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semantics changed

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This commit is contained in:
Scott Lahteine
2024-04-24 18:51:23 -05:00
parent 549a4f48f9
commit 1f3f416bd2
4 changed files with 25 additions and 19 deletions
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Marlin/src/module/planner.cpp
+4 -4
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@@ -859,8 +859,8 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
#endif
// Store new block parameters
block->accelerate_until = accelerate_steps;
block->decelerate_after = block->step_event_count - decelerate_steps;
block->accelerate_before = accelerate_steps;
block->decelerate_start = block->step_event_count - decelerate_steps;
block->initial_rate = initial_rate;
#if ENABLED(S_CURVE_ACCELERATION)
block->acceleration_time = acceleration_time;
@@ -3196,8 +3196,8 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s
block->step_event_count = num_steps;
block->initial_rate = block->final_rate = block->nominal_rate = last_page_step_rate; // steps/s
block->accelerate_until = 0;
block->decelerate_after = block->step_event_count;
block->accelerate_before = 0;
block->decelerate_start = block->step_event_count;
// Will be set to last direction later if directional format.
block->direction_bits.reset();
Marlin/src/module/planner.h
+2 -2
View File
@@ -244,8 +244,8 @@ typedef struct PlannerBlock {
#endif
// Settings for the trapezoid generator
uint32_t accelerate_until, // The index of the step event on which to stop acceleration
decelerate_after; // The index of the step event on which to start decelerating
uint32_t accelerate_before, // The index of the step event where cruising starts
decelerate_start; // The index of the step event on which to start decelerating
#if ENABLED(S_CURVE_ACCELERATION)
uint32_t cruise_rate, // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase
Marlin/src/module/stepper.cpp
+17 -11
View File
@@ -58,10 +58,16 @@
*
* time ----->
*
* The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
* first block->accelerate_until step_events_completed, then keeps going at constant speed until
* step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
* The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
* the shape the speed curve over time forms a TRAPEZOID. The slope of acceleration is calculated by
* v = u + t
* where 't' is the accumulated timer values of the steps so far.
*
* The Stepper ISR dynamically executes acceleration, deceleration, and cruising according to the block parameters.
* - Start at block->initial_rate.
* - Accelerate while step_events_completed < block->accelerate_before.
* - Cruise while step_events_completed < block->decelerate_start.
* - Decelerate after that, until all steps are completed.
* - Reset the trapezoid generator.
*/
/**
@@ -225,8 +231,8 @@ xyze_long_t Stepper::delta_error{0};
xyze_long_t Stepper::advance_dividend{0};
uint32_t Stepper::advance_divisor = 0,
Stepper::step_events_completed = 0, // The number of step events executed in the current block
Stepper::accelerate_until, // The count at which to stop accelerating
Stepper::decelerate_after, // The count at which to start decelerating
Stepper::accelerate_before, // The count at which to start cruising
Stepper::decelerate_start, // The count at which to start decelerating
Stepper::step_event_count; // The total event count for the current block
#if ANY(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
@@ -2300,7 +2306,7 @@ hal_timer_t Stepper::block_phase_isr() {
// Step events not completed yet...
// Are we in acceleration phase ?
if (step_events_completed < accelerate_until) { // Calculate new timer value
if (step_events_completed < accelerate_before) { // Calculate new timer value
#if ENABLED(S_CURVE_ACCELERATION)
// Get the next speed to use (Jerk limited!)
@@ -2357,7 +2363,7 @@ hal_timer_t Stepper::block_phase_isr() {
#endif
}
// Are we in Deceleration phase ?
else if (step_events_completed >= decelerate_after) {
else if (step_events_completed >= decelerate_start) {
uint32_t step_rate;
#if ENABLED(S_CURVE_ACCELERATION)
@@ -2462,7 +2468,7 @@ hal_timer_t Stepper::block_phase_isr() {
*/
#if ENABLED(LASER_POWER_TRAP)
if (cutter.cutter_mode == CUTTER_MODE_CONTINUOUS) {
if (step_events_completed + 1 == accelerate_until) {
if (step_events_completed + 1 == accelerate_before) {
if (planner.laser_inline.status.isPowered && planner.laser_inline.status.isEnabled) {
if (current_block->laser.trap_ramp_entry_incr > 0) {
current_block->laser.trap_ramp_active_pwr = current_block->laser.power;
@@ -2692,8 +2698,8 @@ hal_timer_t Stepper::block_phase_isr() {
step_events_completed = 0;
// Compute the acceleration and deceleration points
accelerate_until = current_block->accelerate_until << oversampling_factor;
decelerate_after = current_block->decelerate_after << oversampling_factor;
accelerate_before = current_block->accelerate_before << oversampling_factor;
decelerate_start = current_block->decelerate_start << oversampling_factor;
TERN_(MIXING_EXTRUDER, mixer.stepper_setup(current_block->b_color));
Marlin/src/module/stepper.h
+2 -2
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@@ -391,8 +391,8 @@ class Stepper {
static xyze_long_t advance_dividend;
static uint32_t advance_divisor,
step_events_completed, // The number of step events executed in the current block
accelerate_until, // The point from where we need to stop acceleration
decelerate_after, // The point from where we need to start decelerating
accelerate_before, // The count at which to start cruising
decelerate_start, // The count at which to start decelerating
step_event_count; // The total event count for the current block
#if ANY(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)