Configurable s-curve

uCNC/cnc_config.h

@@ -427,11 +427,14 @@ extern "C"
 	 * Performs motions with variable acceleration (trapezoidal speed profile
 	 * with rounded speed transition between accel/deaccel and constant speed)
 	 * instead of constant acceleration (trapezoidal speed profile)
-	 * 
-	 * 0 - disabled
-	 * 1 - mild profile (smaller mid slope and higher initial and exit slopes)
-	 * 2 - medium profile (medium mid slope and medium initial and exit slopes)
-	 * 3 - agressive (higher mid slope and smaller initial and exit slopes - uses bezier 5th order)
+	 *
+	 * -1 - selectable via setting $14
+	 *  0 - disabled
+	 *  1 - mild profile (smaller mid slope and higher initial and exit slopes)
+	 *  2 - medium profile (medium mid slope and medium initial and exit slopes)
+	 *  3 - stron profile (high mid slope and medium initial and exit slopes)
+	 *  4 - agressive (higher mid slope and smaller initial and exit slopes - uses bezier 5th order)
+	 *  5 - agressive2 (higher mid slope and smaller initial and exit slopes - uses tanh curve)
 	 *
 	 * */
 

uCNC/src/cnc_hal_config_helper.h

@@ -24,7 +24,7 @@ extern "C"
 {
 #endif
 
-//undefined pin
+// undefined pin
 #define UNDEF_PIN 0
 // assert pin (io or extended)
 #define ASSERT_PIN(X) (X != 0)
@@ -1996,7 +1996,7 @@ typedef uint16_t step_t;
 #error "DSS_CUTOFF_FREQ should not be set above 1/8th of the max step rate"
 #endif
 
-#if ((S_CURVE_ACCELERATION_LEVEL < 0) || (S_CURVE_ACCELERATION_LEVEL > 3))
+#if ((S_CURVE_ACCELERATION_LEVEL < -1) || (S_CURVE_ACCELERATION_LEVEL > 5))
 #error "invalid s-curve velocity profile setting"
 #endif
 
@@ -2120,7 +2120,7 @@ typedef uint16_t step_t;
 
 #ifdef ENABLE_PLASMA_THC
 
-//forces modes
+// forces modes
 #ifndef ENABLE_TOOL_PID_CONTROLLER
 #define ENABLE_TOOL_PID_CONTROLLER
 #endif

uCNC/src/core/interpolator.c

@@ -219,33 +219,87 @@ void itp_init(void)
 // evals the point in a s-curve function
 // receives a value between 0 and 1
 // outputs a value along a curve according to the scale
-static float s_curve_function(float pt, float scale)
+static float s_curve_function(float pt)
 {
-#ifdef S_CURVE_TANH
-	return 0.5 * (tanh(6 * pt - 3) + 1) * scale;
-#endif
-#if S_CURVE_ACCELERATION_LEVEL == 3
+#if S_CURVE_ACCELERATION_LEVEL == 5
+	return 0.5 * (tanh(6 * pt - 3) + 1);
+#elif S_CURVE_ACCELERATION_LEVEL == 4
 	// from this https://forum.duet3d.com/topic/4802/6th-order-jerk-controlled-motion-planning/95
 	float pt_sqr = fast_flt_pow2(pt);
 	float k = 3.0f * (pt_sqr - 2.5f * pt) + 5.0f;
 	k = fast_flt_mul2(k) * pt_sqr * pt;
-	return k * scale;
+	return k;
+#elif S_CURVE_ACCELERATION_LEVEL == 3
+	// from this https://en.wikipedia.org/wiki/Sigmoid_function
+	pt -= 0.5f;
+	// optimized fast inverse aproximation
+	float k = (0.15f + ABS(pt));
+	int32_t *i = (int32_t *)&k;
+	*i = 0x7EEF1AA0 - *i;
+	k = (0.65f * pt * k + 0.5f);
+	return CLAMP(0, k, 1);
 #elif S_CURVE_ACCELERATION_LEVEL == 2
 	// from this https://en.wikipedia.org/wiki/Sigmoid_function
 	pt -= 0.5f;
 	// optimized fast inverse aproximation
 	float k = (0.25f + ABS(pt));
 	int32_t *i = (int32_t *)&k;
 	*i = 0x7EEF1AA0 - *i;
-	return scale * (0.75f * pt * k + 0.5f);
+	k = (0.75f * pt * k + 0.5f);
+	return CLAMP(0, k, 1);
 #elif S_CURVE_ACCELERATION_LEVEL == 1
 	// from this https://en.wikipedia.org/wiki/Sigmoid_function
 	pt -= 0.5f;
 	// optimized fast inverse aproximation
 	float k = (0.5f + ABS(pt));
 	int32_t *i = (int32_t *)&k;
 	*i = 0x7EEF1AA0 - *i;
-	return scale * (pt * k + 0.5f);
+	k = (pt * k + 0.5f);
+	return CLAMP(0, k, 1);
+#elif S_CURVE_ACCELERATION_LEVEL == -1
+	float k, pt_sqr;
+	int32_t *i;
+	switch (g_settings.s_curve_profile)
+	{
+	case 1:
+		// from this https://en.wikipedia.org/wiki/Sigmoid_function
+		pt -= 0.5f;
+		// optimized fast inverse aproximation
+		k = (0.5f + ABS(pt));
+		i = (int32_t *)&k;
+		*i = 0x7EEF1AA0 - *i;
+		k = (pt * k + 0.5f);
+		return CLAMP(0, k, 1);
+	case 2:
+		// from this https://en.wikipedia.org/wiki/Sigmoid_function
+		pt -= 0.5f;
+		// optimized fast inverse aproximation
+		k = (0.25f + ABS(pt));
+		i = (int32_t *)&k;
+		*i = 0x7EEF1AA0 - *i;
+		k = (0.75f * pt * k + 0.5f);
+		return CLAMP(0, k, 1);
+	case 3:
+		// from this https://en.wikipedia.org/wiki/Sigmoid_function
+		pt -= 0.5f;
+		// optimized fast inverse aproximation
+		k = (0.15f + ABS(pt));
+		i = (int32_t *)&k;
+		*i = 0x7EEF1AA0 - *i;
+		k = (0.65f * pt * k + 0.5f);
+		return CLAMP(0, k, 1);
+	case 4:
+		// from this https://forum.duet3d.com/topic/4802/6th-order-jerk-controlled-motion-planning/95
+		pt_sqr = fast_flt_pow2(pt);
+		k = 3.0f * (pt_sqr - 2.5f * pt) + 5.0f;
+		k = fast_flt_mul2(k) * pt_sqr * pt;
+		return k;
+	case 5:
+		return 0.5 * (tanh(6 * pt - 3) + 1);
+	default:
+		// defaults to linear
+		return pt;
+	}
 #endif
 }
 #endif
@@ -454,7 +508,7 @@ void itp_run(void)
 			float acum = acc_step_acum;
 			acum += acc_step;
 			acc_step_acum = MIN(acum, 0.999f);
-			float new_speed = s_curve_function(acum, acc_scale) + acc_init_speed;
+			float new_speed = acc_scale * s_curve_function(acum) + acc_init_speed;
 			new_speed = (t_acc_integrator >= 0) ? (new_speed + acc_init_speed) : (acc_init_speed - new_speed);
 			speed_change = new_speed - current_speed;
 #else
@@ -479,7 +533,7 @@ void itp_run(void)
 			float acum = deac_step_acum;
 			acum += deac_step;
 			deac_step_acum = MIN(acum, 0.999f);
-			float new_speed = junction_speed - s_curve_function(acum, deac_scale);
+			float new_speed = junction_speed - deac_scale * s_curve_function(acum);
 			speed_change = new_speed - current_speed;
 #else
 			speed_change = -(integrator * itp_cur_plan_block->acceleration);

uCNC/src/hal/tools/tools/laser_ppi.c

@@ -23,6 +23,10 @@
 #include <float.h>
 #include <math.h>
 
+#ifndef LASER_PPI
+#define LASER_PPI PWM0
+#endif
+
 // #define ENABLE_COOLANT
 #ifdef ENABLE_COOLANT
 #ifndef LASER_PPI_AIR_ASSIST
@@ -42,12 +46,6 @@ static void startup_code(void)
 #else
 	io_set_output(LASER_PPI);
 #endif
-#elif ASSERT_PIN_EXTENDER(LASER_PPI)
-#ifndef INVERT_LASER_PPI_LOGIC
-	io_set_output(LASER_PPI, false);
-#else
-	io_set_output(LASER_PPI, true);
-#endif
 #endif
 	g_settings.laser_mode |= LASER_PPI_MODE;
 	parser_config_ppi();
@@ -61,12 +59,6 @@ static void shutdown_code(void)
 #else
 	io_set_output(LASER_PPI);
 #endif
-#elif ASSERT_PIN_EXTENDER(LASER_PPI)
-#ifndef INVERT_LASER_PPI_LOGIC
-	io_set_output(LASER_PPI, false);
-#else
-	io_set_output(LASER_PPI, true);
-#endif
 #endif
 	// restore laser mode
 	g_settings.laser_mode &= ~(LASER_PPI_MODE | LASER_PPI_VARPOWER_MODE);

uCNC/src/interface/protocol.c

@@ -624,6 +624,9 @@ void protocol_send_cnc_settings(void)
 	protocol_send_gcode_setting_line_flt(11, g_settings.g64_angle_factor);
 	protocol_send_gcode_setting_line_flt(12, g_settings.arc_tolerance);
 	protocol_send_gcode_setting_line_int(13, g_settings.report_inches);
+#if S_CURVE_ACCELERATION_LEVEL == -1
+	protocol_send_gcode_setting_line_int(14, g_settings.s_curve_profile);
+#endif
 	protocol_send_gcode_setting_line_int(20, g_settings.soft_limits_enabled);
 	protocol_send_gcode_setting_line_int(21, g_settings.hard_limits_enabled);
 	protocol_send_gcode_setting_line_int(22, g_settings.homing_enabled);

uCNC/src/interface/settings.c

@@ -97,6 +97,9 @@ const settings_t __rom__ default_settings =
 		.g64_angle_factor = DEFAULT_G64_FACTOR,
 		.arc_tolerance = DEFAULT_ARC_TOLERANCE,
 		.report_inches = DEFAULT_REPORT_INCHES,
+#if S_CURVE_ACCELERATION_LEVEL == -1
+		.s_curve_profile = 0,
+#endif
 		.soft_limits_enabled = DEFAULT_SOFT_LIMITS_ENABLED,
 		.hard_limits_enabled = DEFAULT_HARD_LIMITS_ENABLED,
 		.homing_enabled = DEFAULT_HOMING_ENABLED,
@@ -370,6 +373,11 @@ uint8_t settings_change(setting_offset_t id, float value)
 		case 13:
 			g_settings.report_inches = value1;
 			break;
+#if S_CURVE_ACCELERATION_LEVEL == -1
+		case 14:
+			g_settings.s_curve_profile = CLAMP(0, value8, 5);
+			break;
+#endif
 		case 20:
 			if (!g_settings.homing_enabled && value1)
 			{
@@ -618,7 +626,7 @@ uint16_t settings_register_external_setting(uint8_t size)
 	setting_offset += size + 1; // include crc
 	return new_offset;
 #else
-	#warning "External/extension settings storing is disabled"
+#warning "External/extension settings storing is disabled"
 	return UINT16_MAX;
 #endif
 }

uCNC/src/interface/settings.h

@@ -46,6 +46,9 @@ extern "C"
 		// juntion deviation is automatic and always on
 		float arc_tolerance;
 		bool report_inches;
+#if S_CURVE_ACCELERATION_LEVEL == -1
+		uint8_t s_curve_profile;
+#endif
 		bool soft_limits_enabled;
 		bool hard_limits_enabled;
 		bool homing_enabled;