From 75dbb71dd7c86be66cbccf1ce9422b35827251f4 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 30 Oct 2016 16:05:14 -0500 Subject: [PATCH] Replace block.busy with a block.flag bit --- Marlin/planner.cpp | 29 +++++++++++++---------------- Marlin/planner.h | 32 ++++++++++++++++++++------------ Marlin/stepper.cpp | 2 +- 3 files changed, 34 insertions(+), 29 deletions(-) diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp index dd7bfd4e1..8c5df1e79 100644 --- a/Marlin/planner.cpp +++ b/Marlin/planner.cpp @@ -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; } diff --git a/Marlin/planner.h b/Marlin/planner.h index 78f5076c4..9c33386b1 100644 --- a/Marlin/planner.h +++ b/Marlin/planner.h @@ -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 diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp index bacf22406..5da4787fd 100644 --- a/Marlin/stepper.cpp +++ b/Marlin/stepper.cpp @@ -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