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Fix long acceleration overflow

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This commit is contained in:
Scott Lahteine 2021-04-13 23:22:57 -05:00 committed by Scott Lahteine
parent 326b1c1225
commit 47dbea9334
2 changed files with 12 additions and 13 deletions
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23
Marlin/src/module/planner.cpp
View file

@ -207,7 +207,7 @@ skew_factor_t Planner::skew_factor; // Initialized by settings.load()
xyze_long_t Planner::position{0};
uint32_t Planner::cutoff_long;
uint32_t Planner::acceleration_long_cutoff;
xyze_float_t Planner::previous_speed;
float Planner::previous_nominal_speed_sqr;
@ -2271,23 +2271,22 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// Compute and limit the acceleration rate for the trapezoid generator.
const float steps_per_mm = block->step_event_count * inverse_millimeters;
uint32_t accel;
if (!block->steps.a && !block->steps.b && !block->steps.c) {
// convert to: acceleration steps/sec^2
accel = CEIL(settings.retract_acceleration * steps_per_mm);
TERN_(LIN_ADVANCE, block->use_advance_lead = false);
if (!block->steps.a && !block->steps.b && !block->steps.c) { // Is this a retract / recover move?
accel = CEIL(settings.retract_acceleration * steps_per_mm); // Convert to: acceleration steps/sec^2
TERN_(LIN_ADVANCE, block->use_advance_lead = false); // No linear advance for simple retract/recover
}
else {
#define LIMIT_ACCEL_LONG(AXIS,INDX) do{ \
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
const uint32_t comp = max_acceleration_steps_per_s2[AXIS+INDX] * block->step_event_count; \
if (accel * block->steps[AXIS] > comp) accel = comp / block->steps[AXIS]; \
const uint32_t max_possible = max_acceleration_steps_per_s2[AXIS+INDX] * block->step_event_count / block->steps[AXIS]; \
NOMORE(accel, max_possible); \
} \
}while(0)
#define LIMIT_ACCEL_FLOAT(AXIS,INDX) do{ \
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
const float comp = (float)max_acceleration_steps_per_s2[AXIS+INDX] * (float)block->step_event_count; \
if ((float)accel * (float)block->steps[AXIS] > comp) accel = comp / (float)block->steps[AXIS]; \
const float max_possible = float(max_acceleration_steps_per_s2[AXIS+INDX]) * float(block->step_event_count) / float(block->steps[AXIS]); \
NOMORE(accel, max_possible); \
} \
}while(0)
@ -2336,7 +2335,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif
// Limit acceleration per axis
if (block->step_event_count <= cutoff_long) {
if (block->step_event_count <= acceleration_long_cutoff) {
LIMIT_ACCEL_LONG(A_AXIS, 0);
LIMIT_ACCEL_LONG(B_AXIS, 0);
LIMIT_ACCEL_LONG(C_AXIS, 0);
@ -2352,7 +2351,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
block->acceleration_steps_per_s2 = accel;
block->acceleration = accel / steps_per_mm;
#if DISABLED(S_CURVE_ACCELERATION)
block->acceleration_rate = (uint32_t)(accel * (4096.0f * 4096.0f / (STEPPER_TIMER_RATE)));
block->acceleration_rate = (uint32_t)(accel * (sq(4096.0f) / (STEPPER_TIMER_RATE)));
#endif
#if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) {
@ -3020,7 +3019,7 @@ void Planner::reset_acceleration_rates() {
max_acceleration_steps_per_s2[i] = settings.max_acceleration_mm_per_s2[i] * settings.axis_steps_per_mm[i];
if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
}
cutoff_long = 4294967295UL / highest_rate; // 0xFFFFFFFFUL
acceleration_long_cutoff = 4294967295UL / highest_rate; // 0xFFFFFFFFUL
TERN_(HAS_LINEAR_E_JERK, recalculate_max_e_jerk());
}

2
Marlin/src/module/planner.h
View file

@ -443,7 +443,7 @@ class Planner {
/**
* Limit where 64bit math is necessary for acceleration calculation
*/
static uint32_t cutoff_long;
static uint32_t acceleration_long_cutoff;
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
static float last_fade_z;