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Runs full regression on motor power. Ready to push.

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This commit is contained in:
Alden Hart
2016-09-18 11:03:48 -04:00
parent 391229a8bd
commit d698a872bf
2 changed files with 30 additions and 22 deletions
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g2core/stepper.cpp
+13 -12
View File
@@ -210,9 +210,7 @@ void st_energize_motors(float timeout_seconds)
void st_deenergize_motors()
{
for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {
if (Motors[motor]->getPowerMode() != MOTOR_ALWAYS_POWERED) {
Motors[motor]->disable();
}
Motors[motor]->disable();
}
}
@@ -252,7 +250,7 @@ stat_t st_motor_power_callback() // called by controller
* - fire on overflow
* - clear interrupt condition
* - clear all step pins - this clears those the were set during the previous interrupt
* - if downcount == 0 and stop the timer and exit
* - if downcount == 0 and stop the timer and exit
* - run the DDA for each channel
* - decrement the downcount - if it reaches zero load the next segment
*
@@ -266,11 +264,11 @@ void dda_timer_type::interrupt()
{
dda_timer.getInterruptCause(); // clear interrupt condition
// for (uint8_t motor=0; motor<MOTORS; motor++) {
// Motors[motor]->stepEnd();
// }
// clear all steps from the previous interrupt
// for (uint8_t motor=0; motor<MOTORS; motor++) {
// Motors[motor]->stepEnd();
// }
// loop unrolled version (it's actually faster)
motor_1.stepEnd();
motor_2.stepEnd();
#if MOTORS > 2
@@ -446,7 +444,7 @@ namespace Motate { // Define timer inside Motate namespace
* In aline() code:
* - All axes must set steps and compensate for out-of-range pulse phasing.
* - If axis has 0 steps the direction setting can be omitted
* - If axis has 0 steps the motor must not be enabled to support power mode = 1
* - If axis has 0 steps the motor power must be set accord to the power mode
*/
static void _load_move()
@@ -457,9 +455,12 @@ static void _load_move()
return; // exit if the runtime is busy
}
if (st_pre.buffer_state != PREP_BUFFER_OWNED_BY_LOADER) { // if there are no moves to load...
// for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {
// Motors[motor]->motionStopped(); // ...start motor power timeouts
// }
// ...start motor power timeouts
// for (uint8_t motor = MOTOR_1; motor < MOTORS; motor++) {
// Motors[motor]->motionStopped();
// }
// loop unrolled version
motor_1.motionStopped(); // ...start motor power timeouts
motor_2.motionStopped(); // ...start motor power timeouts
#if (MOTORS > 2)
g2core/stepper.h
+17 -10
View File
@@ -472,32 +472,39 @@ struct Stepper {
return (st_cfg.mot[motor].power_level);
};
bool isDisabled()
{
return (_power_mode == MOTOR_DISABLED);
};
// bool isDisabled()
// {
// return (_power_mode == MOTOR_DISABLED);
// };
// turn on motor in all cases unless it's disabled
void enable(float timeout = st_cfg.motor_power_timeout)
{
if (_power_mode != MOTOR_DISABLED) {
this->_enableImpl();
_power_state = MOTOR_RUNNING;
_motor_disable_timeout_ms = timeout * 1000.0;
if (_power_mode == MOTOR_DISABLED) {
return;
}
this->_enableImpl();
_power_state = MOTOR_RUNNING;
_motor_disable_timeout_ms = timeout * 1000.0;
};
// turn off motor in all cases unless it's permanently enabled
void disable()
{
if (this->getPowerMode() == MOTOR_ALWAYS_POWERED) {
return;
}
this->_disableImpl();
_motor_disable_timeout.clear();
_power_state = MOTOR_IDLE; // or MOTOR_OFF
};
// turn off motor is only powered when moving
void motionStopped() {
if (_power_mode == MOTOR_POWERED_IN_CYCLE) {
this->enable();
_power_state = MOTOR_POWER_TIMEOUT_START;
}
_power_state = MOTOR_POWER_TIMEOUT_START;
};
virtual void periodicCheck(bool have_actually_stopped) // can be overridden