andrey
/
Marlin_FB4S
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Replace block.busy with a block.flag bit

pull/1/head
Scott Lahteine 8 years ago
parent
c7f22f688f
commit
75dbb71dd7
3 changed files with 34 additions and 29 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 29
      Marlin/planner.cpp
  2. 32
      Marlin/planner.h
  3. 2
      Marlin/stepper.cpp

29
Marlin/planner.cpp
View File

@ -180,7 +180,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
// block->decelerate_after = accelerate_steps+plateau_steps;
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if (!block->busy) { // Don't update variables if block is busy.
if (!TEST(block->flag, BLOCK_BIT_BUSY)) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps + plateau_steps;
block->initial_rate = initial_rate;
@ -212,10 +212,10 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t *next) {
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 = ((current->flag & BLOCK_FLAG_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
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));
current->flag |= BLOCK_FLAG_RECALCULATE;
SBI(current->flag, BLOCK_BIT_RECALCULATE);
}
}
@ -237,7 +237,7 @@ void Planner::reverse_pass() {
uint8_t b = BLOCK_MOD(block_buffer_head - 3);
while (b != tail) {
if (block[0] && (block[0]->flag & BLOCK_FLAG_START_FROM_FULL_HALT)) break;
if (block[0] && TEST(block[0]->flag, BLOCK_BIT_START_FROM_FULL_HALT)) break;
b = prev_block_index(b);
block[2] = block[1];
block[1] = block[0];
@ -255,14 +255,14 @@ void Planner::forward_pass_kernel(const block_t* previous, block_t* const curren
// 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 (!(previous->flag & BLOCK_FLAG_NOMINAL_LENGTH)) {
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;
current->flag |= BLOCK_FLAG_RECALCULATE;
SBI(current->flag, BLOCK_BIT_RECALCULATE);
}
}
}
@ -298,11 +298,11 @@ void Planner::recalculate_trapezoids() {
next = &block_buffer[block_index];
if (current) {
// Recalculate if current block entry or exit junction speed has changed.
if ((current->flag & BLOCK_FLAG_RECALCULATE) || (next->flag & BLOCK_FLAG_RECALCULATE)) {
if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
float nom = current->nominal_speed;
calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
current->flag &= ~BLOCK_FLAG_RECALCULATE; // Reset current only to ensure next trapezoid is computed
CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed
}
}
block_index = next_block_index(block_index);
@ -311,7 +311,7 @@ void Planner::recalculate_trapezoids() {
if (next) {
float nom = next->nominal_speed;
calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
next->flag &= ~BLOCK_FLAG_RECALCULATE;
CBI(next->flag, BLOCK_BIT_RECALCULATE);
}
}
@ -666,8 +666,8 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Prepare to set up new block
block_t* block = &block_buffer[block_buffer_head];
// Mark block as not busy (Not executed by the stepper interrupt)
block->busy = false;
// Clear all flags, including the "busy" bit
block->flag = 0;
// Number of steps for each axis
#if ENABLED(COREXY)
@ -699,9 +699,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Bail if this is a zero-length block
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
// Clear the block flags
block->flag = 0;
// For a mixing extruder, get a magnified step_event_count for each
#if ENABLED(MIXING_EXTRUDER)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
@ -1187,12 +1184,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
// Not coasting. The machine will stop and start the movements anyway,
// better to start the segment from start.
block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
vmax_junction = safe_speed;
}
}
else {
block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
vmax_junction = safe_speed;
}

32
Marlin/planner.h
View File

@ -40,17 +40,27 @@
#include "vector_3.h"
#endif
enum BlockFlag {
// Recalculate trapezoids on entry junction. For optimization.
BLOCK_FLAG_RECALCULATE = _BV(0),
enum BlockFlagBit {
// Recalculate trapezoids on entry junction. For optimization.
BLOCK_BIT_RECALCULATE,
// Nominal speed always reached.
// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
// from a safe speed (in consideration of jerking from zero speed).
BLOCK_BIT_NOMINAL_LENGTH,
// Start from a halt at the start of this block, respecting the maximum allowed jerk.
BLOCK_BIT_START_FROM_FULL_HALT,
// Nominal speed always reached.
// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
// from a safe speed (in consideration of jerking from zero speed).
BLOCK_FLAG_NOMINAL_LENGTH = _BV(1),
// The block is busy
BLOCK_BIT_BUSY
};
// Start from a halt at the start of this block, respecting the maximum allowed jerk.
BLOCK_FLAG_START_FROM_FULL_HALT = _BV(2)
enum BlockFlag {
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT),
BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY)
};
/**
@ -113,8 +123,6 @@ typedef struct {
unsigned long valve_pressure, e_to_p_pressure;
#endif
volatile char busy;
} block_t;
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
@ -341,7 +349,7 @@ class Planner {
static block_t* get_current_block() {
if (blocks_queued()) {
block_t* block = &block_buffer[block_buffer_tail];
block->busy = true;
SBI(block->flag, BLOCK_BIT_BUSY);
return block;
}
else

2
Marlin/stepper.cpp
View File

@ -344,7 +344,7 @@ void Stepper::isr() {
// Anything in the buffer?
current_block = planner.get_current_block();
if (current_block) {
current_block->busy = true;
SBI(current_block->flag, BLOCK_BIT_BUSY);
trapezoid_generator_reset();
// Initialize Bresenham counters to 1/2 the ceiling

Write Preview
Loading…
Cancel
Save