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Merge pull request from wavexx/MK3_fix_high_speed_deceleration

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Mk3 fix high speed deceleration
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DRracer 2020-08-06 13:27:52 +02:00 • committed by GitHub
commit 008d3b0e65
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4 changed files with 33 additions and 22 deletions

2
Firmware/planner.cpp
View file

@ -1159,7 +1159,7 @@ Having the real displacement of the head, we can calculate the total movement le
block->acceleration_st = (block->acceleration_st + (bresenham_oversample >> 1)) / bresenham_oversample; block->acceleration_st = (block->acceleration_st + (bresenham_oversample >> 1)) / bresenham_oversample;
#endif #endif
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0))); block->acceleration_rate = ((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
// Start with a safe speed. // Start with a safe speed.
// Safe speed is the speed, from which the machine may halt to stop immediately. // Safe speed is the speed, from which the machine may halt to stop immediately.

11
Firmware/planner.h
View file

@ -73,12 +73,12 @@ typedef struct {
// steps_x.y,z, step_event_count, acceleration_rate, direction_bits and active_extruder are set by plan_buffer_line(). // steps_x.y,z, step_event_count, acceleration_rate, direction_bits and active_extruder are set by plan_buffer_line().
dda_isteps_t steps_x, steps_y, steps_z, steps_e; // Step count along each axis dda_isteps_t steps_x, steps_y, steps_z, steps_e; // Step count along each axis
dda_usteps_t step_event_count; // The number of step events required to complete this block dda_usteps_t step_event_count; // The number of step events required to complete this block
long acceleration_rate; // The acceleration rate used for acceleration calculation uint32_t 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) unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
unsigned char active_extruder; // Selects the active extruder unsigned char active_extruder; // Selects the active extruder
// accelerate_until and decelerate_after are set by calculate_trapezoid_for_block() and they need to be synchronized with the stepper interrupt controller. // accelerate_until and decelerate_after are set by calculate_trapezoid_for_block() and they need to be synchronized with the stepper interrupt controller.
long accelerate_until; // The index of the step event on which to stop acceleration uint32_t 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 uint32_t decelerate_after; // The index of the step event on which to start decelerating
// Fields used by the motion planner to manage acceleration // Fields used by the motion planner to manage acceleration
// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis // float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
@ -100,13 +100,12 @@ typedef struct {
// Settings for the trapezoid generator (runs inside an interrupt handler). // Settings for the trapezoid generator (runs inside an interrupt handler).
// Changing the following values in the planner needs to be synchronized with the interrupt handler by disabling the interrupts. // Changing the following values in the planner needs to be synchronized with the interrupt handler by disabling the interrupts.
//FIXME nominal_rate, initial_rate and final_rate are limited to uint16_t by MultiU24X24toH16 in the stepper interrupt anyway!
unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec 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 initial_rate; // The jerk-adjusted step rate at start of block
unsigned long final_rate; // The minimal rate at exit unsigned long final_rate; // The minimal rate at exit
unsigned long acceleration_st; // acceleration steps/sec^2 unsigned long acceleration_st; // acceleration steps/sec^2
//FIXME does it have to be unsigned long? Probably uint8_t would be just fine. //FIXME does it have to be int? Probably uint8_t would be just fine. Need to change in other places as well
unsigned long fan_speed; int fan_speed;
volatile char busy; volatile char busy;

16
Firmware/speed_lookuptable.h
View file

@ -80,15 +80,21 @@ asm volatile ( \
#else //_NO_ASM #else //_NO_ASM
// NOTE: currently not implemented static inline void MultiU16X8toH16(uint16_t& intRes, uint8_t& charIn1, uint16_t& intIn2)
void MultiU16X8toH16(unsigned short& intRes, unsigned char& charIn1, unsigned short& intIn2); {
void MultiU24X24toH16(uint16_t& intRes, int32_t& longIn1, long& longIn2); intRes = ((uint32_t)charIn1 * (uint32_t)intIn2) >> 16;
}
static inline void MultiU24X24toH16(uint16_t& intRes, uint32_t& longIn1, uint32_t& longIn2)
{
intRes = ((uint64_t)longIn1 * (uint64_t)longIn2) >> 24;
}
#endif //_NO_ASM #endif //_NO_ASM
FORCE_INLINE unsigned short calc_timer(uint16_t step_rate, uint8_t& step_loops) { FORCE_INLINE unsigned short calc_timer(uint16_t step_rate, uint8_t& step_loops) {
unsigned short timer; uint16_t timer;
if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY; if(step_rate > MAX_STEP_FREQUENCY) step_rate = MAX_STEP_FREQUENCY;
if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times if(step_rate > 20000) { // If steprate > 20kHz >> step 4 times
@ -108,7 +114,7 @@ FORCE_INLINE unsigned short calc_timer(uint16_t step_rate, uint8_t& step_loops)
if(step_rate >= (8*256)){ // higher step rate if(step_rate >= (8*256)){ // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0]; unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff); unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2); uint16_t gain = (uint16_t)pgm_read_word_near(table_address+2);
MultiU16X8toH16(timer, tmp_step_rate, gain); MultiU16X8toH16(timer, tmp_step_rate, gain);
timer = (unsigned short)pgm_read_word_near(table_address) - timer; timer = (unsigned short)pgm_read_word_near(table_address) - timer;
} }

26
Firmware/stepper.cpp
View file

@ -71,8 +71,7 @@ static dda_isteps_t
counter_z, counter_z,
counter_e; counter_e;
volatile dda_usteps_t step_events_completed; // The number of step events executed in the current block volatile dda_usteps_t step_events_completed; // The number of step events executed in the current block
static int32_t acceleration_time, deceleration_time; static uint32_t acceleration_time, deceleration_time;
//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static uint16_t acc_step_rate; // needed for deccelaration start point static uint16_t acc_step_rate; // needed for deccelaration start point
static uint8_t step_loops; static uint8_t step_loops;
static uint16_t OCR1A_nominal; static uint16_t OCR1A_nominal;
@ -234,7 +233,7 @@ void invert_z_endstop(bool endstop_invert)
// The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates // The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
// first block->accelerate_until step_events_completed, then keeps going at constant speed until // first block->accelerate_until step_events_completed, then keeps going at constant speed until
// step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset. // step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
// The slope of acceleration is calculated with the leib ramp alghorithm. // The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
// "The Stepper Driver Interrupt" - This timer interrupt is the workhorse. // "The Stepper Driver Interrupt" - This timer interrupt is the workhorse.
// It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately. // It pops blocks from the block_buffer and executes them by pulsing the stepper pins appropriately.
@ -788,7 +787,7 @@ FORCE_INLINE void isr() {
// 25.12us for acceleration / deceleration. // 25.12us for acceleration / deceleration.
{ {
//WRITE_NC(LOGIC_ANALYZER_CH1, true); //WRITE_NC(LOGIC_ANALYZER_CH1, true);
if (step_events_completed.wide <= (unsigned long int)current_block->accelerate_until) { if (step_events_completed.wide <= current_block->accelerate_until) {
// v = t * a -> acc_step_rate = acceleration_time * current_block->acceleration_rate // v = t * a -> acc_step_rate = acceleration_time * current_block->acceleration_rate
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate); MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += uint16_t(current_block->initial_rate); acc_step_rate += uint16_t(current_block->initial_rate);
@ -809,14 +808,21 @@ FORCE_INLINE void isr() {
} }
#endif #endif
} }
else if (step_events_completed.wide > (unsigned long int)current_block->decelerate_after) { else if (step_events_completed.wide > current_block->decelerate_after) {
uint16_t step_rate; uint16_t step_rate;
MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate); MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
if ((step_rate & 0x8000) || step_rate < uint16_t(current_block->final_rate)) { if (step_rate > acc_step_rate) { // Check step_rate stays positive
// Result is negative or too small. step_rate = uint16_t(current_block->final_rate);
step_rate = uint16_t(current_block->final_rate);
} }
else {
step_rate = acc_step_rate - step_rate; // Decelerate from acceleration end point.
// lower limit
if (step_rate < current_block->final_rate)
step_rate = uint16_t(current_block->final_rate);
}
// Step_rate to timer interval. // Step_rate to timer interval.
uint16_t timer = calc_timer(step_rate, step_loops); uint16_t timer = calc_timer(step_rate, step_loops);
_NEXT_ISR(timer); _NEXT_ISR(timer);
@ -824,7 +830,7 @@ FORCE_INLINE void isr() {
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
if (current_block->use_advance_lead) { if (current_block->use_advance_lead) {
if (step_events_completed.wide <= (unsigned long int)current_block->decelerate_after + step_loops) { if (step_events_completed.wide <= current_block->decelerate_after + step_loops) {
target_adv_steps = current_block->final_adv_steps; target_adv_steps = current_block->final_adv_steps;
la_state = ADV_INIT | ADV_ACC_VARY; la_state = ADV_INIT | ADV_ACC_VARY;
if (e_extruding && current_adv_steps < target_adv_steps) if (e_extruding && current_adv_steps < target_adv_steps)