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Merge pull request prusa3d#4766 from gudnimg/remove-sm4_line_xyze_ui
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Remove sm4 line xyze UI
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@3d-gussner
3d-gussner authored Sep 3, 2024
2 parents 83c43fb + aa85696 commit 4e9e20c
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Showing 3 changed files with 4 additions and 120 deletions.
2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -252,7 +252,7 @@ set(FW_SOURCES
SdFatUtil.cpp
SdFile.cpp
SdVolume.cpp
sm4.c
sm4.cpp
sound.cpp
speed_lookuptable.cpp
spi.c
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104 changes: 3 additions & 101 deletions Firmware/sm4.c → Firmware/sm4.cpp
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
//sm4.c - simple 4-axis stepper control

//sm4.cpp - simple 4-axis stepper control
#include "sm4.h"
#include <avr/io.h>
#include <avr/pgmspace.h>
Expand Down Expand Up @@ -49,28 +48,6 @@ sm4_update_pos_cb_t sm4_update_pos_cb = 0;

sm4_calc_delay_cb_t sm4_calc_delay_cb = 0;

uint16_t sm4_cpu_time = 0;


uint8_t sm4_get_dir(uint8_t axis)
{
switch (axis)
{
#if ((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3))
case 0: return (PORTL & 2)?XDIR;
case 1: return (PORTL & 1)?YDIR;
case 2: return (PORTL & 4)?ZDIR;
case 3: return (PORTL & 64)?EDIR;
#elif ((MOTHERBOARD == BOARD_EINSY_1_0a))
case 0: return (PORTL & 1)?XDIR;
case 1: return (PORTL & 2)?YDIR;
case 2: return (PORTL & 4)?ZDIR;
case 3: return (PORTL & 64)?EDIR;
#endif
}
return 0;
}

void sm4_set_dir(uint8_t axis, uint8_t dir)
{
switch (axis)
Expand All @@ -90,30 +67,9 @@ void sm4_set_dir(uint8_t axis, uint8_t dir)
asm("nop");
}

uint8_t sm4_get_dir_bits(void)
{
register uint8_t dir_bits = 0;
register uint8_t portL = PORTL;
//TODO -optimize in asm
#if ((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3))
if (portL & 2) dir_bits |= 1;
if (portL & 1) dir_bits |= 2;
if (portL & 4) dir_bits |= 4;
if (portL & 64) dir_bits |= 8;
dir_bits ^= dir_mask;
#elif ((MOTHERBOARD == BOARD_EINSY_1_0a))
if (portL & 1) dir_bits |= 1;
if (portL & 2) dir_bits |= 2;
if (portL & 4) dir_bits |= 4;
if (portL & 64) dir_bits |= 8;
dir_bits ^= dir_mask;
#endif
return dir_bits;
}

void sm4_set_dir_bits(uint8_t dir_bits)
{
register uint8_t portL = PORTL;
uint8_t portL = PORTL;
portL &= 0xb8; //set direction bits to zero
//TODO -optimize in asm
#if ((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3))
Expand All @@ -139,7 +95,7 @@ void sm4_do_step(uint8_t axes_mask)
#ifdef TMC2130_DEDGE_STEPPING
PINC = (axes_mask & 0x0f); // toggle step signals by mask
#else
register uint8_t portC = PORTC & 0xf0;
uint8_t portC = PORTC & 0xf0;
PORTC = portC | (axes_mask & 0x0f); //set step signals by mask
asm("nop");
PORTC = portC; //set step signals to zero
Expand All @@ -148,60 +104,6 @@ void sm4_do_step(uint8_t axes_mask)
#endif //((MOTHERBOARD == BOARD_RAMBO_MINI_1_0) || (MOTHERBOARD == BOARD_RAMBO_MINI_1_3) || (MOTHERBOARD == BOARD_EINSY_1_0a))
}

uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de)
{
uint16_t dd = (uint16_t)(sqrt((float)(((uint32_t)dx)*dx + ((uint32_t)dy*dy) + ((uint32_t)dz*dz) + ((uint32_t)de*de))) + 0.5);
uint16_t nd = dd;
uint16_t cx = dd;
uint16_t cy = dd;
uint16_t cz = dd;
uint16_t ce = dd;
uint16_t x = 0;
uint16_t y = 0;
uint16_t z = 0;
uint16_t e = 0;
while (nd)
{
if (sm4_stop_cb && (*sm4_stop_cb)()) break;
uint8_t sm = 0; //step mask
if (cx <= dx)
{
sm |= 1;
cx += dd;
x++;
}
if (cy <= dy)
{
sm |= 2;
cy += dd;
y++;
}
if (cz <= dz)
{
sm |= 4;
cz += dd;
z++;
}
if (ce <= de)
{
sm |= 8;
ce += dd;
e++;
}
cx -= dx;
cy -= dy;
cz -= dz;
ce -= de;
sm4_do_step(sm);
uint16_t delay = SM4_DEFDELAY;
if (sm4_calc_delay_cb) delay = (*sm4_calc_delay_cb)(nd, dd);
if (delay) delayMicroseconds(delay);
nd--;
}
if (sm4_update_pos_cb) (*sm4_update_pos_cb)(x, y, z, e);
return nd;
}

uint16_t sm4_line_xyz_ui(uint16_t dx, uint16_t dy, uint16_t dz){
uint16_t dd = (uint16_t)(sqrt((float)(((uint32_t)dx)*dx + ((uint32_t)dy*dy) + ((uint32_t)dz*dz))) + 0.5);
uint16_t nd = dd;
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18 changes: 0 additions & 18 deletions Firmware/sm4.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,12 +5,6 @@
#include <inttypes.h>
#include "config.h"


#if defined(__cplusplus)
extern "C" {
#endif //defined(__cplusplus)


// callback prototype for stop condition (return 0 - continue, return 1 - stop)
typedef uint8_t (*sm4_stop_cb_t)();

Expand All @@ -30,28 +24,16 @@ extern sm4_update_pos_cb_t sm4_update_pos_cb;
// callback pointer - calc_delay
extern sm4_calc_delay_cb_t sm4_calc_delay_cb;


// returns direction for single axis (0 - positive, 1 - negative)
extern uint8_t sm4_get_dir(uint8_t axis);

// set direction for single axis (0 - positive, 1 - negative)
extern void sm4_set_dir(uint8_t axis, uint8_t dir);

// returns direction of all axes as bitmask (0 - positive, 1 - negative)
extern uint8_t sm4_get_dir_bits(void);

// set direction for all axes as bitmask (0 - positive, 1 - negative)
extern void sm4_set_dir_bits(uint8_t dir_bits);

// step axes by bitmask
extern void sm4_do_step(uint8_t axes_mask);

// xyze linear-interpolated relative move, returns remaining diagonal steps (>0 means stoped)
extern uint16_t sm4_line_xyze_ui(uint16_t dx, uint16_t dy, uint16_t dz, uint16_t de);
extern uint16_t sm4_line_xyz_ui(uint16_t dx, uint16_t dy, uint16_t dz);


#if defined(__cplusplus)
}
#endif //defined(__cplusplus)
#endif //_SM4_H

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