diff options
author | David Crocker <dcrocker@eschertech.com> | 2022-07-19 17:49:16 +0300 |
---|---|---|
committer | David Crocker <dcrocker@eschertech.com> | 2022-07-19 17:49:16 +0300 |
commit | ec894c2d7a27b61348928b9cbfa64c8aa98b34ac (patch) | |
tree | 03e2760af106f34500820985d6374678e8d39a7a | |
parent | 32c87273e85297d2a02764e5454bca53eae57881 (diff) |
Finished implementation of StopDrivers and RevertPosition
-rw-r--r-- | src/CAN/CommandProcessor.cpp | 2 | ||||
-rw-r--r-- | src/Movement/DDA.cpp | 16 | ||||
-rw-r--r-- | src/Movement/DDA.h | 1 | ||||
-rw-r--r-- | src/Movement/DDARing.cpp | 7 | ||||
-rw-r--r-- | src/Movement/DDARing.h | 7 | ||||
-rw-r--r-- | src/Movement/Move.cpp | 1 |
6 files changed, 32 insertions, 2 deletions
diff --git a/src/CAN/CommandProcessor.cpp b/src/CAN/CommandProcessor.cpp index bd8a3137..f7c5ed0a 100644 --- a/src/CAN/CommandProcessor.cpp +++ b/src/CAN/CommandProcessor.cpp @@ -421,7 +421,7 @@ void CommandProcessor::ProcessReceivedMessage(CanMessageBuffer *buf) noexcept # endif case CanMessageType::stopMovement: - reprap.GetMove().StopDrives(buf->msg.stopMovement.whichDrives); + reprap.GetMove().StopDrivers(buf->msg.stopMovement.whichDrives); return; // no reply needed case CanMessageType::revertPosition: diff --git a/src/Movement/DDA.cpp b/src/Movement/DDA.cpp index 7abd7a5c..49aedf3f 100644 --- a/src/Movement/DDA.cpp +++ b/src/Movement/DDA.cpp @@ -876,7 +876,21 @@ bool DDA::InitFromRemote(const CanMessageMovementLinear& msg) noexcept return true; } -#endif +void DDA::StopDrivers(uint16_t whichDrives) noexcept +{ + if (state == executing) + { + for (size_t drive = 0; drive < NumDirectDrivers; ++drive) + { + if (whichDrives & (1u << drive)) + { + StopDrive(drive); + } + } + } +} + +#endif // SUPPORT_REMOTE_COMMANDS // Return true if this move is or might have been intended to be a deceleration-only move // A move planned as a deceleration-only move may have a short acceleration segment at the start because of rounding error diff --git a/src/Movement/DDA.h b/src/Movement/DDA.h index 96a1ab86..f4c2cf8a 100644 --- a/src/Movement/DDA.h +++ b/src/Movement/DDA.h @@ -131,6 +131,7 @@ public: # else bool InitFromRemote(const CanMessageMovementLinear& msg) noexcept; # endif + void StopDrivers(uint16_t whichDrives) noexcept; #endif const int32_t *DriveCoordinates() const noexcept { return endPoint; } // Get endpoints of a move in machine coordinates diff --git a/src/Movement/DDARing.cpp b/src/Movement/DDARing.cpp index 6e5a57d8..9054705b 100644 --- a/src/Movement/DDARing.cpp +++ b/src/Movement/DDARing.cpp @@ -580,6 +580,13 @@ void DDARing::CurrentMoveCompleted() noexcept liveCoordinatesValid = cdda->FetchEndPosition(const_cast<int32_t*>(liveEndPoints), const_cast<float *>(liveCoordinates)); liveCoordinatesChanged = true; +#if SUPPORT_REMOTE_COMMANDS + for (size_t driver = 0; driver < NumDirectDrivers; ++driver) + { + lastMoveStepsTaken[driver] = cdda->GetStepsTaken(driver); + } +#endif + // Disable interrupts before we touch any extrusion accumulators until after we set currentDda to null, in case the filament monitor interrupt has higher priority than ours { AtomicCriticalSectionLocker lock; diff --git a/src/Movement/DDARing.h b/src/Movement/DDARing.h index 46565a66..e0c28685 100644 --- a/src/Movement/DDARing.h +++ b/src/Movement/DDARing.h @@ -95,6 +95,10 @@ public: void StopDrivers(uint16_t whichDrives) noexcept; #endif +#if SUPPORT_REMOTE_COMMANDS + const volatile int32_t *GetLastMoveStepsTaken() const noexcept { return lastMoveStepsTaken; } +#endif + protected: DECLARE_OBJECT_MODEL @@ -128,6 +132,9 @@ private: unsigned int stepErrors; // count of step errors, for diagnostics float simulationTime; // Print time since we started simulating +#if SUPPORT_REMOTE_COMMANDS + volatile int32_t lastMoveStepsTaken[NumDirectDrivers]; // how many steps were taken in the last move we did +#endif volatile int32_t movementAccumulators[MaxAxesPlusExtruders]; // Accumulated motor steps, used by filament monitors volatile uint32_t extrudersPrintingSince; // The milliseconds clock time when extrudersPrinting was set to true diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index 29f42402..81f07e8c 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -1154,6 +1154,7 @@ void Move::RevertPosition(const CanMessageRevertPosition& msg) noexcept size_t index = 0; bool needSteps = false; + const volatile int32_t * const lastMoveStepsTaken = rings[0].GetLastMoveStepsTaken(); for (size_t driver = 0; driver < NumDirectDrivers; ++driver) { int32_t steps = 0; |