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Define acceleration in mm/s^2 instead of some unspecified value. 

This units thing nicely covers the fact we need the ACCELERATION
to precalculate ramping steps later.
This commit is contained in:
Markus Hitter 2011-05-07 00:34:41 +02:00
parent f555887eb5
commit 26fb18d178
5 changed files with 20 additions and 18 deletions
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7
config.gen3.h
View File

@ -129,10 +129,9 @@
*/
#define ACCELERATION_RAMPING
/// how fast to accelerate when using ACCELERATION_RAMPING
/// smaller values give quicker acceleration
/// valid range = 1 to 8,000,000; 500,000 is a good starting point
#define ACCELERATION_STEEPNESS 500000
/// how fast to accelerate when using ACCELERATION_RAMPING, given in mm/s^2
/// decimal allowed, useful range 1. to 10'000, typical range 10. to 100.
#define ACCELERATION 10.
/** \def ACCELERATION_TEMPORAL
temporal step algorithm

7
config.gen6.h
View File

@ -128,10 +128,9 @@
*/
#define ACCELERATION_RAMPING
/// how fast to accelerate when using ACCELERATION_RAMPING
/// smaller values give quicker acceleration
/// valid range = 1 to 8,000,000; 500,000 is a good starting point
#define ACCELERATION_STEEPNESS 500000
/// how fast to accelerate when using ACCELERATION_RAMPING, given in mm/s^2
/// decimal allowed, useful range 1. to 10'000, typical range 10. to 100.
#define ACCELERATION 10.
/** \def ACCELERATION_TEMPORAL
temporal step algorithm

7
config.h.dist
View File

@ -126,10 +126,9 @@
*/
#define ACCELERATION_RAMPING
/// how fast to accelerate when using ACCELERATION_RAMPING
/// smaller values give quicker acceleration
/// valid range = 1 to 8,000,000; 500,000 is a good starting point
#define ACCELERATION_STEEPNESS 500000
/// how fast to accelerate when using ACCELERATION_RAMPING, given in mm/s^2
/// decimal allowed, useful range 1. to 10'000, typical range 10. to 100.
#define ACCELERATION 10.
/** \def ACCELERATION_TEMPORAL
temporal step algorithm

7
config.ramps.h
View File

@ -133,10 +133,9 @@
*/
#define ACCELERATION_RAMPING
/// how fast to accelerate when using ACCELERATION_RAMPING
/// smaller values give quicker acceleration
/// valid range = 1 to 8,000,000; 500,000 is a good starting point
#define ACCELERATION_STEEPNESS 500000
/// how fast to accelerate when using ACCELERATION_RAMPING, given in mm/s^2
/// decimal allowed, useful range 1. to 10'000, typical range 10. to 100.
#define ACCELERATION 10.
/** \def ACCELERATION_TEMPORAL
temporal step algorithm

10
dda.c
View File

@ -6,6 +6,7 @@
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <avr/interrupt.h>
#include "timer.h"
@ -335,8 +336,13 @@ void dda_create(DDA *dda, TARGET *target) {
// add the last bit of dda->total_steps to always round up
dda->ramp_steps = dda->total_steps / 2 + (dda->total_steps & 1);
dda->step_no = 0;
// c is initial step time in IOclk ticks
dda->c = ACCELERATION_STEEPNESS << 8;
// remove this when people have swallowed the new config item
#ifdef ACCELERATION_STEEPNESS
#error ACCELERATION_STEEPNESS is gone, review your config.h and use ACCELERATION
#endif
// c is initial step time in IOclk ticks (currently, IOclk ticks = F_CPU)
// yes, this assumes always the x axis as the critical one regarding acceleration. If we want to implement per-axis acceleration, things get tricky ...
dda->c = ((uint32_t)((double)F_CPU / sqrt((double)(STEPS_PER_MM_X * ACCELERATION)))) << 8;
dda->c_min = (move_duration / target->F) << 8;
if (dda->c_min < c_limit)
dda->c_min = c_limit;