bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Advance experiments. Not working yet.

Browse Source
This commit is contained in:
Erik van der Zalm
2011-11-18 18:59:17 +01:00
parent 805d37f77b
commit e7dca8614b
4 changed files with 61 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

72
Marlin/stepper.cpp
View File

@ -56,8 +56,8 @@ static unsigned long step_events_completed; // The number of step events execute
#ifdef ADVANCE
static long advance_rate, advance, final_advance = 0;
static short old_advance = 0;
static short e_steps;
#endif
static short e_steps;
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
@ -156,7 +156,7 @@ asm volatile ( \
#define DISABLE_STEPPER_DRIVER_INTERRUPT() TIMSK1 &= ~(1<<OCIE1A)
void endstops_triggered(const unsigned long &stepstaken)
inline void endstops_triggered(const unsigned long &stepstaken)
{
//this will only work if there is no bufferig
//however, if you perform a move at which the endstops should be triggered, and wait for it to complete, i.e. by blocking command, it should work
@ -296,9 +296,9 @@ ISR(TIMER1_COMPA_vect)
counter_z = counter_x;
counter_e = counter_x;
step_events_completed = 0;
#ifdef ADVANCE
// #ifdef ADVANCE
e_steps = 0;
#endif
// #endif
}
else {
// DISABLE_STEPPER_DRIVER_INTERRUPT();
@ -309,29 +309,6 @@ ISR(TIMER1_COMPA_vect)
// Set directions TO DO This should be done once during init of trapezoid. Endstops -> interrupt
out_bits = current_block->direction_bits;
#ifdef ADVANCE
// Calculate E early.
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
CRITICAL_SECTION_START;
e_steps--;
CRITICAL_SECTION_END;
}
else {
CRITICAL_SECTION_START;
e_steps++;
CRITICAL_SECTION_END;
}
}
// Do E steps + advance steps
CRITICAL_SECTION_START;
e_steps += ((advance >> 16) - old_advance);
CRITICAL_SECTION_END;
old_advance = advance >> 16;
#endif //ADVANCE
// Set direction en check limit switches
if ((out_bits & (1<<X_AXIS)) != 0) { // -direction
WRITE(X_DIR_PIN, INVERT_X_DIR);
@ -339,10 +316,10 @@ ISR(TIMER1_COMPA_vect)
count_direction[X_AXIS]=-1;
#endif
#if X_MIN_PIN > -1
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
if(READ(X_MIN_PIN) != ENDSTOPS_INVERTING) {
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
}
else { // +direction
@ -355,7 +332,7 @@ ISR(TIMER1_COMPA_vect)
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
#endif
}
if ((out_bits & (1<<Y_AXIS)) != 0) { // -direction
@ -365,7 +342,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Y_MIN_PIN > -1
if(READ(Y_MIN_PIN) != ENDSTOPS_INVERTING) {
// endstops_triggered(step_events_completed);
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -390,7 +367,7 @@ ISR(TIMER1_COMPA_vect)
#endif
#if Z_MIN_PIN > -1
if(READ(Z_MIN_PIN) != ENDSTOPS_INVERTING) {
endstops_triggered(step_events_completed);
// endstops_triggered(step_events_completed);
step_events_completed = current_block->step_event_count;
}
#endif
@ -416,6 +393,30 @@ ISR(TIMER1_COMPA_vect)
#endif //!ADVANCE
for(int8_t i=0; i < step_loops; i++) { // Take multiple steps per interrupt (For high speed moves)
/*
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
if ((out_bits & (1<<E_AXIS)) != 0) { // - direction
CRITICAL_SECTION_START;
e_steps--;
CRITICAL_SECTION_END;
}
else {
CRITICAL_SECTION_START;
e_steps++;
CRITICAL_SECTION_END;
}
}
*/
/*
// Do E steps + advance steps
CRITICAL_SECTION_START;
e_steps += ((advance >> 16) - old_advance);
CRITICAL_SECTION_END;
old_advance = advance >> 16;
*/
counter_x += current_block->steps_x;
if (counter_x > 0) {
WRITE(X_STEP_PIN, HIGH);
@ -649,7 +650,8 @@ void st_init()
TCCR1B = (TCCR1B & ~(0x07<<CS10)) | (2<<CS10); // 2MHz timer
OCR1A = 0x4000;
DISABLE_STEPPER_DRIVER_INTERRUPT();
TCNT1 = 0;
ENABLE_STEPPER_DRIVER_INTERRUPT();
#ifdef ADVANCE
e_steps = 0;