Acceleration

firmware/SConstruct

@@ -1,6 +1,10 @@
 platform = ARGUMENTS.get('platform','mb24')
+fived = ARGUMENTS.get('fived','false')
 
 if (platform == 'rrmbv12' or platform == 'mb24' or platform == 'mb24-2560'):
+	if (fived == 'true'):
+		platform = platform+'-5d'
+
 	SConscript(['src/SConscript.motherboard'], variant_dir='build/'+platform)
 
 elif (platform == 'ecv22' or platform == 'ecv34'):

firmware/build_all.sh

@@ -2,33 +2,27 @@
 
 SCONS=SConstruct
 
-PLATFORMS=( rrmbv12 mb24 mb24-2560 ecv22 ecv34 )
+PLATFORMS=( rrmbv12 'rrmbv12 fived=true' mb24 mb24-2560 ecv22 ecv34 )
 
 LOG_FILE=build_all_output
 
 
 function build_firmware {
-    platform_list_name="$1[*]"
-    platform_list=(${!platform_list_name})
-    scons_file=$2
-
-    for platform in ${platform_list[@]}
+    for platform in "${PLATFORMS[@]}"
     do
-        echo -n "Building firmware for ${platform}... "
-
-        echo -e "\n\n\n\n" >> ${LOG_FILE}
-    echo Building firmware for ${platform} >> ${LOG_FILE}
-
-    scons -f ${scons_file} platform=${platform} >> ${LOG_FILE} 2>&1
+	echo -n "Building firmware for ${platform}... "
 
-    if [ "$?" -ne "0" ]; then
-        echo Failure
-    else
-	echo Success
-    fi
-done
+	echo -e "\n\n\n\n" >> ${LOG_FILE}
+	echo Building firmware for ${platform} >> ${LOG_FILE}
 
+	scons -f "${SCONS}" platform=${platform} >> ${LOG_FILE} 2>&1
 
+	if [ "$?" -ne "0" ]; then
+	    echo Failure
+	else
+	    echo Success
+	fi
+    done
 }
 
 
@@ -51,8 +45,6 @@ function build_documentation {
 echo Building all firmware
 echo "Building all firmware" > ${LOG_FILE}
 
-build_firmware PLATFORMS ${SCONS}
-
-
+build_firmware
 
 build_documentation

firmware/current_version.txt

@@ -1 +1 @@
-3.1
+3.2

firmware/src/Motherboard/Command.cc

@@ -17,6 +17,7 @@
 
 #include "Command.hh"
 #include "Steppers.hh"
+#include "Planner.hh"
 #include "Commands.hh"
 #include "Tool.hh"
 #include "Configuration.hh"
@@ -29,7 +30,8 @@
 
 namespace command {
 
-#define COMMAND_BUFFER_SIZE 512
+
+#define COMMAND_BUFFER_SIZE 512 // Must be 2^N: 256, 512, 1204, etc
 uint8_t buffer_data[COMMAND_BUFFER_SIZE];
 CircularBuffer command_buffer(COMMAND_BUFFER_SIZE, buffer_data);
 
@@ -111,6 +113,44 @@ void reset() {
 	mode = READY;
 }
 
+// Handle movement comands -- called from a few places
+static void handleMovementCommand(const uint8_t &command) {
+	// if we're already moving, check to make sure the buffer isn't full
+	if (mode == MOVING && planner::isBufferFull()) {
+		return; // we'll be back!
+	}
+	if (command == HOST_CMD_QUEUE_POINT_EXT) {
+		// check for completion
+		if (command_buffer.getLength() >= 25) {
+			command_buffer.pop(); // remove the command code
+			mode = MOVING;
+			int32_t x = pop32();
+			int32_t y = pop32();
+			int32_t z = pop32();
+			int32_t a = pop32();
+			int32_t b = pop32();
+			int32_t dda = pop32();
+			planner::addMoveToBuffer(Point(x,y,z,a,b), dda);
+		}
+	}
+	 else if (command == HOST_CMD_QUEUE_POINT_NEW) {
+		// check for completion
+		if (command_buffer.getLength() >= 26) {
+			command_buffer.pop(); // remove the command code
+			mode = MOVING;
+			int32_t x = pop32();
+			int32_t y = pop32();
+			int32_t z = pop32();
+			int32_t a = pop32();
+			int32_t b = pop32();
+			int32_t us = pop32();
+			uint8_t relative = pop8();
+			planner::addMoveToBufferRelative(Point(x,y,z,a,b), us, relative);
+		}
+	}
+
+}
+
 // A fast slice for processing commands and refilling the stepper queue, etc.
 void runCommandSlice() {
 	if (sdcard::isPlaying()) {
@@ -123,12 +163,21 @@ void runCommandSlice() {
 		if (!steppers::isRunning()) {
 			mode = READY;
 		} else if (homing_timeout.hasElapsed()) {
-			steppers::abort();
+			planner::abort();
 			mode = READY;
 		}
 	}
 	if (mode == MOVING) {
-		if (!steppers::isRunning()) { mode = READY; }
+		if (!steppers::isRunning()) {
+			mode = READY;
+		} else {
+			if (command_buffer.getLength() > 0) {
+				uint8_t command = command_buffer[0];
+				if (command == HOST_CMD_QUEUE_POINT_EXT || command == HOST_CMD_QUEUE_POINT_NEW) {
+					handleMovementCommand(command);
+				}
+			}
+		}
 	}
 	if (mode == DELAY) {
 		// check timers
@@ -185,48 +234,24 @@ void runCommandSlice() {
 		// process next command on the queue.
 		if (command_buffer.getLength() > 0) {
 			uint8_t command = command_buffer[0];
+
 			if (command == HOST_CMD_QUEUE_POINT_ABS) {
 				// check for completion
 				if (command_buffer.getLength() >= 17) {
+					// No longer supported, but we clear it off of the buffer to avoid a inifinite loop
 					command_buffer.pop(); // remove the command code
-					mode = MOVING;
-					int32_t x = pop32();
-					int32_t y = pop32();
-					int32_t z = pop32();
-					int32_t dda = pop32();
-					steppers::setTarget(Point(x,y,z),dda);
-				}
-			} else if (command == HOST_CMD_QUEUE_POINT_EXT) {
-				// check for completion
-				if (command_buffer.getLength() >= 25) {
-					command_buffer.pop(); // remove the command code
-					mode = MOVING;
 					int32_t x = pop32();
 					int32_t y = pop32();
 					int32_t z = pop32();
-					int32_t a = pop32();
-					int32_t b = pop32();
 					int32_t dda = pop32();
-					steppers::setTarget(Point(x,y,z,a,b),dda);
-				}
-			} else if (command == HOST_CMD_QUEUE_POINT_NEW) {
-				// check for completion
-				if (command_buffer.getLength() >= 26) {
-					command_buffer.pop(); // remove the command code
-					mode = MOVING;
-					int32_t x = pop32();
-					int32_t y = pop32();
-					int32_t z = pop32();
-					int32_t a = pop32();
-					int32_t b = pop32();
-					int32_t us = pop32();
-					uint8_t relative = pop8();
-					steppers::setTargetNew(Point(x,y,z,a,b),us,relative);
+					// steppers::setTarget(Point(x,y,z),dda);
 				}
+			} else if (command == HOST_CMD_QUEUE_POINT_EXT || command == HOST_CMD_QUEUE_POINT_NEW) {
+				handleMovementCommand(command);
 			} else if (command == HOST_CMD_CHANGE_TOOL) {
 				if (command_buffer.getLength() >= 2) {
 					command_buffer.pop(); // remove the command code
-                                        tool::setCurrentToolheadIndex(command_buffer.pop());
+					tool::setCurrentToolheadIndex(command_buffer.pop());
 				}
 			} else if (command == HOST_CMD_ENABLE_AXES) {
 				if (command_buffer.getLength() >= 2) {
@@ -246,7 +271,7 @@ void runCommandSlice() {
 					int32_t x = pop32();
 					int32_t y = pop32();
 					int32_t z = pop32();
-					steppers::definePosition(Point(x,y,z));
+					planner::definePosition(Point(x,y,z));
 				}
 			} else if (command == HOST_CMD_SET_POSITION_EXT) {
 				// check for completion
@@ -257,7 +282,7 @@ void runCommandSlice() {
 					int32_t z = pop32();
 					int32_t a = pop32();
 					int32_t b = pop32();
-					steppers::definePosition(Point(x,y,z,a,b));
+					planner::definePosition(Point(x,y,z,a,b));
 				}
 			} else if (command == HOST_CMD_DELAY) {
 				if (command_buffer.getLength() >= 5) {
@@ -291,7 +316,7 @@ void runCommandSlice() {
 					tool_wait_timeout.start(toolTimeout*1000000L);
 				}
 			} else if (command == HOST_CMD_WAIT_FOR_PLATFORM) {
-        // FIXME: Almost equivalent to WAIT_FOR_TOOL
+				// FIXME: Almost equivalent to WAIT_FOR_TOOL
 				if (command_buffer.getLength() >= 6) {
 					mode = WAIT_ON_PLATFORM;
 					command_buffer.pop();
@@ -336,7 +361,7 @@ void runCommandSlice() {
 						}
 					}
 
-					steppers::definePosition(newPoint);
+					planner::definePosition(newPoint);
 				}
 
 			} else if (command == HOST_CMD_TOOL_COMMAND) {
@@ -363,6 +388,7 @@ void runCommandSlice() {
 				}
 			} else {
 			}
+		} else { // command buffer is empty
 		}
 	}
 }

firmware/src/Motherboard/EepromMap.hh

@@ -23,32 +23,50 @@
 
 namespace eeprom {
 
-const static uint16_t EEPROM_SIZE				= 0x0200;
+const static uint16_t EEPROM_SIZE                        = 0x0200;
 
 /// Version, low byte: 1 byte
-const static uint16_t VERSION_LOW				= 0x0000;
+const static uint16_t VERSION_LOW                        = 0x0000;
 /// Version, high byte: 1 byte
-const static uint16_t VERSION_HIGH				= 0x0001;
+const static uint16_t VERSION_HIGH                       = 0x0001;
 
 /// Axis inversion flags: 1 byte.
-/// Axis N (where X=0, Y=1, etc.) is inverted if the Nth bit is set.
+/// Axis N (where X = 0, Y=1, etc.) is inverted if the Nth bit is set.
 /// Bit 7 is used for HoldZ OFF: 1 = off, 0 = on
-const static uint16_t AXIS_INVERSION			= 0x0002;
+const static uint16_t AXIS_INVERSION                     = 0x0002;
 
 /// Endstop inversion flags: 1 byte.
-/// The endstops for axis N (where X=0, Y=1, etc.) are considered
+/// The endstops for axis N (where X = 0, Y=1, etc.) are considered
 /// to be logically inverted if the Nth bit is set.
 /// Bit 7 is set to indicate endstops are present; it is zero to indicate
 /// that endstops are not present.
 /// Ordinary endstops (H21LOB et. al.) are inverted.
-const static uint16_t ENDSTOP_INVERSION			= 0x0003;
+const static uint16_t ENDSTOP_INVERSION                  = 0x0003;
 
 /// Name of this machine: 32 bytes.
-const static uint16_t MACHINE_NAME				= 0x0020;
+const static uint16_t MACHINE_NAME                       = 0x0020;
 
 /// Default locations for the axis: 5 x 32 bit = 20 bytes
-const static uint16_t AXIS_HOME_POSITIONS		= 0x0060;
+const static uint16_t AXIS_HOME_POSITIONS                = 0x0060;
 
+/// Default steps/mm for each axis: 32 bits = 4 bytes
+const static uint16_t ESTOP_CONFIG                       = 0x0074; // .. 0x0077
+
+/// Default steps/mm for each axis: 5 x 32 bit = 20 bytes
+const static uint16_t STEPS_PER_MM                       = 0x0078; // .. 0x008B
+
+/// Master acceleration rate for each axis: 32 bits = 4 bytes
+const static uint16_t MASTER_ACCELERATION_RATE           = 0x008C; // .. 0x008F
+
+/// Default acceleration rates for each axis: 5 x 32 bit = 20 bytes
+const static uint16_t AXIS_ACCELERATION_RATES            = 0x0090; // .. 0x00A3
+
+/// Default acceleration rates for each axis: 4 x 32 bit = 16 bytes
+/// X+Y have an integrated value, and Z, A, and B have their own values.
+const static uint16_t AXIS_JUNCTION_JERK                 = 0x00A4; // .. 0x00B3
+
+/// Default minimum planner speed: 32 bits = 1 byte
+const static uint16_t MINIMUM_PLANNER_SPEED              = 0x00B4; // .. 0x00B5
 
 /// Reset all data in the EEPROM to a default.
 void setDefaults();

firmware/src/Motherboard/Host.cc

@@ -20,6 +20,7 @@
 #include "Tool.hh"
 #include "Commands.hh"
 #include "Steppers.hh"
+#include "Planner.hh"
 #include "DebugPacketProcessor.hh"
 #include "Timeout.hh"
 #include "Version.hh"
@@ -411,7 +412,7 @@ enum { // bit assignments
 inline void handleExtendedStop(const InPacket& from_host, OutPacket& to_host) {
 	uint8_t flags = from_host.read8(1);
 	if (flags & _BV(ES_STEPPERS)) {
-		steppers::abort();
+		planner::abort();
 	}
 	if (flags & _BV(ES_COMMANDS)) {
 		command::reset();

firmware/src/Motherboard/Main.cc

@@ -24,6 +24,7 @@
 #include <util/atomic.h>
 #include "Timeout.hh"
 #include "Steppers.hh"
+#include "Planner.hh"
 #include "Motherboard.hh"
 #include "SDCard.hh"
 #include "Eeprom.hh"
@@ -33,10 +34,10 @@ void reset(bool hard_reset) {
 	ATOMIC_BLOCK(ATOMIC_FORCEON) {
 		Motherboard& board = Motherboard::getBoard();
 		sdcard::reset();
-		steppers::abort();
 		command::reset();
 		eeprom::init();
-		board.reset();
+		board.reset(); // sets up the steps/mm and such for the planner...
+		planner::abort(); // calls steppers::abort()
 		sei();
 		// If we've just come from a hard reset, wait for 2.5 seconds before
 		// trying to ping an extruder.  This gives the extruder time to boot
@@ -58,6 +59,7 @@ int main() {
 
 	Motherboard& board = Motherboard::getBoard();
 	steppers::init(Motherboard::getBoard());
+	planner::init();
 	reset(true);
 	sei();
 	while (1) {