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Split first move to planner for better chaining

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Address #8573, #8595
master
Scott Lahteine 7 years ago
parent d8582b7506
commit 1d0ee83e18
4 changed files with 110 additions and 63 deletions
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146
Marlin/planner.cpp
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@ -687,69 +687,35 @@ void Planner::calculate_volumetric_multipliers() {
#endif // PLANNER_LEVELING
/**
* Planner::_buffer_line
*
* Add a new linear movement to the buffer.
* Planner::_buffer_steps
*
* Leveling and kinematics should be applied ahead of calling this.
* Add a new linear movement to the buffer (in terms of steps).
*
* a,b,c,e - target positions in mm or degrees
* fr_mm_s - (target) speed of the move
* extruder - target extruder
* target - target position in steps units
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder) {
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
const long target[XYZE] = {
LROUND(a * axis_steps_per_mm[X_AXIS]),
LROUND(b * axis_steps_per_mm[Y_AXIS]),
LROUND(c * axis_steps_per_mm[Z_AXIS]),
LROUND(e * axis_steps_per_mm[E_AXIS_N])
};
// When changing extruders recalculate steps corresponding to the E position
#if ENABLED(DISTINCT_E_FACTORS)
if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
last_extruder = extruder;
}
#endif
void Planner::_buffer_steps(const int32_t target[XYZE], float fr_mm_s, const uint8_t extruder) {
const int32_t da = target[X_AXIS] - position[X_AXIS],
db = target[Y_AXIS] - position[Y_AXIS],
dc = target[Z_AXIS] - position[Z_AXIS];
/*
SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
SERIAL_CHAR(' ');
#if IS_KINEMATIC
SERIAL_ECHOPAIR("A:", a);
SERIAL_ECHOPAIR(" (", da);
SERIAL_ECHOPAIR(") B:", b);
#else
SERIAL_ECHOPAIR("X:", a);
int32_t de = target[E_AXIS] - position[E_AXIS];
/* <-- add a slash to enable
SERIAL_ECHOPAIR(" _buffer_steps FR:", fr_mm_s);
SERIAL_ECHOPAIR(" A:", target[A_AXIS]);
SERIAL_ECHOPAIR(" (", da);
SERIAL_ECHOPAIR(") Y:", b);
#endif
SERIAL_ECHOPAIR(" (", db);
#if ENABLED(DELTA)
SERIAL_ECHOPAIR(") C:", c);
#else
SERIAL_ECHOPAIR(") Z:", c);
#endif
SERIAL_ECHOPAIR(" (", dc);
SERIAL_CHAR(')');
SERIAL_EOL();
SERIAL_ECHOPAIR(" steps) B:", target[B_AXIS]);
SERIAL_ECHOPAIR(" (", db);
SERIAL_ECHOLNPGM(" steps) C:", target[C_AXIS]);
SERIAL_ECHOPAIR(" (", dc);
SERIAL_ECHOLNPGM(" steps) E:", target[E_AXIS]);
SERIAL_ECHOPAIR(" (", de);
SERIAL_ECHOLNPGM(" steps)");
//*/
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
if (DEBUGGING(DRYRUN))
position[E_AXIS] = target[E_AXIS];
int32_t de = target[E_AXIS] - position[E_AXIS];
#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (de) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
@ -1056,6 +1022,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Segment time im micro seconds
uint32_t segment_time_us = LROUND(1000000.0 / inverse_secs);
#endif
#if ENABLED(SLOWDOWN)
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
if (segment_time_us < min_segment_time_us) {
@ -1294,7 +1261,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
}
if (moves_queued > 1 && !UNEAR_ZERO(previous_nominal_speed)) {
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Estimate a maximum velocity allowed at a joint of two successive segments.
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
@ -1368,7 +1335,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
previous_safe_speed = safe_speed;
#if ENABLED(LIN_ADVANCE)
/**
*
* Use LIN_ADVANCE for blocks if all these are true:
@ -1407,9 +1373,79 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
recalculate();
} // _buffer_steps()
/**
* Planner::_buffer_line
*
* Add a new linear movement to the buffer in axis units.
*
* Leveling and kinematics should be applied ahead of calling this.
*
* a,b,c,e - target positions in mm and/or degrees
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder) {
// When changing extruders recalculate steps corresponding to the E position
#if ENABLED(DISTINCT_E_FACTORS)
if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
last_extruder = extruder;
}
#endif
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
const int32_t target[XYZE] = {
LROUND(a * axis_steps_per_mm[X_AXIS]),
LROUND(b * axis_steps_per_mm[Y_AXIS]),
LROUND(c * axis_steps_per_mm[Z_AXIS]),
LROUND(e * axis_steps_per_mm[E_AXIS_N])
};
/* <-- add a slash to enable
SERIAL_ECHOPAIR(" _buffer_line FR:", fr_mm_s);
#if IS_KINEMATIC
SERIAL_ECHOPAIR(" A:", a);
SERIAL_ECHOPAIR(" (", target[A_AXIS]);
SERIAL_ECHOPAIR(" steps) B:", b);
#else
SERIAL_ECHOPAIR(" X:", a);
SERIAL_ECHOPAIR(" (", target[X_AXIS]);
SERIAL_ECHOPAIR(" steps) Y:", b);
#endif
SERIAL_ECHOPAIR(" (", target[Y_AXIS]);
#if ENABLED(DELTA)
SERIAL_ECHOPAIR(" steps) C:", c);
#else
SERIAL_ECHOPAIR(" steps) Z:", c);
#endif
SERIAL_ECHOPAIR(" (", target[Z_AXIS]);
SERIAL_ECHOPAIR(" steps) E:", e);
SERIAL_ECHOPAIR(" (", target[E_AXIS]);
SERIAL_ECHOLNPGM(" steps)");
//*/
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
if (DEBUGGING(DRYRUN))
position[E_AXIS] = target[E_AXIS];
// Always split the first move in two so it can chain
if (!blocks_queued()) {
DISABLE_STEPPER_DRIVER_INTERRUPT();
#define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
_buffer_steps(between, fr_mm_s, extruder);
_buffer_steps(target, fr_mm_s, extruder);
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
else
_buffer_steps(target, fr_mm_s, extruder);
stepper.wake_up();
} // buffer_line()
} // _buffer_line()
/**
* Directly set the planner XYZ position (and stepper positions)

21
Marlin/planner.h
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@ -348,18 +348,29 @@ class Planner {
#endif
/**
* Planner::_buffer_steps
*
* Add a new linear movement to the buffer (in terms of steps).
*
* target - target position in steps units
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
static void _buffer_steps(const int32_t target[XYZE], float fr_mm_s, const uint8_t extruder);
/**
* Planner::_buffer_line
*
* Add a new direct linear movement to the buffer.
* Add a new linear movement to the buffer in axis units.
*
* Leveling and kinematics should be applied ahead of this.
* Leveling and kinematics should be applied ahead of calling this.
*
* a,b,c,e - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* a,b,c,e - target positions in mm and/or degrees
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
static void _buffer_line(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder);
static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);

3
Marlin/stepper.cpp
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@ -286,9 +286,6 @@ volatile long Stepper::endstops_trigsteps[XYZ];
// Some useful constants
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
/**
* __________________________
* /| |\ _________________ ^

3
Marlin/stepper.h
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@ -52,6 +52,9 @@
class Stepper;
extern Stepper stepper;
#define ENABLE_STEPPER_DRIVER_INTERRUPT() SBI(TIMSK1, OCIE1A)
#define DISABLE_STEPPER_DRIVER_INTERRUPT() CBI(TIMSK1, OCIE1A)
// intRes = intIn1 * intIn2 >> 16
// uses:
// r26 to store 0

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