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⚡️ SMOOTH_LIN_ADVANCE + S_CURVE_ACCELERATION (#27827)

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David Buezas 2025-06-09 20:26:57 +02:00 • committed by GitHub
parent 781d9c470e
commit fbee2a2ff7
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4 changed files with 50 additions and 20 deletions
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2
Marlin/src/inc/SanityCheck.h
View file

@ -866,8 +866,6 @@ static_assert(COUNT(arm) == LOGICAL_AXES, "AXIS_RELATIVE_MODES must contain " _L
#if ENABLED(SMOOTH_LIN_ADVANCE)
#ifndef CPU_32_BIT
#error "SMOOTH_LIN_ADVANCE requires a 32-bit CPU."
#elif ENABLED(S_CURVE_ACCELERATION)
#error "SMOOTH_LIN_ADVANCE is not compatible with S_CURVE_ACCELERATION."
#elif ENABLED(INPUT_SHAPING_E_SYNC) && NONE(INPUT_SHAPING_X, INPUT_SHAPING_Y)
#error "INPUT_SHAPING_E_SYNC requires INPUT_SHAPING_X or INPUT_SHAPING_Y."
#endif

2
Marlin/src/module/planner.h
View file

@ -45,7 +45,7 @@
#if ENABLED(SMOOTH_LIN_ADVANCE)
#define SMOOTH_LIN_ADV_EXP_ORDER 5 // Closest to Gaussian smoothing between 3 and 7
#define SMOOTH_LIN_ADV_INTERVAL (STEPPER_TIMER_RATE / SMOOTH_LIN_ADV_HZ) // Hz
#define SMOOTH_LIN_ADV_INTERVAL (STEPPER_TIMER_RATE / (SMOOTH_LIN_ADV_HZ)) // Hz
#endif
#include "motion.h"

59
Marlin/src/module/stepper.cpp
View file

@ -1401,7 +1401,7 @@ void Stepper::apply_directions() {
return (r2 | (uint16_t(r3) << 8)) | (uint32_t(r4) << 16);
}
#else
#else // !__AVR__
// For all the other 32bit CPUs
FORCE_INLINE void Stepper::_calc_bezier_curve_coeffs(const int32_t v0, const int32_t v1, const uint32_t av) {
@ -1478,7 +1478,9 @@ void Stepper::apply_directions() {
#endif
}
#endif
#endif // !__AVR__
#endif // S_CURVE_ACCELERATION
/**
@ -2697,7 +2699,7 @@ hal_timer_t Stepper::block_phase_isr() {
oversampling_factor = 0;
// Decide if axis smoothing is possible
if (stepper.adaptive_step_smoothing_enabled) {
if (adaptive_step_smoothing_enabled) {
uint32_t max_rate = current_block->nominal_rate; // Get the step event rate
while (max_rate < min_step_isr_frequency) { // As long as more ISRs are possible...
max_rate <<= 1; // Try to double the rate
@ -2902,7 +2904,7 @@ hal_timer_t Stepper::block_phase_isr() {
#if ENABLED(INPUT_SHAPING_E_SYNC)
constexpr uint16_t IS_COMPENSATION_BUFFER_SIZE = uint16_t(float(SMOOTH_LIN_ADV_HZ) / float(SHAPING_MIN_FREQ) / 2.0f + 0.5f);
constexpr uint16_t IS_COMPENSATION_BUFFER_SIZE = uint16_t(float(SMOOTH_LIN_ADV_HZ) / (2.0f * (SHAPING_MIN_FREQ)) + 0.5f);
typedef struct {
xy_long_t buffer[IS_COMPENSATION_BUFFER_SIZE];
@ -2924,21 +2926,39 @@ hal_timer_t Stepper::block_phase_isr() {
DelayBuffer delayBuffer;
xy_long_t smooth_lin_adv_lookback(const shaping_time_t stepper_ticks) {
constexpr uint32_t ADV_TICKS_PER_STEPPER_TICKS_Q30 = (uint64_t(SMOOTH_LIN_ADV_HZ) * _BV32(30)) / STEPPER_TIMER_RATE;
const uint16_t delay_steps = MULT_Q(30, stepper_ticks, ADV_TICKS_PER_STEPPER_TICKS_Q30);
xy_long_t Stepper::smooth_lin_adv_lookback(const shaping_time_t stepper_ticks) {
constexpr uint32_t adv_ticks_per_stepper_ticks_Q30 = (uint64_t(SMOOTH_LIN_ADV_HZ) * _BV32(30)) / (STEPPER_TIMER_RATE);
const uint16_t delay_steps = MULT_Q(30, stepper_ticks, adv_ticks_per_stepper_ticks_Q30);
return delayBuffer.past_item(delay_steps);
}
#endif // INPUT_SHAPING_E_SYNC
int32_t smooth_lin_adv_lookahead(uint32_t stepper_ticks) {
#if ENABLED(S_CURVE_ACCELERATION)
int32_t Stepper::calc_bezier_curve(const int32_t v0, const int32_t v1, const uint32_t av, const uint32_t curr_step) {
int32_t A = bezier_A, B = bezier_B, C = bezier_C;
uint32_t F = bezier_F, AV = bezier_AV;
_calc_bezier_curve_coeffs(v0, v1, av);
uint32_t rate = _eval_bezier_curve(curr_step);
bezier_A = A; bezier_B = B; bezier_C = C; bezier_F = F; bezier_AV = AV;
return rate;
}
#endif
int32_t Stepper::smooth_lin_adv_lookahead(uint32_t stepper_ticks) {
for (uint8_t i = 0; block_t *block = planner.get_future_block(i); i++) {
if (block->is_sync()) continue;
if (stepper_ticks <= block->acceleration_time) {
if (!block->use_advance_lead) return 0;
uint32_t rate = STEP_MULTIPLY(stepper_ticks, block->acceleration_rate) + block->initial_rate;
NOMORE(rate, block->nominal_rate);
uint32_t rate;
#if ENABLED(S_CURVE_ACCELERATION)
rate = calc_bezier_curve(block->initial_rate, block->cruise_rate, block->acceleration_time_inverse, stepper_ticks);
#else
rate = STEP_MULTIPLY(stepper_ticks, block->acceleration_rate) + block->initial_rate;
NOMORE(rate, block->nominal_rate);
#endif
return MULT_Q(30, rate, block->e_step_ratio_q30);
}
stepper_ticks -= block->acceleration_time;
@ -2951,13 +2971,18 @@ hal_timer_t Stepper::block_phase_isr() {
if (stepper_ticks <= block->deceleration_time) {
if (!block->use_advance_lead) return 0;
uint32_t rate = STEP_MULTIPLY(stepper_ticks, block->acceleration_rate);
if (rate < block->cruise_rate) {
rate = block->cruise_rate - rate;
NOLESS(rate, block->final_rate);
}
else
rate = block->final_rate;
uint32_t rate;
#if ENABLED(S_CURVE_ACCELERATION)
rate = calc_bezier_curve(block->cruise_rate, block->final_rate, block->deceleration_time_inverse, stepper_ticks);
#else
rate = STEP_MULTIPLY(stepper_ticks, block->acceleration_rate);
if (rate < block->cruise_rate) {
rate = block->cruise_rate - rate;
NOLESS(rate, block->final_rate);
}
else
rate = block->final_rate;
#endif
return MULT_Q(30, rate, block->e_step_ratio_q30);
}
stepper_ticks -= block->deceleration_time;

7
Marlin/src/module/stepper.h
View file

@ -555,8 +555,15 @@ class Stepper {
// The Linear advance ISR phase
static void advance_isr();
#if ENABLED(SMOOTH_LIN_ADVANCE)
#if ENABLED(INPUT_SHAPING_E_SYNC)
static xy_long_t smooth_lin_adv_lookback(const shaping_time_t stepper_ticks);
#endif
static int32_t smooth_lin_adv_lookahead(uint32_t stepper_ticks);
static void set_la_interval(int32_t step_rate);
static hal_timer_t smooth_lin_adv_isr();
#if ENABLED(S_CURVE_ACCELERATION)
static int32_t calc_bezier_curve(const int32_t v0, const int32_t v1, const uint32_t av, const uint32_t curr_step);
#endif
#endif
#endif