Fixed AD595 define

Marlin/planner.cpp

@@ -105,22 +105,28 @@ volatile unsigned char block_buffer_tail;           // Index of the block to pro
 #ifdef XY_FREQUENCY_LIMIT
 // Used for the frequency limit
 static unsigned char old_direction_bits = 0;               // Old direction bits. Used for speed calculations
-  static long x_segment_time[3]={0,0,0};                     // Segment times (in us). Used for speed calculations
+static long x_segment_time[3]={
-  static long y_segment_time[3]={0,0,0};
+  0,0,0};                     // Segment times (in us). Used for speed calculations
+static long y_segment_time[3]={
+  0,0,0};
 #endif
 
 // Returns the index of the next block in the ring buffer
 // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
 static int8_t next_block_index(int8_t block_index) {
   block_index++;
-  if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
+  if (block_index == BLOCK_BUFFER_SIZE) { 
+    block_index = 0; 
+  }
   return(block_index);
 }
 
 
 // Returns the index of the previous block in the ring buffer
 static int8_t prev_block_index(int8_t block_index) {
-  if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
+  if (block_index == 0) { 
+    block_index = BLOCK_BUFFER_SIZE; 
+  }
   block_index--;
   return(block_index);
 }
@@ -165,8 +171,12 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
   unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
 
   // Limit minimal step rate (Otherwise the timer will overflow.)
-  if(initial_rate <120) {initial_rate=120; }
+  if(initial_rate <120) {
-  if(final_rate < 120) {final_rate=120;  }
+    initial_rate=120; 
+  }
+  if(final_rate < 120) {
+    final_rate=120;  
+  }
 
   long acceleration = block->acceleration_st;
   int32_t accelerate_steps =
@@ -226,7 +236,9 @@ FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity
 
 // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
 void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
-  if(!current) { return; }
+  if(!current) { 
+    return; 
+  }
 
   if (next) {
     // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
@@ -239,7 +251,8 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
       if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
         current->entry_speed = min( current->max_entry_speed,
         max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
-      } else {
+      } 
+      else {
         current->entry_speed = current->max_entry_speed;
       }
       current->recalculate_flag = true;
@@ -252,10 +265,17 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
 // implements the reverse pass.
 void planner_reverse_pass() {
   uint8_t block_index = block_buffer_head;
-  if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
+  
+  //Make a local copy of block_buffer_tail, because the interrupt can alter it
+  CRITICAL_SECTION_START;
+  unsigned char tail = block_buffer_tail;
+  CRITICAL_SECTION_END
+  
+  if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
     block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
-    block_t *block[3] = { NULL, NULL, NULL };
+    block_t *block[3] = { 
-    while(block_index != block_buffer_tail) { 
+      NULL, NULL, NULL         };
+    while(block_index != tail) { 
       block_index = prev_block_index(block_index); 
       block[2]= block[1];
       block[1]= block[0];
@@ -267,7 +287,9 @@ void planner_reverse_pass() {
 
 // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
 void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
-  if(!previous) { return; }
+  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
@@ -291,7 +313,8 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
 // implements the forward pass.
 void planner_forward_pass() {
   uint8_t block_index = block_buffer_tail;
-  block_t *block[3] = { NULL, NULL, NULL };
+  block_t *block[3] = { 
+    NULL, NULL, NULL   };
 
   while(block_index != block_buffer_head) {
     block[0] = block[1];
@@ -445,7 +468,11 @@ void check_axes_activity() {
   if((DISABLE_X) && (x_active == 0)) disable_x();
   if((DISABLE_Y) && (y_active == 0)) disable_y();
   if((DISABLE_Z) && (z_active == 0)) disable_z();
-  if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
+  if((DISABLE_E) && (e_active == 0)) { 
+    disable_e0();
+    disable_e1();
+    disable_e2(); 
+  }
 #if FAN_PIN > -1
   if((FanSpeed == 0) && (fan_speed ==0)) {
     analogWrite(FAN_PIN, 0);
@@ -521,16 +548,26 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
 
   // Bail if this is a zero-length block
-  if (block->step_event_count <= dropsegments) { return; };
+  if (block->step_event_count <= dropsegments) { 
+    return; 
+  };
 
   block->fan_speed = FanSpeed;
 
   // Compute direction bits for this block 
   block->direction_bits = 0;
-  if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
+  if (target[X_AXIS] < position[X_AXIS]) { 
-  if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
+    block->direction_bits |= (1<<X_AXIS); 
-  if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); }
+  }
-  if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); }
+  if (target[Y_AXIS] < position[Y_AXIS]) { 
+    block->direction_bits |= (1<<Y_AXIS); 
+  }
+  if (target[Z_AXIS] < position[Z_AXIS]) { 
+    block->direction_bits |= (1<<Z_AXIS); 
+  }
+  if (target[E_AXIS] < position[E_AXIS]) { 
+    block->direction_bits |= (1<<E_AXIS); 
+  }
 
   block->active_extruder = extruder;
 
@@ -542,7 +579,11 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 #endif
 
   // Enable all
-  if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
+  if(block->steps_e != 0) { 
+    enable_e0();
+    enable_e1();
+    enable_e2(); 
+  }
 
   if (block->steps_e == 0) {
     if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
@@ -558,7 +599,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
   if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
     block->millimeters = fabs(delta_mm[E_AXIS]);
-  } else {
+  } 
+  else {
     block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
   }
   float inverse_millimeters = 1.0/block->millimeters;  // Inverse millimeters to remove multiple divides 
@@ -698,26 +740,29 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 #endif
   // Start with a safe speed
   float vmax_junction = max_xy_jerk/2; 
+  float vmax_junction_factor = 1.0; 
   if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) 
-    vmax_junction = max_z_jerk/2;
+    vmax_junction = min(vmax_junction, max_z_jerk/2);
-  vmax_junction = min(vmax_junction, block->nominal_speed);
   if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) 
     vmax_junction = min(vmax_junction, max_e_jerk/2);
+  vmax_junction = min(vmax_junction, block->nominal_speed);
+  float safe_speed = vmax_junction;
 
   if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
     float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
-    if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
+    //    if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
     vmax_junction = block->nominal_speed;
-    }
+    //    }
     if (jerk > max_xy_jerk) {
-      vmax_junction *= (max_xy_jerk/jerk);
+      vmax_junction_factor = (max_xy_jerk/jerk);
     } 
     if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
-      vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
+      vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
     } 
     if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
-      vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
+      vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
     } 
+    vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
   }
   block->max_entry_speed = vmax_junction;
 
@@ -733,8 +778,12 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
   // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
   // the reverse and forward planners, the corresponding block junction speed will always be at the
   // the maximum junction speed and may always be ignored for any speed reduction checks.
-  if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
+  if (block->nominal_speed <= v_allowable) { 
-  else { block->nominal_length_flag = false; }
+    block->nominal_length_flag = true; 
+  }
+  else { 
+    block->nominal_length_flag = false; 
+  }
   block->recalculate_flag = true; // Always calculate trapezoid for new block
 
   // Update previous path unit_vector and nominal speed
@@ -770,7 +819,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
 #endif // ADVANCE
 
   calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
-    MINIMUM_PLANNER_SPEED/block->nominal_speed);
+  safe_speed/block->nominal_speed);
 
   // Move buffer head
   block_buffer_head = next_buffer_head;
@@ -814,3 +863,4 @@ void allow_cold_extrudes(bool allow)
   allow_cold_extrude=allow;
 #endif
 }
+

Marlin/stepper.cpp

@@ -261,12 +261,10 @@ FORCE_INLINE void trapezoid_generator_reset() {
   #endif
   deceleration_time = 0;
   // step_rate to timer interval
+  OCR1A_nominal = calc_timer(current_block->nominal_rate);
   acc_step_rate = current_block->initial_rate;
   acceleration_time = calc_timer(acc_step_rate);
   OCR1A = acceleration_time;
-  OCR1A_nominal = calc_timer(current_block->nominal_rate);
-  
-
   
 //    SERIAL_ECHO_START;
 //    SERIAL_ECHOPGM("advance :");

Marlin/ultralcd.pde

@@ -957,7 +957,7 @@ enum {
 #if EXTRUDERS > 2
   ItemCT_nozzle2,
 #endif
-#if defined BED_USES_THERMISTOR || BED_USES_AD595
+#if defined BED_USES_THERMISTOR || defined BED_USES_AD595
 ItemCT_bed,
 #endif  
   ItemCT_fan,
@@ -1212,7 +1212,7 @@ void MainMenu::showControlTemp()
         
       }break;  
     #endif //autotemp
-    #if defined BED_USES_THERMISTOR || BED_USES_AD595
+    #if defined BED_USES_THERMISTOR || defined BED_USES_AD595
     case ItemCT_bed:
       {
         if(force_lcd_update)