Fix high speed deceleration

This commit is contained in:
Alex Voinea 2020-06-06 19:32:48 +03:00 committed by Yuri D'Elia
parent 45e182911d
commit 12be141188
2 changed files with 10 additions and 12 deletions

View file

@ -77,8 +77,8 @@ typedef struct {
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
// 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
long decelerate_after; // The index of the step event on which to start decelerating
uint32_t accelerate_until; // The index of the step event on which to stop acceleration
uint32_t decelerate_after; // The index of the step event on which to start decelerating
// Fields used by the motion planner to manage acceleration
// 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).
// 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 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
//FIXME does it have to be unsigned long? Probably uint8_t would be just fine.
unsigned long fan_speed;
//FIXME does it have to be int? Probably uint8_t would be just fine. Need to change in other places as well
int fan_speed;
volatile char busy;

View file

@ -71,8 +71,7 @@ static dda_isteps_t
counter_z,
counter_e;
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 unsigned long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static uint32_t acceleration_time, deceleration_time;
static uint16_t acc_step_rate; // needed for deccelaration start point
static uint8_t step_loops;
static uint16_t OCR1A_nominal;
@ -799,7 +798,7 @@ FORCE_INLINE void isr() {
// 25.12us for acceleration / deceleration.
{
//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
MultiU24X24toH16(acc_step_rate, acceleration_time, current_block->acceleration_rate);
acc_step_rate += uint16_t(current_block->initial_rate);
@ -817,12 +816,12 @@ FORCE_INLINE void isr() {
}
#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;
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)) {
// Result is negative or too small.
if (step_rate < uint16_t(current_block->final_rate)) {
// Result is too small.
step_rate = uint16_t(current_block->final_rate);
}
// Step_rate to timer interval.
@ -832,7 +831,7 @@ FORCE_INLINE void isr() {
#ifdef LIN_ADVANCE
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;
la_state = ADV_INIT | ADV_ACC_VARY;
}