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Implement BEZIER_JERK_CONTROL

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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
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60
Marlin/src/module/stepper.h
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@ -97,6 +97,15 @@ class Stepper {
static long counter_X, counter_Y, counter_Z, counter_E;
static volatile uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(BEZIER_JERK_CONTROL)
static int32_t bezier_A, // A coefficient in Bézier speed curve
bezier_B, // B coefficient in Bézier speed curve
bezier_C, // C coefficient in Bézier speed curve
bezier_F; // F coefficient in Bézier speed curve
static uint32_t bezier_AV; // AV coefficient in Bézier speed curve
static bool bezier_2nd_half; // If Bézier curve has been initialized or not
#endif
#if ENABLED(LIN_ADVANCE)
static uint32_t LA_decelerate_after; // Copy from current executed block. Needed because current_block is set to NULL "too early".
@ -117,11 +126,13 @@ class Stepper {
#endif // !LIN_ADVANCE
static long acceleration_time, deceleration_time;
static int32_t acceleration_time, deceleration_time;
static uint8_t step_loops, step_loops_nominal;
static hal_timer_t OCR1A_nominal,
acc_step_rate; // needed for deceleration start point
static hal_timer_t OCR1A_nominal;
#if DISABLED(BEZIER_JERK_CONTROL)
static hal_timer_t acc_step_rate; // needed for deceleration start point
#endif
static volatile long endstops_trigsteps[XYZ];
static volatile long endstops_stepsTotal, endstops_stepsDone;
@ -129,7 +140,7 @@ class Stepper {
//
// Positions of stepper motors, in step units
//
static volatile long count_position[NUM_AXIS];
static volatile int32_t count_position[NUM_AXIS];
//
// Current direction of stepper motors (+1 or -1)
@ -349,43 +360,10 @@ class Stepper {
return timer;
}
// Initialize the trapezoid generator from the current block.
// Called whenever a new block begins.
FORCE_INLINE static void trapezoid_generator_reset() {
static int8_t last_extruder = -1;
#if ENABLED(LIN_ADVANCE)
#if E_STEPPERS > 1
if (current_block->active_extruder != last_extruder) {
current_adv_steps = 0; // If the now active extruder wasn't in use during the last move, its pressure is most likely gone.
LA_active_extruder = current_block->active_extruder;
}
#endif
if ((use_advance_lead = current_block->use_advance_lead)) {
LA_decelerate_after = current_block->decelerate_after;
final_adv_steps = current_block->final_adv_steps;
max_adv_steps = current_block->max_adv_steps;
}
#endif
if (current_block->direction_bits != last_direction_bits || current_block->active_extruder != last_extruder) {
last_direction_bits = current_block->direction_bits;
last_extruder = current_block->active_extruder;
set_directions();
}
deceleration_time = 0;
// step_rate to timer interval
OCR1A_nominal = calc_timer_interval(current_block->nominal_rate);
// make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops;
acc_step_rate = current_block->initial_rate;
acceleration_time = calc_timer_interval(acc_step_rate);
_NEXT_ISR(acceleration_time);
}
#if ENABLED(BEZIER_JERK_CONTROL)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t steps);
static int32_t _eval_bezier_curve(const uint32_t curr_step);
#endif
#if HAS_DIGIPOTSS || HAS_MOTOR_CURRENT_PWM
static void digipot_init();