kopia lustrzana https://github.com/evil-mad/EggBot
Made stepper command debug printf triggerable with single define
Added limit to Rate value going into queue of 0x7FFFFFFF.pull/146/head
EmbeddedMan
rodzic
e63f1019b4
commit
6c0b89f82c
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@ -280,7 +280,7 @@
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#define MAX_RC_DURATION 11890
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// Maximum number of elements in the command FIFO
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#define COMMAND_FIFO_LENGTH 4
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#define COMMAND_FIFO_LENGTH 1
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typedef enum
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{
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@ -1149,7 +1149,7 @@ void parse_LM_packet (void)
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INT32 Accel2 = 0;
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MoveCommandType move;
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UINT8 ClearAccs = 0;
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#if 0
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#if defined(DEBUG_VALUE_PRINT)
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INT32 LocalTestStepAdd = 0;
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INT32 LocalRate1 = 0;
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INT32 LocalRate2 = 0;
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@ -1170,13 +1170,19 @@ void parse_LM_packet (void)
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return;
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}
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// Limit Rates to 0x7FFFFFFF
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if (Rate1 >= 0x7FFFFFFF)
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{
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Rate1 = 0x7FFFFFFF;
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}
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if (Rate2 >= 0x7FFFFFFF)
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{
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Rate2 = 0x7FFFFFFF;
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}
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/* Quickly eliminate obvious invalid parameter combinations,
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* like LM,0,0,0,0,0,0. Or LM,0,1000,0,100000,0,100 GH issue #78 */
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if (
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(Rate1 & 0x80000000)
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(Rate2 & 0x80000000)
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(
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((Rate1 == 0) && (Accel1 == 0))
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@ -1254,7 +1260,7 @@ void parse_LM_packet (void)
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;
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CommandFIFO[0] = move;
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#if 0
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#if defined(DEBUG_VALUE_PRINT)
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// For debugging step motion , uncomment the next line
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printf((far rom char *)"R1=%lu S1=%lu A1=%ld R2=%lu S2=%lu A2=%ld\n\r",
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CommandFIFO[0].Rate[0].value, // Rate1 unsigned 31 bit
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@ -1413,14 +1419,14 @@ void parse_LT_packet (void)
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CommandFIFO[0] = move;
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/* For debugging step motion , uncomment the next line */
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/*
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* printf((far rom char *)"SA1=%lu SC1=%lu SA2=%lu SC2=%lu\n\r",
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CommandFIFO[0].StepAdd[0],
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CommandFIFO[0].StepsCounter[0],
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CommandFIFO[0].StepAdd[1],
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CommandFIFO[0].StepsCounter[1]
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#if defined(DEBUG_VALUE_PRINT)
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printf((far rom char *)"R1=%lu S1=%lu R2=%lu S2=%lu\n\r",
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CommandFIFO[0].Rate[0],
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CommandFIFO[0].Steps[0],
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CommandFIFO[0].Rate[1],
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CommandFIFO[0].Steps[1]
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);
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*/
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#endif
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FIFOEmpty = FALSE;
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@ -1573,8 +1579,8 @@ void parse_HM_packet (void)
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// Extract the step rate.
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extract_number (kULONG, &StepRate, kREQUIRED);
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extract_number (kULONG, &Pos1, kOPTIONAL);
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extract_number (kULONG, &Pos2, kOPTIONAL);
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extract_number (kLONG, &Pos1, kOPTIONAL);
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extract_number (kLONG, &Pos2, kOPTIONAL);
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// StepRate can't be zero
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if (StepRate == 0)
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@ -1720,7 +1726,8 @@ void parse_HM_packet (void)
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{
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Duration = 10;
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}
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#if 1
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#if defined(DEBUG_VALUE_PRINT)
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printf((far rom char *)"HM Duration=%lu SA1=%li SA2=%li\n\r",
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Duration,
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Steps1,
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@ -1842,6 +1849,9 @@ void parse_XM_packet (void)
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// the data in the FIFO. The ISR then sees this data when it is done with its
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// current move, and starts this new move.
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//
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// Note that a Rate value of 0x8000000 is not allowed. The function will
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// subtract one if this value for Rate is seen due to step counts and duration.
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//
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// In the future, making the FIFO more elements deep may be cool.
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//
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static void process_SM(
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@ -1858,11 +1868,13 @@ static void process_SM(
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MoveCommandType move;
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// Uncomment the following printf() for debugging
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//printf((far rom char *)"Duration=%lu SA1=%li SA2=%li\n\r",
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// Duration,
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// A1Stp,
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// A2Stp
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// );
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#if defined(DEBUG_VALUE_PRINT)
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printf((far rom char *)"Duration=%lu SA1=%li SA2=%li\n\r",
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Duration,
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A1Stp,
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A2Stp
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);
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#endif
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if (ClearAccs > 3)
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{
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@ -1909,17 +1921,18 @@ static void process_SM(
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// If A1Stp is 1, then duration must be 763 or less.
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// If A1Stp is 2, then duration must be 763 * 2 or less.
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// If A1Stp is 0xFFFFFF, then duration must be at least 671088.
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// // First check for duration to large.
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// if (A1Stp < (0xFFFFFF/763))
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// {
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// if (duration > (A1Stp * 763))
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// {
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// printf((far rom char *)"Major malfunction Axis1 duration too long : %lu\n\r", duration);
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// temp = 0;
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// A1Stp = 0;
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// }
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// }
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#if defined(DEBUG_VALUE_PRINT)
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// First check for duration to large.
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if (A1Stp < (0xFFFFFF/763))
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{
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if (Duration > (A1Stp * 763))
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{
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printf((far rom char *)"Major malfunction Axis1 duration too long : %lu\n\r", Duration);
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temp = 0;
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A1Stp = 0;
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}
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}
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#endif
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if (A1Stp != 0)
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{
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if (A1Stp < 0x1FFFF)
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@ -1968,6 +1981,10 @@ static void process_SM(
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temp = 0;
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}
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if (temp >= 0x7FFFFFFF)
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{
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temp = 0x7FFFFFFF;
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}
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move.Rate[0].value = temp;
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move.Steps[0] = A1Stp;
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move.Accel[0] = 0;
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@ -2009,19 +2026,24 @@ static void process_SM(
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}
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}
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if (temp >= 0x7FFFFFFF)
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{
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temp = 0x7FFFFFFF;
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}
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move.Rate[1].value = temp;
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move.Steps[1] = A2Stp;
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move.Accel[1] = 0;
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move.Command = COMMAND_MOTOR_MOVE;
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/* For debugging step motion , uncomment the next line */
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//printf((far rom char *)"SA1=%lu SC1=%lu SA2=%lu SC2=%lu\n\r",
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// move.StepAdd[0],
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// move.StepsCounter[0],
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// move.StepAdd[1],
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// move.StepsCounter[1]
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// );
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#if defined(DEBUG_VALUE_PRINT)
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printf((far rom char *)"R1=%lu S1=%lu R2=%lu S2=%lu\n\r",
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move.Rate[0],
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move.Steps[0],
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move.Rate[1],
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move.Steps[1]
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);
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#endif
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}
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// Spin here until there's space in the fifo
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@ -2093,6 +2115,7 @@ void parse_ES_packet(void)
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CurrentCommand.Accel[1] = 0;
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}
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#if defined(DEBUG_VALUE_PRINT)
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printf((far rom char *)"%d,%lu,%lu,%lu,%lu\n\r",
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command_interrupted,
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fifo_steps1,
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@ -2100,6 +2123,7 @@ void parse_ES_packet(void)
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remaining_steps1,
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remaining_steps2
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);
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#endif
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print_ack();
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}
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@ -2397,7 +2421,7 @@ void parse_NI_packet(void)
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print_ack();
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}
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// Node counter Deccriment
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// Node counter Decrement
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// Usage: ND<CR>
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void parse_ND_packet(void)
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{
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@ -51,6 +51,9 @@
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#ifndef EBB_H
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#define EBB_H
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// Enable this line to compile with a lot of debug prints for motion commands
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//#define DEBUG_VALUE_PRINT
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// These are used for Enable<X>IO to control the enable lines for the driver
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#define ENABLE_MOTOR 0
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#define DISABLE_MOTOR 1
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