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Disabled TMC2130 feedrate and acceleration limits (should be properly limited with M201-M203)

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This commit is contained in:
Robert Pelnar 2018-07-12 19:04:44 +02:00
parent 7c78559b0e
commit 007717bfd2
2 changed files with 12 additions and 6 deletions
Firmware
planner.cpp

4
Firmware/planner.cpp
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@ -954,6 +954,7 @@ Having the real displacement of the head, we can calculate the total movement le
{
current_speed[i] = delta_mm[i] * inverse_second;
#ifdef TMC2130
#ifdef FEEDRATE_LIMIT
float max_fr = max_feedrate[i];
if (i < 2) // X, Y
{
@ -970,6 +971,7 @@ Having the real displacement of the head, we can calculate the total movement le
}
if(fabs(current_speed[i]) > max_fr)
speed_factor = min(speed_factor, max_fr / fabs(current_speed[i]));
#endif //FEEDRATE_LIMIT
#else //TMC2130
if(fabs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
@ -1015,6 +1017,7 @@ Having the real displacement of the head, we can calculate the total movement le
if (block->steps_z.wide && (block->acceleration_st > axis_steps_per_sqr_second[Z_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
if (block->steps_e.wide && (block->acceleration_st > axis_steps_per_sqr_second[E_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
#else // SIMPLE_ACCEL_LIMIT
#ifdef ACCEL_LIMIT
if (tmc2130_mode == TMC2130_MODE_SILENT)
{
if ((block->steps_x.wide > block->step_event_count.wide / 2) || (block->steps_y.wide > block->step_event_count.wide / 2))
@ -1033,6 +1036,7 @@ Having the real displacement of the head, we can calculate the total movement le
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
#endif // ACCEL_LIMIT
#endif // SIMPLE_ACCEL_LIMIT
#else //TMC2130
// Limit acceleration per axis