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🐛 More robust Smooth Linear Advance (#27862)

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Co-authored-by: Scott Lahteine <thinkyhead@users.noreply.github.com>
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David Buezas 2025-05-27 20:15:38 +02:00 • committed by GitHub
parent 88d368ad9d
commit d0e8edad3c
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1 changed files with 27 additions and 28 deletions
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55
Marlin/src/module/stepper.cpp
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@ -2921,8 +2921,13 @@ hal_timer_t Stepper::block_phase_isr() {
if (++index == IS_COMPENSATION_BUFFER_SIZE) index = 0;
}
FORCE_INLINE xy_long_t past_item(const uint16_t n) {
const int16_t i = int16_t(index) - n;
return buffer[i >= 0 ? i : i + IS_COMPENSATION_BUFFER_SIZE];
int16_t i = int16_t(index) - n;
if (i < 0) i += IS_COMPENSATION_BUFFER_SIZE;
// The following only happens when IS Freq is set below the minimum
// configured at build time ...in which case IS will also misbehave!
// Using setters whenever possible prevents values being set too low.
if (TERN0(MARLIN_DEV_MODE, i < 0)) return {0, 0};
return buffer[i];
}
} DelayBuffer;
@ -2995,44 +3000,38 @@ hal_timer_t Stepper::block_phase_isr() {
? MULT_Q(30, curr_step_rate, current_block->e_step_ratio_q30)
: 0;
int32_t total_step_rate = la_step_rate + planned_step_rate;
#if ENABLED(INPUT_SHAPING_E_SYNC)
xy_long_t pre_shaping_rate = xy_long_t({0, 0}),
first_pulse_rate = xy_long_t({0, 0});
int32_t unshaped_rate_e = total_step_rate;
if (current_block) {
if (current_block->xy_length_inv_q30 > 0) {
unshaped_rate_e = 0;
int32_t unshaped_rate_e = la_step_rate + planned_step_rate;
pre_shaping_rate = xy_long_t({
TERN0(INPUT_SHAPING_X, MULT_Q(30, total_step_rate * current_block->steps.x, current_block->xy_length_inv_q30)),
TERN0(INPUT_SHAPING_Y, MULT_Q(30, total_step_rate * current_block->steps.y, current_block->xy_length_inv_q30))
});
xy_long_t pre_shaping_rate{0}, first_pulse_rate{0};
if (current_block && current_block->xy_length_inv_q30 > 0) {
pre_shaping_rate = xy_long_t({
MULT_Q(30, unshaped_rate_e * current_block->steps.x, current_block->xy_length_inv_q30),
MULT_Q(30, unshaped_rate_e * current_block->steps.y, current_block->xy_length_inv_q30)
});
unshaped_rate_e = 0;
first_pulse_rate = xy_long_t({
TERN0(INPUT_SHAPING_X, (pre_shaping_rate.x * Stepper::shaping_x.factor1) >> 7),
TERN0(INPUT_SHAPING_Y, (pre_shaping_rate.y * Stepper::shaping_y.factor1) >> 7)
});
}
first_pulse_rate = xy_long_t({
TERN_(INPUT_SHAPING_X, shaping_x.enabled ? (pre_shaping_rate.x * shaping_x.factor1) >> 7 :) pre_shaping_rate.x,
TERN_(INPUT_SHAPING_Y, shaping_y.enabled ? (pre_shaping_rate.y * shaping_y.factor1) >> 7 :) pre_shaping_rate.y
});
}
const xy_long_t second_pulse_rate = {
TERN0(INPUT_SHAPING_X, (smooth_lin_adv_lookback(ShapingQueue::get_delay_x()).x * Stepper::shaping_x.factor2)) >> 7,
TERN0(INPUT_SHAPING_Y, (smooth_lin_adv_lookback(ShapingQueue::get_delay_y()).y * Stepper::shaping_y.factor2)) >> 7
};
const xy_long_t second_pulse_rate = xy_long_t({
TERN0(INPUT_SHAPING_X, shaping_x.enabled ? (smooth_lin_adv_lookback(ShapingQueue::get_delay_x()).x * shaping_x.factor2) >> 7 : 0),
TERN0(INPUT_SHAPING_Y, shaping_y.enabled ? (smooth_lin_adv_lookback(ShapingQueue::get_delay_y()).y * shaping_y.factor2) >> 7 : 0)
});
delayBuffer.add(pre_shaping_rate);
const int32_t x = TERN0(INPUT_SHAPING_X, first_pulse_rate.x + second_pulse_rate.x),
y = TERN0(INPUT_SHAPING_Y, first_pulse_rate.y + second_pulse_rate.y);
set_la_interval(unshaped_rate_e + first_pulse_rate.x + second_pulse_rate.x + first_pulse_rate.y + second_pulse_rate.y);
total_step_rate = unshaped_rate_e + x + y;
#else // !INPUT_SHAPING_E_SYNC
#endif // INPUT_SHAPING_E_SYNC
set_la_interval(la_step_rate + planned_step_rate);
set_la_interval(total_step_rate);
#endif
curr_timer_tick += SMOOTH_LIN_ADV_INTERVAL;
return SMOOTH_LIN_ADV_INTERVAL;