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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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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);