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Use cs.max_jerk from ConfigurationStore.

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This commit is contained in:
Marek Bel 2018-09-24 16:35:33 +02:00
parent bb66bfe6a7
commit ac7c062161
5 changed files with 17 additions and 23 deletions
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8
Firmware/ConfigurationStore.cpp
View file

@ -103,7 +103,7 @@ void Config_PrintSettings(uint8_t level)
echomagic, echomagic, cs.max_acceleration_units_per_sq_second_normal[X_AXIS], cs.max_acceleration_units_per_sq_second_normal[Y_AXIS], cs.max_acceleration_units_per_sq_second_normal[Z_AXIS], cs.max_acceleration_units_per_sq_second_normal[E_AXIS],
echomagic, echomagic, max_acceleration_units_per_sq_second_silent[X_AXIS], max_acceleration_units_per_sq_second_silent[Y_AXIS], max_acceleration_units_per_sq_second_silent[Z_AXIS], max_acceleration_units_per_sq_second_silent[E_AXIS],
echomagic, echomagic, cs.acceleration, cs.retract_acceleration,
echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, max_jerk[X_AXIS], max_jerk[Y_AXIS], max_jerk[Z_AXIS], max_jerk[E_AXIS],
echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
echomagic, echomagic, add_homing[X_AXIS], add_homing[Y_AXIS], add_homing[Z_AXIS]
#else //TMC2130
printf_P(PSTR(
@ -118,7 +118,7 @@ void Config_PrintSettings(uint8_t level)
echomagic, echomagic, max_feedrate[X_AXIS], max_feedrate[Y_AXIS], max_feedrate[Z_AXIS], max_feedrate[E_AXIS],
echomagic, echomagic, max_acceleration_units_per_sq_second[X_AXIS], max_acceleration_units_per_sq_second[Y_AXIS], max_acceleration_units_per_sq_second[Z_AXIS], max_acceleration_units_per_sq_second[E_AXIS],
echomagic, echomagic, cs.acceleration, cs.retract_acceleration,
echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, max_jerk[X_AXIS], max_jerk[Y_AXIS], max_jerk[Z_AXIS], max_jerk[E_AXIS],
echomagic, echomagic, cs.minimumfeedrate, cs.mintravelfeedrate, cs.minsegmenttime, cs.max_jerk[X_AXIS], cs.max_jerk[Y_AXIS], cs.max_jerk[Z_AXIS], cs.max_jerk[E_AXIS],
echomagic, echomagic, add_homing[X_AXIS], add_homing[Y_AXIS], add_homing[Z_AXIS]
#endif //TMC2130
);
@ -232,8 +232,8 @@ bool Config_RetrieveSettings(uint16_t offset)
EEPROM_READ_VAR(i,cs);
if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
calculate_extruder_multipliers();

2
Firmware/ConfigurationStore.h
View file

@ -15,7 +15,7 @@ typedef struct
float minimumfeedrate;
float mintravelfeedrate;
unsigned long minsegmenttime;
float max_jerk[4];
float max_jerk[4]; //!< Jerk is a maximum immediate velocity change.
float add_homing[3];
float zprobe_zoffset;
float Kp;

14
Firmware/Marlin_main.cpp
View file

@ -5700,7 +5700,7 @@ Sigma_Exit:
float value = code_value();
if(value < 20.0) {
float factor = cs.axis_steps_per_unit[i] / value; // increase e constants if M92 E14 is given for netfab.
max_jerk[E_AXIS] *= factor;
cs.max_jerk[E_AXIS] *= factor;
max_feedrate[i] *= factor;
axis_steps_per_sqr_second[i] *= factor;
}
@ -5964,12 +5964,12 @@ Sigma_Exit:
if(code_seen('S')) cs.minimumfeedrate = code_value();
if(code_seen('T')) cs.mintravelfeedrate = code_value();
if(code_seen('B')) cs.minsegmenttime = code_value() ;
if(code_seen('X')) max_jerk[X_AXIS] = max_jerk[Y_AXIS] = code_value();
if(code_seen('Y')) max_jerk[Y_AXIS] = code_value();
if(code_seen('Z')) max_jerk[Z_AXIS] = code_value();
if(code_seen('E')) max_jerk[E_AXIS] = code_value();
if (max_jerk[X_AXIS] > DEFAULT_XJERK) max_jerk[X_AXIS] = DEFAULT_XJERK;
if (max_jerk[Y_AXIS] > DEFAULT_YJERK) max_jerk[Y_AXIS] = DEFAULT_YJERK;
if(code_seen('X')) cs.max_jerk[X_AXIS] = cs.max_jerk[Y_AXIS] = code_value();
if(code_seen('Y')) cs.max_jerk[Y_AXIS] = code_value();
if(code_seen('Z')) cs.max_jerk[Z_AXIS] = code_value();
if(code_seen('E')) cs.max_jerk[E_AXIS] = code_value();
if (cs.max_jerk[X_AXIS] > DEFAULT_XJERK) cs.max_jerk[X_AXIS] = DEFAULT_XJERK;
if (cs.max_jerk[Y_AXIS] > DEFAULT_YJERK) cs.max_jerk[Y_AXIS] = DEFAULT_YJERK;
}
break;
case 206: // M206 additional homing offset

13
Firmware/planner.cpp
View file

@ -80,9 +80,6 @@ float* max_feedrate = cs.max_feedrate_normal;
// Use M201 to override by software
unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
unsigned long* max_acceleration_units_per_sq_second = cs.max_acceleration_units_per_sq_second_normal;
// Jerk is a maximum immediate velocity change.
float max_jerk[NUM_AXIS];
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#ifdef ENABLE_AUTO_BED_LEVELING
@ -1042,20 +1039,20 @@ Having the real displacement of the head, we can calculate the total movement le
bool limited = false;
for (uint8_t axis = 0; axis < 4; ++ axis) {
float jerk = fabs(current_speed[axis]);
if (jerk > max_jerk[axis]) {
if (jerk > cs.max_jerk[axis]) {
// The actual jerk is lower, if it has been limited by the XY jerk.
if (limited) {
// Spare one division by a following gymnastics:
// Instead of jerk *= safe_speed / block->nominal_speed,
// multiply max_jerk[axis] by the divisor.
jerk *= safe_speed;
float mjerk = max_jerk[axis] * block->nominal_speed;
float mjerk = cs.max_jerk[axis] * block->nominal_speed;
if (jerk > mjerk) {
safe_speed *= mjerk / jerk;
limited = true;
}
} else {
safe_speed = max_jerk[axis];
safe_speed = cs.max_jerk[axis];
limited = true;
}
}
@ -1108,8 +1105,8 @@ Having the real displacement of the head, we can calculate the total movement le
(v_entry - v_exit) :
// axis reversal
max(- v_exit, v_entry));
if (jerk > max_jerk[axis]) {
v_factor *= max_jerk[axis] / jerk;
if (jerk > cs.max_jerk[axis]) {
v_factor *= cs.max_jerk[axis] / jerk;
limited = true;
}
}

3
Firmware/planner.h
View file

@ -166,9 +166,6 @@ extern float* max_feedrate;
// Use M201 to override by software
extern unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
extern unsigned long* max_acceleration_units_per_sq_second;
// Jerk is a maximum immediate velocity change.
extern float max_jerk[NUM_AXIS];
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
extern long position[NUM_AXIS];