102 lines
4.6 KiB
C++
102 lines
4.6 KiB
C++
/*
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* DriveMovement.h
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*
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* Created on: 17 Jan 2015
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* Author: David
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*/
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#ifndef DRIVEMOVEMENT_H_
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#define DRIVEMOVEMENT_H_
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// Set the following nonzero to cache the square of startSpeedTimesCdivA, at the cost of 64 bytes of memory per DDA
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#define CACHE_startSpeedTimesCdivAsquared 0
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class DDA;
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// Struct for passing parameters to the DriveMovement Prepare methods
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struct PrepParams
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{
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float decelStartDistance;
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uint32_t startSpeedTimesCdivA;
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uint32_t topSpeedTimesCdivA;
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uint32_t decelStartClocks;
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uint32_t topSpeedTimesCdivAPlusDecelStartClocks;
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uint32_t accelClocksMinusAccelDistanceTimesCdivTopSpeed;
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float compFactor;
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};
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// This class describes a single movement of one drive
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class DriveMovement
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{
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public:
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uint32_t CalcNextStepTimeCartesian(size_t drive);
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uint32_t CalcNextStepTimeDelta(const DDA &dda, size_t drive);
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void PrepareCartesianAxis(const DDA& dda, const PrepParams& params, size_t drive);
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void PrepareDeltaAxis(const DDA& dda, const PrepParams& params, size_t drive);
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void PrepareExtruder(const DDA& dda, const PrepParams& params, size_t drive);
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void ReduceSpeedCartesian(float inverseSpeedfactor, bool isNearEndstop);
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void DebugPrint(char c, bool withDelta) const;
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static uint32_t isqrt(uint64_t num);
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// Parameters common to Cartesian, delta and extruder moves
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// These values don't depend on how the move is executed, so are set by Init()
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uint32_t totalSteps; // total number of steps for this move
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bool moving; // true if this drive moves in this move, if false then all other values are don't cares
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bool direction; // true=forwards, false=backwards
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bool stepError; // for debugging
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// The following only need to be stored per-drive if we are supporting elasticity compensation
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uint32_t startSpeedTimesCdivA;
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#if CACHE_startSpeedTimesCdivAsquared
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uint64_t startSpeedTimesCdivAsquared;
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#endif
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int32_t accelClocksMinusAccelDistanceTimesCdivTopSpeed; // this one can be negative
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uint32_t topSpeedTimesCdivAPlusDecelStartClocks;
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uint64_t twoDistanceToStopTimesCsquaredDivA;
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// Parameters unique to a style of move (Cartesian, delta or extruder). Currently, extruders and Cartesian moves use the same parameters.
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union MoveParams
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{
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struct CartesianParameters // Parameters for Cartesian and extruder movement, including extruder pre-compensation
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{
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// The following don't depend on how the move is executed, so they could be set up in Init()
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uint64_t twoCsquaredTimesMmPerStepDivA; // 2 * clock^2 * mmPerStepInHyperCuboidSpace / acceleration
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// The following depend on how the move is executed, so they must be set up in Prepare()
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uint32_t accelStopStep; // the first step number at which we are no longer accelerating
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uint32_t decelStartStep; // the first step number at which we are decelerating
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uint32_t reverseStartStep; // the first step number for which we need to reverse direction to to elastic compensation
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uint32_t mmPerStepTimesCdivtopSpeed; // mmPerStepInHyperCuboidSpace * clock / topSpeed
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// The following only need to be stored per-drive if we are supporting elasticity compensation
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int64_t fourMaxStepDistanceMinusTwoDistanceToStopTimesCsquaredDivA; // this one can be negative
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} cart;
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struct DeltaParameters // Parameters for delta movement
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{
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// The following don't depend on how the move is executed, so they can be set up in Init
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uint32_t reverseStartStep;
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int32_t hmz0sK; // the starting step position less the starting Z height, multiplied by the Z movement fraction and K (can go negative)
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int32_t minusAaPlusBbTimesKs;
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int64_t dSquaredMinusAsquaredMinusBsquaredTimesKsquaredSsquared;
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uint32_t twoCsquaredTimesMmPerStepDivAK; // this could be stored in the DDA if all towers use the same steps/mm
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// The following depend on how the move is executed, so they must be set up in Prepare()
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uint32_t accelStopDsK;
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uint32_t decelStartDsK;
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uint32_t mmPerStepTimesCdivtopSpeedK;
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} delta;
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} mp;
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// These values change as the step is executed
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uint32_t nextStep; // number of steps already done
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uint32_t nextStepTime; // how many clocks after the start of this move the next step is due
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static const uint32_t NoStepTime = 0xFFFFFFFF; // value to indicate that no further steps are needed when calculating the next step time
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static const uint32_t K1 = 1024; // a power of 2 used to multiply the value mmPerStepTimesCdivtopSpeed to reduce rounding errors
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static const uint32_t K2 = 512; // a power of 2 used in delta calculations to reduce rounding errors (but too large makes things worse)
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static const int32_t Kc = 4096; // a power of 2 for scaling the Z movement fraction
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};
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#endif /* DRIVEMOVEMENT_H_ */
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