3DPrinting/Prusa-Firmware
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Redefined the DDA step and accumulator values to unions to support

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access to the low / high words of the 32bit values.
This is a prerequisity for an optimized 16bit only DDA
in case the number of step is lower than 32767.
This commit is contained in:
bubnikv 2018-01-14 17:01:04 +01:00
parent a1fd50ea9a
commit 30b06488ca
3 changed files with 119 additions and 98 deletions
Firmware
stepper.cpp

83
Firmware/stepper.cpp
View file

@ -62,11 +62,12 @@ bool z_max_endstop = false;
// Variables used by The Stepper Driver Interrupt
static unsigned char out_bits; // The next stepping-bits to be output
static int32_t counter_x, // Counter variables for the bresenham line tracer
static dda_isteps_t
counter_x, // Counter variables for the bresenham line tracer
counter_y,
counter_z,
counter_e;
volatile uint32_t step_events_completed; // The number of step events executed in the current block
volatile dda_usteps_t step_events_completed; // The number of step events executed in the current block
static int32_t acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static uint16_t acc_step_rate; // needed for deccelaration start point
@ -404,14 +405,14 @@ void isr() {
// The busy flag is set by the plan_get_current_block() call.
// current_block->busy = true;
trapezoid_generator_reset();
counter_x = -(current_block->step_event_count >> 1);
counter_y = counter_x;
counter_z = counter_x;
counter_e = counter_x;
step_events_completed = 0;
counter_x.wide = -(current_block->step_event_count.wide >> 1);
counter_y.wide = counter_x.wide;
counter_z.wide = counter_x.wide;
counter_e.wide = counter_x.wide;
step_events_completed.wide = 0;
#ifdef Z_LATE_ENABLE
if(current_block->steps_z > 0) {
if(current_block->steps_z.wide > 0) {
enable_z();
_NEXT_ISR(2000); //1ms wait
return;
@ -476,10 +477,10 @@ void isr() {
// Normal homing
x_min_endstop = (READ(X_MIN_PIN) != X_MIN_ENDSTOP_INVERTING);
#endif
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x > 0)) {
if(x_min_endstop && old_x_min_endstop && (current_block->steps_x.wide > 0)) {
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
step_events_completed.wide = current_block->step_event_count.wide;
}
old_x_min_endstop = x_min_endstop;
#endif
@ -499,10 +500,10 @@ void isr() {
// Normal homing
x_max_endstop = (READ(X_MAX_PIN) != X_MAX_ENDSTOP_INVERTING);
#endif
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x > 0)){
if(x_max_endstop && old_x_max_endstop && (current_block->steps_x.wide > 0)){
endstops_trigsteps[X_AXIS] = count_position[X_AXIS];
endstop_x_hit=true;
step_events_completed = current_block->step_event_count;
step_events_completed.wide = current_block->step_event_count.wide;
}
old_x_max_endstop = x_max_endstop;
#endif
@ -527,10 +528,10 @@ void isr() {
// Normal homing
y_min_endstop = (READ(Y_MIN_PIN) != Y_MIN_ENDSTOP_INVERTING);
#endif
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y > 0)) {
if(y_min_endstop && old_y_min_endstop && (current_block->steps_y.wide > 0)) {
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
step_events_completed.wide = current_block->step_event_count.wide;
}
old_y_min_endstop = y_min_endstop;
#endif
@ -548,10 +549,10 @@ void isr() {
// Normal homing
y_max_endstop = (READ(Y_MAX_PIN) != Y_MAX_ENDSTOP_INVERTING);
#endif
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y > 0)){
if(y_max_endstop && old_y_max_endstop && (current_block->steps_y.wide > 0)){
endstops_trigsteps[Y_AXIS] = count_position[Y_AXIS];
endstop_y_hit=true;
step_events_completed = current_block->step_event_count;
step_events_completed.wide = current_block->step_event_count.wide;
}
old_y_max_endstop = y_max_endstop;
#endif
@ -575,10 +576,10 @@ void isr() {
#else
z_min_endstop = (READ(Z_MIN_PIN) != Z_MIN_ENDSTOP_INVERTING);
#endif //TMC2130_SG_HOMING
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z > 0)) {
if(z_min_endstop && old_z_min_endstop && (current_block->steps_z.wide > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
step_events_completed.wide = current_block->step_event_count.wide;
}
old_z_min_endstop = z_min_endstop;
#endif
@ -601,10 +602,10 @@ void isr() {
#else
z_max_endstop = (READ(Z_MAX_PIN) != Z_MAX_ENDSTOP_INVERTING);
#endif //TMC2130_SG_HOMING
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z > 0)) {
if(z_max_endstop && old_z_max_endstop && (current_block->steps_z.wide > 0)) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
step_events_completed.wide = current_block->step_event_count.wide;
}
old_z_max_endstop = z_max_endstop;
#endif
@ -625,7 +626,7 @@ void isr() {
if(z_min_endstop && old_z_min_endstop) {
endstops_trigsteps[Z_AXIS] = count_position[Z_AXIS];
endstop_z_hit=true;
step_events_completed = current_block->step_event_count;
step_events_completed.wide = current_block->step_event_count.wide;
}
old_z_min_endstop = z_min_endstop;
}
@ -657,22 +658,22 @@ void isr() {
#endif //RP - returned, because missing characters
#ifdef LIN_ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
counter_e.wide += current_block->steps_e.wide;
if (counter_e.wide > 0) {
counter_e.wide -= current_block->step_event_count.wide;
count_position[E_AXIS] += count_direction[E_AXIS];
((out_bits&(1<<E_AXIS))!=0) ? --e_steps : ++e_steps;
}
#endif
counter_x += current_block->steps_x;
if (counter_x > 0) {
counter_x.wide += current_block->steps_x.wide;
if (counter_x.wide > 0) {
WRITE_NC(X_STEP_PIN, !INVERT_X_STEP_PIN);
LastStepMask |= X_AXIS_MASK;
#ifdef DEBUG_XSTEP_DUP_PIN
WRITE_NC(DEBUG_XSTEP_DUP_PIN,!INVERT_X_STEP_PIN);
#endif //DEBUG_XSTEP_DUP_PIN
counter_x -= current_block->step_event_count;
counter_x.wide -= current_block->step_event_count.wide;
count_position[X_AXIS]+=count_direction[X_AXIS];
WRITE_NC(X_STEP_PIN, INVERT_X_STEP_PIN);
#ifdef DEBUG_XSTEP_DUP_PIN
@ -680,8 +681,8 @@ void isr() {
#endif //DEBUG_XSTEP_DUP_PIN
}
counter_y += current_block->steps_y;
if (counter_y > 0) {
counter_y.wide += current_block->steps_y.wide;
if (counter_y.wide > 0) {
WRITE_NC(Y_STEP_PIN, !INVERT_Y_STEP_PIN);
LastStepMask |= Y_AXIS_MASK;
#ifdef DEBUG_YSTEP_DUP_PIN
@ -692,7 +693,7 @@ void isr() {
WRITE_NC(Y2_STEP_PIN, !INVERT_Y_STEP_PIN);
#endif
counter_y -= current_block->step_event_count;
counter_y.wide -= current_block->step_event_count.wide;
count_position[Y_AXIS]+=count_direction[Y_AXIS];
WRITE_NC(Y_STEP_PIN, INVERT_Y_STEP_PIN);
#ifdef DEBUG_YSTEP_DUP_PIN
@ -704,15 +705,15 @@ void isr() {
#endif
}
counter_z += current_block->steps_z;
if (counter_z > 0) {
counter_z.wide += current_block->steps_z.wide;
if (counter_z.wide > 0) {
WRITE_NC(Z_STEP_PIN, !INVERT_Z_STEP_PIN);
LastStepMask |= Z_AXIS_MASK;
#ifdef Z_DUAL_STEPPER_DRIVERS
WRITE_NC(Z2_STEP_PIN, !INVERT_Z_STEP_PIN);
#endif
counter_z -= current_block->step_event_count;
counter_z.wide -= current_block->step_event_count.wide;
count_position[Z_AXIS]+=count_direction[Z_AXIS];
WRITE_NC(Z_STEP_PIN, INVERT_Z_STEP_PIN);
@ -722,10 +723,10 @@ void isr() {
}
#ifndef LIN_ADVANCE
counter_e += current_block->steps_e;
if (counter_e > 0) {
counter_e.wide += current_block->steps_e.wide;
if (counter_e.wide > 0) {
WRITE(E0_STEP_PIN, !INVERT_E_STEP_PIN);
counter_e -= current_block->step_event_count;
counter_e.wide -= current_block->step_event_count.wide;
count_position[E_AXIS]+=count_direction[E_AXIS];
WRITE(E0_STEP_PIN, INVERT_E_STEP_PIN);
#ifdef PAT9125
@ -734,8 +735,8 @@ void isr() {
}
#endif
step_events_completed += 1;
if(step_events_completed >= current_block->step_event_count) break;
++ step_events_completed.wide;
if(step_events_completed.wide >= current_block->step_event_count.wide) break;
}
#ifdef LIN_ADVANCE
if (current_block->use_advance_lead) {
@ -750,7 +751,7 @@ void isr() {
// Calculare new timer value
unsigned short timer;
uint16_t step_rate;
if (step_events_completed <= (unsigned long int)current_block->accelerate_until) {
if (step_events_completed.wide <= (unsigned long int)current_block->accelerate_until) {
// v = t * a -> acc_step_rate = acceleration_time * current_block->acceleration_rate
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += current_block->initial_rate;
@ -771,7 +772,7 @@ void isr() {
eISR_Rate = ADV_RATE(timer, step_loops);
#endif
}
else if (step_events_completed > (unsigned long int)current_block->decelerate_after) {
else if (step_events_completed.wide > (unsigned long int)current_block->decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if(step_rate > acc_step_rate) { // Check step_rate stays positive
@ -811,7 +812,7 @@ void isr() {
}
// If current block is finished, reset pointer
if (step_events_completed >= current_block->step_event_count) {
if (step_events_completed.wide >= current_block->step_event_count.wide) {
#ifdef PAT9125
fsensor_st_block_chunk(current_block, fsensor_counter);