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@ -946,31 +946,23 @@ void Planner::check_axes_activity() {
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// Compute and limit the acceleration rate for the trapezoid generator.
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// Compute and limit the acceleration rate for the trapezoid generator.
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float steps_per_mm = block->step_event_count / block->millimeters;
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float steps_per_mm = block->step_event_count / block->millimeters;
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long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
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if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
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if (bsx == 0 && bsy == 0 && bsz == 0) {
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block->acceleration_steps_per_s2 = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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block->acceleration_steps_per_s2 = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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}
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}
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else if (bse == 0) {
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block->acceleration_steps_per_s2 = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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}
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else {
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else {
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block->acceleration_steps_per_s2 = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
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// Limit acceleration per axis
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block->acceleration_steps_per_s2 = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
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if (max_acceleration_steps_per_s2[X_AXIS] < (block->acceleration_steps_per_s2 * block->steps[X_AXIS]) / block->step_event_count)
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block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[X_AXIS] * block->step_event_count) / block->steps[X_AXIS];
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if (max_acceleration_steps_per_s2[Y_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Y_AXIS]) / block->step_event_count)
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block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Y_AXIS] * block->step_event_count) / block->steps[Y_AXIS];
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if (max_acceleration_steps_per_s2[Z_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Z_AXIS]) / block->step_event_count)
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block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Z_AXIS] * block->step_event_count) / block->steps[Z_AXIS];
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if (max_acceleration_steps_per_s2[E_AXIS] < (block->acceleration_steps_per_s2 * block->steps[E_AXIS]) / block->step_event_count)
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block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
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}
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}
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// Limit acceleration per axis
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block->acceleration = block->acceleration_steps_per_s2 / steps_per_mm;
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unsigned long acc_st = block->acceleration_steps_per_s2,
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block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) / 8.0));
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x_acc_st = max_acceleration_steps_per_s2[X_AXIS],
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y_acc_st = max_acceleration_steps_per_s2[Y_AXIS],
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z_acc_st = max_acceleration_steps_per_s2[Z_AXIS],
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e_acc_st = max_acceleration_steps_per_s2[E_AXIS],
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allsteps = block->step_event_count;
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if (x_acc_st < (acc_st * bsx) / allsteps) acc_st = (x_acc_st * allsteps) / bsx;
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if (y_acc_st < (acc_st * bsy) / allsteps) acc_st = (y_acc_st * allsteps) / bsy;
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if (z_acc_st < (acc_st * bsz) / allsteps) acc_st = (z_acc_st * allsteps) / bsz;
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if (e_acc_st < (acc_st * bse) / allsteps) acc_st = (e_acc_st * allsteps) / bse;
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block->acceleration_steps_per_s2 = acc_st;
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block->acceleration = acc_st / steps_per_mm;
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block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
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#if 0 // Use old jerk for now
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#if 0 // Use old jerk for now
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@ -1064,12 +1056,12 @@ void Planner::check_axes_activity() {
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#if ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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// bse == allsteps: A problem occurs when there's a very tiny move before a retract.
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// block->steps[E_AXIS] == block->step_event_count: A problem occurs when there's a very tiny move before a retract.
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// In this case, the retract and the move will be executed together.
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// In this case, the retract and the move will be executed together.
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// This leads to an enormous number of advance steps due to a huge e_acceleration.
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// This leads to an enormous number of advance steps due to a huge e_acceleration.
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// The math is correct, but you don't want a retract move done with advance!
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// The math is correct, but you don't want a retract move done with advance!
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// So this situation is filtered out here.
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// So this situation is filtered out here.
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if (!bse || (!bsx && !bsy && !bsz) || stepper.get_advance_k() == 0 || (uint32_t) bse == allsteps) {
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if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t) block->steps[E_AXIS] == block->step_event_count) {
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block->use_advance_lead = false;
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block->use_advance_lead = false;
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}
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}
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else {
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else {
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@ -1080,7 +1072,7 @@ void Planner::check_axes_activity() {
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#elif ENABLED(ADVANCE)
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#elif ENABLED(ADVANCE)
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// Calculate advance rate
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// Calculate advance rate
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if (!bse || (!bsx && !bsy && !bsz)) {
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if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS])) {
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block->advance_rate = 0;
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block->advance_rate = 0;
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block->advance = 0;
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block->advance = 0;
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}
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}
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