kopia lustrzana https://gitlab.com/markol/Teathimble_Firmware
70 wiersze
2.1 KiB
C
70 wiersze
2.1 KiB
C
#include "kinematics.h"
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/** \file G-code axis system to stepper motor axis system conversion.
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*/
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#include <stdlib.h>
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#include "maths.h"
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void
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carthesian_to_carthesian(const TARGET *startpoint, const TARGET *target,
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axes_uint32_t delta_um, axes_int32_t steps) {
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uint8_t i;
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#ifdef STEPS_PER_M_Z
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for (i = X; i <= Z; i++) {
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#else
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for (i = X; i <= Y; i++) {
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#endif
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delta_um[i] = (uint32_t)labs(target->axis[i] - startpoint->axis[i]);
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steps[i] = um_to_steps(target->axis[i], i);
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}
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/* Replacing the above five lines with this costs about 200 bytes binary
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size on AVR, but also takes about 120 clock cycles less during movement
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preparation. The smaller version was kept for our Arduino Nano friends.
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delta_um[X] = (uint32_t)labs(target->axis[X] - startpoint->axis[X]);
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steps[X] = um_to_steps(target->axis[X], X);
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delta_um[Y] = (uint32_t)labs(target->axis[Y] - startpoint->axis[Y]);
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steps[Y] = um_to_steps(target->axis[Y], Y);
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delta_um[Z] = (uint32_t)labs(target->axis[Z] - startpoint->axis[Z]);
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steps[Z] = um_to_steps(target->axis[Z], Z);
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*/
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}
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void
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carthesian_to_corexy(const TARGET *startpoint, const TARGET *target,
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axes_uint32_t delta_um, axes_int32_t steps) {
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delta_um[X] = (uint32_t)labs((target->axis[X] - startpoint->axis[X]) +
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(target->axis[Y] - startpoint->axis[Y]));
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delta_um[Y] = (uint32_t)labs((target->axis[X] - startpoint->axis[X]) -
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(target->axis[Y] - startpoint->axis[Y]));
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#ifdef STEPS_PER_M_Z
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delta_um[Z] = (uint32_t)labs(target->axis[Z] - startpoint->axis[Z]);
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#endif
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axes_um_to_steps_corexy(target->axis, steps);
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}
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void axes_um_to_steps_cartesian(const axes_int32_t um, axes_int32_t steps) {
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uint8_t i;
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#ifdef STEPS_PER_M_Z
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for (i = X; i <= Z; i++) {
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#else
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for (i = X; i <= Y; i++) {
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#endif
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steps[i] = um_to_steps(um[i], i);
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}
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}
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void axes_um_to_steps_corexy(const axes_int32_t um, axes_int32_t steps) {
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steps[X] = um_to_steps(um[X] + um[Y], X);
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steps[Y] = um_to_steps(um[X] - um[Y], Y);
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#ifdef STEPS_PER_M_Z
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steps[Z] = um_to_steps(um[Z], Z);
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#endif
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}
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