From 805d37f77b25fba70c05518cda4edd1c349b7f04 Mon Sep 17 00:00:00 2001
From: Erik van der Zalm <erik@vdzalm.eu>
Date: Tue, 15 Nov 2011 18:14:00 +0100
Subject: [PATCH] Fixed some small planner bugs
---
Marlin/Configuration.h | 5 +++--
Marlin/planner.cpp | 15 ++++++++++-----
Marlin/planner.h | 20 ++++++++++----------
Marlin/stepper.cpp | 2 +-
4 files changed, 24 insertions(+), 18 deletions(-)
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 135b61e0135..3b0cfacfebc 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -11,7 +11,8 @@
// Frequency limit
// See nophead's blog for more info
-#define XY_FREQUENCY_LIMIT 15
+// Not working OK
+//#define XY_FREQUENCY_LIMIT 15
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
@@ -201,7 +202,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
#define AXIS_RELATIVE_MODES {false, false, false, false}
-#define MAX_STEP_FREQUENCY 40000L // Max step frequency for Ultimaker (5000 pps / half step)
+#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
// default settings
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index a3dde6c3121..c27d5860176 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -72,7 +72,7 @@
unsigned long minsegmenttime;
float max_feedrate[4]; // set the max speeds
float axis_steps_per_unit[4];
-long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
+unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
float minimumfeedrate;
float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
@@ -153,8 +153,8 @@ inline float intersection_distance(float initial_rate, float final_rate, float a
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
- long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
- long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
+ unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
+ unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
// Limit minimal step rate (Otherwise the timer will overflow.)
if(initial_rate <120) {initial_rate=120; }
@@ -570,7 +570,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
- if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
+ if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
#endif
// Correct the speed
@@ -579,7 +579,12 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
for(int i=0; i < 4; i++) {
if(abs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
-// Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
+ /*
+ if(speed_factor < 0.1) {
+ Serial.print("speed factor : "); Serial.println(speed_factor);
+ Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
+ }
+ */
}
for(unsigned char i=0; i < 4; i++) {
current_speed[i] *= speed_factor;
diff --git a/Marlin/planner.h b/Marlin/planner.h
index f5c01ea2668..be1587d6b80 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -32,9 +32,9 @@ typedef struct {
// Fields used by the bresenham algorithm for tracing the line
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
long step_event_count; // The number of step events required to complete this block
- volatile long accelerate_until; // The index of the step event on which to stop acceleration
- volatile long decelerate_after; // The index of the step event on which to start decelerating
- volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
+ long accelerate_until; // The index of the step event on which to stop acceleration
+ long decelerate_after; // The index of the step event on which to start decelerating
+ long acceleration_rate; // The acceleration rate used for acceleration calculation
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
#ifdef ADVANCE
// long advance_rate;
@@ -50,14 +50,14 @@ typedef struct {
float max_entry_speed; // Maximum allowable junction entry speed in mm/min
float millimeters; // The total travel of this block in mm
float acceleration; // acceleration mm/sec^2
- unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
- unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
+ unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
+ unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
// Settings for the trapezoid generator
- long nominal_rate; // The nominal step rate for this block in step_events/sec
- volatile long initial_rate; // The jerk-adjusted step rate at start of block
- volatile long final_rate; // The minimal rate at exit
- long acceleration_st; // acceleration steps/sec^2
+ unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
+ unsigned long initial_rate; // The jerk-adjusted step rate at start of block
+ unsigned long final_rate; // The minimal rate at exit
+ unsigned long acceleration_st; // acceleration steps/sec^2
volatile char busy;
} block_t;
@@ -84,7 +84,7 @@ void check_axes_activity();
extern unsigned long minsegmenttime;
extern float max_feedrate[4]; // set the max speeds
extern float axis_steps_per_unit[4];
-extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
+extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
extern float minimumfeedrate;
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 96a43ed7ed3..2e232201bf3 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -253,7 +253,7 @@ inline unsigned short calc_timer(unsigned short step_rate) {
timer = (unsigned short)pgm_read_word_near(table_address);
timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
}
- if(timer < 100) timer = 100; //(20kHz this should never happen)
+ if(timer < 100) { timer = 100; Serial.print("Steprate to high : "); Serial.println(step_rate); }//(20kHz this should never happen)
return timer;
}