Fixed some small planner bugs
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5fd41ae872
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@ -11,7 +11,8 @@
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// Frequency limit
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// See nophead's blog for more info
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#define XY_FREQUENCY_LIMIT 15
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// Not working OK
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//#define XY_FREQUENCY_LIMIT 15
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// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
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// of the buffer and all stops. This should not be much greater than zero and should only be changed
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@ -201,7 +202,7 @@ const bool ENDSTOPS_INVERTING = true; // set to true to invert the logic of the
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#define AXIS_RELATIVE_MODES {false, false, false, false}
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#define MAX_STEP_FREQUENCY 40000L // Max step frequency for Ultimaker (5000 pps / half step)
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#define MAX_STEP_FREQUENCY 40000 // Max step frequency for Ultimaker (5000 pps / half step)
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// default settings
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@ -72,7 +72,7 @@
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unsigned long minsegmenttime;
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float max_feedrate[4]; // set the max speeds
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float axis_steps_per_unit[4];
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long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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float minimumfeedrate;
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float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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@ -153,8 +153,8 @@ inline float intersection_distance(float initial_rate, float final_rate, float a
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// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
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void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
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long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
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long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
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unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
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unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
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// Limit minimal step rate (Otherwise the timer will overflow.)
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if(initial_rate <120) {initial_rate=120; }
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@ -570,7 +570,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
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long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
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long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
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if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
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if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
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#endif
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// Correct the speed
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@ -579,7 +579,12 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
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for(int i=0; i < 4; i++) {
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if(abs(current_speed[i]) > max_feedrate[i])
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speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
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// Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
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/*
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if(speed_factor < 0.1) {
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Serial.print("speed factor : "); Serial.println(speed_factor);
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Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
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}
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*/
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}
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for(unsigned char i=0; i < 4; i++) {
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current_speed[i] *= speed_factor;
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@ -32,9 +32,9 @@ typedef struct {
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// Fields used by the bresenham algorithm for tracing the line
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long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
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long step_event_count; // The number of step events required to complete this block
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volatile long accelerate_until; // The index of the step event on which to stop acceleration
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volatile long decelerate_after; // The index of the step event on which to start decelerating
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volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
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long accelerate_until; // The index of the step event on which to stop acceleration
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long decelerate_after; // The index of the step event on which to start decelerating
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long acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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#ifdef ADVANCE
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// long advance_rate;
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@ -54,10 +54,10 @@ typedef struct {
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unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
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// Settings for the trapezoid generator
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long nominal_rate; // The nominal step rate for this block in step_events/sec
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volatile long initial_rate; // The jerk-adjusted step rate at start of block
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volatile long final_rate; // The minimal rate at exit
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long acceleration_st; // acceleration steps/sec^2
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unsigned long nominal_rate; // The nominal step rate for this block in step_events/sec
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unsigned long initial_rate; // The jerk-adjusted step rate at start of block
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unsigned long final_rate; // The minimal rate at exit
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unsigned long acceleration_st; // acceleration steps/sec^2
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volatile char busy;
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} block_t;
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@ -84,7 +84,7 @@ void check_axes_activity();
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extern unsigned long minsegmenttime;
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extern float max_feedrate[4]; // set the max speeds
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extern float axis_steps_per_unit[4];
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extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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extern unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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extern float minimumfeedrate;
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extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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@ -253,7 +253,7 @@ inline unsigned short calc_timer(unsigned short step_rate) {
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timer = (unsigned short)pgm_read_word_near(table_address);
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timer -= (((unsigned short)pgm_read_word_near(table_address+2) * (unsigned char)(step_rate & 0x0007))>>3);
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}
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if(timer < 100) timer = 100; //(20kHz this should never happen)
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if(timer < 100) { timer = 100; Serial.print("Steprate to high : "); Serial.println(step_rate); }//(20kHz this should never happen)
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return timer;
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}
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