From 97d509d4d281ec8cafd6815aa9f2a4d7ba647548 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 21 Dec 2017 16:51:08 -0600 Subject: [PATCH] Revert "Improved Core-compatible jerk code" Reverting commit 3cd7659 --- Marlin/src/module/planner.cpp | 40 ++++++++++++++++++++++++----------- 1 file changed, 28 insertions(+), 12 deletions(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index c344640852..d17b5535c2 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -1110,14 +1110,10 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const } #endif - // Calculate and limit speed in mm/sec for each axis, calculate minimum acceleration ratio + // Calculate and limit speed in mm/sec for each axis float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed - float max_stepper_speed = 0, min_axis_accel_ratio = 1; // ratio < 1 means acceleration ramp needed LOOP_XYZE(i) { const float cs = FABS((current_speed[i] = delta_mm[i] * inverse_secs)); - if (cs > max_jerk[i]) - NOMORE(min_axis_accel_ratio, max_jerk[i] / cs); - NOLESS(max_stepper_speed, cs); #if ENABLED(DISTINCT_E_FACTORS) if (i == E_AXIS) i += extruder; #endif @@ -1162,9 +1158,6 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const } #endif // XY_FREQUENCY_LIMIT - block->nominal_speed = max_stepper_speed; // (mm/sec) Always > 0 - block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0 - // Correct the speed if (speed_factor < 1.0) { LOOP_XYZE(i) current_speed[i] *= speed_factor; @@ -1172,9 +1165,6 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const block->nominal_rate *= speed_factor; } - float safe_speed = block->nominal_speed * min_axis_accel_ratio; - static float previous_safe_speed; - // Compute and limit the acceleration rate for the trapezoid generator. const float steps_per_mm = block->step_event_count * inverse_millimeters; uint32_t accel; @@ -1276,6 +1266,32 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const } #endif + /** + * Adapted from Průša MKS firmware + * https://github.com/prusa3d/Prusa-Firmware + * + * Start with a safe speed (from which the machine may halt to stop immediately). + */ + + // Exit speed limited by a jerk to full halt of a previous last segment + static float previous_safe_speed; + + float safe_speed = block->nominal_speed; + uint8_t limited = 0; + LOOP_XYZE(i) { + const float jerk = FABS(current_speed[i]), maxj = max_jerk[i]; + if (jerk > maxj) { + if (limited) { + const float mjerk = maxj * block->nominal_speed; + if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk; + } + else { + ++limited; + safe_speed = maxj; + } + } + } + if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) { // Estimate a maximum velocity allowed at a joint of two successive segments. // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities, @@ -1287,7 +1303,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const // Factor to multiply the previous / current nominal velocities to get componentwise limited velocities. float v_factor = 1; - uint8_t limited = 0; + limited = 0; // Now limit the jerk in all axes. const float smaller_speed_factor = vmax_junction / previous_nominal_speed;