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Adjustments to planner acceleration limit #4365

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merged 2 commits into from
Jul 22, 2016
Merged

Adjustments to planner acceleration limit #4365

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209f5c0
Fewer temporary vars in planner accel limit
thinkyhead Jul 21, 2016
4226f56
Revert the planner acceleration logic somewhat
thinkyhead Jul 21, 2016
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40 changes: 16 additions & 24 deletions Marlin/planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -946,31 +946,23 @@ void Planner::check_axes_activity() {

// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count / block->millimeters;
long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
if (bsx == 0 && bsy == 0 && bsz == 0) {
if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
block->acceleration_steps_per_s2 = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else if (bse == 0) {
block->acceleration_steps_per_s2 = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else {
block->acceleration_steps_per_s2 = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
// Limit acceleration per axis
block->acceleration_steps_per_s2 = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
if (max_acceleration_steps_per_s2[X_AXIS] < (block->acceleration_steps_per_s2 * block->steps[X_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[X_AXIS] * block->step_event_count) / block->steps[X_AXIS];
if (max_acceleration_steps_per_s2[Y_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Y_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Y_AXIS] * block->step_event_count) / block->steps[Y_AXIS];
if (max_acceleration_steps_per_s2[Z_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Z_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Z_AXIS] * block->step_event_count) / block->steps[Z_AXIS];
if (max_acceleration_steps_per_s2[E_AXIS] < (block->acceleration_steps_per_s2 * block->steps[E_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
}
// Limit acceleration per axis
unsigned long acc_st = block->acceleration_steps_per_s2,
x_acc_st = max_acceleration_steps_per_s2[X_AXIS],
y_acc_st = max_acceleration_steps_per_s2[Y_AXIS],
z_acc_st = max_acceleration_steps_per_s2[Z_AXIS],
e_acc_st = max_acceleration_steps_per_s2[E_AXIS],
allsteps = block->step_event_count;
if (x_acc_st < (acc_st * bsx) / allsteps) acc_st = (x_acc_st * allsteps) / bsx;
if (y_acc_st < (acc_st * bsy) / allsteps) acc_st = (y_acc_st * allsteps) / bsy;
if (z_acc_st < (acc_st * bsz) / allsteps) acc_st = (z_acc_st * allsteps) / bsz;
if (e_acc_st < (acc_st * bse) / allsteps) acc_st = (e_acc_st * allsteps) / bse;

block->acceleration_steps_per_s2 = acc_st;
block->acceleration = acc_st / steps_per_mm;
block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
block->acceleration = block->acceleration_steps_per_s2 / steps_per_mm;
block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) / 8.0));

#if 0 // Use old jerk for now

Expand Down Expand Up @@ -1064,12 +1056,12 @@ void Planner::check_axes_activity() {

#if ENABLED(LIN_ADVANCE)

// bse == allsteps: A problem occurs when there's a very tiny move before a retract.
// block->steps[E_AXIS] == block->step_event_count: A problem occurs when there's a very tiny move before a retract.
// In this case, the retract and the move will be executed together.
// This leads to an enormous number of advance steps due to a huge e_acceleration.
// The math is correct, but you don't want a retract move done with advance!
// So this situation is filtered out here.
if (!bse || (!bsx && !bsy && !bsz) || stepper.get_advance_k() == 0 || (uint32_t) bse == allsteps) {
if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t) block->steps[E_AXIS] == block->step_event_count) {
block->use_advance_lead = false;
}
else {
Expand All @@ -1080,7 +1072,7 @@ void Planner::check_axes_activity() {
#elif ENABLED(ADVANCE)

// Calculate advance rate
if (!bse || (!bsx && !bsy && !bsz)) {
if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS])) {
block->advance_rate = 0;
block->advance = 0;
}
Expand Down