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ABC Bresenham counter init fix

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bdring
2020-11-22 16:50:01 -06:00
parent 42c37bbfe8
commit 6d2c609ad3
2 changed files with 13 additions and 15 deletions
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2
Grbl_Esp32/src/Grbl.h
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@@ -23,7 +23,7 @@
// Grbl versioning system // Grbl versioning system
const char* const GRBL_VERSION = "1.3a"; const char* const GRBL_VERSION = "1.3a";
const char* const GRBL_VERSION_BUILD = "20201121"; const char* const GRBL_VERSION_BUILD = "20201122";
//#include <sdkconfig.h> //#include <sdkconfig.h>
#include <Arduino.h> #include <Arduino.h>

26
Grbl_Esp32/src/Stepper.cpp
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@@ -44,11 +44,11 @@ static st_block_t st_block_buffer[SEGMENT_BUFFER_SIZE - 1];
// planner buffer. Once "checked-out", the steps in the segments buffer cannot be modified by // planner buffer. Once "checked-out", the steps in the segments buffer cannot be modified by
// the planner, where the remaining planner block steps still can. // the planner, where the remaining planner block steps still can.
typedef struct { 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
uint16_t isrPeriod; // Time to next ISR tick, in units of timer ticks uint16_t isrPeriod; // Time to next ISR tick, in units of timer ticks
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.
uint8_t amass_level; // AMASS level for the ISR to execute this segment uint8_t amass_level; // AMASS level for the ISR to execute this segment
uint16_t spindle_rpm; // TODO get rid of this. uint16_t spindle_rpm; // TODO get rid of this.
} segment_t; } segment_t;
static segment_t segment_buffer[SEGMENT_BUFFER_SIZE]; static segment_t segment_buffer[SEGMENT_BUFFER_SIZE];
@@ -62,10 +62,10 @@ typedef struct {
uint8_t step_bits; // Stores out_bits output to complete the step pulse delay uint8_t step_bits; // Stores out_bits output to complete the step pulse delay
#endif #endif
uint8_t execute_step; // Flags step execution for each interrupt. uint8_t execute_step; // Flags step execution for each interrupt.
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;
uint32_t steps[MAX_N_AXIS]; uint32_t steps[MAX_N_AXIS];
uint16_t step_count; // Steps remaining in line segment motion uint16_t step_count; // Steps remaining in line segment motion
@@ -245,11 +245,9 @@ static void stepper_pulse_func() {
st.exec_block_index = st.exec_segment->st_block_index; st.exec_block_index = st.exec_segment->st_block_index;
st.exec_block = &st_block_buffer[st.exec_block_index]; st.exec_block = &st_block_buffer[st.exec_block_index];
// Initialize Bresenham line and distance counters // Initialize Bresenham line and distance counters
// XXX the original code only inits X, Y, Z here, instead of n_axis. Is that correct? for (int axis = 0; axis < n_axis; axis++) {
for (int axis = 0; axis < 3; axis++) {
st.counter[axis] = (st.exec_block->step_event_count >> 1); st.counter[axis] = (st.exec_block->step_event_count >> 1);
} }
// TODO ABC
} }
st.dir_outbits = st.exec_block->direction_bits; st.dir_outbits = st.exec_block->direction_bits;
// Adjust Bresenham axis increment counters according to AMASS level. // Adjust Bresenham axis increment counters according to AMASS level.
@@ -825,7 +823,7 @@ void st_prep_buffer() {
// typically very small and do not adversely effect performance, but ensures that Grbl // typically very small and do not adversely effect performance, but ensures that Grbl
// outputs the exact acceleration and velocity profiles as computed by the planner. // outputs the exact acceleration and velocity profiles as computed by the planner.
dt += prep.dt_remainder; // Apply previous segment partial step execute time dt += prep.dt_remainder; // Apply previous segment partial step execute time
// dt is in minutes so inv_rate is in minutes // dt is in minutes so inv_rate is in minutes
float inv_rate = dt / (last_n_steps_remaining - step_dist_remaining); // Compute adjusted step rate inverse float inv_rate = dt / (last_n_steps_remaining - step_dist_remaining); // Compute adjusted step rate inverse
@@ -833,7 +831,7 @@ void st_prep_buffer() {
// fStepperTimer is in units of timerTicks/sec, so the dimensional analysis is // fStepperTimer is in units of timerTicks/sec, so the dimensional analysis is
// timerTicks/sec * 60 sec/minute * minutes = timerTicks // timerTicks/sec * 60 sec/minute * minutes = timerTicks
uint32_t timerTicks = ceil((fStepperTimer * 60) * inv_rate); // (timerTicks/step) uint32_t timerTicks = ceil((fStepperTimer * 60) * inv_rate); // (timerTicks/step)
int level; int level;
// Compute step timing and multi-axis smoothing level. // Compute step timing and multi-axis smoothing level.
for (level = 0; level < maxAmassLevel; level++) { for (level = 0; level < maxAmassLevel; level++) {