pingu_98/Sprinter
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Refactored linear_move() to take an array instead of single axis steps_to_take. This is needed to later integrate N bresenham in

Browse source
This commit is contained in:
Emanuele Caruso 2011-05-19 02:56:38 +02:00
parent 8060d4da56
commit 222f2e8082
1 changed files with 35 additions and 34 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

69
Tonokip_Firmware/Tonokip_Firmware.pde
View file

@ -937,13 +937,14 @@ inline void prepare_move()
#ifdef PRINT_MOVE_TIME
unsigned long startmove = micros();
#endif
linear_move(x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take); // make the move
unsigned long axis_steps_to_take[NUM_AXIS] = {x_steps_to_take, y_steps_to_take, z_steps_to_take, e_steps_to_take};
linear_move(axis_steps_to_take); // make the move
#ifdef PRINT_MOVE_TIME
Serial.println(micros()-startmove);
#endif
}
void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remaining, unsigned long z_steps_remaining, unsigned long e_steps_remaining) // make linear move with preset speeds and destinations, see G0 and G1
void linear_move(unsigned long axis_steps_remaining[]) // make linear move with preset speeds and destinations, see G0 and G1
{
//Determine direction of movement
if (destination_x > current_x) digitalWrite(X_DIR_PIN,!INVERT_X_DIR);
@ -955,26 +956,26 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
if (destination_e > current_e) digitalWrite(E_DIR_PIN,!INVERT_E_DIR);
else digitalWrite(E_DIR_PIN,INVERT_E_DIR);
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) x_steps_remaining=0;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) y_steps_remaining=0;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) z_steps_remaining=0;
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[0]=0;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[1]=0;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) axis_steps_remaining[2]=0;
//Only enable axis that are moving. If the axis doesn't need to move then it can stay disabled depending on configuration.
if(x_steps_remaining) enable_x();
if(y_steps_remaining) enable_y();
if(z_steps_remaining) { enable_z(); do_step(2); z_steps_remaining--; }
if(e_steps_remaining) { enable_e(); do_step(3); e_steps_remaining--; }
if(axis_steps_remaining[0]) enable_x();
if(axis_steps_remaining[1]) enable_y();
if(axis_steps_remaining[2]) { enable_z(); do_step(2); axis_steps_remaining[2]--; }
if(axis_steps_remaining[3]) { enable_e(); do_step(3); axis_steps_remaining[3]--; }
//Define variables that are needed for the Bresenham algorithm. Please note that Z is not currently included in the Bresenham algorithm.
unsigned int delta_x = x_steps_remaining;
unsigned int delta_x = axis_steps_remaining[0];
unsigned long x_interval_nanos;
unsigned int delta_y = y_steps_remaining;
unsigned int delta_y = axis_steps_remaining[1];
unsigned long y_interval_nanos;
unsigned int delta_z = z_steps_remaining;
unsigned int delta_z = axis_steps_remaining[2];
unsigned long z_interval_nanos;
boolean steep_y = delta_y > delta_x;// && delta_y > delta_e && delta_y > delta_z;
boolean steep_x = delta_x >= delta_y;// && delta_x > delta_e && delta_x > delta_z;
@ -1066,7 +1067,7 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
//move until no more steps remain
while(x_steps_remaining + y_steps_remaining + z_steps_remaining + e_steps_remaining > 0) {
while(axis_steps_remaining[0] + axis_steps_remaining[1] + axis_steps_remaining[2] + axis_steps_remaining[3] > 0) {
//If more that HEATER_CHECK_INTERVAL ms have passed since previous heating check, adjust temp
manage_heater();
manage_inactivity(2);
@ -1128,21 +1129,21 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
#endif
//If there are x or y steps remaining, perform Bresenham algorithm
if(x_steps_remaining || y_steps_remaining) {
if(axis_steps_remaining[0] || axis_steps_remaining[1]) {
if(X_MIN_PIN > -1) if(!direction_x) if(digitalRead(X_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MIN_PIN > -1) if(!direction_y) if(digitalRead(Y_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(X_MAX_PIN > -1) if(direction_x) if(digitalRead(X_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(Y_MAX_PIN > -1) if(direction_y) if(digitalRead(Y_MAX_PIN) != ENDSTOPS_INVERTING) break;
if(steep_y) {
timediff = micros() * 100 - axis_previous_micros[1];
while(timediff >= interval && y_steps_remaining > 0) {
while(timediff >= interval && axis_steps_remaining[1] > 0) {
steps_done++;
steps_remaining--;
y_steps_remaining--; timediff -= interval;
axis_steps_remaining[1]--; timediff -= interval;
error_x = error_x - delta_x;
do_step(1);
if(error_x < 0) {
do_step(0); x_steps_remaining--;
do_step(0); axis_steps_remaining[0]--;
error_x = error_x + delta_y;
}
#ifdef RAMP_ACCELERATION
@ -1157,14 +1158,14 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
} else if (steep_x) {
timediff=micros() * 100 - axis_previous_micros[0];
while(timediff >= interval && x_steps_remaining>0) {
while(timediff >= interval && axis_steps_remaining[0]>0) {
steps_done++;
steps_remaining--;
x_steps_remaining--; timediff -= interval;
axis_steps_remaining[0]--; timediff -= interval;
error_y = error_y - delta_y;
do_step(0);
if(error_y < 0) {
do_step(1); y_steps_remaining--;
do_step(1); axis_steps_remaining[1]--;
error_y = error_y + delta_x;
}
#ifdef RAMP_ACCELERATION
@ -1180,19 +1181,19 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
}
#ifdef RAMP_ACCELERATION
if((x_steps_remaining>0 || y_steps_remaining>0) &&
if((axis_steps_remaining[0]>0 || axis_steps_remaining[1]>0) &&
steps_to_take > 0 &&
(steps_remaining == plateau_steps || (steps_done >= steps_to_take / 2 && accelerating && !decelerating))) continue;
#endif
//If there are z steps remaining, check if z steps must be taken
if(z_steps_remaining) {
if(axis_steps_remaining[2]) {
if(Z_MIN_PIN > -1) if(!direction_z) if(digitalRead(Z_MIN_PIN) != ENDSTOPS_INVERTING) break;
if(Z_MAX_PIN > -1) if(direction_z) if(digitalRead(Z_MAX_PIN) != ENDSTOPS_INVERTING) break;
timediff = micros() * 100-axis_previous_micros[2];
while(timediff >= axis_interval[2] && z_steps_remaining) {
while(timediff >= axis_interval[2] && axis_steps_remaining[2]) {
do_step(2);
z_steps_remaining--;
axis_steps_remaining[2]--;
timediff -= axis_interval[2];
#ifdef STEP_DELAY_RATIO
if(timediff >= axis_interval[2]) delayMicroseconds(long_step_delay_ratio * axis_interval[2] / 10000);
@ -1204,18 +1205,18 @@ void linear_move(unsigned long x_steps_remaining, unsigned long y_steps_remainin
}
//If there are e steps remaining, check if e steps must be taken
if(e_steps_remaining){
if(axis_steps_remaining[3]){
if (x_steps_to_take + y_steps_to_take <= 0) timediff = micros()*100 - axis_previous_micros[3];
unsigned int final_e_steps_remaining = 0;
if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * x_steps_remaining / x_steps_to_take;
else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * y_steps_remaining / y_steps_to_take;
if (steep_x && x_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * axis_steps_remaining[0] / x_steps_to_take;
else if (steep_y && y_steps_to_take > 0) final_e_steps_remaining = e_steps_to_take * axis_steps_remaining[1] / y_steps_to_take;
//If this move has X or Y steps, let E follow the Bresenham pace
if (final_e_steps_remaining > 0) while(e_steps_remaining > final_e_steps_remaining) { do_step(3); e_steps_remaining--;}
else if (x_steps_to_take + y_steps_to_take > 0) while(e_steps_remaining) { do_step(3); e_steps_remaining--;}
if (final_e_steps_remaining > 0) while(axis_steps_remaining[3] > final_e_steps_remaining) { do_step(3); axis_steps_remaining[3]--;}
else if (x_steps_to_take + y_steps_to_take > 0) while(axis_steps_remaining[3]) { do_step(3); axis_steps_remaining[3]--;}
//Else, normally check if e steps must be taken
else while (timediff >= axis_interval[3] && e_steps_remaining) {
else while (timediff >= axis_interval[3] && axis_steps_remaining[3]) {
do_step(3);
e_steps_remaining--;
axis_steps_remaining[3]--;
timediff -= axis_interval[3];
#ifdef STEP_DELAY_RATIO
if(timediff >= axis_interval[3]) delayMicroseconds(long_step_delay_ratio * axis_interval[3] / 10000);