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Improve sync of stepper positions

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This commit is contained in:
Scott Lahteine
2018-05-03 17:45:13 -05:00
parent 0c23792344
commit af1950a63e
5 changed files with 103 additions and 55 deletions
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58
Marlin/src/module/planner.cpp
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@ -1382,15 +1382,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
const float esteps_float = de * e_factor[extruder];
const int32_t esteps = abs(esteps_float) + 0.5;
// Calculate the buffer head after we push this byte
const uint8_t next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
while (block_buffer_tail == next_buffer_head) idle();
// Prepare to set up new block
block_t* block = &block_buffer[block_buffer_head];
// Wait for the next available block
uint8_t next_buffer_head;
block_t * const block = get_next_free_block(next_buffer_head);
// Clear all flags, including the "busy" bit
block->flag = 0x00;
@ -2032,6 +2026,26 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
} // _buffer_steps()
/**
* Planner::buffer_sync_block
* Add a block to the buffer that just updates the position
*/
void Planner::buffer_sync_block() {
// Wait for the next available block
uint8_t next_buffer_head;
block_t * const block = get_next_free_block(next_buffer_head);
block->steps[A_AXIS] = position[A_AXIS];
block->steps[B_AXIS] = position[B_AXIS];
block->steps[C_AXIS] = position[C_AXIS];
block->steps[E_AXIS] = position[E_AXIS];
block->flag = BLOCK_FLAG_SYNC_POSITION;
block_buffer_head = next_buffer_head;
stepper.wake_up();
} // buffer_sync_block()
/**
* Planner::buffer_segment
*
@ -2160,19 +2174,19 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
#else
#define _EINDEX E_AXIS
#endif
const int32_t na = position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
nb = position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
nc = position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
#if HAS_POSITION_FLOAT
position_float[X_AXIS] = a;
position_float[Y_AXIS] = b;
position_float[Z_AXIS] = c;
position_float[A_AXIS] = a;
position_float[B_AXIS] = b;
position_float[C_AXIS] = c;
position_float[E_AXIS] = e;
#endif
stepper.set_position(na, nb, nc, ne);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
ZERO(previous_speed);
buffer_sync_block();
}
void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
@ -2220,23 +2234,23 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
#if HAS_POSITION_FLOAT
position_float[axis] = v;
#endif
stepper.set_position(axis, position[axis]);
previous_speed[axis] = 0.0;
buffer_sync_block();
}
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
void Planner::reset_acceleration_rates() {
#if ENABLED(DISTINCT_E_FACTORS)
#define HIGHEST_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
#define AXIS_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
#else
#define HIGHEST_CONDITION true
#define AXIS_CONDITION true
#endif
uint32_t highest_rate = 1;
LOOP_XYZE_N(i) {
max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
if (HIGHEST_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
}
cutoff_long = 4294967295UL / highest_rate;
cutoff_long = 4294967295UL / highest_rate; // 0xFFFFFFFFUL
}
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!