Fix high speed deceleration
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45e182911d
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12be141188
2 changed files with 10 additions and 12 deletions
Firmware
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@ -77,8 +77,8 @@ typedef struct {
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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unsigned char active_extruder; // Selects the active extruder
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// accelerate_until and decelerate_after are set by calculate_trapezoid_for_block() and they need to be synchronized with the stepper interrupt controller.
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long accelerate_until; // The index of the step event on which to stop acceleration
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long decelerate_after; // The index of the step event on which to start decelerating
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uint32_t accelerate_until; // The index of the step event on which to stop acceleration
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uint32_t decelerate_after; // The index of the step event on which to start decelerating
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// Fields used by the motion planner to manage acceleration
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// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
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@ -100,13 +100,12 @@ typedef struct {
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// Settings for the trapezoid generator (runs inside an interrupt handler).
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// Changing the following values in the planner needs to be synchronized with the interrupt handler by disabling the interrupts.
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//FIXME nominal_rate, initial_rate and final_rate are limited to uint16_t by MultiU24X24toH16 in the stepper interrupt anyway!
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unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
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unsigned long initial_rate; // The jerk-adjusted step rate at start of block
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unsigned long final_rate; // The minimal rate at exit
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unsigned long acceleration_st; // acceleration steps/sec^2
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//FIXME does it have to be unsigned long? Probably uint8_t would be just fine.
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unsigned long fan_speed;
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//FIXME does it have to be int? Probably uint8_t would be just fine. Need to change in other places as well
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int fan_speed;
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volatile char busy;
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@ -71,8 +71,7 @@ static dda_isteps_t
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counter_z,
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counter_e;
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volatile dda_usteps_t step_events_completed; // The number of step events executed in the current block
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static int32_t acceleration_time, deceleration_time;
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//static unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
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static uint32_t acceleration_time, deceleration_time;
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static uint16_t acc_step_rate; // needed for deccelaration start point
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static uint8_t step_loops;
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static uint16_t OCR1A_nominal;
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@ -799,7 +798,7 @@ FORCE_INLINE void isr() {
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// 25.12us for acceleration / deceleration.
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{
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//WRITE_NC(LOGIC_ANALYZER_CH1, true);
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if (step_events_completed.wide <= (unsigned long int)current_block->accelerate_until) {
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if (step_events_completed.wide <= current_block->accelerate_until) {
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// v = t * a -> acc_step_rate = acceleration_time * current_block->acceleration_rate
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MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
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acc_step_rate += uint16_t(current_block->initial_rate);
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@ -817,12 +816,12 @@ FORCE_INLINE void isr() {
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}
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#endif
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}
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else if (step_events_completed.wide > (unsigned long int)current_block->decelerate_after) {
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else if (step_events_completed.wide > current_block->decelerate_after) {
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uint16_t step_rate;
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MultiU24X24toH16(step_rate, deceleration_time, current_block->acceleration_rate);
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step_rate = acc_step_rate - step_rate; // Decelerate from aceleration end point.
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if ((step_rate & 0x8000) || step_rate < uint16_t(current_block->final_rate)) {
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// Result is negative or too small.
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if (step_rate < uint16_t(current_block->final_rate)) {
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// Result is too small.
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step_rate = uint16_t(current_block->final_rate);
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}
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// Step_rate to timer interval.
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@ -832,7 +831,7 @@ FORCE_INLINE void isr() {
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#ifdef LIN_ADVANCE
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if (current_block->use_advance_lead) {
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if (step_events_completed.wide <= (unsigned long int)current_block->decelerate_after + step_loops) {
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if (step_events_completed.wide <= current_block->decelerate_after + step_loops) {
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target_adv_steps = current_block->final_adv_steps;
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la_state = ADV_INIT | ADV_ACC_VARY;
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}
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