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Remove maxlimit_status

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Voinea Dragos 2021-05-30 14:22:12 +03:00 committed by Guðni Már Gilbert
parent 9684806e00
commit 9abae2fd97
2 changed files with 4 additions and 7 deletions
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10
Firmware/planner.cpp
View File

@ -1044,14 +1044,12 @@ Having the real displacement of the head, we can calculate the total movement le
// Calculate and limit speed in mm/sec for each axis // Calculate and limit speed in mm/sec for each axis
float current_speed[4]; float current_speed[4];
float speed_factor = 1.0; //factor <=1 do decrease speed float speed_factor = 1.0; //factor <=1 do decrease speed
// maxlimit_status &= ~0xf;
for(int i=0; i < 4; i++) for(int i=0; i < 4; i++)
{ {
current_speed[i] = delta_mm[i] * inverse_second; current_speed[i] = delta_mm[i] * inverse_second;
if(fabs(current_speed[i]) > max_feedrate[i]) if(fabs(current_speed[i]) > max_feedrate[i])
{ {
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
maxlimit_status |= (1 << i);
} }
} }
@ -1133,13 +1131,13 @@ Having the real displacement of the head, we can calculate the total movement le
// Limit acceleration per axis // Limit acceleration per axis
//FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit. //FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS]) if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
{ block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; maxlimit_status |= (X_AXIS_MASK << 4); } { block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; }
if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS]) if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
{ block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; maxlimit_status |= (Y_AXIS_MASK << 4); } { block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; }
if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS]) if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
{ block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; maxlimit_status |= (Z_AXIS_MASK << 4); } { block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; }
if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS]) if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS])
{ block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; maxlimit_status |= (E_AXIS_MASK << 4); } { block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; }
} }
// Acceleration of the segment, in mm/sec^2 // Acceleration of the segment, in mm/sec^2
block->acceleration = block->acceleration_st / steps_per_mm; block->acceleration = block->acceleration_st / steps_per_mm;

1
Firmware/planner.h
View File

@ -192,7 +192,6 @@ extern unsigned long* max_acceleration_units_per_sq_second;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS]; extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
extern long position[NUM_AXIS]; extern long position[NUM_AXIS];
extern uint8_t maxlimit_status;
#ifdef AUTOTEMP #ifdef AUTOTEMP