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Fixed lookup table bug.

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This commit is contained in:
Erik van der Zalm 2011-08-15 19:26:40 +02:00
parent 5a1787b2f4
commit 0024a26ccf
1 changed files with 13 additions and 13 deletions
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26
Marlin/Marlin.pde
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@ -33,7 +33,7 @@
#include "Marlin.h" #include "Marlin.h"
#include "speed_lookuptable.h" #include "speed_lookuptable.h"
char version_string[] = "0.9.1"; char version_string[] = "0.9.2";
#ifdef SDSUPPORT #ifdef SDSUPPORT
#include "SdFat.h" #include "SdFat.h"
@ -1163,8 +1163,8 @@ void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit
#endif // ADVANCE #endif // ADVANCE
// Limit minimal step rate (Otherwise the timer will overflow.) // Limit minimal step rate (Otherwise the timer will overflow.)
if(initial_rate <32) initial_rate=32; if(initial_rate <120) initial_rate=120;
if(final_rate < 32) final_rate=32; if(final_rate < 120) final_rate=120;
// Calculate the acceleration steps // Calculate the acceleration steps
long acceleration = block->acceleration; long acceleration = block->acceleration;
@ -1213,10 +1213,9 @@ inline float max_allowable_speed(float acceleration, float target_velocity, floa
// velocities of the respective blocks. // velocities of the respective blocks.
inline float junction_jerk(block_t *before, block_t *after) { inline float junction_jerk(block_t *before, block_t *after) {
return(sqrt( return(sqrt(
pow((before->speed_x-after->speed_x), 2)+ pow((before->speed_x-after->speed_x), 2)+
pow((before->speed_y-after->speed_y), 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_z-after->speed_z)*axis_steps_per_unit[Z_AXIS]/axis_steps_per_unit[X_AXIS], 2)));
);
} }
// Return the safe speed which is max_jerk/2, e.g. the // Return the safe speed which is max_jerk/2, e.g. the
@ -1494,7 +1493,7 @@ void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
block->nominal_speed = block->millimeters * multiplier; block->nominal_speed = block->millimeters * multiplier;
block->nominal_rate = ceil(block->step_event_count * multiplier / 60); block->nominal_rate = ceil(block->step_event_count * multiplier / 60);
if(block->nominal_rate < 32) block->nominal_rate = 32; if(block->nominal_rate < 120) block->nominal_rate = 120;
block->entry_speed = safe_speed(block); block->entry_speed = safe_speed(block);
// Compute the acceleration rate for the trapezoid generator. // Compute the acceleration rate for the trapezoid generator.
@ -1603,7 +1602,7 @@ asm volatile ( \
"d" (charIn1), \ "d" (charIn1), \
"d" (intIn2) \ "d" (intIn2) \
: \ : \
"r26" , "r27" \ "r26" \
) )
// intRes = longIn1 * longIn2 >> 24 // intRes = longIn1 * longIn2 >> 24
@ -1670,7 +1669,7 @@ static short old_advance = 0;
static short e_steps; static short e_steps;
static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler. static unsigned char busy = false; // TRUE when SIG_OUTPUT_COMPARE1A is being serviced. Used to avoid retriggering that handler.
static long acceleration_time, deceleration_time; static long acceleration_time, deceleration_time;
static long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate; static long accelerate_until, decelerate_after, acceleration_rate, initial_rate, final_rate, nominal_rate;
static unsigned short acc_step_rate; // needed for deccelaration start point static unsigned short acc_step_rate; // needed for deccelaration start point
@ -1700,7 +1699,7 @@ inline unsigned short calc_timer(unsigned short step_rate) {
unsigned short timer; unsigned short timer;
if(step_rate < 32) step_rate = 32; if(step_rate < 32) step_rate = 32;
step_rate -= 32; // Correct for minimal speed step_rate -= 32; // Correct for minimal speed
if(step_rate > (8*256)){ // higher step rate if(step_rate >= (8*256)){ // higher step rate
unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0]; unsigned short table_address = (unsigned short)&speed_lookuptable_fast[(unsigned char)(step_rate>>8)][0];
unsigned char tmp_step_rate = (step_rate & 0x00ff); unsigned char tmp_step_rate = (step_rate & 0x00ff);
unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2); unsigned short gain = (unsigned short)pgm_read_word_near(table_address+2);
@ -1725,6 +1724,7 @@ inline void trapezoid_generator_reset() {
acceleration_rate = current_block->acceleration_rate; acceleration_rate = current_block->acceleration_rate;
initial_rate = current_block->initial_rate; initial_rate = current_block->initial_rate;
final_rate = current_block->final_rate; final_rate = current_block->final_rate;
nominal_rate = current_block->nominal_rate;
advance = current_block->initial_advance; advance = current_block->initial_advance;
final_advance = current_block->final_advance; final_advance = current_block->final_advance;
deceleration_time = 0; deceleration_time = 0;
@ -1864,8 +1864,8 @@ ISR(TIMER1_COMPA_vect)
acc_step_rate += initial_rate; acc_step_rate += initial_rate;
// upper limit // upper limit
if(acc_step_rate > current_block->nominal_rate) if(acc_step_rate > nominal_rate)
acc_step_rate = current_block->nominal_rate; acc_step_rate = nominal_rate;
// step_rate to timer interval // step_rate to timer interval
timer = calc_timer(acc_step_rate); timer = calc_timer(acc_step_rate);
@ -1873,7 +1873,7 @@ ISR(TIMER1_COMPA_vect)
acceleration_time += timer; acceleration_time += timer;
OCR1A = timer; OCR1A = timer;
} }
else if (step_events_completed > decelerate_after) { else if (step_events_completed >= decelerate_after) {
MultiU24X24toH16(step_rate, deceleration_time, acceleration_rate); MultiU24X24toH16(step_rate, deceleration_time, acceleration_rate);
if(step_rate > acc_step_rate) { // Check step_rate stays positive if(step_rate > acc_step_rate) { // Check step_rate stays positive