SunRed/Marlin-Artillery-M600
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Fix JD LUT math & bugs (#18175)

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XDA-Bam 2020-06-03 02:30:43 +02:00 committed by GitHub
parent 5f9624f70b
commit a0b27e6702
Signed by: GitHub
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 16 additions and 15 deletions
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31
Marlin/src/module/planner.cpp
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@ -2319,16 +2319,15 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
/** /**
* // Generate the JD Lookup Table * // Generate the JD Lookup Table
* constexpr float c = 1.00751317f; // Correction factor to center error around 0 * constexpr float c = 1.00751495f; // Correction factor to center error around 0
* for (int i = 0; i < jd_lut_count - 1; ++i) { * for (int i = 0; i < jd_lut_count - 1; ++i) {
* const float x0 = (sq(i) - 1) / sq(i), * const float x0 = (sq(i) - 1) / sq(i),
* y0 = acos(x0) * (i ? c : 1), * y0 = acos(x0) * (i == 0 ? 1 : c),
* x1 = 0.5 * x0 + 0.5, * x1 = i < jd_lut_count - 1 ? 0.5 * x0 + 0.5 : 0.999999f,
* y1 = acos(x1) * c; * y1 = acos(x1) * (i < jd_lut_count - 1 ? c : 1);
* jd_lut_k[i] = (y0 - y1) / (x0 - x1); * jd_lut_k[i] = (y0 - y1) / (x0 - x1);
* jd_lut_b[i] = (y1 * x0 - y0 * x1) / (x0 - x1); * jd_lut_b[i] = (y1 * x0 - y0 * x1) / (x0 - x1);
* } * }
* jd_lut_k[jd_lut_count - 1] = jd_lut_b[jd_lut_count - 1] = 0;
* *
* // Compute correction factor (Set c to 1.0f first!) * // Compute correction factor (Set c to 1.0f first!)
* float min = INFINITY, max = -min; * float min = INFINITY, max = -min;
@ -2341,22 +2340,24 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
* } * }
* fprintf(stderr, "%.9gf, ", (min + max) / 2); * fprintf(stderr, "%.9gf, ", (min + max) / 2);
*/ */
static constexpr int16_t jd_lut_count = 15; static constexpr int16_t jd_lut_count = 16;
static constexpr uint16_t jd_lut_tll = 1 << jd_lut_count; static constexpr uint16_t jd_lut_tll = _BV(jd_lut_count - 1);
static constexpr int16_t jd_lut_tll0 = __builtin_clz(jd_lut_tll) + 1; // i.e., 16 - jd_lut_count static constexpr int16_t jd_lut_tll0 = __builtin_clz(jd_lut_tll) + 1; // i.e., 16 - jd_lut_count + 1
static constexpr float jd_lut_k[jd_lut_count] PROGMEM = { static constexpr float jd_lut_k[jd_lut_count] PROGMEM = {
-1.03146219f, -1.30760407f, -1.75205469f, -2.41705418f, -3.37768555f, -1.03145837f, -1.30760646f, -1.75205851f, -2.41705704f,
-4.74888229f, -6.69648552f, -9.45659828f, -13.3640289f, -18.8927879f, -3.37769222f, -4.74888992f, -6.69649887f, -9.45661736f,
-26.7136307f, -37.7754059f, -53.4200745f, -75.5457306f, 0.0f }; -13.3640480f, -18.8928222f, -26.7136841f, -37.7754593f,
-53.4201813f, -75.5458374f, -106.836761f, -218.532821f };
static constexpr float jd_lut_b[jd_lut_count] PROGMEM = { static constexpr float jd_lut_b[jd_lut_count] PROGMEM = {
1.57079637f, 1.70886743f, 2.04220533f, 2.62408018f, 3.52467203f, 1.57079637f, 1.70887053f, 2.04220939f, 2.62408352f,
4.85301876f, 6.77019119f, 9.50873947f, 13.4009094f, 18.9188652f, 3.52467871f, 4.85302639f, 6.77020454f, 9.50875854f,
26.7320709f, 37.7884521f, 53.4292908f, 75.5522461f, 0.0f }; 13.4009285f, 18.9188995f, 26.7321243f, 37.7885055f,
53.4293975f, 75.5523529f, 106.841369f, 218.534011f };
const float neg = junction_cos_theta < 0 ? -1 : 1, const float neg = junction_cos_theta < 0 ? -1 : 1,
t = neg * junction_cos_theta; t = neg * junction_cos_theta;
const int16_t idx = (t == 0.0f) ? 0 : __builtin_clz(uint16_t((1.0f - t) * jd_lut_tll)) - jd_lut_tll0; const int16_t idx = (t < 0.00000003f) ? 0 : __builtin_clz(uint16_t((1.0f - t) * jd_lut_tll)) - jd_lut_tll0;
float junction_theta = t * pgm_read_float(&jd_lut_k[idx]) + pgm_read_float(&jd_lut_b[idx]); float junction_theta = t * pgm_read_float(&jd_lut_k[idx]) + pgm_read_float(&jd_lut_b[idx]);
if (neg > 0) junction_theta = RADIANS(180) - junction_theta; // acos(-t) if (neg > 0) junction_theta = RADIANS(180) - junction_theta; // acos(-t)