Cleanup, check NOM_SEGMENT_USEC <= MAX_SEGMENT_TIME

diff --git a/src/config.h b/src/config.h
index 4e810cf3b16a79629bef07cc2489d4739e898870..3d5a2bdb91a9ee40555fd137b0a8f5b2b7bb3f25 100644 (file)
--- a/src/config.h
+++ b/src/config.h
@@ -295,38 +295,39 @@ typedef enum {
  */
 
 // Timer assignments - see specific modules for details
-#define TIMER_STEP           TCC0 // Step timer    (see stepper.h)
-#define TIMER_TMC2660        TCC1 // TMC2660 timer (see tmc2660.h)
-#define TIMER_PWM            TCD1 // PWM timer     (see pwm_spindle.c)
+#define TIMER_STEP             TCC0 // Step timer    (see stepper.h)
+#define TIMER_TMC2660          TCC1 // TMC2660 timer (see tmc2660.h)
+#define TIMER_PWM              TCD1 // PWM timer     (see pwm_spindle.c)
 
-#define M1_TIMER             TCE1
-#define M2_TIMER             TCF0
-#define M3_TIMER             TCE0
-#define M4_TIMER             TCD0
+#define M1_TIMER               TCE1
+#define M2_TIMER               TCF0
+#define M3_TIMER               TCE0
+#define M4_TIMER               TCD0
 
-#define M1_DMA_CH            DMA.CH0
-#define M2_DMA_CH            DMA.CH1
-#define M3_DMA_CH            DMA.CH2
-#define M4_DMA_CH            DMA.CH3
+#define M1_DMA_CH              DMA.CH0
+#define M2_DMA_CH              DMA.CH1
+#define M3_DMA_CH              DMA.CH2
+#define M4_DMA_CH              DMA.CH3
 
-#define M1_DMA_TRIGGER       DMA_CH_TRIGSRC_TCE1_CCA_gc
-#define M2_DMA_TRIGGER       DMA_CH_TRIGSRC_TCF0_CCA_gc
-#define M3_DMA_TRIGGER       DMA_CH_TRIGSRC_TCE0_CCA_gc
-#define M4_DMA_TRIGGER       DMA_CH_TRIGSRC_TCD0_CCA_gc
+#define M1_DMA_TRIGGER         DMA_CH_TRIGSRC_TCE1_CCA_gc
+#define M2_DMA_TRIGGER         DMA_CH_TRIGSRC_TCF0_CCA_gc
+#define M3_DMA_TRIGGER         DMA_CH_TRIGSRC_TCE0_CCA_gc
+#define M4_DMA_TRIGGER         DMA_CH_TRIGSRC_TCD0_CCA_gc
 
 
 // Timer setup for stepper and dwells
-#define STEP_TIMER_DISABLE   0
-#define STEP_TIMER_ENABLE    TC_CLKSEL_DIV4_gc
-#define STEP_TIMER_DIV       4
-#define STEP_TIMER_FREQ      (F_CPU / STEP_TIMER_DIV)
-#define STEP_TIMER_POLL      (STEP_TIMER_FREQ * 0.001)
-#define STEP_TIMER_WGMODE    TC_WGMODE_NORMAL_gc // count to TOP & rollover
-#define STEP_TIMER_ISR       TCC0_OVF_vect
-#define STEP_TIMER_INTLVL    TC_OVFINTLVL_HI_gc
-
-#define SEG_MIN_TIME         EPSILON
-#define SEG_MAX_TIME         ((float)0xffff / 60.0 / STEP_TIMER_FREQ)
+#define STEP_TIMER_DISABLE     0
+#define STEP_TIMER_ENABLE      TC_CLKSEL_DIV4_gc
+#define STEP_TIMER_DIV         4
+#define STEP_TIMER_FREQ        (F_CPU / STEP_TIMER_DIV)
+#define STEP_TIMER_POLL        (STEP_TIMER_FREQ * 0.001)
+#define STEP_TIMER_WGMODE      TC_WGMODE_NORMAL_gc // count to TOP & rollover
+#define STEP_TIMER_ISR         TCC0_OVF_vect
+#define STEP_TIMER_INTLVL      TC_OVFINTLVL_HI_gc
+
+#define MAX_SEGMENT_TIME       ((float)0xffff / 60.0 / STEP_TIMER_FREQ)
+#define NOM_SEGMENT_USEC       5000.0 // nominal segment time
+#define MIN_SEGMENT_USEC       2500.0 // minimum segment time
 
 
 // TMC2660 driver settings

diff --git a/src/messages.def b/src/messages.def
index 26059a2a85c19a5648d5b60cea152c3a23c40fd0..a3e4b339355eaef93e5849ea25a83e076ffc26a1 100644 (file)
--- a/src/messages.def
+++ b/src/messages.def
@@ -44,10 +44,10 @@ STAT_MSG(MOTOR_OVERTEMP_WARN, "Motor over temperature warning")
 STAT_MSG(MOTOR_OVERTEMP, "Motor over temperature")
 STAT_MSG(MOTOR_SHORTED, "Motor shorted")
 
-STAT_MSG(PREP_LINE_MOVE_TIME_IS_INFINITE, "Move time is infinite")
-STAT_MSG(PREP_LINE_MOVE_TIME_IS_NAN, "Move time is NAN")
-STAT_MSG(MOVE_TARGET_IS_INFINITE, "Move target is infinite")
-STAT_MSG(MOVE_TARGET_IS_NAN, "Move target is NAN")
+STAT_MSG(PREP_LINE_MOVE_TIME_INFINITE, "Move time is infinite")
+STAT_MSG(PREP_LINE_MOVE_TIME_NAN, "Move time is NAN")
+STAT_MSG(MOVE_TARGET_INFINITE, "Move target is infinite")
+STAT_MSG(MOVE_TARGET_NAN, "Move target is NAN")
 STAT_MSG(EXCESSIVE_MOVE_ERROR, "Excessive move error")
 
 STAT_MSG(ESTOP_USER, "User triggered EStop")
@@ -83,6 +83,7 @@ STAT_MSG(P_WORD_IS_NOT_A_POSITIVE_INTEGER, "P word is not a positive integer")
 // Errors and warnings
 STAT_MSG(MINIMUM_LENGTH_MOVE, "Move less than minimum length")
 STAT_MSG(MINIMUM_TIME_MOVE, "Move less than minimum time")
+STAT_MSG(MAXIMUM_TIME_MOVE, "Move greater than maximum time")
 STAT_MSG(MACHINE_ALARMED, "Machine alarmed - Command not processed")
 STAT_MSG(LIMIT_SWITCH_HIT, "Limit switch hit - Shutdown occurred")
 STAT_MSG(SOFT_LIMIT_EXCEEDED, "Soft limit exceeded")

diff --git a/src/motor.c b/src/motor.c
index 627153030b0df97f81caa7039f78e5b9564e4ffd..78d90ab8982b83e3d7d7232c829c7ddb83869011 100644 (file)
--- a/src/motor.c
+++ b/src/motor.c
@@ -400,8 +400,8 @@ stat_t motor_prep_move(int motor, int32_t clocks, float target, int32_t error) {
   // Validate input
   if (motor < 0 || MOTORS < motor) return ALARM(STAT_INTERNAL_ERROR);
   if (clocks < 0)    return ALARM(STAT_INTERNAL_ERROR);
-  if (isinf(target)) return ALARM(STAT_MOVE_TARGET_IS_INFINITE);
-  if (isnan(target)) return ALARM(STAT_MOVE_TARGET_IS_NAN);
+  if (isinf(target)) return ALARM(STAT_MOVE_TARGET_INFINITE);
+  if (isnan(target)) return ALARM(STAT_MOVE_TARGET_NAN);
 
   // Compute error correction
 #if 0

diff --git a/src/plan/exec.c b/src/plan/exec.c
index 50a5af588142b5b17880e229b89152079176d826..394824578aff396adcee94553d85a6d468cd2ad6 100644 (file)
--- a/src/plan/exec.c
+++ b/src/plan/exec.c
@@ -264,7 +264,7 @@ static stat_t _exec_aline_section(float length, float vin, float vout) {
 
     // len / avg. velocity
     float move_time = 2 * length / (vin + vout);
-    ex.segments = ceil(move_time * MICROSECONDS_PER_MINUTE / NOM_SEGMENT_USEC);
+    ex.segments = ceil(move_time / NOM_SEGMENT_TIME);
     ex.segment_time = move_time / ex.segments;
     ex.segment_count = (uint32_t)ex.segments;
 

diff --git a/src/plan/planner.c b/src/plan/planner.c
index 0219b2bef7ab0777fc6f4d7068b7140b27660cc7..1e77ff717f42db15ec93bdc37242553dc09ddeca 100644 (file)
--- a/src/plan/planner.c
+++ b/src/plan/planner.c
@@ -80,7 +80,12 @@ typedef struct {
 static planner_t mp = {{0}};
 
 
-void mp_init() {mp_queue_init();}
+void mp_init() {
+  // Nominal segment time cannot be longer than maximum
+  if (MAX_SEGMENT_TIME < NOM_SEGMENT_USEC) ALARM(STAT_INTERNAL_ERROR);
+
+  mp_queue_init();
+}
 
 
 /// Set planner position for a single axis

diff --git a/src/plan/planner.h b/src/plan/planner.h
index ffed535409b7d2cb9145cf3dc66c3f3e98e4e1c4..e205712435320d35a37c68bc18a73574de7cad95 100644 (file)
--- a/src/plan/planner.h
+++ b/src/plan/planner.h
@@ -33,6 +33,7 @@
 #include "machine.h" // used for gcode_state_t
 #include "buffer.h"
 #include "util.h"
+#include "config.h"
 
 #include <stdbool.h>
 
@@ -42,25 +43,15 @@
 #define JERK_MULTIPLIER         1000000.0
 #define JERK_MATCH_PRECISION    1000.0 // jerk precision to be considered same
 
-#define NOM_SEGMENT_USEC        5000.0  // nominal segment time
-#define MIN_SEGMENT_USEC        2500.0  // minimum segment time
-
 #define NOM_SEGMENT_TIME        (NOM_SEGMENT_USEC / MICROSECONDS_PER_MINUTE)
 #define MIN_SEGMENT_TIME        (MIN_SEGMENT_USEC / MICROSECONDS_PER_MINUTE)
 
 #define MIN_SEGMENT_TIME_PLUS_MARGIN \
   ((MIN_SEGMENT_USEC + 1) / MICROSECONDS_PER_MINUTE)
 
-/// Max iterations for convergence in the HT asymmetric case.
-#define TRAPEZOID_ITERATION_MAX             10
-
 /// Error percentage for iteration convergence. As percent - 0.01 = 1%
 #define TRAPEZOID_ITERATION_ERROR_PERCENT   0.1
 
-/// Tolerance for "exact fit" for H and T cases
-/// allowable mm of error in planning phase
-#define TRAPEZOID_LENGTH_FIT_TOLERANCE      0.0001
-
 /// Adaptive velocity tolerance term
 #define TRAPEZOID_VELOCITY_TOLERANCE        (max(2, bf->entry_velocity / 100))
 
@@ -71,6 +62,7 @@
  */
 #define HOLD_DECELERATION_TOLERANCE 1 // In mm
 
+
 typedef enum {
   SECTION_HEAD,           // acceleration
   SECTION_BODY,           // cruise

diff --git a/src/plan/runtime.c b/src/plan/runtime.c
index 8220a6e1cf3d1af06e58c3dc88f000d4cca8a976..b4065892cf810c8f4f6cfdd61ecf0b38fb294c33 100644 (file)
--- a/src/plan/runtime.c
+++ b/src/plan/runtime.c
@@ -199,7 +199,7 @@ stat_t mp_runtime_move_to_target(float target[], float time) {
   if (!fp_ZERO(old_length_sqr)) {
     float new_time = time * sqrt(new_length_sqr / old_length_sqr);
 
-    if (SEG_MIN_TIME <= new_time && new_time <= SEG_MAX_TIME) {
+    if (EPSILON <= new_time && new_time <= MAX_SEGMENT_TIME) {
       time = new_time;
       use_error = true;
     }

diff --git a/src/stepper.c b/src/stepper.c
index da31d7ef5e764d47d2c27781b067e486a206f651..488e6674b1854eeb5fffed491f7accbf04bba9aa 100644 (file)
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -196,10 +196,11 @@ ISR(STEP_TIMER_ISR) {
  */
 stat_t st_prep_line(float time, const float target[], const int32_t error[]) {
   // Trap conditions that would prevent queueing the line
-  if (st.move_ready)  return ALARM(STAT_INTERNAL_ERROR);
-  if (isinf(time))    return ALARM(STAT_PREP_LINE_MOVE_TIME_IS_INFINITE);
-  if (isnan(time))    return ALARM(STAT_PREP_LINE_MOVE_TIME_IS_NAN);
-  if (time < EPSILON) return ALARM(STAT_MINIMUM_TIME_MOVE);
+  if (st.move_ready)           return ALARM(STAT_INTERNAL_ERROR);
+  if (isinf(time))             return ALARM(STAT_PREP_LINE_MOVE_TIME_INFINITE);
+  if (isnan(time))             return ALARM(STAT_PREP_LINE_MOVE_TIME_NAN);
+  if (time < EPSILON)          return ALARM(STAT_MINIMUM_TIME_MOVE);
+  if (MAX_SEGMENT_TIME < time) return ALARM(STAT_MAXIMUM_TIME_MOVE);
 
   // Setup segment parameters
   st.move_type = MOVE_TYPE_ALINE;