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Fix, improve Linear Advance (#24533)

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This commit is contained in:
tombrazier
2022-07-31 03:39:48 +01:00
committed by Scott Lahteine
parent 5dad7e0d03
commit fd319928d2
4 changed files with 304 additions and 350 deletions
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75
Marlin/src/module/stepper.h
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@ -417,10 +417,11 @@ class Stepper {
#if ENABLED(LIN_ADVANCE)
static constexpr uint32_t LA_ADV_NEVER = 0xFFFFFFFF;
static uint32_t nextAdvanceISR, LA_isr_rate;
static uint16_t LA_current_adv_steps, LA_final_adv_steps, LA_max_adv_steps; // Copy from current executed block. Needed because current_block is set to NULL "too early".
static int8_t LA_steps;
static bool LA_use_advance_lead;
static uint32_t nextAdvanceISR,
la_interval; // Interval between ISR calls for LA
static int32_t la_delta_error, // Analogue of delta_error.e for E steps in LA ISR
la_dividend, // Analogue of advance_dividend.e for E steps in LA ISR
la_advance_steps; // Count of steps added to increase nozzle pressure
#endif
#if ENABLED(INTEGRATED_BABYSTEPPING)
@ -475,8 +476,7 @@ class Stepper {
#if ENABLED(LIN_ADVANCE)
// The Linear advance ISR phase
static uint32_t advance_isr();
FORCE_INLINE static void initiateLA() { nextAdvanceISR = 0; }
static void advance_isr();
#endif
#if ENABLED(INTEGRATED_BABYSTEPPING)
@ -512,6 +512,7 @@ class Stepper {
current_block = nullptr;
axis_did_move = 0;
planner.release_current_block();
TERN_(LIN_ADVANCE, la_interval = nextAdvanceISR = LA_ADV_NEVER);
}
// Quickly stop all steppers
@ -631,65 +632,9 @@ class Stepper {
// Set the current position in steps
static void _set_position(const abce_long_t &spos);
FORCE_INLINE static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t *loops) {
uint32_t timer;
// Scale the frequency, as requested by the caller
step_rate <<= oversampling_factor;
uint8_t multistep = 1;
#if DISABLED(DISABLE_MULTI_STEPPING)
// The stepping frequency limits for each multistepping rate
static const uint32_t limit[] PROGMEM = {
( MAX_STEP_ISR_FREQUENCY_1X ),
( MAX_STEP_ISR_FREQUENCY_2X >> 1),
( MAX_STEP_ISR_FREQUENCY_4X >> 2),
( MAX_STEP_ISR_FREQUENCY_8X >> 3),
( MAX_STEP_ISR_FREQUENCY_16X >> 4),
( MAX_STEP_ISR_FREQUENCY_32X >> 5),
( MAX_STEP_ISR_FREQUENCY_64X >> 6),
(MAX_STEP_ISR_FREQUENCY_128X >> 7)
};
// Select the proper multistepping
uint8_t idx = 0;
while (idx < 7 && step_rate > (uint32_t)pgm_read_dword(&limit[idx])) {
step_rate >>= 1;
multistep <<= 1;
++idx;
};
#else
NOMORE(step_rate, uint32_t(MAX_STEP_ISR_FREQUENCY_1X));
#endif
*loops = multistep;
#ifdef CPU_32_BIT
// In case of high-performance processor, it is able to calculate in real-time
timer = uint32_t(STEPPER_TIMER_RATE) / step_rate;
#else
constexpr uint32_t min_step_rate = (F_CPU) / 500000U;
NOLESS(step_rate, min_step_rate);
step_rate -= min_step_rate; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate
const uint8_t tmp_step_rate = (step_rate & 0x00FF);
const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
gain = (uint16_t)pgm_read_word(table_address + 2);
timer = MultiU16X8toH16(tmp_step_rate, gain);
timer = (uint16_t)pgm_read_word(table_address) - timer;
}
else { // lower step rates
uint16_t table_address = (uint16_t)&speed_lookuptable_slow[0][0];
table_address += ((step_rate) >> 1) & 0xFFFC;
timer = (uint16_t)pgm_read_word(table_address)
- (((uint16_t)pgm_read_word(table_address + 2) * (uint8_t)(step_rate & 0x0007)) >> 3);
}
// (there is no need to limit the timer value here. All limits have been
// applied above, and AVR is able to keep up at 30khz Stepping ISR rate)
#endif
return timer;
}
// Calculate timing interval for the given step rate
static uint32_t calc_timer_interval(uint32_t step_rate);
static uint32_t calc_timer_interval(uint32_t step_rate, uint8_t &loops);
#if ENABLED(S_CURVE_ACCELERATION)
static void _calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av);