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interface to enable or disable acceleration management

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This commit is contained in:
Simen Svale Skogsrud
2011-01-14 17:13:33 +01:00
parent 0be21a9034
commit 7327b82585
3 changed files with 44 additions and 5 deletions
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38
motion_plan.c
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@@ -20,14 +20,17 @@
#include <inttypes.h>
#include <math.h>
#include <stdlib.h>
#include "motion_plan.h"
#include "nuts_bolts.h"
#include "stepper.h"
#include "config.h"
struct Block block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
volatile int block_buffer_head = 0; // Index of the next block to be pushed
volatile int block_buffer_tail = 0; // Index of the block to process now
volatile int block_buffer_head; // Index of the next block to be pushed
volatile int block_buffer_tail; // Index of the block to process now
uint8_t acceleration_management; // Acceleration management active?
inline uint32_t estimate_acceleration_distance(int32_t current_rate, int32_t target_rate, int32_t acceleration) {
return((target_rate*target_rate-current_rate*current_rate)/(2*acceleration));
@@ -40,6 +43,27 @@ inline uint32_t estimate_acceleration_ticks(int32_t start_rate, int32_t accelera
acceleration_per_tick));
}
void mp_enable_acceleration_management() {
if (!acceleration_management) {
st_synchronize();
acceleration_management = TRUE;
}
}
void mp_disable_acceleration_management() {
if(acceleration_management) {
st_synchronize();
acceleration_management = FALSE;
}
}
void mp_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
mp_enable_acceleration_management();
}
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
// In practice both factors must be in the range 0 ... 1.0
void calculate_trapezoid_for_block(struct Block *block, double entry_factor, double exit_factor) {
@@ -103,7 +127,13 @@ void mp_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t
block->rate_delta = round(
(settings.acceleration/(60.0*ACCELERATION_TICKS_PER_SECOND))/ // acceleration mm/min per acceleration_tick
travel_per_step); // convert to: acceleration steps/min/acceleration_tick
calculate_trapezoid_for_block(block,0,0); // compute a default trapezoid
if (acceleration_management) {
calculate_trapezoid_for_block(block,0,0); // compute a conservative acceleration trapezoid for now
} else {
block->accelerate_ticks = 0;
block->plateau_ticks = 0;
block->rate_delta = 0;
}
// Compute direction bits for this block
block->direction_bits = 0;
@@ -112,7 +142,5 @@ void mp_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_t
if (steps_z < 0) { block->direction_bits |= (1<<Z_DIRECTION_BIT); }
// Move buffer head
block_buffer_head = next_buffer_head;
// Ensure that block processing is running by enabling The Stepper Driver Interrupt
ENABLE_STEPPER_DRIVER_INTERRUPT();
}