diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h index 134dff961a..39480939d7 100644 --- a/Marlin/Configuration.h +++ b/Marlin/Configuration.h @@ -78,10 +78,9 @@ bool axis_relative_modes[] = {false, false, false, false}; // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot. float acceleration = 2000; // Normal acceleration mm/s^2 float retract_acceleration = 7000; // Normal acceleration mm/s^2 -float max_jerk = 20*60; +float max_xy_jerk = 20.0*60; +float max_z_jerk = 0.4*60; long max_acceleration_units_per_sq_second[] = {7000,7000,100,10000}; // X, Y, Z and E max acceleration in mm/s^2 for printing moves or retracts -// Not used long max_travel_acceleration_units_per_sq_second[] = {500,500,50,500}; // X, Y, Z max acceleration in mm/s^2 for travel moves - // The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature // If the temperature has not increased at the end of that period, the target temperature is set to zero. It can be reset with another M104/M109 diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h index f0c3396574..56d716542d 100644 --- a/Marlin/Marlin.h +++ b/Marlin/Marlin.h @@ -86,12 +86,13 @@ typedef struct { float nominal_speed; // The nominal speed for this block in mm/min float millimeters; // The total travel of this block in mm float entry_speed; + float acceleration; // acceleration mm/sec^2 // Settings for the trapezoid generator long nominal_rate; // The nominal step rate for this block in step_events/sec - volatile long initial_rate; // The jerk-adjusted step rate at start of block - volatile long final_rate; // The minimal rate at exit - long acceleration; // acceleration mm/sec^2 + volatile long initial_rate; // The jerk-adjusted step rate at start of block + volatile long final_rate; // The minimal rate at exit + long acceleration_st; // acceleration steps/sec^2 volatile char busy; } block_t; @@ -104,4 +105,3 @@ void plan_set_position(float x, float y, float z, float e); void st_wake_up(); void st_synchronize(); - diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde index d1a98565ed..c6d1ff6913 100644 --- a/Marlin/Marlin.pde +++ b/Marlin/Marlin.pde @@ -33,7 +33,7 @@ #include "Marlin.h" #include "speed_lookuptable.h" -char version_string[] = "0.9.3"; +char version_string[] = "0.9.8"; #ifdef SDSUPPORT #include "SdFat.h" @@ -1167,10 +1167,9 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit if(final_rate < 120) final_rate=120; // Calculate the acceleration steps - long acceleration = block->acceleration; + long acceleration = block->acceleration_st; long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration); long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration); - // Calculate the size of Plateau of Nominal Rate. long plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; @@ -1214,15 +1213,15 @@ inline float max_allowable_speed(float acceleration, float target_velocity, floa inline float junction_jerk(block_t *before, block_t *after) { return(sqrt( pow((before->speed_x-after->speed_x), 2)+ - pow((before->speed_y-after->speed_y), 2)+ - pow((before->speed_z-after->speed_z)*axis_steps_per_unit[Z_AXIS]/axis_steps_per_unit[X_AXIS], 2))); + pow((before->speed_y-after->speed_y), 2))); } // Return the safe speed which is max_jerk/2, e.g. the // speed under which you cannot exceed max_jerk no matter what you do. float safe_speed(block_t *block) { float safe_speed; - safe_speed = max_jerk/2; + safe_speed = max_xy_jerk/2; + if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2; if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed; return safe_speed; } @@ -1250,12 +1249,15 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n if((previous->steps_x == 0) && (previous->steps_y == 0)) { entry_speed = safe_speed(current); } - else if (jerk > max_jerk) { - entry_speed = (max_jerk/jerk) * entry_speed; + else if (jerk > max_xy_jerk) { + entry_speed = (max_xy_jerk/jerk) * entry_speed; } + if(abs(previous->speed_z - current->speed_z) > max_z_jerk) { + entry_speed = (max_z_jerk/abs(previous->speed_z - current->speed_z)) * entry_speed; + } // If the required deceleration across the block is too rapid, reduce the entry_factor accordingly. if (entry_speed > exit_speed) { - float max_entry_speed = max_allowable_speed(-acceleration,exit_speed, current->millimeters); + float max_entry_speed = max_allowable_speed(-current->acceleration,exit_speed, current->millimeters); if (max_entry_speed < entry_speed) { entry_speed = max_entry_speed; } @@ -1275,16 +1277,16 @@ void planner_reverse_pass() { block_t *block[3] = { NULL, NULL, NULL }; while(block_index != block_buffer_tail) { - block_index--; - if(block_index < 0) { - block_index = BLOCK_BUFFER_SIZE-1; - } block[2]= block[1]; block[1]= block[0]; block[0] = &block_buffer[block_index]; planner_reverse_pass_kernel(block[0], block[1], block[2]); + block_index--; + if(block_index < 0) { + block_index = BLOCK_BUFFER_SIZE-1; + } } - planner_reverse_pass_kernel(NULL, block[0], block[1]); +// planner_reverse_pass_kernel(NULL, block[0], block[1]); } // The kernel called by planner_recalculate() when scanning the plan from first to last entry. @@ -1298,7 +1300,7 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n // speed accordingly. Remember current->entry_factor equals the exit factor of // the previous block. if(previous->entry_speed < current->entry_speed) { - float max_entry_speed = max_allowable_speed(-acceleration, previous->entry_speed, previous->millimeters); + float max_entry_speed = max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters); if (max_entry_speed < current->entry_speed) { current->entry_speed = max_entry_speed; } @@ -1422,7 +1424,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); - + // Calculate the buffer head after we push this byte int next_buffer_head = (block_buffer_head + 1) & BLOCK_BUFFER_MASK; @@ -1450,6 +1452,12 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { if (block->step_event_count == 0) { return; }; + + //enable active axes + if(block->steps_x != 0) enable_x(); + if(block->steps_y != 0) enable_y(); + if(block->steps_z != 0) enable_z(); + if(block->steps_e != 0) enable_e(); float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; @@ -1492,7 +1500,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { block->speed_e = delta_e_mm * multiplier; block->nominal_speed = block->millimeters * multiplier; block->nominal_rate = ceil(block->step_event_count * multiplier / 60); - + if(block->nominal_rate < 120) block->nominal_rate = 120; block->entry_speed = safe_speed(block); @@ -1502,18 +1510,19 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { block->acceleration = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2 } else { - block->acceleration = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2 + block->acceleration_st = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2 // Limit acceleration per axis - if((block->acceleration * block->steps_x / block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) - block->acceleration = axis_steps_per_sqr_second[X_AXIS]; - if((block->acceleration * block->steps_y / block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS]) - block->acceleration = axis_steps_per_sqr_second[Y_AXIS]; - if((block->acceleration * block->steps_e / block->step_event_count) > axis_steps_per_sqr_second[E_AXIS]) - block->acceleration = axis_steps_per_sqr_second[E_AXIS]; - if((block->acceleration * block->steps_z / block->step_event_count) > axis_steps_per_sqr_second[Z_AXIS]) - block->acceleration = axis_steps_per_sqr_second[Z_AXIS]; + if((block->acceleration_st * block->steps_x / block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; + if((block->acceleration_st * block->steps_y / block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; + if((block->acceleration_st * block->steps_e / block->step_event_count) > axis_steps_per_sqr_second[E_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; + if(((block->acceleration_st / block->step_event_count) * block->steps_z ) > axis_steps_per_sqr_second[Z_AXIS]) + block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; } - + block->acceleration = block->acceleration_st * travel_per_step; + #ifdef ADVANCE // Calculate advance rate if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) { @@ -1521,7 +1530,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { block->advance = 0; } else { - long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration); + long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st); float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536; block->advance = advance; @@ -1554,12 +1563,6 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) { block->direction_bits |= (1<steps_x != 0) enable_x(); - if(block->steps_y != 0) enable_y(); - if(block->steps_z != 0) enable_z(); - if(block->steps_e != 0) enable_e(); - // Move buffer head block_buffer_head = next_buffer_head; @@ -1729,6 +1732,7 @@ inline void trapezoid_generator_reset() { final_advance = current_block->final_advance; deceleration_time = 0; advance_rate = current_block->advance_rate; + // step_rate to timer interval acc_step_rate = initial_rate; acceleration_time = calc_timer(acc_step_rate);