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Improve planner & stepper PR #263

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This commit is contained in:
Richard Wackerbarth 2015-12-10 07:05:38 -06:00
parent 58658c9279
commit 7a670e3911
2 changed files with 27 additions and 30 deletions
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9
Marlin/planner.cpp
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@ -227,16 +227,17 @@ void planner_reverse_pass_kernel(block_t* previous, block_t* current, block_t* n
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
// check for maximum allowable speed reductions to ensure maximum possible planned speed. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
if (current->entry_speed != current->max_entry_speed) { float max_entry_speed = current->max_entry_speed;
if (current->entry_speed != max_entry_speed) {
// If nominal length true, max junction speed is guaranteed to be reached. Only compute // If nominal length true, max junction speed is guaranteed to be reached. Only compute
// for max allowable speed if block is decelerating and nominal length is false. // for max allowable speed if block is decelerating and nominal length is false.
if (!current->nominal_length_flag && current->max_entry_speed > next->entry_speed) { if (!current->nominal_length_flag && max_entry_speed > next->entry_speed) {
current->entry_speed = min(current->max_entry_speed, current->entry_speed = min(max_entry_speed,
max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters)); max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
} }
else { else {
current->entry_speed = current->max_entry_speed; current->entry_speed = max_entry_speed;
} }
current->recalculate_flag = true; current->recalculate_flag = true;

48
Marlin/stepper.cpp
View file

@ -68,9 +68,9 @@ volatile static unsigned long step_events_completed; // The number of step event
static long acceleration_time, deceleration_time; static long acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate; //static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deceleration start point static unsigned short acc_step_rate; // needed for deceleration start point
static char step_loops; static uint8_t step_loops;
static uint8_t step_loops_nominal;
static unsigned short OCR1A_nominal; static unsigned short OCR1A_nominal;
static unsigned short step_loops_nominal;
volatile long endstops_trigsteps[3] = { 0 }; volatile long endstops_trigsteps[3] = { 0 };
volatile long endstops_stepsTotal, endstops_stepsDone; volatile long endstops_stepsTotal, endstops_stepsDone;
@ -480,7 +480,8 @@ void st_wake_up() {
FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) { FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer; unsigned short timer;
if (step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
NOMORE(step_rate, MAX_STEP_FREQUENCY);
if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times if (step_rate > 20000) { // If steprate > 20kHz >> step 4 times
step_rate = (step_rate >> 2) & 0x3fff; step_rate = (step_rate >> 2) & 0x3fff;
@ -494,8 +495,8 @@ FORCE_INLINE unsigned short calc_timer(unsigned short step_rate) {
step_loops = 1; step_loops = 1;
} }
if (step_rate < (F_CPU / 500000)) step_rate = (F_CPU / 500000); NOLESS(step_rate, F_CPU / 500000);
step_rate -= (F_CPU / 500000); // Correct for minimal speed step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate if (step_rate >= (8 * 256)) { // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0]; unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate >> 8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff); unsigned char tmp_step_rate = (step_rate & 0x00ff);
@ -699,8 +700,7 @@ ISR(TIMER1_COMPA_vect) {
acc_step_rate += current_block->initial_rate; acc_step_rate += current_block->initial_rate;
// upper limit // upper limit
if (acc_step_rate > current_block->nominal_rate) NOMORE(acc_step_rate, current_block->nominal_rate);
acc_step_rate = current_block->nominal_rate;
// step_rate to timer interval // step_rate to timer interval
timer = calc_timer(acc_step_rate); timer = calc_timer(acc_step_rate);
@ -709,10 +709,9 @@ ISR(TIMER1_COMPA_vect) {
#if ENABLED(ADVANCE) #if ENABLED(ADVANCE)
for (int8_t i = 0; i < step_loops; i++) { advance += advance_rate * step_loops;
advance += advance_rate; //NOLESS(advance, current_block->advance);
}
//if (advance > current_block->advance) advance = current_block->advance;
// Do E steps + advance steps // Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance); e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance);
old_advance = advance >> 8; old_advance = advance >> 8;
@ -722,29 +721,26 @@ ISR(TIMER1_COMPA_vect) {
else if (step_events_completed > (unsigned long)current_block->decelerate_after) { else if (step_events_completed > (unsigned long)current_block->decelerate_after) {
MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate); MultiU24X32toH16(step_rate, deceleration_time, current_block->acceleration_rate);
if (step_rate > acc_step_rate) { // Check step_rate stays positive if (step_rate <= acc_step_rate) { // Still decelerating?
step_rate = current_block->final_rate; step_rate = acc_step_rate - step_rate;
NOLESS(step_rate, current_block->final_rate);
} }
else { else
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
}
// lower limit
if (step_rate < current_block->final_rate)
step_rate = current_block->final_rate; step_rate = current_block->final_rate;
// step_rate to timer interval // step_rate to timer interval
timer = calc_timer(step_rate); timer = calc_timer(step_rate);
OCR1A = timer; OCR1A = timer;
deceleration_time += timer; deceleration_time += timer;
#if ENABLED(ADVANCE) #if ENABLED(ADVANCE)
for (int8_t i = 0; i < step_loops; i++) { advance -= advance_rate * step_loops;
advance -= advance_rate; NOLESS(advance, final_advance);
}
if (advance < final_advance) advance = final_advance;
// Do E steps + advance steps // Do E steps + advance steps
e_steps[current_block->active_extruder] += ((advance >> 8) - old_advance); uint32_t advance_whole = advance >> 8;
old_advance = advance >> 8; e_steps[current_block->active_extruder] += advance_whole - old_advance;
old_advance = advance_whole;
#endif //ADVANCE #endif //ADVANCE
} }
else { else {
@ -1201,7 +1197,7 @@ void digipot_init() {
SPI.begin(); SPI.begin();
pinMode(DIGIPOTSS_PIN, OUTPUT); pinMode(DIGIPOTSS_PIN, OUTPUT);
for (int i = 0; i <= 4; i++) { for (int i = 0; i < COUNT(digipot_motor_current); i++) {
//digitalPotWrite(digipot_ch[i], digipot_motor_current[i]); //digitalPotWrite(digipot_ch[i], digipot_motor_current[i]);
digipot_current(i, digipot_motor_current[i]); digipot_current(i, digipot_motor_current[i]);
} }