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@ -289,18 +289,26 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t * const
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* Once in reverse and once forward. This implements the reverse pass.
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* Once in reverse and once forward. This implements the reverse pass.
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*/
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*/
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void Planner::reverse_pass() {
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void Planner::reverse_pass() {
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if (movesplanned() > 3) {
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if (movesplanned() > 2) {
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const uint8_t endnr = BLOCK_MOD(block_buffer_tail + 2); // tail is running. tail+1 shouldn't be altered because it's connected to the running block.
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const uint8_t endnr = BLOCK_MOD(block_buffer_tail + 1); // tail is running. tail+1 shouldn't be altered because it's connected to the running block.
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// tail+2 because the index is not yet advanced when checked
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uint8_t blocknr = prev_block_index(block_buffer_head);
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uint8_t blocknr = prev_block_index(block_buffer_head);
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block_t* current = &block_buffer[blocknr];
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block_t* current = &block_buffer[blocknr];
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// Last/newest block in buffer:
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const float max_entry_speed = current->max_entry_speed;
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if (current->entry_speed != max_entry_speed) {
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// If nominal length true, max junction speed is guaranteed to be reached. Only compute
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// for max allowable speed if block is decelerating and nominal length is false.
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current->entry_speed = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH)
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? max_entry_speed
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: min(max_entry_speed, max_allowable_speed(-current->acceleration, MINIMUM_PLANNER_SPEED, current->millimeters));
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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do {
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do {
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const block_t * const next = current;
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const block_t * const next = current;
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blocknr = prev_block_index(blocknr);
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blocknr = prev_block_index(blocknr);
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current = &block_buffer[blocknr];
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current = &block_buffer[blocknr];
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if (TEST(current->flag, BLOCK_BIT_START_FROM_FULL_HALT)) // Up to this every block is already optimized.
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break;
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reverse_pass_kernel(current, next);
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reverse_pass_kernel(current, next);
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} while (blocknr != endnr);
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} while (blocknr != endnr);
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}
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}
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@ -920,7 +928,6 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
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// Enable extruder(s)
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// Enable extruder(s)
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if (esteps) {
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if (esteps) {
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#if ENABLED(AUTO_POWER_CONTROL)
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#if ENABLED(AUTO_POWER_CONTROL)
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powerManager.power_on();
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powerManager.power_on();
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#endif
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#endif
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@ -1425,17 +1432,11 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE]
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// Now the transition velocity is known, which maximizes the shared exit / entry velocity while
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// Now the transition velocity is known, which maximizes the shared exit / entry velocity while
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// respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
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// respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
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const float vmax_junction_threshold = vmax_junction * 0.99f;
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const float vmax_junction_threshold = vmax_junction * 0.99f;
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if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
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if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold)
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// Not coasting. The machine will stop and start the movements anyway,
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// better to start the segment from start.
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SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
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vmax_junction = safe_speed;
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vmax_junction = safe_speed;
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}
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}
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}
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else {
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else
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SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
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vmax_junction = safe_speed;
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vmax_junction = safe_speed;
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}
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// Max entry speed of this block equals the max exit speed of the previous block.
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// Max entry speed of this block equals the max exit speed of the previous block.
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block->max_entry_speed = vmax_junction;
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block->max_entry_speed = vmax_junction;
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