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[reprap-commits] SF.net SVN: reprap:[2729] trunk/reprap/firmware/Sanguino/Sanguino3G/ SanguinoMaster
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From: <hoe...@us...> - 2009-03-29 20:08:35
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Revision: 2729
http://reprap.svn.sourceforge.net/reprap/?rev=2729&view=rev
Author: hoekstar
Date: 2009-03-29 20:08:29 +0000 (Sun, 29 Mar 2009)
Log Message:
-----------
hacked on drive ra bit more. micros as feedrate, hacked on circularbuffer.
Modified Paths:
--------------
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/CircularBuffer2.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde
trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Timer1.pde
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/CircularBuffer2.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/CircularBuffer2.h 2009-03-29 16:22:01 UTC (rev 2728)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/CircularBuffer2.h 2009-03-29 20:08:29 UTC (rev 2729)
@@ -19,11 +19,12 @@
class CircularBuffer {
private:
uint8_t* buffer;
- volatile size_t capacity;
- volatile size_t head;
- volatile size_t tail;
+ uint16_t capacity;
+ uint16_t head;
+ uint16_t tail;
+ uint16_t size;
public:
- CircularBuffer(size_t capacity, uint8_t* pBuf) {
+ CircularBuffer(uint16_t capacity, uint8_t* pBuf) {
this->capacity = capacity;
buffer = pBuf;
clear();
@@ -35,35 +36,38 @@
/// Reset buffer. (Note: does not zero data.)
void clear() {
head = tail = 0;
+ size = 0;
}
- uint8_t operator[](const size_t i) {
- const size_t idx = (i + head) % capacity;
+ uint8_t operator[](uint16_t i) {
+ const uint16_t idx = (i + head) % capacity;
return buffer[idx];
}
/// Check remaining capacity of this vector.
- size_t remainingCapacity() {
- return capacity - size();
+ uint16_t remainingCapacity() {
+ return capacity - size;
}
/// Get the current number of elements in the buffer.
- size_t size() {
- return (capacity + head - tail) % capacity;
+ uint16_t size() {
+ return size;
}
/// Append a character to the end of the circular buffer.
void append(const uint8_t datum) {
- size_t i = (head + 1) % capacity;
+ uint16_t i = (head + 1) % capacity;
// if we should be storing the received character into the location
// just before the tail (meaning that the head would advance to the
// current location of the tail), we're about to overflow the buffer
// and so we don't write the character or advance the head.
- if (i != tail) {
+ if (size + 1 <= capacity)
+ {
buffer[head] = datum;
head = i;
+ size++;
}
}
@@ -80,12 +84,13 @@
/// Remove and return a character from the start of the
/// circular buffer.
const uint8_t remove_8() {
- if (head == tail)
+ if (size == 0)
return 0;
else
{
uint8_t c = buffer[tail];
tail = (tail + 1) % capacity;
+ size--;
return c;
}
}
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h 2009-03-29 16:22:01 UTC (rev 2728)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Configuration.h 2009-03-29 20:08:29 UTC (rev 2729)
@@ -152,5 +152,5 @@
// Explicitly allocate memory at compile time for buffer.
#define COMMAND_BUFFER_SIZE 256
#define POINT_QUEUE_SIZE 32
-#define POINT_SIZE 15 // 4 + 4 + 4 + 3 = 15
+#define POINT_SIZE 16 // 4 + 4 + 4 + 4 = 16
#define MAX_PACKET_LENGTH 32
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde 2009-03-29 16:22:01 UTC (rev 2728)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/PacketProcessor.pde 2009-03-29 20:08:29 UTC (rev 2729)
@@ -208,8 +208,7 @@
long x;
long y;
long z;
- byte prescaler;
- unsigned int count;
+ unsigned long step_delay;
byte cmd;
//do we have any commands?
@@ -241,27 +240,13 @@
switch(cmd)
{
//TODO: TEST THOROUGHLY
- case HOST_CMD_QUEUE_POINT_INC:
-
- x = (int)commandBuffer.remove_16();
- y = (int)commandBuffer.remove_16();
- z = (int)commandBuffer.remove_16();
- prescaler = commandBuffer.remove_8();
- count = commandBuffer.remove_16();
-
- //queue_incremental_point(x, y, z, prescaler, count);
-
- break;
-
- //TODO: TEST THOROUGHLY
case HOST_CMD_QUEUE_POINT_ABS:
x = (long)commandBuffer.remove_32();
y = (long)commandBuffer.remove_32();
z = (long)commandBuffer.remove_32();
- prescaler = commandBuffer.remove_8();
- count = commandBuffer.remove_16();
+ step_delay = (unsigned long)commandBuffer.remove_32();
- queue_absolute_point(x, y, z, prescaler, count);
+ queue_absolute_point(x, y, z, step_delay);
break;
@@ -321,7 +306,6 @@
break;
- //TODO: TEST
case HOST_CMD_DELAY:
wait_until_target_reached(); //dont want to get hasty.
@@ -329,7 +313,6 @@
delay(commandBuffer.remove_32());
break;
- //TODO: TEST
case HOST_CMD_CHANGE_TOOL:
wait_until_target_reached(); //dont want to get hasty.
@@ -337,7 +320,6 @@
select_tool(commandBuffer.remove_8());
break;
- //TODO: TEST
case HOST_CMD_WAIT_FOR_TOOL:
wait_until_target_reached(); //dont want to get hasty.
@@ -360,7 +342,6 @@
}
break;
- //WORKS
case HOST_CMD_TOOL_COMMAND:
wait_until_target_reached(); //dont want to get hasty.
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde 2009-03-29 16:22:01 UTC (rev 2728)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Steppers.pde 2009-03-29 20:08:29 UTC (rev 2729)
@@ -274,8 +274,7 @@
//start the move!
disableTimer1Interrupt();
- setTimer1Resolution(pointBuffer.remove_8());
- setTimer1Ceiling(pointBuffer.remove_16());
+ setTimer1Micros(pointBuffer.remove_32());
enableTimer1Interrupt();
}
}
@@ -450,7 +449,7 @@
}
//queue a point for us to move to
-void queue_incremental_point(int x, int y, int z, byte prescaler, unsigned int count)
+void queue_incremental_point(int x, int y, int z, unsigned long micros)
{
//where we goin?
long abs_x = eventual_steps.x + x;
@@ -458,11 +457,11 @@
long abs_z = eventual_steps.z + z;
//okay, send us there.
- queue_absolute_point(abs_x, abs_y, abs_z, prescaler, count);
+ queue_absolute_point(abs_x, abs_y, abs_z, micros);
}
//queue a point for us to move to
-void queue_absolute_point(long x, long y, long z, byte prescaler, unsigned int count)
+void queue_absolute_point(long x, long y, long z, unsigned long micros)
{
//this is the final position.
eventual_steps.x = x;
@@ -480,18 +479,12 @@
pointBuffer.append_32(x);
pointBuffer.append_32(y);
pointBuffer.append_32(z);
+ pointBuffer.append_32(micros);
- // prescaler
- pointBuffer.append(prescaler);
-
- // counter
- pointBuffer.append_16(count);
-
//first point? give us the right timer.
if (!firstPoint)
{
- setTimer1Resolution(prescaler);
- setTimer1Ceiling(count);
+ setTimer1Micros(micros);
//turn our interrupt on.
enableTimer1Interrupt();
Modified: trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Timer1.pde
===================================================================
--- trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Timer1.pde 2009-03-29 16:22:01 UTC (rev 2728)
+++ trunk/reprap/firmware/Sanguino/Sanguino3G/SanguinoMaster/Timer1.pde 2009-03-29 20:08:29 UTC (rev 2729)
@@ -94,6 +94,14 @@
return 5;
}
+inline void setTimer1Micros(unsigned long micros)
+{
+ //16 ticks in a microsecond.
+ unsigned long ticks = micros * 16;
+
+ setTimer1Ticks(ticks);
+}
+
inline void setTimer1Ticks(unsigned long ticks)
{
// ticks is the delay between interrupts in 62.5 nanosecond ticks.
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