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adjusted the limit by axis maximum functions to not require the block data

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Dietz0r
2024-12-26 22:49:34 +01:00
committed by GitHub
parent efcdf3f6da
commit ce60b8ff7d
3 changed files with 11 additions and 12 deletions
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gcode.c
+1 -1
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@@ -2376,7 +2376,7 @@ status_code_t gc_execute_block (char *block)
if (gc_block.words.e){
FAIL(Status_GcodeUnsupportedCommand);
break;}
else if (!gc_block.word.p){
else if (!gc_block.words.p){
gc_block.values.p = 1.0f;}
else if (gc_block.values.p < 1.0f){
FAIL(Status_NegativeValue);}
planner.c
+8 -8
View File
@@ -339,7 +339,7 @@ inline static float plan_compute_profile_parameters (plan_block_t *block, float
return nominal_speed;
}
static inline float limit_acceleration_by_axis_maximum (float *unit_vec)
static inline float limit_acceleration_by_axis_maximum (float *unit_vec,)
{
uint_fast8_t idx = N_AXIS;
float limit_value = SOME_LARGE_VALUE;
@@ -348,9 +348,6 @@ static inline float limit_acceleration_by_axis_maximum (float *unit_vec)
if (unit_vec[--idx] != 0.0f) // Avoid divide by zero.
limit_value = min(limit_value, fabsf(settings.axis[idx].acceleration / unit_vec[idx]));
} while(idx);
#if ENABLE_ACCELERATION_PROFILES
limit_value *= block->acceleration_factor;
#endif
return limit_value;
}
@@ -364,9 +361,6 @@ static inline float limit_jerk_by_axis_maximum (float *unit_vec)
if (unit_vec[--idx] != 0.0f) // Avoid divide by zero.
limit_value = min(limit_value, fabsf(settings.axis[idx].jerk / unit_vec[idx]));
} while(idx);
#if ENABLE_ACCELERATION_PROFILES
limit_value *= block->acceleration_factor;
#endif
return limit_value;
}
#endif
@@ -531,8 +525,14 @@ bool plan_buffer_line (float *target, plan_line_data_t *pl_data)
#ifdef KINEMATICS_API
block->rate_multiplier = pl_data->rate_multiplier;
#endif
#ifdef ENABLE_ACCELERATION_PROFILES
#if ENABLE_ACCELERATION_PROFILES // recalculate the acceleration limits when enabled.
block->acceleration_factor = pl_data->acceleration_factor;
#if ENABLE_JERK_ACCELERATION
block->max_acceleration *= block->acceleration_factor;
block->jerk *= block->acceleration_factor;
#else
block->acceleration *= block->acceleration_factor;
#endif
#endif
// Store programmed rate.
settings.h
+2 -3
View File
@@ -708,14 +708,13 @@ typedef struct {
float steps_per_mm;
float max_rate;
float acceleration;
#if ENABLE_JERK_ACCELERATION
float jerk;
#endif
float max_travel;
float dual_axis_offset;
float homing_seek_rate;
float homing_feed_rate;
#if ENABLE_JERK_ACCELERATION
float jerk;
#endif
#if ENABLE_BACKLASH_COMPENSATION
float backlash;
#endif