diff options
| -rw-r--r-- | .cproject | 18 | ||||
| -rw-r--r-- | Maths/trilateration-triple.wxmx | bin | 0 -> 68236 bytes | |||
| -rw-r--r-- | Maths/trilateration.wxmx | bin | 60204 -> 61076 bytes | |||
| -rw-r--r-- | src/CAN/CanInterface.cpp | 8 | ||||
| -rw-r--r-- | src/Configuration.h | 2 | ||||
| -rw-r--r-- | src/GCodes/GCodes2.cpp | 2 | ||||
| -rw-r--r-- | src/Hardware/IoPorts.cpp | 15 | ||||
| -rw-r--r-- | src/Movement/Kinematics/LinearDeltaKinematics.cpp | 48 | ||||
| -rw-r--r-- | src/Movement/Kinematics/LinearDeltaKinematics.h | 2 | ||||
| -rw-r--r-- | src/Movement/Move.cpp | 14 | ||||
| -rw-r--r-- | src/Networking/ESP8266WiFi/WiFiInterface.cpp | 8 | ||||
| -rw-r--r-- | src/Platform.cpp | 23 | ||||
| -rw-r--r-- | src/Platform.h | 2 | ||||
| -rw-r--r-- | src/RepRapFirmware.cpp | 104 | ||||
| -rw-r--r-- | src/RepRapFirmware.h | 9 | ||||
| -rw-r--r-- | src/Tasks.cpp | 57 | ||||
| -rw-r--r-- | src/Version.h | 2 |
17 files changed, 114 insertions, 200 deletions
@@ -57,7 +57,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1692168928" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.1755453550" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/RADDS/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1176271302" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/RADDS/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1176271302" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.706270025" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.1160723414" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/RADDS/}""/> @@ -180,7 +180,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1102044150" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.1402882499" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/SAM4E8E/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1768134875" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/SAM4E8E/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1768134875" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.399544265" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.605414111" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAM4E8E/}""/> @@ -305,7 +305,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.411798791" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.2116733751" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/SAM4S/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1011842834" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/SAM4S/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1011842834" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.91014132" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.2085138159" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAM4S/}""/> @@ -438,7 +438,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1392905935" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.733829747" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/SAME70/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1019421301" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/SAME70/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1019421301" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.1609488418" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.579521002" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAME70/}""/> @@ -570,7 +570,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1448735774" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.886333230" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/SAM4S/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.687537254" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/SAM4S/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.687537254" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.1719677032" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.2028936348" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAM4S_PCCB/}""/> @@ -696,7 +696,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1936542357" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.1577761657" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/SAM4S/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.523461887" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/SAM4S/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.523461887" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.1674515330" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.144825348" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAM4S_PCCB/}""/> @@ -829,7 +829,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.642836635" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.1474356143" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/SAME70/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.8484819" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/SAME70/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.8484819" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.1515694027" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.78806302" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAME70XPLD/}""/> @@ -984,7 +984,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.121136768" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.1125960435" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/SAME70/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.500971768" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/SAME70/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.500971768" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.1767130579" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.788743762" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAME70/}""/> @@ -1116,7 +1116,7 @@ </tool> <tool id="cdt.managedbuild.tool.gnu.cross.c.linker.178696318" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/> <tool id="cdt.managedbuild.tool.gnu.cross.archiver.1343498785" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/> - <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}/SAM4S/cores/arduino/syscalls.o}" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.547420771" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> + <tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} "${workspace_loc:/${CoreName}}/SAM4S/cores/arduino/syscalls.o" ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.547420771" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker"> <option id="gnu.cpp.link.option.nostdlibs.295391099" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/> <option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="gnu.cpp.link.option.paths.93177435" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths"> <listOptionValue builtIn="false" value=""${workspace_loc:/${CoreName}/SAM4S_PCCB/}""/> diff --git a/Maths/trilateration-triple.wxmx b/Maths/trilateration-triple.wxmx Binary files differnew file mode 100644 index 00000000..d76a7bac --- /dev/null +++ b/Maths/trilateration-triple.wxmx diff --git a/Maths/trilateration.wxmx b/Maths/trilateration.wxmx Binary files differindex 3cf85c59..ab6c1e35 100644 --- a/Maths/trilateration.wxmx +++ b/Maths/trilateration.wxmx diff --git a/src/CAN/CanInterface.cpp b/src/CAN/CanInterface.cpp index d0a8e1e0..0cb68195 100644 --- a/src/CAN/CanInterface.cpp +++ b/src/CAN/CanInterface.cpp @@ -80,10 +80,10 @@ void CanInterface::AddMovement(const DDA& dda, const PrepParams& params, size_t move->decelClocks = lrintf(params.decelTime * StepTimer::StepClockRate); move->initialSpeedFraction = params.initialSpeedFraction; move->finalSpeedFraction = params.finalSpeedFraction; - move->hdr.u.deltaDrives = 0; //TODO - move->hdr.u.endStopsToCheck = 0; //TODO - move->hdr.u.pressureAdvanceDrives = 0; //TODO - move->hdr.u.stopAllDrivesOnEndstopHit = false; //TODO + move->deltaDrives = 0; //TODO + move->endStopsToCheck = 0; //TODO + move->pressureAdvanceDrives = 0; //TODO + move->stopAllDrivesOnEndstopHit = false; //TODO // Additional parameters for delta movements move->initialX = params.initialX; move->finalX = params.finalX; diff --git a/src/Configuration.h b/src/Configuration.h index 0c974854..2ccb1ee2 100644 --- a/src/Configuration.h +++ b/src/Configuration.h @@ -314,7 +314,7 @@ constexpr float DefaultIdleCurrentFactor = 0.3; // Proportion of normal motor constexpr float DefaultNonlinearExtrusionLimit = 0.2; // Maximum additional commanded extrusion to compensate for nonlinearity constexpr size_t NumRestorePoints = 6; // Number of restore points, must be at least 3 -constexpr float AxisRoundingError = 0.05; // Maximum possible error when we round trip a machine position to motor coordinates and back +constexpr float AxisRoundingError = 0.02; // Maximum possible error when we round trip a machine position to motor coordinates and back // Triggers constexpr unsigned int MaxTriggers = 16; // Must be <= 32 because we store a bitmap of pending triggers in a uint32_t diff --git a/src/GCodes/GCodes2.cpp b/src/GCodes/GCodes2.cpp index 06e65540..fcb7e432 100644 --- a/src/GCodes/GCodes2.cpp +++ b/src/GCodes/GCodes2.cpp @@ -1611,7 +1611,7 @@ bool GCodes::HandleMcode(GCodeBuffer& gb, const StringRef& reply) String<GCODE_LENGTH> message; gb.GetQuotedString(message.GetRef()); platform.Message(type, message.c_str()); - if (type != HttpMessage && type != TelnetMessage) + if (type != HttpMessage) { platform.Message(type, "\n"); } diff --git a/src/Hardware/IoPorts.cpp b/src/Hardware/IoPorts.cpp index 9484ada0..a56f6b1d 100644 --- a/src/Hardware/IoPorts.cpp +++ b/src/Hardware/IoPorts.cpp @@ -271,8 +271,19 @@ bool IoPort::SetMode(PinAccess access) const AnalogChannelNumber chan = PinToAdcChannel(PinTable[logicalPin].pin); if (chan != NO_ADC) { - AnalogInEnableChannel(chan, access == PinAccess::readAnalog); - analogChannel = (access == PinAccess::readAnalog) ? chan : NO_ADC; + if (access == PinAccess::readAnalog) + { + IoPort::SetPinMode(PinTable[logicalPin].pin, AIN); // SAME70 errata says we must disable the pullup resistor before enabling the AFEC channel + AnalogInEnableChannel(chan, access == PinAccess::readAnalog); + analogChannel = chan; + logicalPinModes[logicalPin] = (int8_t)desiredMode; + return true; + } + else + { + AnalogInEnableChannel(chan, false); + analogChannel = NO_ADC; + } } else if (access == PinAccess::readAnalog) { diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.cpp b/src/Movement/Kinematics/LinearDeltaKinematics.cpp index 431d8a8d..a2c225ac 100644 --- a/src/Movement/Kinematics/LinearDeltaKinematics.cpp +++ b/src/Movement/Kinematics/LinearDeltaKinematics.cpp @@ -62,13 +62,12 @@ void LinearDeltaKinematics::Recalc() Ybc = towerY[DELTA_C_AXIS] - towerY[DELTA_B_AXIS]; Yca = towerY[DELTA_A_AXIS] - towerY[DELTA_C_AXIS]; Yab = towerY[DELTA_B_AXIS] - towerY[DELTA_A_AXIS]; - coreFa = fsquare(towerX[DELTA_A_AXIS]) + fsquare(towerY[DELTA_A_AXIS]); - coreFb = fsquare(towerX[DELTA_B_AXIS]) + fsquare(towerY[DELTA_B_AXIS]); - coreFc = fsquare(towerX[DELTA_C_AXIS]) + fsquare(towerY[DELTA_C_AXIS]); - Q = (Xca * Yab - Xab * Yca) * 2; + + Q = (Xab * towerY[DELTA_C_AXIS] + Xca * towerY[DELTA_B_AXIS] + Xbc * towerY[DELTA_A_AXIS]) * 2; Q2 = fsquare(Q); - // Calculate the base carriage heights when the printer is homed, i.e. the carriages are at the endstops, and the always-reachable height + // Calculate the squares of the diagonals and the base carriage heights when the printer is homed, i.e. the carriages are at the endstops + // Also calculate the always-reachable height alwaysReachableHeight = homedHeight; for (size_t axis = 0; axis < numTowers; ++axis) { @@ -83,6 +82,14 @@ void LinearDeltaKinematics::Recalc() } } + // Calculate coreKa, corrKb and coreKc which are used by the forward transform + const float coreFa = fsquare(towerX[DELTA_A_AXIS]) + fsquare(towerY[DELTA_A_AXIS]); + const float coreFb = fsquare(towerX[DELTA_B_AXIS]) + fsquare(towerY[DELTA_B_AXIS]); + const float coreFc = fsquare(towerX[DELTA_C_AXIS]) + fsquare(towerY[DELTA_C_AXIS]); + coreKa = (D2[DELTA_B_AXIS] - D2[DELTA_C_AXIS]) + (coreFc - coreFb); + coreKb = (D2[DELTA_C_AXIS] - D2[DELTA_A_AXIS]) + (coreFa - coreFc); + coreKc = (D2[DELTA_A_AXIS] - D2[DELTA_B_AXIS]) + (coreFb - coreFa); + printRadiusSquared = fsquare(printRadius); if (reprap.Debug(moduleMove)) @@ -126,26 +133,31 @@ float LinearDeltaKinematics::Transform(const float machinePos[], size_t axis) co // Calculate the Cartesian coordinates from the motor coordinates void LinearDeltaKinematics::ForwardTransform(float Ha, float Hb, float Hc, float machinePos[XYZ_AXES]) const { - const float Fa = coreFa + fsquare(Ha); - const float Fb = coreFb + fsquare(Hb); - const float Fc = coreFc + fsquare(Hc); - - // Calculate PQRSU such that x = -(S - Uz)/Q, y = (P - Rz)/Q - const float P = (Xbc * Fa) + (Xca * Fb) + (Xab * Fc); - const float S = (Ybc * Fa) + (Yca * Fb) + (Yab * Fc); + // Calculate RSUT such that x = (Uz + S)/Q, y = -(Rz + T)/Q const float R = ((Xbc * Ha) + (Xca * Hb) + (Xab * Hc)) * 2; const float U = ((Ybc * Ha) + (Yca * Hb) + (Yab * Hc)) * 2; - const float R2 = fsquare(R), U2 = fsquare(U); + // Note, Ka + Kb + Kc = 0 so we could calculate just two of them + const float Ka = coreKa + (fsquare(Hc) - fsquare(Hb)), + Kb = coreKb + (fsquare(Ha) - fsquare(Hc)), + Kc = coreKc + (fsquare(Hb) - fsquare(Ha)); - const float A = U2 + R2 + Q2; - const float minusHalfB = S * U + P * R + Ha * Q2 + towerX[DELTA_A_AXIS] * U * Q - towerY[DELTA_A_AXIS] * R * Q; - const float C = fsquare(S + towerX[DELTA_A_AXIS] * Q) + fsquare(P - towerY[DELTA_A_AXIS] * Q) + (fsquare(Ha) - D2[DELTA_A_AXIS]) * Q2; + const float S = Ka * towerY[DELTA_A_AXIS] + Kb * towerY[DELTA_B_AXIS] + Kc * towerY[DELTA_C_AXIS]; + const float T = Ka * towerX[DELTA_A_AXIS] + Kb * towerX[DELTA_B_AXIS] + Kc * towerX[DELTA_C_AXIS]; + + const float A = fsquare(U) + fsquare(R) + Q2; + const float minusHalfB = Q2 * Ha + + Q * (U * towerX[DELTA_A_AXIS] - R * towerY[DELTA_A_AXIS]) + - (R * T + U * S); + const float C = fsquare(towerX[DELTA_A_AXIS] * Q - S) + fsquare(towerY[DELTA_A_AXIS] * Q + T) + (fsquare(Ha) - D2[DELTA_A_AXIS]) * Q2; const float z = (minusHalfB - sqrtf(fsquare(minusHalfB) - A * C)) / A; - machinePos[X_AXIS] = (U * z - S) / Q; - machinePos[Y_AXIS] = (P - R * z) / Q; + machinePos[X_AXIS] = (U * z + S) / Q; + machinePos[Y_AXIS] = -(R * z + T) / Q; machinePos[Z_AXIS] = z - ((machinePos[X_AXIS] * xTilt) + (machinePos[Y_AXIS] * yTilt)); + +// debugPrintf("Ha=%f Hb=%f Hc=%f Ka=%f Kb=%f Kc=%f\n", (double)Ha, (double)Hb, (double)Hc, (double)Ka, (double)Kb, (double)Kc); +// debugPrintf("Q=%f R=%f U=%f S=%f T=%f A=%f B=%f C=%f\n", (double)Q, (double)R, (double)U, (double)S, (double)T, (double)A, (double)minusHalfB, (double)C); } // Convert Cartesian coordinates to motor steps diff --git a/src/Movement/Kinematics/LinearDeltaKinematics.h b/src/Movement/Kinematics/LinearDeltaKinematics.h index a3c289c6..1e203d6c 100644 --- a/src/Movement/Kinematics/LinearDeltaKinematics.h +++ b/src/Movement/Kinematics/LinearDeltaKinematics.h @@ -98,7 +98,7 @@ private: float printRadiusSquared; float homedCarriageHeights[MaxTowers]; float Xbc, Xca, Xab, Ybc, Yca, Yab; - float coreFa, coreFb, coreFc; + float coreKa, coreKb, coreKc; float Q, Q2; float D2[MaxTowers]; float alwaysReachableHeight; diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp index 0200cae5..806e2449 100644 --- a/src/Movement/Move.cpp +++ b/src/Movement/Move.cpp @@ -1004,16 +1004,22 @@ void Move::CreateLaserTask() } } -// Wake up the laser task. Call this at the start of a new move from standstill (not from an ISR) +// Wake up the laser task, if there is one (must check!). Call this at the start of a new move from standstill (not from an ISR) void Move::WakeLaserTask() { - laserTask->Give(); + if (laserTask != nullptr) + { + laserTask->Give(); + } } -// Wake up the laser task. Call this at the start of a new move from standstill (not from an ISR) +// Wake up the laser task if there is one (must check!) from an ISR void Move::WakeLaserTaskFromISR() { - laserTask->GiveFromISR(); + if (laserTask != nullptr) + { + laserTask->GiveFromISR(); + } } void Move::LaserTaskRun() diff --git a/src/Networking/ESP8266WiFi/WiFiInterface.cpp b/src/Networking/ESP8266WiFi/WiFiInterface.cpp index 9970d632..299a1268 100644 --- a/src/Networking/ESP8266WiFi/WiFiInterface.cpp +++ b/src/Networking/ESP8266WiFi/WiFiInterface.cpp @@ -1539,10 +1539,10 @@ void WiFiInterface::SetupSpi() #endif // Set up the SPI pins - ConfigurePin(g_APinDescription[APIN_ESP_SPI_SCK]); - ConfigurePin(g_APinDescription[APIN_ESP_SPI_MOSI]); - ConfigurePin(g_APinDescription[APIN_ESP_SPI_MISO]); - ConfigurePin(g_APinDescription[APIN_ESP_SPI_SS0]); + ConfigurePin(APIN_ESP_SPI_SCK); + ConfigurePin(APIN_ESP_SPI_MOSI); + ConfigurePin(APIN_ESP_SPI_MISO); + ConfigurePin(APIN_ESP_SPI_SS0); pmc_enable_periph_clk(ESP_SPI_INTERFACE_ID); spi_dma_disable(); diff --git a/src/Platform.cpp b/src/Platform.cpp index dd10e60b..00931628 100644 --- a/src/Platform.cpp +++ b/src/Platform.cpp @@ -1844,6 +1844,9 @@ void Platform::PrintUniqueId(MessageType mtype) #endif +// Global variable for debugging in tricky situations e.g. within ISRs +int debugLine = 0; + // Return diagnostic information void Platform::Diagnostics(MessageType mtype) { @@ -1854,6 +1857,12 @@ void Platform::Diagnostics(MessageType mtype) Message(mtype, "=== Platform ===\n"); + // Debugging support + if (debugLine != 0) + { + MessageF(mtype, "Debug line %d\n", debugLine); + } + #ifndef __LPC17xx__ // Show the up time and reason for the last reset const uint32_t now = (uint32_t)(millis64()/1000u); // get up time in seconds @@ -1895,7 +1904,7 @@ void Platform::Diagnostics(MessageType mtype) memset(srdBuf, 0, sizeof(srdBuf)); int slot = -1; -#if SAM4E || SAM4S || SAME70 +# if SAM4E || SAM4S || SAME70 // Work around bug in ASF flash library: flash_read_user_signature calls a RAMFUNC without disabling interrupts first. // This caused a crash (watchdog timeout) sometimes if we run M122 while a print is in progress const irqflags_t flags = cpu_irq_save(); @@ -1905,9 +1914,9 @@ void Platform::Diagnostics(MessageType mtype) cpu_irq_restore(flags); if (rc == FLASH_RC_OK) -#else +# else DueFlashStorage::read(SoftwareResetData::nvAddress, srdBuf, sizeof(srdBuf)); -#endif +# endif { // Find the last slot written slot = SoftwareResetData::numberOfSlots; @@ -2034,14 +2043,6 @@ void Platform::Diagnostics(MessageType mtype) MessageF(mtype, "Cache data hit count %" PRIu32 "\n", cacheCount); #endif -// Debug -//MessageF(mtype, "TC_FMR = %08x, PWM_FPE = %08x, PWM_FSR = %08x\n", TC2->TC_FMR, PWM->PWM_FPE, PWM->PWM_FSR); -//MessageF(mtype, "PWM2 period %08x, duty %08x\n", PWM->PWM_CH_NUM[2].PWM_CPRD, PWM->PWM_CH_NUM[2].PWM_CDTY); -//MessageF(mtype, "Shortest/longest times read %.1f/%.1f write %.1f/%.1f ms, %u/%u\n", -// (float)shortestReadWaitTime/1000, (float)longestReadWaitTime/1000, (float)shortestWriteWaitTime/1000, (float)longestWriteWaitTime/1000, -// maxRead, maxWrite); -//longestWriteWaitTime = longestReadWaitTime = 0; shortestReadWaitTime = shortestWriteWaitTime = 1000000; - reprap.Timing(mtype); #ifdef MOVE_DEBUG diff --git a/src/Platform.h b/src/Platform.h index d97efcd1..a0c87b5b 100644 --- a/src/Platform.h +++ b/src/Platform.h @@ -293,7 +293,7 @@ public: GCodeResult DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d); void LogError(ErrorCode e) { errorCodeBits |= (uint32_t)e; } - void SoftwareReset(uint16_t reason, const uint32_t *stk = nullptr) __attribute((noreturn)); + [[noreturn]] void SoftwareReset(uint16_t reason, const uint32_t *stk = nullptr); bool AtxPower() const; void AtxPowerOn(); void AtxPowerOff(bool defer); diff --git a/src/RepRapFirmware.cpp b/src/RepRapFirmware.cpp index 81d693dc..670fd1c1 100644 --- a/src/RepRapFirmware.cpp +++ b/src/RepRapFirmware.cpp @@ -243,110 +243,6 @@ void delay(uint32_t ms) vTaskDelay(ms); } -// String testing - -bool StringEndsWithIgnoreCase(const char* string, const char* ending) -{ - const size_t j = strlen(string); - const size_t k = strlen(ending); - return k <= j && StringEqualsIgnoreCase(&string[j - k], ending); -} - -bool StringEqualsIgnoreCase(const char* s1, const char* s2) -{ - size_t i = 0; - while (s1[i] != 0 && s2[i] != 0) - { - if (tolower(s1[i]) != tolower(s2[i])) - { - return false; - } - i++; - } - - return s1[i] == 0 && s2[i] == 0; -} - -bool StringStartsWith(const char* string, const char* starting) -{ - const size_t j = strlen(string); - const size_t k = strlen(starting); - if (k > j) - { - return false; - } - - for (size_t i = 0; i < k; i++) - { - if (string[i] != starting[i]) - { - return false; - } - } - - return true; -} - -bool StringStartsWithIgnoreCase(const char* string, const char* starting) -{ - const size_t j = strlen(string); - const size_t k = strlen(starting); - if (k > j) - { - return false; - } - - for (size_t i = 0; i < k; i++) - { - if (tolower(string[i]) != tolower(starting[i])) - { - return false; - } - } - - return true; -} - -int StringContains(const char* string, const char* match) -{ - int i = 0; - int count = 0; - - while (string[i] != 0) - { - if (string[i++] == match[count]) - { - count++; - if (match[count] == 0) - { - return i - count; - } - } - else - { - count = 0; - } - } - - return -1; -} - -// Version of strncpy that ensures the result is null terminated -void SafeStrncpy(char *dst, const char *src, size_t length) -{ - strncpy(dst, src, length); - dst[length - 1] = 0; -} - -// Version of strcat that takes the original buffer size as the limit and ensures the result is null terminated -void SafeStrncat(char *dst, const char *src, size_t length) -{ - dst[length - 1] = 0; - const size_t index = strlen(dst); - strncat(dst + index, src, length - index); - dst[length - 1] = 0; -} - // Convert a float to double for passing to printf etc. If it is a NaN or infinity, convert it to 9999.9 to avoid getting JSON parse errors. double HideNan(float val) { diff --git a/src/RepRapFirmware.h b/src/RepRapFirmware.h index 46499017..47223e88 100644 --- a/src/RepRapFirmware.h +++ b/src/RepRapFirmware.h @@ -32,6 +32,7 @@ Licence: GPL #include "Core.h" #include "General/StringRef.h" +#include "General/StringFunctions.h" #include "General/BitMap.h" // Definitions needed by Pins.h and/or Configuration.h @@ -186,14 +187,6 @@ extern "C" void debugPrintf(const char* fmt, ...) __attribute__ ((format (printf // Functions and globals not part of any class void delay(uint32_t ms); -bool StringEndsWithIgnoreCase(const char* string, const char* ending); -bool StringStartsWith(const char* string, const char* starting); -bool StringStartsWithIgnoreCase(const char* string, const char* starting); -bool StringEqualsIgnoreCase(const char* s1, const char* s2); -int StringContains(const char* string, const char* match); -void SafeStrncpy(char *dst, const char *src, size_t length) pre(length != 0); -void SafeStrncat(char *dst, const char *src, size_t length) pre(length != 0); - double HideNan(float val); void ListDrivers(const StringRef& str, DriversBitmap drivers); diff --git a/src/Tasks.cpp b/src/Tasks.cpp index ad8e4be7..90ca715c 100644 --- a/src/Tasks.cpp +++ b/src/Tasks.cpp @@ -125,9 +125,9 @@ extern "C" void AppMain() // Add the FreeRTOS internal tasks to the task list idleTask.AddToList(); -# if configUSE_TIMERS +#if configUSE_TIMERS timerTask.AddToList(); -# endif +#endif // Create the startup task mainTask.Create(MainTask, "MAIN", nullptr, TaskPriority::SpinPriority); @@ -187,7 +187,7 @@ namespace Tasks return neverUsedRam; } - // Write data about the current task (if RTOS) or the system + // Write data about the current task void Diagnostics(MessageType mtype) { Platform& p = reprap.GetPlatform(); @@ -322,14 +322,13 @@ extern "C" // Exception handlers // By default the Usage Fault, Bus Fault and Memory Management fault handlers are not enabled, // so they escalate to a Hard Fault and we don't need to provide separate exception handlers for them. - void hardFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn)); - void hardFaultDispatcher(const uint32_t *pulFaultStackAddress) + [[noreturn]] void hardFaultDispatcher(const uint32_t *pulFaultStackAddress) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5); } // The fault handler implementation calls a function called hardFaultDispatcher() - void HardFault_Handler() __attribute__((naked, noreturn)); + void HardFault_Handler() __attribute__((naked, noreturn)); void HardFault_Handler() { __asm volatile @@ -344,8 +343,7 @@ extern "C" ); } - void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn)); - void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress) + [[noreturn]] void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::wdtFault, pulFaultStackAddress + 5); } @@ -372,8 +370,7 @@ extern "C" ); } - void otherFaultDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn)); - void otherFaultDispatcher(const uint32_t *pulFaultStackAddress) + [[noreturn]] void otherFaultDispatcher(const uint32_t *pulFaultStackAddress) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::otherFault, pulFaultStackAddress + 5); } @@ -402,29 +399,27 @@ extern "C" void DebugMon_Handler () __attribute__ ((noreturn,alias("OtherFault_Handler"))); -// FreeRTOS hooks that we need to provide -void stackOverflowDispatcher(const uint32_t *pulFaultStackAddress, char* pcTaskName) __attribute((noreturn)); -void stackOverflowDispatcher(const uint32_t *pulFaultStackAddress, char* pcTaskName) -{ - reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::stackOverflow, pulFaultStackAddress); -} + // FreeRTOS hooks that we need to provide + [[noreturn]] void stackOverflowDispatcher(const uint32_t *pulFaultStackAddress, char* pcTaskName) + { + reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::stackOverflow, pulFaultStackAddress); + } -void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) __attribute((naked, noreturn)); -void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) -{ - // r0 = pxTask, r1 = pxTaskName - __asm volatile - ( - " push {r0, r1, lr} \n" /* save parameters and call address on the stack */ - " mov r0, sp \n" - " ldr r2, handler_sovf_address_const \n" - " bx r2 \n" - " handler_sovf_address_const: .word stackOverflowDispatcher \n" - ); -} + void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) __attribute((naked, noreturn)); + void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) + { + // r0 = pxTask, r1 = pxTaskName + __asm volatile + ( + " push {r0, r1, lr} \n" /* save parameters and call address on the stack */ + " mov r0, sp \n" + " ldr r2, handler_sovf_address_const \n" + " bx r2 \n" + " handler_sovf_address_const: .word stackOverflowDispatcher \n" + ); + } - void assertCalledDispatcher(const uint32_t *pulFaultStackAddress) __attribute((noreturn)); - void assertCalledDispatcher(const uint32_t *pulFaultStackAddress) + [[noreturn]] void assertCalledDispatcher(const uint32_t *pulFaultStackAddress) { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::assertCalled, pulFaultStackAddress); } diff --git a/src/Version.h b/src/Version.h index 6d14fc4d..708c9550 100644 --- a/src/Version.h +++ b/src/Version.h @@ -15,7 +15,7 @@ #endif #ifndef DATE -# define DATE "2019-07-07b1" +# define DATE "2019-07-14b2" #endif #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman, printm3d" |