josh
/
Teacup_Firmware
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

ACCELERATION_RAMPING: precalculate number of acceleration steps. 

These numbers aren't used, yet, but they can be compared with the
numbers calculated by the traditional method.
This commit is contained in:
Markus Hitter 2011-05-13 00:36:32 +02:00
parent 26fb18d178
commit ec47633794
2 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
dda.c
View File

@ -346,6 +346,13 @@ void dda_create(DDA *dda, TARGET *target) {
dda->c_min = (move_duration / target->F) << 8;
if (dda->c_min < c_limit)
dda->c_min = c_limit;
// overflows at target->F > 65535; factor 16. found by try-and-error
dda->rampup_steps = target->F * target->F / (uint32_t)(STEPS_PER_MM_X * ACCELERATION / 16.);
if (dda->rampup_steps > dda->total_steps / 2)
dda->rampup_steps = dda->total_steps / 2;
dda->rampdown_steps = dda->total_steps - dda->rampup_steps;
if (dda->rampup_steps == 0)
dda->rampup_steps = 1;
dda->n = 1;
dda->ramp_state = RAMP_UP;
#else
@ -534,7 +541,9 @@ void dda_step(DDA *dda) {
// maximum speed reached
dda->c = dda->c_min;
dda->ramp_state = RAMP_MAX;
//sersendf_P(PSTR("real:%lu up:%lu "), dda->step_no, dda->rampup_steps);
dda->ramp_steps = dda->total_steps - dda->step_no;
//sersendf_P(PSTR("real:%lu down:%lu\n"), dda->ramp_steps, dda->rampdown_steps);
}
break;
}

4
dda.h
View File

@ -106,6 +106,10 @@ typedef struct {
#ifdef ACCELERATION_RAMPING
/// start of down-ramp, intitalized with total_steps / 2
uint32_t ramp_steps;
/// number of steps accelerating
uint32_t rampup_steps;
/// number of last step before decelerating
uint32_t rampdown_steps;
/// counts actual steps done
uint32_t step_no;
/// 24.8 fixed point timer value, maximum speed