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Fixed bug caused by length_square vector being uninitialized; moved base application settings from hardware.h to g2core.h (still need to do all the hardware.h’s); some cosmetic changes

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This commit is contained in:
Alden Hart
2018-04-15 05:07:23 -04:00
parent 8ce7741ea3
commit 38ca38b2ed
9 changed files with 46 additions and 96 deletions
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g2core/board/G2v9/hardware.cpp
+2 -2
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@@ -64,12 +64,12 @@ stat_t hardware_periodic()
void hw_hard_reset(void)
{
Motate::System::reset(/*boootloader: */ false); // arg=0 resets the system
Motate::System::reset(/*bootloader: */ false); // arg=0 resets the system
}
void hw_flash_loader(void)
{
Motate::System::reset(/*boootloader: */ true); // arg=1 erases FLASH and enters FLASH loader
Motate::System::reset(/*bootloader: */ true); // arg=1 erases FLASH and enters FLASH loader
}
/*
g2core/board/G2v9/hardware.h
+14 -18
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@@ -40,24 +40,28 @@
#define G2CORE_HARDWARE_PLATFORM "g2v9"
#define G2CORE_HARDWARE_VERSION "k"
/***** Axes, motors & PWM channels used by the application *****/
// Axes, motors & PWM channels must be defines (not enums) so expressions like this:
/***** Motors & PWM channels supported by this hardware *****/
// These must be defines (not enums) so expressions like this:
// #if (MOTORS >= 6) will work
#define AXES 9 // number of axes supported in this version
#define HOMING_AXES 4 // number of axes that can be homed (assumes Zxyabc sequence)
#define MOTORS 4 // number of motors on the board
#define COORDS 6 // number of supported coordinate systems (index starts at 1)
#define PWMS 2 // number of supported PWM channels
#define TOOLS 32 // number of entries in tool table (index starts at 1)
#define MOTORS 4 // number of motors supported the hardware
#define PWMS 2 // number of PWM channels supported the hardware
/*************************
* Global System Defines *
*************************/
#define MILLISECONDS_PER_TICK 1 // MS for system tick (systick * N)
#define SYS_ID_DIGITS 16 // actual digits in system ID (up to 16)
#define SYS_ID_LEN 24 // total length including dashes and NUL
/*************************
* Motate Setup *
*************************/
#include "MotatePins.h"
#include "MotateTimers.h" // for TimerChanel<> and related...
#include "MotateServiceCall.h" // for ServiceCall<>
#include "MotateTimers.h" // for TimerChanel<> and related...
#include "MotateServiceCall.h" // for ServiceCall<>
using Motate::TimerChannel;
using Motate::ServiceCall;
@@ -67,14 +71,6 @@ using Motate::Pin;
using Motate::PWMOutputPin;
using Motate::OutputPin;
/*************************
* Global System Defines *
*************************/
#define MILLISECONDS_PER_TICK 1 // MS for system tick (systick * N)
#define SYS_ID_DIGITS 16 // actual digits in system ID (up to 16)
#define SYS_ID_LEN 24 // total length including dashes and NUL
/************************************************************************************
**** ARM SAM3X8E SPECIFIC HARDWARE *************************************************
************************************************************************************/
g2core/cycle_homing.cpp
+2 -2
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@@ -362,8 +362,8 @@ static void _motion_end_callback(float* vect, bool* flag)
}
static stat_t _homing_axis_move(int8_t axis, float target, float velocity) {
float vect[] = {0,0,0,0,0,0};
bool flags[] = {0,0,0,0,0,0};
float vect[] = INIT_AXES_ZEROES;
bool flags[] = INIT_AXES_ZEROES;
hm.waiting_for_motion_end = true;
g2core/g2core.h
+5
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@@ -60,6 +60,11 @@ typedef uint16_t magic_t; // magic number size
// Note: If you change COORDS you must adjust the entries in cfgArray table in config.c
#define AXES 9 // number of axes supported in this version
#define HOMING_AXES 4 // number of axes that can be homed (assumes Zxyabc sequence)
#define COORDS 6 // number of supported coordinate systems (index starts at 1)
#define TOOLS 32 // number of entries in tool table (index starts at 1)
typedef enum {
AXIS_X = 0,
AXIS_Y,
g2core/gpio.h
+2 -3
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@@ -33,15 +33,14 @@
*/
//--- change as required for board and switch hardware ---//
#define INPUT_LOCKOUT_MS 10 // milliseconds to go dead after input firing
#define D_IN_CHANNELS 9 // v9 // number of digital inputs supported
//#define D_OUT_CHANNELS 13 // number of digital outputs supported
#define D_OUT_CHANNELS 9 // number of digital outputs supported
#define A_IN_CHANNELS 0 // number of analog inputs supported
#define A_OUT_CHANNELS 0 // number of analog outputs supported
//#define INPUT_LOCKOUT_MS 50 // milliseconds to go dead after input firing
#define INPUT_LOCKOUT_MS 10 // milliseconds to go dead after input firing
//--- do not change from here down ---//
typedef enum {
g2core/plan_line.cpp
+7 -5
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@@ -143,10 +143,11 @@ bool mp_runtime_is_idle() { return (!st_runtime_isbusy()); }
stat_t mp_aline(GCodeState_t* _gm)
{
float target_rotated[AXES]; // all these arrays initialize to all zeroes by compiler settings
float axis_square[AXES];
float axis_length[AXES];
bool flags[AXES];
float target_rotated[] = INIT_AXES_ZEROES;
float axis_square[] = INIT_AXES_ZEROES;
float axis_length[] = INIT_AXES_ZEROES;
bool flags[] = INIT_AXES_FALSE;
float length_square = 0;
float length;
@@ -199,6 +200,7 @@ stat_t mp_aline(GCodeState_t* _gm)
length_square += axis_square[axis];
} else {
axis_length[axis] = 0; // make it truly zero if it was tiny
axis_square[axis] = 0; // Fix bug that can kill feedholds by corrupting block_time in _calculate_times
}
}
length = sqrt(length_square);
@@ -650,7 +652,7 @@ static void _calculate_vmaxes(mpBuf_t* bf, const float axis_length[], const floa
if (bf->axis_flags[axis]) {
if (bf->gm.motion_mode == MOTION_MODE_STRAIGHT_TRAVERSE) {
tmp_time = fabs(axis_length[axis]) / cm->a[axis].velocity_max;
} else { // gm.motion_mode == MOTION_MODE_STRAIGHT_FEED
} else {// gm.motion_mode == MOTION_MODE_STRAIGHT_FEED
tmp_time = fabs(axis_length[axis]) / cm->a[axis].feedrate_max;
}
max_time = max(max_time, tmp_time);
g2core/plan_zoid.cpp
+1 -1
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@@ -127,7 +127,7 @@ stat_t mp_calculate_ramps(mpBlockRuntimeBuf_t* block, mpBuf_t* bf, const float e
}
debug_trap_if_zero(bf->length, "mp_calculate_ramps() - got L=0");
debug_trap_if_zero(bf->cruise_velocity, "mp_calculate_ramps() - got Vc=0");
// Timings from *here*
// initialize parameters to know values
g2core/settings/settings_othermill.h
+3 -65
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@@ -54,9 +54,9 @@
#define FEEDHOLD_Z_LIFT 3 // mm to lift Z on feedhold
#define PROBE_REPORT_ENABLE true
// WARNING: Older Othermill machines use a 15deg can stack for their Z axis.
// new machines use a stepper which has the same config as the other axis.
#define HAS_CANSTACK_Z_AXIS 0
// WARNING: Very old, pre-release Othermills may have a 15deg can stack for their Z axis.
// All other machines use a stepper which has the same config as the other axis.
#define HAS_CANSTACK_Z_AXIS false
/*
// Switch definitions for interlock & E-stop
#define ENABLE_INTERLOCK_AND_ESTOP
@@ -218,61 +218,6 @@
#define Z_LATCH_BACKOFF 2
#define Z_ZERO_BACKOFF 0.4
/*
#define JERK_MAX 500 // 500 million mm/(min^3)
#define JERK_HIGH_SPEED 1000 // 1000 million mm/(min^3) // Jerk during homing needs to stop *fast*
#define VELOCITY_MAX 1500
#define SEARCH_VELOCITY (VELOCITY_MAX / 3)
#define LATCH_VELOCITY 25 // reeeeally slow for accuracy
#define X_AXIS_MODE AXIS_STANDARD // xam see canonical_machine.h cmAxisMode for valid values
#define X_VELOCITY_MAX VELOCITY_MAX // xvm G0 max velocity in mm/min
#define X_FEEDRATE_MAX X_VELOCITY_MAX // xfr G1 max feed rate in mm/min
#define X_TRAVEL_MIN 0 // xtn minimum travel for soft limits
#define X_TRAVEL_MAX 145.6 // xtr travel between switches or crashes
#define X_JERK_MAX JERK_MAX // xjm
#define X_JERK_HIGH_SPEED JERK_HIGH_SPEED // xjh
#define X_HOMING_INPUT 1 // xhi input used for homing or 0 to disable
#define X_HOMING_DIRECTION 0 // xhd 0=search moves negative, 1= search moves positive
#define X_SEARCH_VELOCITY SEARCH_VELOCITY // xsv
#define X_LATCH_VELOCITY LATCH_VELOCITY // xlv mm/min
#define X_LATCH_BACKOFF 1 // xlb mm
#define X_ZERO_BACKOFF 0.4 // xzb mm
#define Y_AXIS_MODE AXIS_STANDARD
#define Y_VELOCITY_MAX VELOCITY_MAX
#define Y_FEEDRATE_MAX Y_VELOCITY_MAX
#define Y_TRAVEL_MIN 0
#define Y_TRAVEL_MAX 119.1
#define Y_JERK_MAX JERK_MAX
#define Y_JERK_HIGH_SPEED JERK_HIGH_SPEED
#define Y_HOMING_INPUT 3
#define Y_HOMING_DIRECTION 0
#define Y_SEARCH_VELOCITY SEARCH_VELOCITY
#define Y_LATCH_VELOCITY LATCH_VELOCITY
#define Y_LATCH_BACKOFF 1
#define Y_ZERO_BACKOFF 0.4
#define Z_AXIS_MODE AXIS_STANDARD
#if HAS_CANSTACK_Z_AXIS
#define Z_VELOCITY_MAX 1000
#else
#define Z_VELOCITY_MAX VELOCITY_MAX
#endif
#define Z_FEEDRATE_MAX Z_VELOCITY_MAX
#define Z_TRAVEL_MIN -60.1
#define Z_TRAVEL_MAX 0
#define Z_JERK_MAX JERK_MAX
#define Z_JERK_HIGH_SPEED JERK_HIGH_SPEED
#define Z_HOMING_INPUT 6
#define Z_HOMING_DIRECTION 1
#define Z_SEARCH_VELOCITY SEARCH_VELOCITY
#define Z_LATCH_VELOCITY LATCH_VELOCITY
#define Z_LATCH_BACKOFF 1
#define Z_ZERO_BACKOFF 0.4
*/
//*** Input / output settings ***
/*
See gpio.h GPIO defines for options
@@ -356,10 +301,3 @@
#define P1_CCW_PHASE_HI 0.1
#define P1_PWM_PHASE_OFF 0.1
/*
#define P1_USE_MAPPING_CUBIC
#define P1_MAPPING_CUBIC_X3 2.1225328766717546e-013
#define P1_MAPPING_CUBIC_X2 -7.2900167282605129e-009
#define P1_MAPPING_CUBIC_X1 8.5854646785876479e-005
#define P1_MAPPING_CUBIC_X0 -2.1301489219406905e-001
*/
g2core/util.h
+10
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@@ -74,6 +74,16 @@ uint8_t vector_equal(const float a[], const float b[]);
float *set_vector(float x, float y, float z, float a, float b, float c);
float *set_vector_by_axis(float value, uint8_t axis);
// *** canned initializers ***
#if (AXES == 9)
#define INIT_AXES_ZEROES {0,0,0,0,0,0,0,0,0}
#define INIT_AXES_TRUE {1,1,1,1,1,1,1,1,1}
#define INIT_AXES_FALSE INIT_AXES_ZEROES
#else
#warning UNSUPPORTED AXES SETTING!
#endif
//*** math utilities ***
float min3(float x1, float x2, float x3);