3DPrinting/Prusa-Firmware
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axis -> axes

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espr14 2020-12-29 17:14:18 +01:00
parent a01dfe26fe
commit 922769cefb
1 changed files with 28 additions and 28 deletions
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56
Firmware/xyzcal.cpp
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@ -414,28 +414,28 @@ void update_position_1_step(uint8_t axis, uint8_t dir){
_Z_ += dir & Z_AXIS_MASK ? -1 : 1;
}
void set_axis_dir(uint8_t axis, uint8_t dir){
if (axis & X_AXIS_MASK)
void set_axes_dir(uint8_t axes, uint8_t dir){
if (axes & X_AXIS_MASK)
sm4_set_dir(X_AXIS, dir & X_AXIS_MASK);
if (axis & Y_AXIS_MASK)
if (axes & Y_AXIS_MASK)
sm4_set_dir(Y_AXIS, dir & Y_AXIS_MASK);
if (axis & Z_AXIS_MASK)
if (axes & Z_AXIS_MASK)
sm4_set_dir(Z_AXIS, dir & Z_AXIS_MASK);
}
void go_step(uint8_t axis){
if (axis & X_AXIS_MASK)
void go_step(uint8_t axes){
if (axes & X_AXIS_MASK)
sm4_do_step(X_AXIS);
if (axis & Y_AXIS_MASK)
if (axes & Y_AXIS_MASK)
sm4_do_step(Y_AXIS);
if (axis & Z_AXIS_MASK)
if (axes & Z_AXIS_MASK)
sm4_do_step(Z_AXIS);
}
/// Accelerate up to max.speed (defined by @min_delay_us)
/// does not update global positions
void accelerate_1_step(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){
go_step(axis);
void accelerate_1_step(uint8_t axes, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us){
go_step(axes);
/// keep max speed (avoid extra computation)
if (acc > 0 && delay_us == min_delay_us){
@ -471,11 +471,11 @@ void accelerate_1_step(uint8_t axis, int16_t acc, uint16_t &delay_us, uint16_t m
/// Goes defined number of steps while accelerating
/// updates global positions
void accelerate(uint8_t axis, uint8_t dir, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us, uint16_t steps){
set_axis_dir(axis, dir);
void accelerate(uint8_t axes, uint8_t dir, int16_t acc, uint16_t &delay_us, uint16_t min_delay_us, uint16_t steps){
set_axes_dir(axes, dir);
while (steps--){
accelerate_1_step(axis, acc, delay_us, min_delay_us);
update_position_1_step(axis, dir);
accelerate_1_step(axes, acc, delay_us, min_delay_us);
update_position_1_step(axes, dir);
}
}
@ -484,7 +484,7 @@ void accelerate(uint8_t axis, uint8_t dir, int16_t acc, uint16_t &delay_us, uint
/// returns after each step
/// \returns true if step was done
/// does not update global positions
bool go_and_stop_1_step(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t &steps){
bool go_and_stop_1_step(uint8_t axes, int16_t dec, uint16_t &delay_us, uint16_t &steps){
if (steps <= 0 || dec <= 0)
return false;
@ -492,11 +492,11 @@ bool go_and_stop_1_step(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t
uint16_t s = round_to_u16(100 * 0.5f * SQR(0.01f) / (SQR((float)delay_us) * dec));
if (steps > s){
/// go steady
go_step(axis);
go_step(axes);
delayMicroseconds(delay_us);
} else {
/// decelerate
accelerate_1_step(axis, -dec, delay_us, delay_us);
accelerate_1_step(axes, -dec, delay_us, delay_us);
}
--steps;
return true;
@ -504,31 +504,31 @@ bool go_and_stop_1_step(uint8_t axis, int16_t dec, uint16_t &delay_us, uint16_t
/// \param dir sets direction of movement
/// updates global positions
void go_and_stop(uint8_t axis, uint8_t dir, int16_t dec, uint16_t &delay_us, uint16_t steps){
set_axis_dir(axis, dir);
while (go_and_stop_1_step(axis, dec, delay_us, steps)){
update_position_1_step(axis, dir);
void go_and_stop(uint8_t axes, uint8_t dir, int16_t dec, uint16_t &delay_us, uint16_t steps){
set_axes_dir(axes, dir);
while (go_and_stop_1_step(axes, dec, delay_us, steps)){
update_position_1_step(axes, dir);
}
}
/// goes all the way to stop
/// \returns steps done
/// updates global positions
void stop_smoothly(uint8_t axis, uint8_t dir, int16_t dec, uint16_t &delay_us){
void stop_smoothly(uint8_t axes, uint8_t dir, int16_t dec, uint16_t &delay_us){
if (dec <= 0)
return;
set_axis_dir(axis, dir);
set_axes_dir(axes, dir);
while (delay_us < MAX_DELAY){
accelerate_1_step(axis, -dec, delay_us, delay_us);
update_position_1_step(axis, dir);
accelerate_1_step(axes, -dec, delay_us, delay_us);
update_position_1_step(axes, dir);
}
}
void go_start_stop(uint8_t axis, uint8_t dir, int16_t acc, uint16_t min_delay_us, uint16_t steps){
void go_start_stop(uint8_t axes, uint8_t dir, int16_t acc, uint16_t min_delay_us, uint16_t steps){
uint16_t current_delay_us = MAX_DELAY;
const uint16_t half = steps / 2;
accelerate(axis, dir, acc, current_delay_us, min_delay_us, half);
go_and_stop(axis, dir, -acc, current_delay_us, steps - half);
accelerate(axes, dir, acc, current_delay_us, min_delay_us, half);
go_and_stop(axes, dir, -acc, current_delay_us, steps - half);
}
/// moves X, Y, Z one after each other