diff --git a/research/alg.c b/research/alg.c index 105f92c..cb99534 100644 --- a/research/alg.c +++ b/research/alg.c @@ -3,7 +3,7 @@ #include #include -#define F_CPU 16000000UL +#define F_CPU 16000000L #define X_STEPS_PER_MM 320.0 #define Y_STEPS_PER_MM 320.0 @@ -151,7 +151,7 @@ void move(int32_t dx, int32_t dy, int32_t dz, int32_t de, uint32_t f) { uint32_t x_speed, y_speed, z_speed, e_speed; uint32_t x_accel_distance, y_accel_distance, z_accel_distance, e_accel_distance; uint32_t x_c, y_c, z_c, e_c; - int32_t x_n, y_n, z_n, e_n; + uint32_t x_n, y_n, z_n, e_n; uint32_t x_cr, y_cr, z_cr, e_cr; uint32_t x_minc, y_minc, z_minc, e_minc; uint32_t x_accel = X_ACCEL_MM_S_S * 1000.0, y_accel = Y_ACCEL_MM_S_S * 1000.0, z_accel = Z_ACCEL_MM_S_S * 1000.0, e_accel = E_ACCEL_MM_S_S * 1000.0; @@ -174,9 +174,9 @@ void move(int32_t dx, int32_t dy, int32_t dz, int32_t de, uint32_t f) { printf("distance: %dum\n", distance); // duration is microseconds - duration = distance * 3UL * (F_CPU / 50UL / f); + duration = distance * 3L * (F_CPU / 50L / f); - printf("duration: %d ticks (%ldms)\n", duration, duration / (F_CPU / 1000UL)); + printf("duration: %d ticks (%ldms)\n", duration, duration / (F_CPU / 1000L)); // deltas are in steps x_delta = labs(dx); @@ -210,22 +210,22 @@ void move(int32_t dx, int32_t dy, int32_t dz, int32_t de, uint32_t f) { // x_accel_distance = x_accel_steps * X_UM_PER_STEP; #warning This calculation is susceptible to overflow! if (x_delta) { - x_accel_distance = (x_delta * f / distance / 3UL) * (x_delta * f / distance / 3UL) * 1250UL / X_STEPS_PER_MM / X_ACCEL_MM_S_S * 1000UL / X_STEPS_PER_MM; + x_accel_distance = (x_delta * f / distance / 3L) * (x_delta * f / distance / 3L) * 1250L / X_STEPS_PER_MM / X_ACCEL_MM_S_S * 1000L / X_STEPS_PER_MM; if (x_accel_distance > accel_distance) accel_distance = x_accel_distance; } if (y_delta) { - y_accel_distance = (y_delta * f / distance / 3UL) * (y_delta * f / distance / 3UL) * 1250UL / Y_STEPS_PER_MM / Y_ACCEL_MM_S_S * 1000UL / Y_STEPS_PER_MM; + y_accel_distance = (y_delta * f / distance / 3L) * (y_delta * f / distance / 3L) * 1250L / Y_STEPS_PER_MM / Y_ACCEL_MM_S_S * 1000L / Y_STEPS_PER_MM; if (y_accel_distance > accel_distance) accel_distance = y_accel_distance; } if (z_delta) { - z_accel_distance = (z_delta * f / distance / 3UL) * (z_delta * f / distance / 3UL) * 1250UL / Z_STEPS_PER_MM / Z_ACCEL_MM_S_S * 1000UL / Z_STEPS_PER_MM; + z_accel_distance = (z_delta * f / distance / 3L) * (z_delta * f / distance / 3L) * 1250L / Z_STEPS_PER_MM / Z_ACCEL_MM_S_S * 1000L / Z_STEPS_PER_MM; if (z_accel_distance > accel_distance) accel_distance = z_accel_distance; } if (e_delta) { - e_accel_distance = (e_delta * f / distance / 3UL) * (e_delta * f / distance / 3UL) * 1250UL / E_STEPS_PER_MM / E_ACCEL_MM_S_S * 1000UL / E_STEPS_PER_MM; + e_accel_distance = (e_delta * f / distance / 3L) * (e_delta * f / distance / 3L) * 1250L / E_STEPS_PER_MM / E_ACCEL_MM_S_S * 1000L / E_STEPS_PER_MM; if (e_accel_distance > accel_distance) accel_distance = e_accel_distance; } @@ -240,13 +240,13 @@ void move(int32_t dx, int32_t dy, int32_t dz, int32_t de, uint32_t f) { // let's store in um/s2 instead of mm/s2 for precision #warning This calculation is susceptible to overflow! if (x_accel_distance < accel_distance) - x_accel = x_speed * x_speed / accel_distance / 2UL; + x_accel = x_speed * x_speed / accel_distance / 2L; if (y_accel_distance < accel_distance) - y_accel = y_speed * y_speed / accel_distance / 2UL; + y_accel = y_speed * y_speed / accel_distance / 2L; if (z_accel_distance < accel_distance) - z_accel = z_speed * z_speed / accel_distance / 2UL; + z_accel = z_speed * z_speed / accel_distance / 2L; if (e_accel_distance < accel_distance) - e_accel = e_speed * e_speed / accel_distance / 2UL; + e_accel = e_speed * e_speed / accel_distance / 2L; printf("X accel: %dum/s2, Y accel: %dum/s2\n", x_accel, y_accel); @@ -260,87 +260,83 @@ void move(int32_t dx, int32_t dy, int32_t dz, int32_t de, uint32_t f) { // = F_CPU / int_sqrt(accel * steps_per_mm) * 313 / 7 // 2**32 / 313 is about 13MHz, so we can't start with F_CPU * 313 if F_CPU is above 13MHz if (x_delta) { -// printf("x_accel(%u) * X_STEPS_PER_MM(%u) = %u, sqrt() = %u\n", x_accel, ((uint32_t) X_STEPS_PER_MM), x_accel * ((uint32_t) X_STEPS_PER_MM), int_sqrt(x_accel * ((uint32_t) X_STEPS_PER_MM))); - x_c = ((F_CPU * 256UL) / int_sqrt(x_accel * X_STEPS_PER_MM)) * 313UL / 7UL; + printf("x_accel(%u) * X_STEPS_PER_MM(%u) = %u, sqrt() = %u\n", x_accel, ((uint32_t) X_STEPS_PER_MM), x_accel * ((uint32_t) X_STEPS_PER_MM), int_sqrt(x_accel * ((uint32_t) X_STEPS_PER_MM))); + x_c = (F_CPU / int_sqrt(x_accel * ((uint32_t) X_STEPS_PER_MM))) * 313L / 7L; + printf("Xc: %u\n", (F_CPU / int_sqrt(x_accel * ((uint32_t) X_STEPS_PER_MM))) * 313L / 7L); // x_c = F_CPU * sqrt(2.0 / x_accel * X_UM_PER_STEP); - x_minc = (F_CPU * 256UL) / (x_speed * X_STEPS_PER_MM); + x_minc = (F_CPU * X_UM_PER_STEP) / x_speed; } if (y_delta) { - y_c = (F_CPU * 256UL / int_sqrt(y_accel * Y_STEPS_PER_MM)) * 313UL / 7UL; + y_c = (F_CPU / int_sqrt(y_accel * Y_STEPS_PER_MM)) * 313L / 7L; // y_c = F_CPU * sqrt(Y_UM_PER_STEP / y_accel) * 1.414; - y_minc = (F_CPU * 256UL) / (y_speed * Y_STEPS_PER_MM); + y_minc = (F_CPU * Y_UM_PER_STEP) / y_speed; } if (z_delta) { - z_c = (F_CPU * 256UL / int_sqrt(z_accel * Z_STEPS_PER_MM)) * 313UL / 7UL; - z_minc = (F_CPU * 256UL) / (z_speed * Z_STEPS_PER_MM); + z_c = (F_CPU / int_sqrt(z_accel * Z_STEPS_PER_MM)) * 313L / 7L; + z_minc = (F_CPU * Z_UM_PER_STEP) / z_speed; } if (e_delta) { - e_c = (F_CPU * 256UL / int_sqrt(e_accel * E_STEPS_PER_MM)) * 313UL / 7UL; - e_minc = (F_CPU * 256UL) / (e_speed * E_STEPS_PER_MM); + e_c = (F_CPU / int_sqrt(e_accel * E_STEPS_PER_MM)) * 313L / 7L; + e_minc = (F_CPU * E_UM_PER_STEP) / e_speed; } - printf("Xc: %d, Yc: %d\n", x_c >> 8, y_c >> 8); - printf("Xminc: %d, Yminc: %d\n", x_minc >> 8, y_minc >> 8); + printf("Xc: %d, Yc: %d\n", x_c, y_c); + printf("Xminc: %d, Yminc: %d\n", x_minc, y_minc); x_n = y_n = z_n = e_n = 1; - x_cr = x_c >> 8; - y_cr = y_c >> 8; - z_cr = z_c >> 8; - e_cr = e_c >> 8; + x_cr = x_c; y_cr = y_c; z_cr = z_c; e_cr = e_c; total_ticks = 0; while (x_delta > 0 || y_delta > 0 || z_delta > 0 || e_delta > 0) { if (x_cr <= 0 && x_delta > 0) { x_delta--; -// printf("x_c(%d) = %u", x_n, x_c >> 8); if (x_n == 1) - x_c = x_c * 0.4056; + x_c = 0.4056 * x_c; else x_c = x_c - ((2 * x_c) / ((4 * x_n) + 1)); -// printf(" -> %u\n", x_c >> 8); if (x_c < x_minc) x_c = x_minc; - x_cr = x_c >> 8; + x_cr = x_c; x_n++; } if (y_cr <= 0 && y_delta > 0) { y_delta--; if (y_n == 1) - y_c = y_c * 0.4056; + y_c = 0.4056 * y_c; else y_c = y_c - ((2 * y_c) / ((4 * y_n) + 1)); if (y_c < y_minc) y_c = y_minc; - y_cr = y_c >> 8; + y_cr = y_c; y_n++; } if (z_cr <= 0 && z_delta > 0) { z_delta--; if (z_n == 1) - z_c = z_c * 0.4056; + z_c = 0.4056 * z_c; else z_c = z_c - ((2 * z_c) / ((4 * z_n) + 1)); if (z_c < z_minc) z_c = z_minc; - z_cr = z_c >> 8; + z_cr = z_c; z_n++; } if (e_cr <= 0 && e_delta > 0) { e_delta--; if (e_n == 1) - e_c = e_c * 0.4056; + e_c = 0.4056 * e_c; else e_c = e_c - ((2 * e_c) / ((4 * e_n) + 1)); if (e_c < e_minc) e_c = e_minc; - e_cr = e_c >> 8; + e_cr = e_c; e_n++; } // printf("[xc: %d, xd: %d, yc: %d, yd: %d, ", x_cr, x_delta, y_cr, y_delta); - fprintf(stderr, "%u %.3f %.3f %u(%u) %u %u(%u) %u ", total_ticks, x_delta * X_UM_PER_STEP, y_delta * Y_UM_PER_STEP, x_c, x_c >> 8, x_n, y_c, y_c >> 8, y_n); + fprintf(stderr, "%u %.3f %.3f\n", total_ticks, x_delta * X_UM_PER_STEP, y_delta * Y_UM_PER_STEP); elapsed_ticks = 0x7FFFFFFF; if ((x_delta > 0) && (x_cr < elapsed_ticks)) @@ -352,8 +348,7 @@ void move(int32_t dx, int32_t dy, int32_t dz, int32_t de, uint32_t f) { if ((e_delta > 0) && (e_cr < elapsed_ticks)) elapsed_ticks = e_cr; - fprintf(stderr, "+%u", elapsed_ticks); - // printf("e: %u]\n", elapsed_ticks); +// printf("e: %u]\n", elapsed_ticks); x_cr -= elapsed_ticks; y_cr -= elapsed_ticks; @@ -361,8 +356,6 @@ void move(int32_t dx, int32_t dy, int32_t dz, int32_t de, uint32_t f) { e_cr -= elapsed_ticks; total_ticks += elapsed_ticks; - - fprintf(stderr, "\n"); } } @@ -370,10 +363,8 @@ int main(int argc, char **argv) { float x = 40, y = 34, z = 0, - e = 0, + e = 55, f = 1500; move(x * X_STEPS_PER_MM, y * Y_STEPS_PER_MM, z * Z_STEPS_PER_MM, e * E_STEPS_PER_MM, f); - - return 0; } diff --git a/research/alg.pl b/research/alg.pl index 02c5de4..f7b1de7 100755 --- a/research/alg.pl +++ b/research/alg.pl @@ -120,12 +120,12 @@ printf "new Xds: %d, Yds: %d\n", $x_steps_to_decel, $y_steps_to_decel; if (($x_steps_to_accel + $x_steps_to_decel) > $x_delta) { # we will never reach full speed, however this doesn't affect our accel trimming so we can do this last # n = (m.w'2) / (w'1 + w'2) - $x_steps_to_decel = int($x_delta * $x_decel_mm_s_s / ($x_accel_mm_s_s + $x_decel_mm_s_s)); + $x_steps_to_decel = $x_delta * $x_decel_mm_s_s / ($x_accel_mm_s_s + $x_decel_mm_s_s); } if (($y_steps_to_accel + $y_steps_to_decel) > $y_delta) { # we will never reach full speed, however this doesn't affect our accel trimming so we can do this last # n = (m.w'2) / (w'1 + w'2) - $y_steps_to_decel = int($y_delta * $y_decel_mm_s_s / ($y_accel_mm_s_s + $y_decel_mm_s_s)); + $y_steps_to_decel = $y_delta * $y_decel_mm_s_s / ($y_accel_mm_s_s + $y_decel_mm_s_s); } printf "new Xds: %d, Yds: %d\n", $x_steps_to_decel, $y_steps_to_decel; @@ -133,8 +133,8 @@ printf "new Xds: %d, Yds: %d\n", $x_steps_to_decel, $y_steps_to_decel; # now we work out initial delays (C0) # = F_CPU * sqrt(2 / accel / steps_per_mm) -my $x_c = int($f_cpu * sqrt(2 / $x_accel_mm_s_s / $x_steps_per_mm)); -my $y_c = int($f_cpu * sqrt(2 / $y_accel_mm_s_s / $y_steps_per_mm)); +my $x_c = $f_cpu * sqrt(2 / $x_accel_mm_s_s / $x_steps_per_mm); +my $y_c = $f_cpu * sqrt(2 / $y_accel_mm_s_s / $y_steps_per_mm); # now we work out speed limits so we know when to stop accelerating @@ -142,8 +142,8 @@ my $y_c = int($f_cpu * sqrt(2 / $y_accel_mm_s_s / $y_steps_per_mm)); # mm/sec * steps/mm = steps/sec # 1 / (mm/sec * steps/sec) = secs/step # f_cpu / (mm/sec * steps/sec) = ticks/step -my $x_min_c = int($f_cpu / ($x_speed * $x_steps_per_mm)); -my $y_min_c = int($f_cpu / ($y_speed * $y_steps_per_mm)); +my $x_min_c = $f_cpu / ($x_speed * $x_steps_per_mm); +my $y_min_c = $f_cpu / ($y_speed * $y_steps_per_mm); printf "XminC: %dt/s, YminC: %dt/s\n", $x_min_c, $y_min_c; @@ -173,10 +173,10 @@ while ($x_delta > 0 || $y_delta > 0) { } printf "[X: %ds:%gmm, %dc, %dn] ", $x_delta, $x_delta / $x_steps_per_mm, $x_c, $x_n; if ($x_n == 1) { - $x_c = int(0.4056 * $x_c * 256) / 256; + $x_c = 0.4056 * $x_c; } else { - $x_c = int(($x_c - ((2 * $x_c) / ((4 * $x_n) + 1))) * 256) / 256; + $x_c = $x_c - ((2 * $x_c) / ((4 * $x_n) + 1)); } $x_cd = $x_c; $x_n++; @@ -190,10 +190,10 @@ while ($x_delta > 0 || $y_delta > 0) { } printf "[Y: %ds:%gmm, %dc, %dn] ", $y_delta, $y_delta / $y_steps_per_mm, $y_c, $y_n; if ($y_n == 1) { - $y_c = int(0.4056 * $y_c * 256) / 256; + $y_c = 0.4056 * $y_c; } else { - $y_c = int(($y_c - ((2 * $y_c) / ((4 * $y_n) + 1))) * 256) / 256; + $y_c = $y_c - ((2 * $y_c) / ((4 * $y_n) + 1)); } $y_cd = $y_c; $y_n++;