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⚡️ Fix motion smoothness (#27013)

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This commit is contained in:
Mihai
2024-05-17 04:48:21 +03:00
committed by GitHub
parent ef0bd975cf
commit 2fd7c2b865
4 changed files with 55 additions and 46 deletions
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53
Marlin/src/module/stepper.cpp
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@@ -58,10 +58,16 @@
*
* time ----->
*
* The trapezoid is the shape the speed curve over time. It starts at block->initial_rate, accelerates
* first block->accelerate_until step_events_completed, then keeps going at constant speed until
* step_events_completed reaches block->decelerate_after after which it decelerates until the trapezoid generator is reset.
* The slope of acceleration is calculated using v = u + at where t is the accumulated timer values of the steps so far.
* The speed over time graph forms a TRAPEZOID. The slope of acceleration is calculated by
* v = u + t
* where 't' is the accumulated timer values of the steps so far.
*
* The Stepper ISR dynamically executes acceleration, deceleration, and cruising according to the block parameters.
* - Start at block->initial_rate.
* - Accelerate while step_events_completed < block->accelerate_before.
* - Cruise while step_events_completed < block->decelerate_start.
* - Decelerate after that, until all steps are completed.
* - Reset the trapezoid generator.
*/
/**
@@ -193,6 +199,7 @@ bool Stepper::abort_current_block;
;
#endif
// In timer_ticks
uint32_t Stepper::acceleration_time, Stepper::deceleration_time;
#if MULTISTEPPING_LIMIT > 1
@@ -224,8 +231,8 @@ xyze_long_t Stepper::delta_error{0};
xyze_long_t Stepper::advance_dividend{0};
uint32_t Stepper::advance_divisor = 0,
Stepper::step_events_completed = 0, // The number of step events executed in the current block
Stepper::accelerate_until, // The count at which to stop accelerating
Stepper::decelerate_after, // The count at which to start decelerating
Stepper::accelerate_before, // The count at which to start cruising
Stepper::decelerate_start, // The count at which to start decelerating
Stepper::step_event_count; // The total event count for the current block
#if ANY(HAS_MULTI_EXTRUDER, MIXING_EXTRUDER)
@@ -2403,7 +2410,7 @@ hal_timer_t Stepper::block_phase_isr() {
// Step events not completed yet...
// Are we in acceleration phase ?
if (step_events_completed <= accelerate_until) { // Calculate new timer value
if (step_events_completed < accelerate_before) { // Calculate new timer value
#if ENABLED(S_CURVE_ACCELERATION)
// Get the next speed to use (Jerk limited!)
@@ -2420,6 +2427,7 @@ hal_timer_t Stepper::block_phase_isr() {
// step_rate to timer interval and steps per stepper isr
interval = calc_multistep_timer_interval(acc_step_rate << oversampling_factor);
acceleration_time += interval;
deceleration_time = 0; // Reset since we're doing acceleration first.
#if ENABLED(NONLINEAR_EXTRUSION)
calc_nonlinear_e(acc_step_rate << oversampling_factor);
@@ -2456,30 +2464,24 @@ hal_timer_t Stepper::block_phase_isr() {
#endif
}
// Are we in Deceleration phase ?
else if (step_events_completed > decelerate_after) {
else if (step_events_completed >= decelerate_start) {
uint32_t step_rate;
#if ENABLED(S_CURVE_ACCELERATION)
// If this is the 1st time we process the 2nd half of the trapezoid...
if (!bezier_2nd_half) {
// Initialize the Bézier speed curve
_calc_bezier_curve_coeffs(current_block->cruise_rate, current_block->final_rate, current_block->deceleration_time_inverse);
bezier_2nd_half = true;
// The first point starts at cruise rate. Just save evaluation of the Bézier curve
step_rate = current_block->cruise_rate;
}
else {
// Calculate the next speed to use
step_rate = deceleration_time < current_block->deceleration_time
? _eval_bezier_curve(deceleration_time)
: current_block->final_rate;
}
// Calculate the next speed to use
step_rate = deceleration_time < current_block->deceleration_time
? _eval_bezier_curve(deceleration_time)
: current_block->final_rate;
#else
// Using the old trapezoidal control
step_rate = STEP_MULTIPLY(deceleration_time, current_block->acceleration_rate);
if (step_rate < acc_step_rate) { // Still decelerating?
if (step_rate < acc_step_rate) {
step_rate = acc_step_rate - step_rate;
NOLESS(step_rate, current_block->final_rate);
}
@@ -2542,6 +2544,9 @@ hal_timer_t Stepper::block_phase_isr() {
if (ticks_nominal == 0) {
// step_rate to timer interval and loops for the nominal speed
ticks_nominal = calc_multistep_timer_interval(current_block->nominal_rate << oversampling_factor);
// Prepare for deceleration
IF_DISABLED(S_CURVE_ACCELERATION, acc_step_rate = current_block->nominal_rate);
deceleration_time = ticks_nominal / 2;
#if ENABLED(NONLINEAR_EXTRUSION)
calc_nonlinear_e(current_block->nominal_rate << oversampling_factor);
@@ -2664,9 +2669,6 @@ hal_timer_t Stepper::block_phase_isr() {
// Set flags for all moving axes, accounting for kinematics
set_axis_moved_for_current_block();
// No acceleration / deceleration time elapsed so far
acceleration_time = deceleration_time = 0;
#if ENABLED(ADAPTIVE_STEP_SMOOTHING)
// Nonlinear Extrusion needs at least 2x oversampling to permit increase of E step rate
// Otherwise assume no axis smoothing (via oversampling)
@@ -2720,8 +2722,8 @@ hal_timer_t Stepper::block_phase_isr() {
step_events_completed = 0;
// Compute the acceleration and deceleration points
accelerate_until = current_block->accelerate_until << oversampling_factor;
decelerate_after = current_block->decelerate_after << oversampling_factor;
accelerate_before = current_block->accelerate_before << oversampling_factor;
decelerate_start = current_block->decelerate_start << oversampling_factor;
TERN_(MIXING_EXTRUDER, mixer.stepper_setup(current_block->b_color));
@@ -2807,7 +2809,8 @@ hal_timer_t Stepper::block_phase_isr() {
// Calculate the initial timer interval
interval = calc_multistep_timer_interval(current_block->initial_rate << oversampling_factor);
acceleration_time += interval;
// Initialize ac/deceleration time as if half the time passed.
acceleration_time = deceleration_time = interval / 2;
#if ENABLED(NONLINEAR_EXTRUSION)
calc_nonlinear_e(current_block->initial_rate << oversampling_factor);