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Followup to stepper/planner refactor

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2.0.x
Scott Lahteine 7 years ago
parent 6dfbb39f83
commit 435ecb6b67
4 changed files with 20 additions and 20 deletions
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6
Marlin/src/module/planner.cpp
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@ -962,7 +962,7 @@ void Planner::reverse_pass() {
} }
// The kernel called by recalculate() when scanning the plan from first to last entry. // The kernel called by recalculate() when scanning the plan from first to last entry.
void Planner::forward_pass_kernel(const block_t * const previous, block_t* const current, uint8_t block_index) { void Planner::forward_pass_kernel(const block_t* const previous, block_t* const current, const uint8_t block_index) {
if (previous) { if (previous) {
// If the previous block is an acceleration block, too short to complete the full speed // If the previous block is an acceleration block, too short to complete the full speed
// change, adjust the entry speed accordingly. Entry speeds have already been reset, // change, adjust the entry speed accordingly. Entry speeds have already been reset,
@ -1586,7 +1586,7 @@ bool Planner::_buffer_steps(const int32_t (&target)[XYZE]
* Returns true is movement is acceptable, false otherwise * Returns true is movement is acceptable, false otherwise
*/ */
bool Planner::_populate_block(block_t * const block, bool split_move, bool Planner::_populate_block(block_t * const block, bool split_move,
const int32_t (&target)[XYZE] const int32_t (&target)[XYZE]
#if HAS_POSITION_FLOAT #if HAS_POSITION_FLOAT
, const float (&target_float)[XYZE] , const float (&target_float)[XYZE]
#endif #endif
@ -2234,7 +2234,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
if (block->millimeters < 1.0) { if (block->millimeters < 1.0) {
// Fast acos approximation, minus the error bar to be safe // Fast acos approximation, minus the error bar to be safe
float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18; const float junction_theta = (RADIANS(-40) * sq(junction_cos_theta) - RADIANS(50)) * junction_cos_theta + RADIANS(90) - 0.18;
// If angle is greater than 135 degrees (octagon), find speed for approximate arc // If angle is greater than 135 degrees (octagon), find speed for approximate arc
if (junction_theta > RADIANS(135)) { if (junction_theta > RADIANS(135)) {

2
Marlin/src/module/planner.h
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@ -452,7 +452,7 @@ class Planner {
* - Wait for the number of spaces to open up in the planner * - Wait for the number of spaces to open up in the planner
* - Return the first head block * - Return the first head block
*/ */
FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head, uint8_t count = 1) { FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head, const uint8_t count=1) {
// Wait until there are enough slots free // Wait until there are enough slots free
while (moves_free() < count) { idle(); } while (moves_free() < count) { idle(); }

22
Marlin/src/module/stepper.cpp
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@ -181,20 +181,20 @@ volatile int32_t Stepper::endstops_trigsteps[XYZ];
#define LOCKED_X2_MOTOR locked_x2_motor #define LOCKED_X2_MOTOR locked_x2_motor
#define LOCKED_Y2_MOTOR locked_y2_motor #define LOCKED_Y2_MOTOR locked_y2_motor
#define LOCKED_Z2_MOTOR locked_z2_motor #define LOCKED_Z2_MOTOR locked_z2_motor
#define DUAL_ENDSTOP_APPLY_STEP(A,V) \ #define DUAL_ENDSTOP_APPLY_STEP(A,V) \
if (performing_homing) { \ if (performing_homing) { \
if (A##_HOME_DIR < 0) { \ if (A##_HOME_DIR < 0) { \
if (!(TEST(endstops.current_endstop_bits, A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \ if (!(TEST(endstops.current_endstop_bits, A##_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \ if (!(TEST(endstops.current_endstop_bits, A##2_MIN) && count_direction[_AXIS(A)] < 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
} \ } \
else { \ else { \
if (!(TEST(endstops.current_endstop_bits, A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \ if (!(TEST(endstops.current_endstop_bits, A##_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##_MOTOR) A##_STEP_WRITE(V); \
if (!(TEST(endstops.current_endstop_bits, A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \ if (!(TEST(endstops.current_endstop_bits, A##2_MAX) && count_direction[_AXIS(A)] > 0) && !LOCKED_##A##2_MOTOR) A##2_STEP_WRITE(V); \
} \ } \
} \ } \
else { \ else { \
A##_STEP_WRITE(V); \ A##_STEP_WRITE(V); \
A##2_STEP_WRITE(V); \ A##2_STEP_WRITE(V); \
} }
#endif #endif
@ -2035,7 +2035,7 @@ int32_t Stepper::position(const AxisEnum axis) {
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT(); if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif #endif
int32_t v = count_position[axis]; const int32_t v = count_position[axis];
#ifdef __AVR__ #ifdef __AVR__
// Reenable Stepper ISR // Reenable Stepper ISR

10
Marlin/src/module/stepper.h
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@ -98,8 +98,8 @@ class Stepper {
static int32_t bezier_A, // A coefficient in Bézier speed curve static int32_t bezier_A, // A coefficient in Bézier speed curve
bezier_B, // B coefficient in Bézier speed curve bezier_B, // B coefficient in Bézier speed curve
bezier_C; // C coefficient in Bézier speed curve bezier_C; // C coefficient in Bézier speed curve
static uint32_t bezier_F; // F coefficient in Bézier speed curve static uint32_t bezier_F, // F coefficient in Bézier speed curve
static uint32_t bezier_AV; // AV coefficient in Bézier speed curve bezier_AV; // AV coefficient in Bézier speed curve
#ifdef __AVR__ #ifdef __AVR__
static bool A_negative; // If A coefficient was negative static bool A_negative; // If A coefficient was negative
#endif #endif
@ -297,9 +297,9 @@ class Stepper {
NOLESS(step_rate, uint32_t(F_CPU / 500000U)); NOLESS(step_rate, uint32_t(F_CPU / 500000U));
step_rate -= F_CPU / 500000; // Correct for minimal speed step_rate -= F_CPU / 500000; // Correct for minimal speed
if (step_rate >= (8 * 256)) { // higher step rate if (step_rate >= (8 * 256)) { // higher step rate
uint8_t tmp_step_rate = (step_rate & 0x00FF); const uint8_t tmp_step_rate = (step_rate & 0x00FF);
uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0], const uint16_t table_address = (uint16_t)&speed_lookuptable_fast[(uint8_t)(step_rate >> 8)][0],
gain = (uint16_t)pgm_read_word_near(table_address + 2); gain = (uint16_t)pgm_read_word_near(table_address + 2);
timer = MultiU16X8toH16(tmp_step_rate, gain); timer = MultiU16X8toH16(tmp_step_rate, gain);
timer = (uint16_t)pgm_read_word_near(table_address) - timer; timer = (uint16_t)pgm_read_word_near(table_address) - timer;
} }

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