josh
/
Prusa-Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Remove cumulative error in segments without cruising (take 4) 

Avoid sqrt when possible
This commit is contained in:
Yuri D'Elia 2020-06-22 15:03:49 +02:00
parent 173aa2deba
commit a36efcb347
1 changed files with 23 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
Firmware/planner.cpp
View File

@ -225,15 +225,24 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
uint32_t accel_decel_steps = accelerate_steps + decelerate_steps;
// Size of Plateau of Nominal Rate.
uint32_t plateau_steps = 0;
// Maximum effective speed reached in the trapezoid (step/min)
float max_rate;
#ifdef LIN_ADVANCE
uint16_t final_adv_steps = 0;
uint16_t max_adv_steps = 0;
if (block->use_advance_lead) {
final_adv_steps = final_rate * block->adv_comp;
}
#endif
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (accel_decel_steps < block->step_event_count.wide) {
plateau_steps = block->step_event_count.wide - accel_decel_steps;
max_rate = block->nominal_rate;
#ifdef LIN_ADVANCE
if (block->use_advance_lead)
max_adv_steps = block->nominal_rate * block->adv_comp;
#endif
} else {
uint32_t acceleration_x4 = acceleration << 2;
// Avoid negative numbers
@ -267,17 +276,19 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
accelerate_steps = block->step_event_count.wide - decelerate_steps;
}
max_rate = sqrt(acceleration_x2 * accelerate_steps + initial_rate_sqr);
}
#ifdef LIN_ADVANCE
uint16_t final_adv_steps = 0;
uint16_t max_adv_steps = 0;
if (block->use_advance_lead) {
final_adv_steps = final_rate * block->adv_comp;
max_adv_steps = max_rate * block->adv_comp;
}
if (block->use_advance_lead) {
if(!accelerate_steps || !decelerate_steps) {
// accelerate_steps=0: deceleration-only ramp, max_rate is effectively unused
// decelerate_steps=0: acceleration-only ramp, max_rate _is_ final_rate
max_adv_steps = final_adv_steps;
} else {
uint16_t max_rate = sqrt(acceleration_x2 * accelerate_steps + initial_rate_sqr);
max_adv_steps = max_rate * block->adv_comp;
}
}
#endif
}
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
// This block locks the interrupts globally for 4.38 us,