bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Implement BEZIER_JERK_CONTROL

Browse Source 
Enable 6th-order jerk-controlled motion planning in real-time.
Only for 32bit MCUs. (AVR simply does not have enough processing power for this!)
This commit is contained in:
etagle
2018-04-06 22:48:06 -03:00
committed by Scott Lahteine
parent 5932df7ea1
commit a29adde5c0
10 changed files with 401 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files

28
Marlin/src/module/planner.cpp
View File

@ -229,6 +229,10 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
NOLESS(initial_rate, MINIMAL_STEP_RATE);
NOLESS(final_rate, MINIMAL_STEP_RATE);
#if ENABLED(BEZIER_JERK_CONTROL)
uint32_t cruise_rate = initial_rate;
#endif
const int32_t accel = block->acceleration_steps_per_s2;
// Steps required for acceleration, deceleration to/from nominal rate
@ -246,16 +250,36 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
NOLESS(accelerate_steps, 0); // Check limits due to numerical round-off
accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
plateau_steps = 0;
#if ENABLED(BEZIER_JERK_CONTROL)
// We won't reach the cruising rate. Let's calculate the speed we will reach
cruise_rate = final_speed(initial_rate, accel, accelerate_steps);
#endif
}
#if ENABLED(BEZIER_JERK_CONTROL)
else // We have some plateau time, so the cruise rate will be the nominal rate
cruise_rate = block->nominal_rate;
#endif
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
#if ENABLED(BEZIER_JERK_CONTROL)
// Jerk controlled speed requires to express speed versus time, NOT steps
int32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * HAL_STEPPER_TIMER_RATE,
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * HAL_STEPPER_TIMER_RATE;
#endif
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if (!TEST(block->flag, BLOCK_BIT_BUSY)) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps + plateau_steps;
block->initial_rate = initial_rate;
#if ENABLED(BEZIER_JERK_CONTROL)
block->acceleration_time = acceleration_time;
block->deceleration_time = deceleration_time;
block->cruise_rate = cruise_rate;
#endif
block->final_rate = final_rate;
}
CRITICAL_SECTION_END;
@ -1303,7 +1327,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
}
block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm;
block->acceleration_rate = (long)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE)));
#if DISABLED(BEZIER_JERK_CONTROL)
block->acceleration_rate = (long)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE)));
#endif
#if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) {
block->advance_speed = (HAL_STEPPER_TIMER_RATE) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_mm[E_AXIS_N]);