From 439e0cdd0f8b0701e5468111c37d5f2036e2d0d6 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Thu, 10 May 2018 01:30:55 -0500 Subject: [PATCH] Patch up reverse_pass_kernel (and other planner code) (#10674) --- Marlin/src/module/planner.cpp | 69 +++++++++++++++++++---------------- 1 file changed, 37 insertions(+), 32 deletions(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index d4da89c0fd..a1d099767e 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -821,21 +821,24 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e // POW((before->speed_x-after->speed_x), 2)+POW((before->speed_y-after->speed_y), 2)); //} - // The kernel called by recalculate() when scanning the plan from last to first entry. -void Planner::reverse_pass_kernel(block_t* const current, const block_t * const next) { - if (!current || !next) return; - // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. - // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and - // check for maximum allowable speed reductions to ensure maximum possible planned speed. - float max_entry_speed = current->max_entry_speed; - if (current->entry_speed != max_entry_speed) { - // If nominal length true, max junction speed is guaranteed to be reached. Only compute - // for max allowable speed if block is decelerating and nominal length is false. - current->entry_speed = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed) - ? max_entry_speed - : min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters)); - SBI(current->flag, BLOCK_BIT_RECALCULATE); +void Planner::reverse_pass_kernel(block_t* const current, const block_t* const next) { + if (current && next) { + // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. + // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and + // check for maximum allowable speed reductions to ensure maximum possible planned speed. + const float max_entry_speed = current->max_entry_speed; + if (current->entry_speed != max_entry_speed || TEST(next->flag, BLOCK_BIT_RECALCULATE)) { + // If nominal length true, max junction speed is guaranteed to be reached. Only compute + // for max allowable speed if block is decelerating and nominal length is false. + const float new_entry_speed = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed) + ? max_entry_speed + : min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters)); + if (new_entry_speed != current->entry_speed) { + current->entry_speed = new_entry_speed; + SBI(current->flag, BLOCK_BIT_RECALCULATE); + } + } } } @@ -845,7 +848,7 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t * const */ void Planner::reverse_pass() { if (movesplanned() > 2) { - const uint8_t endnr = BLOCK_MOD(block_buffer_tail + 1); // tail is running. tail+1 shouldn't be altered because it's connected to the running block. + const uint8_t endnr = next_block_index(block_buffer_tail); // tail is running. tail+1 shouldn't be altered because it's connected to the running block. uint8_t blocknr = prev_block_index(block_buffer_head); block_t* current = &block_buffer[blocknr]; @@ -854,10 +857,13 @@ void Planner::reverse_pass() { if (current->entry_speed != max_entry_speed) { // If nominal length true, max junction speed is guaranteed to be reached. Only compute // for max allowable speed if block is decelerating and nominal length is false. - current->entry_speed = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) + const float new_entry_speed = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) ? max_entry_speed : min(max_entry_speed, max_allowable_speed(-current->acceleration, MINIMUM_PLANNER_SPEED, current->millimeters)); - SBI(current->flag, BLOCK_BIT_RECALCULATE); + if (current->entry_speed != new_entry_speed) { + current->entry_speed = new_entry_speed; + SBI(current->flag, BLOCK_BIT_RECALCULATE); + } } do { @@ -870,21 +876,20 @@ void Planner::reverse_pass() { } // The kernel called by recalculate() when scanning the plan from first to last entry. -void Planner::forward_pass_kernel(const block_t * const previous, block_t* const current) { - if (!previous) return; - - // If the previous block is an acceleration block, but it is not long enough to complete the - // full speed change within the block, we need to adjust the entry speed accordingly. Entry - // speeds have already been reset, maximized, and reverse planned by reverse planner. - // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. - if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) { - if (previous->entry_speed < current->entry_speed) { - float entry_speed = min(current->entry_speed, - max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters)); - // Check for junction speed change - if (current->entry_speed != entry_speed) { - current->entry_speed = entry_speed; - SBI(current->flag, BLOCK_BIT_RECALCULATE); +void Planner::forward_pass_kernel(const block_t* const previous, block_t* const current) { + if (previous) { + // If the previous block is an acceleration block, too short to complete the full speed + // change, adjust the entry speed accordingly. Entry speeds have already been reset, + // maximized, and reverse-planned. If nominal length is set, max junction speed is + // guaranteed to be reached. No need to recheck. + if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) { + if (previous->entry_speed < current->entry_speed) { + const float new_entry_speed = min(current->entry_speed, max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters)); + // Check for junction speed change + if (current->entry_speed != new_entry_speed) { + current->entry_speed = new_entry_speed; + SBI(current->flag, BLOCK_BIT_RECALCULATE); + } } } }