Mirrors_Framework/grblHAL
1
0
Fork 0
mirror of https://github.com/grblHAL/core.git synced 2026-08-17 08:31:43 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

Reduced default step pulse length to 5 microseconds.

Browse Source 
Added HAL parameter for minimum step pulse length set by driver, used for validation of $0 setting.
Changed HAL API signature for outputting step pulses, optimized to allow drivers to only change direction outputs when there is an actual direction change.
Improved handling of overrides at end of program when all motion is buffered. Possible fix for issue #714.
Some optimizations to allow higher step rates.
This commit is contained in:
Terje Io
2025-03-28 18:02:56 +01:00
parent 3d7cb52d98
commit b737687743
20 changed files with 332 additions and 175 deletions
Download Patch File Download Diff File Expand all files Collapse all files
planner.h
+27 -3
View File
@@ -3,7 +3,7 @@
Part of grblHAL
Copyright (c) 2019-2024 Terje Io
Copyright (c) 2019-2025 Terje Io
Copyright (c) 2011-2016 Sungeun K. Jeon for Gnea Research LLC
Copyright (c) 2009-2011 Simen Svale Skogsrud
@@ -43,14 +43,38 @@ typedef union {
};
} planner_cond_t;
typedef union {
uint32_t value[N_AXIS];
struct {
uint32_t x;
uint32_t y;
uint32_t z;
#ifdef A_AXIS
uint32_t a;
#endif
#ifdef B_AXIS
uint32_t b;
#endif
#ifdef C_AXIS
uint32_t c;
#endif
#ifdef U_AXIS
uint32_t u;
#endif
#ifdef V_AXIS
uint32_t v;
#endif
};
} steps_t;
// This struct stores a linear movement of a g-code block motion with its critical "nominal" values
// are as specified in the source g-code.
typedef struct plan_block {
// Fields used by the bresenham algorithm for tracing the line
// NOTE: Used by stepper algorithm to execute the block correctly. Do not alter these values.
uint32_t steps[N_AXIS]; // Step count along each axis
steps_t steps; // Step count along each axis
uint32_t step_event_count; // The maximum step axis count and number of steps required to complete this block.
axes_signals_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_PIN in config.h)
axes_signals_t direction; // The direction bit set for this block (refers to *_DIRECTION_PIN in config.h)
offset_id_t offset_id;
// Block condition data to ensure correct execution depending on states and overrides.