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Fix for inaccuracies that are caught by encoder corrections

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This commit is contained in:
Rob Giseburt
2017-09-13 18:54:49 -05:00
parent e9328503e8
commit 3f7fc88401
2 changed files with 12 additions and 13 deletions
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12
g2core/stepper.cpp
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@@ -158,7 +158,7 @@ void stepper_reset()
for (uint8_t motor=0; motor<MOTORS; motor++) {
st_pre.mot[motor].prev_direction = STEP_INITIAL_DIRECTION;
st_pre.mot[motor].direction = STEP_INITIAL_DIRECTION;
st_run.mot[motor].substep_accumulator = 0; // will become max negative during per-motor setup;
st_run.mot[motor].substep_accumulator = -DDA_SUBSTEPS;
st_pre.mot[motor].corrected_steps = 0; // diagnostic only - no action effect
}
mp_set_steps_to_runtime_position(); // reset encoder to agree with the above
@@ -822,7 +822,7 @@ stat_t st_prep_line(float start_velocity, float end_velocity, float travel_steps
// setup motor parameters
#if defined(NEW_FWD_DIFF) && (NEW_FWD_DIFF==1)
// this is explained later
float t_v0_v1 = (float)st_pre.dda_ticks * (start_velocity + end_velocity);
double t_v0_v1 = (double)st_pre.dda_ticks * (start_velocity + end_velocity);
#endif
float correction_steps;
@@ -922,19 +922,19 @@ stat_t st_prep_line(float start_velocity, float end_velocity, float travel_steps
// option 2:
// d = (b (v_1 - v_0))/((t-1) a)
float s_double = fabs(travel_steps[motor] * 2.0);
double s_double = fabs(travel_steps[motor] * 2.0);
// 1/m_0 = (2 s v_0)/(t (v_0 + v_1))
st_pre.mot[motor].substep_increment = round(((s_double * start_velocity)/(t_v0_v1)) * (float)DDA_SUBSTEPS);
st_pre.mot[motor].substep_increment = round(((s_double * start_velocity)/(t_v0_v1)) * (double)DDA_SUBSTEPS);
// option 1:
// d = ((b v_1)/a - c)/(t-1)
// option 2:
// d = (b (v_1 - v_0))/((t-1) a)
st_pre.mot[motor].substep_increment_increment = round(((s_double*(end_velocity-start_velocity))/(((float)st_pre.dda_ticks-1.0)*t_v0_v1)) * (float)DDA_SUBSTEPS);
st_pre.mot[motor].substep_increment_increment = round(((s_double*(end_velocity-start_velocity))/(((double)st_pre.dda_ticks-1.0)*t_v0_v1)) * (double)DDA_SUBSTEPS);
#warning Using new increment style!
#endif
#else
st_pre.mot[motor].substep_increment = round(fabs(travel_steps[motor] * DDA_SUBSTEPS));
st_pre.mot[motor].substep_increment = round(fabs(travel_steps[motor] * (double)DDA_SUBSTEPS));
#endif
}
st_pre.block_type = BLOCK_TYPE_ALINE;

13
g2core/stepper.h
View File

@@ -314,7 +314,7 @@ typedef enum {
* Decreasing the nominal segment time increases the number precision.
*/
#if NEW_DDA == 1
#define DDA_SUBSTEPS (2147483600L)
#define DDA_SUBSTEPS (INT64_MAX-100)
#else
#define DDA_SUBSTEPS ((MAX_LONG * 0.90) / (FREQUENCY_DDA * (NOM_SEGMENT_TIME * 60)))
#endif
@@ -372,9 +372,9 @@ typedef struct stConfig { // stepper configs
// Motor runtime structure. Used exclusively by step generation ISR (HI)
typedef struct stRunMotor { // one per controlled motor
uint32_t substep_increment; // partial steps to increment substep_accumulator per tick
uint32_t substep_increment_increment; // partial steps to increment substep_increment per tick
int32_t substep_accumulator; // DDA phase angle accumulator
int64_t substep_increment; // partial steps to increment substep_accumulator per tick
int64_t substep_increment_increment; // partial steps to increment substep_increment per tick
int64_t substep_accumulator; // DDA phase angle accumulator
bool motor_flag; // true if motor is participating in this move
uint32_t power_systick; // sys_tick for next motor power state transition
float power_level_dynamic; // power level for this segment of idle
@@ -385,7 +385,6 @@ typedef struct stRunSingleton { // Stepper static values and axis pa
uint32_t dda_ticks_downcount; // dda tick down-counter (unscaled)
uint32_t dwell_ticks_downcount; // dwell tick down-counter (unscaled)
#if NEW_DDA == 1
uint32_t dda_steps_tick_X_substeps; // DDA substps per tick scaled by substep factor
#else
uint32_t dda_ticks_X_substeps; // ticks multiplied by scaling factor
#endif
@@ -397,8 +396,8 @@ typedef struct stRunSingleton { // Stepper static values and axis pa
// Must be careful about volatiles in this one
typedef struct stPrepMotor {
uint32_t substep_increment; // partial steps to increment substep_accumulator per tick
uint32_t substep_increment_increment; // partial steps to increment substep_increment per tick
int64_t substep_increment; // partial steps to increment substep_accumulator per tick
int64_t substep_increment_increment; // partial steps to increment substep_increment per tick
bool motor_flag; // true if motor is participating in this move
// direction and direction change