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Moved part of the driver based spindle sync code to the core.

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Spindle sync now has to be enabled in grbl/config.h.
This commit is contained in:
Terje Io
2025-04-24 22:38:55 +02:00
parent 58dd5dc25a
commit b41018543b
10 changed files with 200 additions and 100 deletions
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32
motion_control.c
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@@ -42,18 +42,22 @@
#if ENABLE_BACKLASH_COMPENSATION
static float target_prev[N_AXIS] = {0};
static coord_data_t target_prev = {}, backlash_comp = {};
static axes_signals_t dir_negative = {0}, backlash_enabled = {0};
void mc_backlash_init (axes_signals_t axes)
{
uint_fast8_t idx = N_AXIS;
uint_fast8_t steps;
do {
idx--;
if(bit_istrue(axes.mask, bit(idx))) {
BIT_SET(backlash_enabled.mask, bit(idx), settings.axis[idx].backlash > 0.0001f);
BIT_SET(dir_negative.mask, bit(idx), bit_isfalse(settings.homing.dir_mask.mask, bit(idx)));
if((steps = lroundf(settings.axis[idx].backlash * settings.axis[idx].steps_per_mm))) {
backlash_comp.values[idx] = (float)steps / settings.axis[idx].steps_per_mm;
BIT_SET(backlash_enabled.mask, bit(idx), settings.axis[idx].backlash > 0.0001f);
BIT_SET(dir_negative.mask, bit(idx), bit_isfalse(settings.homing.dir_mask.mask, bit(idx)));
}
}
} while(idx);
@@ -63,7 +67,7 @@ void mc_backlash_init (axes_signals_t axes)
void mc_sync_backlash_position (void)
{
// Update target_prev
system_convert_array_steps_to_mpos(target_prev, sys.position);
system_convert_array_steps_to_mpos(target_prev.values, sys.position);
}
#endif
@@ -113,28 +117,28 @@ bool mc_line (float *target, plan_line_data_t *pl_data)
if(backlash_enabled.mask) {
bool backlash_comp = false;
bool add_comp = false;
uint_fast8_t idx = N_AXIS, axismask = bit(N_AXIS - 1);
do {
idx--;
if(backlash_enabled.mask & axismask) {
if(target[idx] > target_prev[idx]) {
if(target[idx] > target_prev.values[idx]) {
if (dir_negative.value & axismask) {
dir_negative.value &= ~axismask;
target_prev[idx] += settings.axis[idx].backlash;
backlash_comp = true;
target_prev.values[idx] += backlash_comp.values[idx];
add_comp = true;
}
} else if(target[idx] < target_prev[idx] && !(dir_negative.value & axismask)) {
} else if(target[idx] < target_prev.values[idx] && !(dir_negative.value & axismask)) {
dir_negative.value |= axismask;
target_prev[idx] -= settings.axis[idx].backlash;
backlash_comp = true;
target_prev.values[idx] -= backlash_comp.values[idx];
add_comp = true;
}
}
axismask >>= 1;
} while(idx);
if(backlash_comp) {
if(add_comp) {
plan_line_data_t pl_backlash;
@@ -152,10 +156,10 @@ bool mc_line (float *target, plan_line_data_t *pl_data)
return false; // Bail, if system abort.
}
plan_buffer_line(target_prev, &pl_backlash);
plan_buffer_line(target_prev.values, &pl_backlash);
}
memcpy(target_prev, target, sizeof(float) * N_AXIS);
memcpy(target_prev.values, target, sizeof(coord_data_t));
}
#endif // Backlash comp