arthurwolf

Changes needed for much more rational accel :
Essentially, all accel happens in stepticker, and the modules tell it what to do.
Note : once this is all done, experimenting with per-step accel is trivially easy ( the hardest part being changing planner to set accelerate_until and decelerate_after to be expressed in ticks instead of steps, which is not too hard, but has to be done )

Changes to steppermotor : 
* Instead of getting distance ( once ) and speed updates ( on a regular basis ), it gets distance + initial speed + accel + accelerate_until + decelerate_after ( once ) and stores them
* On accel tick call from stepticker, update speed ( speed += accel_change ), checks if we are at a point where the accel ramp needs to change, and if so, modify accel_change
Note : to try to limit the number of ifs, we don't test both for if(current_step = accelerate_until) and if(current_step = decelerate_after) but we check for if(current_steps = next_ramp_change), and then change next_ramp_change as needed when a ramp c

arthurwolf

 // Called a great many times per second, to step if we have to now
inline void tick() {
  // increase the ( fixed point ) counter by one tick 11t
  fx_counter += (uint32_t)(1<<16);
  // if we are to step now 10t
  if (fx_counter >= fx_ticks_per_step)
    step();
  };
}

arthurwolf

stepper interrupt
        
        do the steps we decided to do from last interrupt ( we don't execute steps immediately but at the beginning of next interrupt, grbl does this too )
        
        for each axis
        
                store the new position for this axis based on the step just taken ( or not taken )
        
        find the current block
        

arthurwolf

dmesg

[327244.654105] usb 2-1.4: new full-speed USB device number 34 using ehci-pci
[327244.748350] usb 2-1.4: New USB device found, idVendor=1d50, idProduct=6015
[327244.748356] usb 2-1.4: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[327244.748359] usb 2-1.4: Product: Smoothieboard
[327244.748361] usb 2-1.4: Manufacturer: Uberclock
[327244.748364] usb 2-1.4: SerialNumber: 06060311535301644CF71966F5000006
[327244.749206] cdc_acm 2-1.4:1.0: ttyACM0: USB ACM device
[327244.749904] usb-storage 2-1.4:1.2: USB Mass Storage device detected

arthurwolf

# Robot module configurations : general handling of movement G-codes and slicing into moves
default_feed_rate                            4000             # Default rate ( mm/minute ) for G1/G2/G3 moves
default_seek_rate                            4000             # Default rate ( mm/minute ) for G0 moves
mm_per_arc_segment                           0.2              # Arcs are cut into segments ( lines ), this is the length for these segments.  Smaller values mean more resolution, higher values mean faster computation
mm_per_line_segment                          10               # Lines can be cut into segments ( not usefull with cartesian coordinates robots ).

# Arm solution configuration : Cartesian robot. Translates mm positions into stepper positions
alpha_steps_per_mm                           512               # Steps per mm for alpha stepper
beta_steps_per_mm                            512               # Steps per mm for beta stepper
gamma_steps_per_mm                           1600              # Ste

arthurwolf

Compiling libs/ChaNFS/FATFileHandle.cpp
Compiling libs/ChaNFS/FATFileSystem.cpp
Compiling libs/ConfigSources/FileConfigSource.cpp
Compiling libs/USBDevice/DFU.cpp
Compiling libs/USBDevice/USB.cpp
libs/USBDevice/USB.cpp: In member function 'int USB::addString(const void*)':
libs/USBDevice/USB.cpp:430:37: warning: cast from type 'const void*' to type 'usbdesc_base*' casts away qualifiers [-Wcast-qual]
Compiling modules/communication/GcodeDispatch.cpp
Compiling modules/communication/SerialConsole.cpp
Compiling modules/robot/Block.cpp

arthurwolf

# current code is something like this : https://github.com/ErikZalm/Marlin/blob/Marlin_v1/Marlin/Marlin.pde#L1542
# that is :

void prepare_move(destination){
    limit destination if it's over limits
    feed_line_to_planner(destination);
    current position = destination
}

# we want it like this :