executes motion plans of planner.c using the stepper motors
Part of Grbl Part of Grbl
Copyright (c) 2011-2014 Sungeun K. Jeon
Copyright (c) 2009-2011 Simen Svale Skogsrud Copyright (c) 2009-2011 Simen Svale Skogsrud
Copyright (c) 2011-2013 Sungeun K. Jeon
Grbl is free software: you can redistribute it and/or modify Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by it under the terms of the GNU General Public License as published by