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BEZIER_JERK_CONTROL => S_CURVE_ACCELERATION

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This commit is contained in:
Scott Lahteine
2018-05-26 02:02:39 -05:00
parent cf7d5a642a
commit aaaf09bda2
74 changed files with 159 additions and 225 deletions
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14
Marlin/src/module/planner.cpp
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@ -232,7 +232,7 @@ void Planner::init() {
delay_before_delivering = 0;
}
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
#ifdef __AVR__
// This routine, for AVR, returns 0x1000000 / d, but trying to get the inverse as
@ -761,7 +761,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE));
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
uint32_t cruise_rate = initial_rate;
#endif
@ -782,12 +782,12 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
accelerate_steps = MIN(uint32_t(MAX(accelerate_steps_float, 0)), block->step_event_count);
plateau_steps = 0;
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
// 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)
#if ENABLED(S_CURVE_ACCELERATION)
else // We have some plateau time, so the cruise rate will be the nominal rate
cruise_rate = block->nominal_rate;
#endif
@ -795,7 +795,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
// Jerk controlled speed requires to express speed versus time, NOT steps
uint32_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);
@ -815,7 +815,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps + plateau_steps;
block->initial_rate = initial_rate;
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
block->acceleration_time = acceleration_time;
block->deceleration_time = deceleration_time;
block->acceleration_time_inverse = acceleration_time_inverse;
@ -2136,7 +2136,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
}
block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm;
#if DISABLED(BEZIER_JERK_CONTROL)
#if DISABLED(S_CURVE_ACCELERATION)
block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE)));
#endif
#if ENABLED(LIN_ADVANCE)

4
Marlin/src/module/planner.h
View File

@ -115,7 +115,7 @@ typedef struct {
uint32_t accelerate_until, // The index of the step event on which to stop acceleration
decelerate_after; // The index of the step event on which to start decelerating
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
uint32_t cruise_rate; // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase
uint32_t acceleration_time, // Acceleration time and deceleration time in STEP timer counts
deceleration_time;
@ -782,7 +782,7 @@ class Planner {
return target_velocity_sqr - 2 * accel * distance;
}
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
/**
* Calculate the speed reached given initial speed, acceleration and distance
*/

16
Marlin/src/module/stepper.cpp
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@ -118,7 +118,7 @@ int32_t Stepper::counter_X = 0,
uint32_t Stepper::step_events_completed = 0; // The number of step events executed in the current block
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
int32_t __attribute__((used)) Stepper::bezier_A __asm__("bezier_A"); // A coefficient in Bézier speed curve with alias for assembler
int32_t __attribute__((used)) Stepper::bezier_B __asm__("bezier_B"); // B coefficient in Bézier speed curve with alias for assembler
int32_t __attribute__((used)) Stepper::bezier_C __asm__("bezier_C"); // C coefficient in Bézier speed curve with alias for assembler
@ -168,7 +168,7 @@ volatile signed char Stepper::count_direction[NUM_AXIS] = { 1, 1, 1, 1 };
uint32_t Stepper::ticks_nominal;
uint8_t Stepper::step_loops, Stepper::step_loops_nominal;
#if DISABLED(BEZIER_JERK_CONTROL)
#if DISABLED(S_CURVE_ACCELERATION)
uint32_t Stepper::acc_step_rate; // needed for deceleration start point
#endif
@ -318,7 +318,7 @@ void Stepper::set_directions() {
#endif // !LIN_ADVANCE
}
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
/**
* We are using a quintic (fifth-degree) Bézier polynomial for the velocity curve.
* This gives us a "linear pop" velocity curve; with pop being the sixth derivative of position:
@ -1122,7 +1122,7 @@ void Stepper::set_directions() {
#endif
}
#endif
#endif // BEZIER_JERK_CONTROL
#endif // S_CURVE_ACCELERATION
/**
* Stepper Driver Interrupt
@ -1497,7 +1497,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
// Calculate new timer value
if (step_events_completed <= current_block->accelerate_until) {
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
// Get the next speed to use (Jerk limited!)
uint32_t acc_step_rate =
acceleration_time < current_block->acceleration_time
@ -1528,7 +1528,7 @@ uint32_t Stepper::stepper_block_phase_isr() {
else if (step_events_completed > current_block->decelerate_after) {
uint32_t step_rate;
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
// If this is the 1st time we process the 2nd half of the trapezoid...
if (!bezier_2nd_half) {
// Initialize the Bézier speed curve
@ -1726,12 +1726,12 @@ uint32_t Stepper::stepper_block_phase_isr() {
// make a note of the number of step loops required at nominal speed
step_loops_nominal = step_loops;
#if DISABLED(BEZIER_JERK_CONTROL)
#if DISABLED(S_CURVE_ACCELERATION)
// Set as deceleration point the initial rate of the block
acc_step_rate = current_block->initial_rate;
#endif
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
// Initialize the Bézier speed curve
_calc_bezier_curve_coeffs(current_block->initial_rate, current_block->cruise_rate, current_block->acceleration_time_inverse);

6
Marlin/src/module/stepper.h
View File

@ -94,7 +94,7 @@ class Stepper {
static int32_t counter_X, counter_Y, counter_Z, counter_E;
static uint32_t step_events_completed; // The number of step events executed in the current block
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
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
@ -128,7 +128,7 @@ class Stepper {
static uint8_t step_loops, step_loops_nominal;
static uint32_t ticks_nominal;
#if DISABLED(BEZIER_JERK_CONTROL)
#if DISABLED(S_CURVE_ACCELERATION)
static uint32_t acc_step_rate; // needed for deceleration start point
#endif
@ -333,7 +333,7 @@ class Stepper {
return timer;
}
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);
static int32_t _eval_bezier_curve(const uint32_t curr_step);
#endif