Buffer overflow bug fix and related changes

diff --git a/avr/src/axis.c b/avr/src/axis.c
index 6b8f63ab3d6dd2a2fc13d79054765ac67fcd144a..8953882b4a226d132b9ec2b7d08e473aeb3a2494 100644 (file)
--- a/avr/src/axis.c
+++ b/avr/src/axis.c
@@ -43,7 +43,7 @@ typedef struct {
   float travel_max;      // max work envelope for soft limits
   float travel_min;      // min work envelope for soft limits
   float jerk_max;        // max jerk (Jm) in km/min^3
-  float recip_jerk;      // reciprocal of current jerk in min^3/mm
+  float recip_jerk;      // reciprocal of current jerk in min^3/km
   float radius;          // radius in mm for rotary axes
   float search_velocity; // homing search velocity
   float latch_velocity;  // homing latch velocity
@@ -143,7 +143,7 @@ AXIS_GET(jerk_max, float, 0)
 /// Sets jerk and its reciprocal for axis
 void axis_set_jerk_max(int axis, float jerk) {
   axes[axis].jerk_max = jerk;
-  axes[axis].recip_jerk = 1 / (jerk * JERK_MULTIPLIER);
+  axes[axis].recip_jerk = 1.0 / jerk;
 }
 
 

diff --git a/avr/src/plan/exec.c b/avr/src/plan/exec.c
index 281427548721e01f705883c375110d11dcb09ccd..ec1cff334609bf4fb20e32c9c67f07174832082a 100644 (file)
--- a/avr/src/plan/exec.c
+++ b/avr/src/plan/exec.c
@@ -87,7 +87,7 @@ static stat_t _exec_aline_section(float length, float Vi, float Vt) {
 
     // len / avg. velocity
     const float move_time = 2 * length / (Vi + Vt); // in mins
-    const float segments = round(move_time / SEGMENT_TIME);
+    const float segments = ceil(move_time / SEGMENT_TIME);
     ex.segment_count = segments;
     ex.segment_time = move_time / segments; // in mins
     ex.segment = 0;

diff --git a/avr/src/plan/line.c b/avr/src/plan/line.c
index 2156e76ad2007e380f40268c82c510ed6fc3fff7..8cb845d87eb9c4c7fd3a7cc96cbce2dbb983afb3 100644 (file)
--- a/avr/src/plan/line.c
+++ b/avr/src/plan/line.c
@@ -200,7 +200,7 @@ int mp_find_jerk_axis(const float axis_square[]) {
   for (int axis = 0; axis < AXES; axis++)
     if (axis_square[axis]) { // Do not use fp_ZERO here
       // Squaring axis_length ensures it's positive
-      C = axis_square[axis] * axis_get_recip_jerk(axis);
+      C = axis_square[axis] / axis_get_jerk_max(axis);
 
       if (maxC < C) {
         maxC = C;
@@ -216,6 +216,8 @@ int mp_find_jerk_axis(const float axis_square[]) {
 static float _calc_jerk(const float axis_square[], const float unit[]) {
   int axis = mp_find_jerk_axis(axis_square);
 
+  ASSERT(isfinite(unit[axis]) && unit[axis]);
+
   // Finally, the selected jerk term needs to be scaled by the
   // reciprocal of the absolute value of the axis's unit
   // vector term.  This way when the move is finally decomposed into

diff --git a/avr/src/plan/planner.c b/avr/src/plan/planner.c
index ac2ca10b0dc8ff43344efde541e38c0ab3dc9b55..d8da7d9a85579cb643fe6a263bc54a71e23a45b8 100644 (file)
--- a/avr/src/plan/planner.c
+++ b/avr/src/plan/planner.c
@@ -239,7 +239,7 @@ void mp_calculate_trapezoid(mp_buffer_t *bf) {
   float naive_move_time =
     2 * bf->length / (bf->entry_velocity + bf->exit_velocity); // average
 
-  if (naive_move_time < SEGMENT_TIME) {
+  if (isfinite(naive_move_time) && naive_move_time < SEGMENT_TIME) {
     bf->cruise_velocity = bf->length / SEGMENT_TIME;
     bf->exit_velocity =
       max(0, min(bf->cruise_velocity, (bf->entry_velocity - bf->delta_vmax)));
@@ -252,7 +252,7 @@ void mp_calculate_trapezoid(mp_buffer_t *bf) {
   }
 
   // B" case: Block is short, but fits into a single body segment
-  if (naive_move_time <= SEGMENT_TIME) {
+  if (isfinite(naive_move_time) && naive_move_time <= SEGMENT_TIME) {
     bf->entry_velocity = mp_buffer_prev(bf)->exit_velocity;
 
     if (!fp_ZERO(bf->entry_velocity)) {
@@ -385,8 +385,9 @@ void mp_calculate_trapezoid(mp_buffer_t *bf) {
 
       } else break;
 
-    } while ((fabs(bf->cruise_velocity - computed_velocity) /
-              computed_velocity) > TRAPEZOID_ITERATION_ERROR_PERCENT);
+    } while (TRAPEZOID_ITERATION_ERROR_PERCENT <
+             (fabs(bf->cruise_velocity - computed_velocity) /
+              computed_velocity));
 
     // set velocity and clean up any parts that are too short
     bf->cruise_velocity = computed_velocity;
@@ -435,15 +436,21 @@ void mp_calculate_trapezoid(mp_buffer_t *bf) {
 
 #if 0
 void mp_print_buffer(mp_buffer_t *bp) {
-    printf_P(PSTR("{\"msg\":\"%d,0x%04lx,"
-                  "%0.2f,%0.2f,%0.2f,%0.2f,"
-                  "%0.2f,%0.2f,%0.2f,%0.2f,"
-                  "%0.2f,%0.2f,%0.2f\"}\n"),
-             bp->flags & BUFFER_REPLANNABLE, (intptr_t)bp->cb,
-             bp->length, bp->head_length, bp->body_length, bp->tail_length,
-             bp->entry_velocity, bp->cruise_velocity, bp->exit_velocity,
-             bp->braking_velocity,
-             bp->entry_vmax, bp->cruise_vmax, bp->exit_vmax);
+  printf_P(PSTR("{\"msg\":\""));
+  printf_P(PSTR("%d,"), bp->flags & BUFFER_REPLANNABLE);
+  printf_P(PSTR("0x%04lx,"), (intptr_t)bp->cb);
+  printf_P(PSTR("%0.2f,"), bp->length);
+  printf_P(PSTR("%0.2f,"), bp->head_length);
+  printf_P(PSTR("%0.2f,"), bp->body_length);
+  printf_P(PSTR("%0.2f,"), bp->tail_length);
+  printf_P(PSTR("%0.2f,"), bp->entry_velocity);
+  printf_P(PSTR("%0.2f,"), bp->cruise_velocity);
+  printf_P(PSTR("%0.2f,"), bp->exit_velocity);
+  printf_P(PSTR("%0.2f,"), bp->braking_velocity);
+  printf_P(PSTR("%0.2f,"), bp->entry_vmax);
+  printf_P(PSTR("%0.2f,"), bp->cruise_vmax);
+  printf_P(PSTR("%0.2f"), bp->exit_vmax);
+  printf_P(PSTR("\"}\n"));
 
   while (!usart_tx_empty()) continue;
 }

diff --git a/avr/src/plan/planner.h b/avr/src/plan/planner.h
index 60c7476b879817b82baea67f88525e1328e58ceb..bdc2c35e3dcaa77a717d9b106c2a2f8594c04514 100644 (file)
--- a/avr/src/plan/planner.h
+++ b/avr/src/plan/planner.h
@@ -75,6 +75,8 @@ void mp_set_plan_steps(bool plan_steps);
 void mp_flush_planner();
 void mp_kinematics(const float travel[], float steps[]);
 
+void mp_print_buffer(mp_buffer_t *bp);
+
 void mp_plan(mp_buffer_t *bf);
 void mp_replan_all();
 

diff --git a/avr/src/vars.c b/avr/src/vars.c
index 70d676277f0be20792013c46f0e5ce493ce26d2c..815bcc1a47a9da2d32ad63df5200f1c531c46b5d 100644 (file)
--- a/avr/src/vars.c
+++ b/avr/src/vars.c
@@ -312,8 +312,9 @@ static char *_resolve_name(const char *_name) {
 
   if (!len || 4 < len) return 0;
 
-  static char name[4];
-  strcpy(name, _name);
+  static char name[5];
+  strncpy(name, _name, 4);
+  name[4] = 0;
 
   // Handle axis to motor mapping
   if (2 < len && name[1] == '.') {

diff --git a/src/js/main.js b/src/js/main.js
index c2b5de9d0f9ad56fb05560243b609a0dcff25396..eca6d06cd4e90dc4b6d3585565cd675da74a7af0 100644 (file)
--- a/src/js/main.js
+++ b/src/js/main.js
@@ -15,7 +15,7 @@ $(function() {
 
   Vue.filter('fixed', function (value, precision) {
     if (typeof value == 'undefined') return '';
-    return value.toFixed(precision)
+    return parseFloat(value).toFixed(precision)
   });
 
   Vue.filter('upper', function (value) {