Define VERSION in Makefile, other minor changes

diff --git a/Makefile b/Makefile
index 46113311f503a6e331d0617f7134908f0e3784af..ed6910da6746147976d02c6146b04de42857475d 100644 (file)
--- a/Makefile
+++ b/Makefile
@@ -1,7 +1,8 @@
 # Makefile for the project Bulidbotics firmware
-PROJECT         = buildbotics
+PROJECT         = bbctrl-avr-firmware
 MCU             = atxmega192a3u
 CLOCK           = 32000000
+VERSION         = 0.3.1
 
 TARGET  = $(PROJECT).elf
 
@@ -17,7 +18,7 @@ CFLAGS += -Wno-error=strict-aliasing # for _invsqrt
 CFLAGS += -std=gnu99 -DF_CPU=$(CLOCK)UL -O3 #-funroll-loops
 CFLAGS += -funsigned-bitfields -fpack-struct -fshort-enums -funsigned-char
 CFLAGS += -MD -MP -MT $@ -MF build/dep/$(@F).d
-CFLAGS += -Isrc
+CFLAGS += -Isrc -DVERSION=\"$(VERSION)\"
 
 # Linker flags
 LDFLAGS += $(COMMON) -Wl,-u,vfprintf -lprintf_flt -lm
@@ -82,21 +83,17 @@ xboot.elf: $(BOOT_OBJ)
 %.lss: %.elf
        avr-objdump -h -S $< > $@
 
+_size:
+       @for X in A B C; do\
+         echo '****************************************************************' ;\
+         avr-size -$$X --mcu=$(MCU) $(SIZE_TARGET) ;\
+       done
+
 boot-size: xboot.elf
-       @echo '********************************************************************'
-       @avr-size -A --mcu=$(MCU) xboot.elf
-       @echo '********************************************************************'
-       @avr-size -B --mcu=$(MCU) xboot.elf
-       @echo '********************************************************************'
-       @avr-size -C --mcu=$(MCU) xboot.elf
+       @$(MAKE) SIZE_TARGET=$< _size
 
 size: $(TARGET)
-       @echo '********************************************************************'
-       @avr-size -A --mcu=$(MCU) $(TARGET)
-       @echo '********************************************************************'
-       @avr-size -B --mcu=$(MCU) $(TARGET)
-       @echo '********************************************************************'
-       @avr-size -C --mcu=$(MCU) $(TARGET)
+       @$(MAKE) SIZE_TARGET=$< _size
 
 # Program
 init:

diff --git a/src/config.h b/src/config.h
index 8183ad563cc0dc42d6d65712908c1db42d07f5aa..5255a0c28f102dd24b50fc6514b978105cd7d0d4 100644 (file)
--- a/src/config.h
+++ b/src/config.h
@@ -32,9 +32,6 @@
 #include <avr/interrupt.h>
 
 
-#define VERSION "0.3.0"
-
-
 // Pins
 enum {
   STALL_X_PIN = PORT_A << 3,
@@ -111,7 +108,7 @@ enum {
 
 // Motor settings.  See motor.c
 #define MOTOR_MAX_CURRENT        1.0  // 1.0 is full power
-#define MOTOR_MIN_CURRENT        0.15 // 1.0 is full power
+#define MOTOR_MIN_CURRENT        0.25 // 1.0 is full power
 #define MOTOR_IDLE_CURRENT       0.05 // 1.0 is full power
 #define MOTOR_STALL_THRESHOLD    0    // 0 -> 1 is least -> most sensitive
 #define MOTOR_MICROSTEPS         32
@@ -157,7 +154,7 @@ enum {
 //#define STEP_CORRECTION                        // Enable step correction
 #define MAX_STEP_CORRECTION      4             // In steps per segment
 #define CHORDAL_TOLERANCE        0.01          // chordal accuracy for arcs
-#define JERK_MAX                 50            // yes, that's km/min^3
+#define JERK_MAX                 5             // yes, that's km/min^3
 #define JUNCTION_DEVIATION       0.05          // default value, in mm
 #define JUNCTION_ACCELERATION    100000        // centripetal corner accel
 #define JOG_JERK_MULT            4             // Jogging jerk multipler
@@ -165,7 +162,7 @@ enum {
 #define CAL_ACCELERATION         500000        // mm/min^2
 
 // Axis settings
-#define VELOCITY_MAX             10000         // mm/min
+#define VELOCITY_MAX             13000         // mm/min
 #define FEEDRATE_MAX             VELOCITY_MAX
 
 #define X_VELOCITY_MAX           VELOCITY_MAX  // G0 max velocity in mm/min