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Replace block.busy with a block.flag bit

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This commit is contained in:
Scott Lahteine 2016-10-30 16:05:14 -05:00
parent c7f22f688f
commit 75dbb71dd7
3 changed files with 35 additions and 30 deletions
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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;
}

34
Marlin/planner.h
View file

@ -40,17 +40,27 @@
#include "vector_3.h"
#endif
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,
// The block is busy
BLOCK_BIT_BUSY
};
enum BlockFlag {
// Recalculate trapezoids on entry junction. For optimization.
BLOCK_FLAG_RECALCULATE = _BV(0),
// 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),
// Start from a halt at the start of this block, respecting the maximum allowed jerk.
BLOCK_FLAG_START_FROM_FULL_HALT = _BV(2)
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