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BEZIER_JERK_CONTROL => S_CURVE_ACCELERATION

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This commit is contained in:
Scott Lahteine
2018-05-26 01:58:06 -05:00
parent 9186123676
commit 949ee7afe9
64 changed files with 144 additions and 200 deletions
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16
Marlin/planner.cpp
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@@ -221,7 +221,7 @@ void Planner::init() {
delay_before_delivering = 0;
}
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
// This routine, for AVR, returns 0x1000000 / d, but trying to get the inverse as
// fast as possible. A fast converging iterative Newton-Raphson method is able to
@@ -726,7 +726,7 @@ void Planner::init() {
// Return the result
return r11 | (uint16_t(r12) << 8) | (uint32_t(r13) << 16);
}
#endif // BEZIER_JERK_CONTROL
#endif // S_CURVE_ACCELERATION
#define MINIMAL_STEP_RATE 120
@@ -743,7 +743,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE));
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
uint32_t cruise_rate = initial_rate;
#endif
@@ -764,12 +764,12 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
accelerate_steps = MIN(uint32_t(MAX(accelerate_steps_float, 0)), block->step_event_count);
plateau_steps = 0;
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
// We won't reach the cruising rate. Let's calculate the speed we will reach
cruise_rate = final_speed(initial_rate, accel, accelerate_steps);
#endif
}
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
else // We have some plateau time, so the cruise rate will be the nominal rate
cruise_rate = block->nominal_rate;
#endif
@@ -777,7 +777,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
// Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (HAL_STEPPER_TIMER_RATE),
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (HAL_STEPPER_TIMER_RATE);
@@ -797,7 +797,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps + plateau_steps;
block->initial_rate = initial_rate;
#if ENABLED(BEZIER_JERK_CONTROL)
#if ENABLED(S_CURVE_ACCELERATION)
block->acceleration_time = acceleration_time;
block->deceleration_time = deceleration_time;
block->acceleration_time_inverse = acceleration_time_inverse;
@@ -2118,7 +2118,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
}
block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm;
#if DISABLED(BEZIER_JERK_CONTROL)
#if DISABLED(S_CURVE_ACCELERATION)
block->acceleration_rate = (uint32_t)(accel * (4096.0 * 4096.0 / (HAL_STEPPER_TIMER_RATE)));
#endif
#if ENABLED(LIN_ADVANCE)