|
|
|
@ -112,7 +112,7 @@ float Planner::filament_size[EXTRUDERS], // As a baseline for the multip |
|
|
|
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N], |
|
|
|
Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
|
|
|
|
|
|
|
|
millis_t Planner::min_segment_time; |
|
|
|
uint32_t Planner::min_segment_time_us; |
|
|
|
|
|
|
|
// Initialized by settings.load()
|
|
|
|
float Planner::min_feedrate_mm_s, |
|
|
|
@ -159,7 +159,7 @@ float Planner::previous_speed[NUM_AXIS], |
|
|
|
// Old direction bits. Used for speed calculations
|
|
|
|
unsigned char Planner::old_direction_bits = 0; |
|
|
|
// Segment times (in µs). Used for speed calculations
|
|
|
|
long Planner::axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} }; |
|
|
|
uint32_t Planner::axis_segment_time_us[2][3] = { { MAX_FREQ_TIME_US + 1, 0, 0 }, { MAX_FREQ_TIME_US + 1, 0, 0 } }; |
|
|
|
#endif |
|
|
|
|
|
|
|
#if ENABLED(LIN_ADVANCE) |
|
|
|
@ -1057,15 +1057,15 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const |
|
|
|
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
|
|
|
|
#if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT) |
|
|
|
// Segment time im micro seconds
|
|
|
|
unsigned long segment_time = LROUND(1000000.0 / inverse_mm_s); |
|
|
|
uint32_t segment_time_us = LROUND(1000000.0 / inverse_mm_s); |
|
|
|
#endif |
|
|
|
#if ENABLED(SLOWDOWN) |
|
|
|
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) { |
|
|
|
if (segment_time < min_segment_time) { |
|
|
|
if (segment_time_us < min_segment_time_us) { |
|
|
|
// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
|
|
|
|
inverse_mm_s = 1000000.0 / (segment_time + LROUND(2 * (min_segment_time - segment_time) / moves_queued)); |
|
|
|
inverse_mm_s = 1000000.0 / (segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued)); |
|
|
|
#if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD) |
|
|
|
segment_time = LROUND(1000000.0 / inverse_mm_s); |
|
|
|
segment_time_us = LROUND(1000000.0 / inverse_mm_s); |
|
|
|
#endif |
|
|
|
} |
|
|
|
} |
|
|
|
@ -1073,7 +1073,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const |
|
|
|
|
|
|
|
#if ENABLED(ULTRA_LCD) |
|
|
|
CRITICAL_SECTION_START |
|
|
|
block_buffer_runtime_us += segment_time; |
|
|
|
block_buffer_runtime_us += segment_time_us; |
|
|
|
CRITICAL_SECTION_END |
|
|
|
#endif |
|
|
|
|
|
|
|
@ -1130,34 +1130,34 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const |
|
|
|
// Check and limit the xy direction change frequency
|
|
|
|
const unsigned char direction_change = block->direction_bits ^ old_direction_bits; |
|
|
|
old_direction_bits = block->direction_bits; |
|
|
|
segment_time = LROUND((float)segment_time / speed_factor); |
|
|
|
segment_time_us = LROUND((float)segment_time_us / speed_factor); |
|
|
|
|
|
|
|
long xs0 = axis_segment_time[X_AXIS][0], |
|
|
|
xs1 = axis_segment_time[X_AXIS][1], |
|
|
|
xs2 = axis_segment_time[X_AXIS][2], |
|
|
|
ys0 = axis_segment_time[Y_AXIS][0], |
|
|
|
ys1 = axis_segment_time[Y_AXIS][1], |
|
|
|
ys2 = axis_segment_time[Y_AXIS][2]; |
|
|
|
uint32_t xs0 = axis_segment_time_us[X_AXIS][0], |
|
|
|
xs1 = axis_segment_time_us[X_AXIS][1], |
|
|
|
xs2 = axis_segment_time_us[X_AXIS][2], |
|
|
|
ys0 = axis_segment_time_us[Y_AXIS][0], |
|
|
|
ys1 = axis_segment_time_us[Y_AXIS][1], |
|
|
|
ys2 = axis_segment_time_us[Y_AXIS][2]; |
|
|
|
|
|
|
|
if (TEST(direction_change, X_AXIS)) { |
|
|
|
xs2 = axis_segment_time[X_AXIS][2] = xs1; |
|
|
|
xs1 = axis_segment_time[X_AXIS][1] = xs0; |
|
|
|
xs2 = axis_segment_time_us[X_AXIS][2] = xs1; |
|
|
|
xs1 = axis_segment_time_us[X_AXIS][1] = xs0; |
|
|
|
xs0 = 0; |
|
|
|
} |
|
|
|
xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time; |
|
|
|
xs0 = axis_segment_time_us[X_AXIS][0] = xs0 + segment_time_us; |
|
|
|
|
|
|
|
if (TEST(direction_change, Y_AXIS)) { |
|
|
|
ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1]; |
|
|
|
ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0]; |
|
|
|
ys2 = axis_segment_time_us[Y_AXIS][2] = axis_segment_time_us[Y_AXIS][1]; |
|
|
|
ys1 = axis_segment_time_us[Y_AXIS][1] = axis_segment_time_us[Y_AXIS][0]; |
|
|
|
ys0 = 0; |
|
|
|
} |
|
|
|
ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time; |
|
|
|
ys0 = axis_segment_time_us[Y_AXIS][0] = ys0 + segment_time_us; |
|
|
|
|
|
|
|
const long max_x_segment_time = MAX3(xs0, xs1, xs2), |
|
|
|
max_y_segment_time = MAX3(ys0, ys1, ys2), |
|
|
|
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time); |
|
|
|
if (min_xy_segment_time < MAX_FREQ_TIME) { |
|
|
|
const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME); |
|
|
|
const uint32_t max_x_segment_time = MAX3(xs0, xs1, xs2), |
|
|
|
max_y_segment_time = MAX3(ys0, ys1, ys2), |
|
|
|
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time); |
|
|
|
if (min_xy_segment_time < MAX_FREQ_TIME_US) { |
|
|
|
const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME_US); |
|
|
|
NOMORE(speed_factor, low_sf); |
|
|
|
} |
|
|
|
#endif // XY_FREQUENCY_LIMIT
|
|
|
|
|
Scott Lahteine
7 years ago
GitHub