Mirrors_Framework/grblHAL
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Large spindle handling refactoring and enhancement++, see the changelog for more.

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This commit is contained in:
Terje Io
2023-02-13 22:14:48 +01:00
parent e2ba6db69c
commit 04ce2c5c8c
33 changed files with 1430 additions and 604 deletions
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27
stepper.h
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@@ -50,24 +50,25 @@ typedef struct st_block {
char *message; //!< Message to be displayed when block is executed
output_command_t *output_commands; //!< Output commands (linked list) to be performed when block is executed
bool dynamic_rpm; //!< Tracks motions that require dynamic RPM adjustment
spindle_ptrs_t *spindle; //!< Pointer to current spindle for motions that require dynamic RPM adjustment
bool backlash_motion;
} st_block_t;
typedef struct st_segment {
uint_fast8_t id; //!< Id may be used by driver to track changes
struct st_segment *next; //!< Pointer to next element in cirular list of segments
st_block_t *exec_block; //!< Pointer to the block data for the segment
uint32_t cycles_per_tick; //!< Step distance traveled per ISR tick, aka step rate.
uint_fast8_t id; //!< Id may be used by driver to track changes
struct st_segment *next; //!< Pointer to next element in cirular list of segments
st_block_t *exec_block; //!< Pointer to the block data for the segment
uint32_t cycles_per_tick; //!< Step distance traveled per ISR tick, aka step rate.
float current_rate;
float target_position; //!< Target position of segment relative to block start, used by spindle sync code
uint_fast16_t n_step; //!< Number of step events to be executed for this segment
uint_fast16_t spindle_pwm; //!< Spindle PWM to be set at the start of segment execution
float spindle_rpm; //!< Spindle RPM to be set at the start of the segment execution
bool update_pwm; //!< True if set spindle speed at the start of the segment execution
bool update_rpm; //!< True if set spindle speed at the start of the segment execution
bool spindle_sync; //!< True if block is spindle synchronized
bool cruising; //!< True when in cruising part of profile, only set for spindle synced moves
uint_fast8_t amass_level; //!< Indicates AMASS level for the ISR to execute this segment
float target_position; //!< Target position of segment relative to block start, used by spindle sync code
uint_fast16_t n_step; //!< Number of step events to be executed for this segment
uint_fast16_t spindle_pwm; //!< Spindle PWM to be set at the start of segment execution
float spindle_rpm; //!< Spindle RPM to be set at the start of the segment execution
bool spindle_sync; //!< True if block is spindle synchronized
bool cruising; //!< True when in cruising part of profile, only set for spindle synced moves
uint_fast8_t amass_level; //!< Indicates AMASS level for the ISR to execute this segment
spindle_update_pwm_ptr update_pwm; //!< Valid pointer to spindle.update_pwm() if set spindle speed at the start of the segment execution
spindle_update_rpm_ptr update_rpm; //!< Valid pointer to spindle.update_rmp() if set spindle speed at the start of the segment execution
} segment_t;
//! Stepper ISR data struct. Contains the running data for the main stepper ISR.