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Avoid cumulative error in segments without cruising 

When calculating the compression steps, compute the actual target speed
of the trapezoid, since up to e_steps (+/- 1 normally) can be
accumulated in excess for each acceleration phase.

This is not for production: a lot of calculations are redundand and
could work directly in steps/s^2.
This commit is contained in:
Yuri D'Elia 2020-06-18 18:15:45 +02:00
parent 750af103ff
commit d082f5d9a7
1 changed files with 13 additions and 3 deletions
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16
Firmware/planner.cpp
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@ -226,11 +226,14 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
// Size of Plateau of Nominal Rate. // Size of Plateau of Nominal Rate.
uint32_t plateau_steps = 0; uint32_t plateau_steps = 0;
float max_speed;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will // 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 // 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. // in order to reach the final_rate exactly at the end of this block.
if (accel_decel_steps < block->step_event_count.wide) { if (accel_decel_steps < block->step_event_count.wide) {
plateau_steps = block->step_event_count.wide - accel_decel_steps; plateau_steps = block->step_event_count.wide - accel_decel_steps;
max_speed = block->nominal_speed;
} else { } else {
uint32_t acceleration_x4 = acceleration << 2; uint32_t acceleration_x4 = acceleration << 2;
// Avoid negative numbers // Avoid negative numbers
@ -263,12 +266,18 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
decelerate_steps = block->step_event_count.wide; decelerate_steps = block->step_event_count.wide;
accelerate_steps = block->step_event_count.wide - decelerate_steps; accelerate_steps = block->step_event_count.wide - decelerate_steps;
} }
// TODO: not for production
float dist = intersection_distance(entry_speed, exit_speed, block->acceleration, block->millimeters);
max_speed = sqrt(2 * block->acceleration * dist + entry_speed*entry_speed);
} }
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
uint16_t final_adv_steps = 0; uint16_t final_adv_steps = 0;
uint16_t max_adv_steps = 0;
if (block->use_advance_lead) { if (block->use_advance_lead) {
final_adv_steps = exit_speed * block->adv_comp; final_adv_steps = exit_speed * block->adv_comp;
max_adv_steps = max_speed * block->adv_comp;
} }
#endif #endif
@ -284,6 +293,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
block->final_rate = final_rate; block->final_rate = final_rate;
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
block->final_adv_steps = final_adv_steps; block->final_adv_steps = final_adv_steps;
block->max_adv_steps = max_adv_steps;
#endif #endif
} }
CRITICAL_SECTION_END; CRITICAL_SECTION_END;
@ -1169,13 +1179,13 @@ Having the real displacement of the head, we can calculate the total movement le
block->advance_step_loops = 1; block->advance_step_loops = 1;
} }
#ifdef LA_DEBUG #if 1
if (block->advance_step_loops > 2) if (block->advance_step_loops != 1)
// @wavexx: we should really check for the difference between step_loops and // @wavexx: we should really check for the difference between step_loops and
// advance_step_loops instead. A difference of more than 1 will lead // advance_step_loops instead. A difference of more than 1 will lead
// to uneven speed and *should* be adjusted here by furthermore // to uneven speed and *should* be adjusted here by furthermore
// reducing the speed. // reducing the speed.
SERIAL_ECHOLNPGM("LA: More than 2 steps per eISR loop executed."); SERIAL_ECHOLNPGM("LA: More than 1 steps per eISR loop executed.");
#endif #endif
} }
#endif #endif