From 4b612f590c730a1e8b757da717dbba45debb45e7 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Thu, 30 Nov 2017 16:40:42 -0600
Subject: [PATCH] Split first move to planner for better chaining
---
Marlin/src/module/planner.cpp | 158 ++++++++++++++++++++++------------
Marlin/src/module/planner.h | 13 ++-
2 files changed, 113 insertions(+), 58 deletions(-)
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 44065e82fa..e4f7e62f72 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -580,6 +580,7 @@ void Planner::calculate_volumetric_multipliers() {
#if PLANNER_LEVELING
/**
* rx, ry, rz - Cartesian positions in mm
+ * Leveled XYZ on completion
*/
void Planner::apply_leveling(float &rx, float &ry, float &rz) {
@@ -622,7 +623,7 @@ void Planner::calculate_volumetric_multipliers() {
#endif
rz += (
- #if ENABLED(AUTO_BED_LEVELING_UBL)
+ #if ENABLED(AUTO_BED_LEVELING_UBL) // UBL_DELTA
ubl.get_z_correction(rx, ry) * fade_scaling_factor
#elif ENABLED(MESH_BED_LEVELING)
mbl.get_z(rx, ry
@@ -698,69 +699,35 @@ void Planner::calculate_volumetric_multipliers() {
#endif // PLANNER_LEVELING
/**
- * Planner::_buffer_line
+ * Planner::_buffer_steps
*
- * Add a new linear movement to the buffer in axis units.
+ * Add a new linear movement to the buffer (in terms of steps).
*
- * Leveling and kinematics should be applied ahead of calling this.
- *
- * a,b,c,e - target positions in mm and/or degrees
- * fr_mm_s - (target) speed of the move
- * extruder - target extruder
+ * target - target position in steps units
+ * fr_mm_s - (target) speed of the move
+ * extruder - target extruder
*/
-void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder) {
-
- // The target position of the tool in absolute steps
- // Calculate target position in absolute steps
- //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
- const long target[XYZE] = {
- LROUND(a * axis_steps_per_mm[X_AXIS]),
- LROUND(b * axis_steps_per_mm[Y_AXIS]),
- LROUND(c * axis_steps_per_mm[Z_AXIS]),
- LROUND(e * axis_steps_per_mm[E_AXIS_N])
- };
-
- // When changing extruders recalculate steps corresponding to the E position
- #if ENABLED(DISTINCT_E_FACTORS)
- if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
- position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
- last_extruder = extruder;
- }
- #endif
+void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const uint8_t extruder) {
const int32_t da = target[X_AXIS] - position[X_AXIS],
db = target[Y_AXIS] - position[Y_AXIS],
dc = target[Z_AXIS] - position[Z_AXIS];
- /*
- SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
- SERIAL_CHAR(' ');
- #if IS_KINEMATIC
- SERIAL_ECHOPAIR("A:", a);
- SERIAL_ECHOPAIR(" (", da);
- SERIAL_ECHOPAIR(") B:", b);
- #else
- SERIAL_ECHOPAIR("X:", a);
- SERIAL_ECHOPAIR(" (", da);
- SERIAL_ECHOPAIR(") Y:", b);
- #endif
- SERIAL_ECHOPAIR(" (", db);
- #if ENABLED(DELTA)
- SERIAL_ECHOPAIR(") C:", c);
- #else
- SERIAL_ECHOPAIR(") Z:", c);
- #endif
- SERIAL_ECHOPAIR(" (", dc);
- SERIAL_CHAR(')');
- SERIAL_EOL();
- //*/
-
- // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
- if (DEBUGGING(DRYRUN))
- position[E_AXIS] = target[E_AXIS];
-
int32_t de = target[E_AXIS] - position[E_AXIS];
+ /* <-- add a slash to enable
+ SERIAL_ECHOPAIR(" _buffer_steps FR:", fr_mm_s);
+ SERIAL_ECHOPAIR(" A:", target[A_AXIS]);
+ SERIAL_ECHOPAIR(" (", da);
+ SERIAL_ECHOPAIR(" steps) B:", target[B_AXIS]);
+ SERIAL_ECHOPAIR(" (", db);
+ SERIAL_ECHOPAIR(" steps) C:", target[C_AXIS]);
+ SERIAL_ECHOPAIR(" (", dc);
+ SERIAL_ECHOPAIR(" steps) E:", target[E_AXIS]);
+ SERIAL_ECHOPAIR(" (", de);
+ SERIAL_ECHOLNPGM(" steps)");
+ //*/
+
#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
if (de) {
#if ENABLED(PREVENT_COLD_EXTRUSION)
@@ -1067,6 +1034,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Segment time im micro seconds
uint32_t segment_time_us = LROUND(1000000.0 / inverse_secs);
#endif
+
#if ENABLED(SLOWDOWN)
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
if (segment_time_us < min_segment_time_us) {
@@ -1314,12 +1282,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
vmax_junction = min(block->nominal_speed, previous_nominal_speed);
- const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
-
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
float v_factor = 1;
limited = 0;
+
// Now limit the jerk in all axes.
+ const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
LOOP_XYZE(axis) {
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
float v_exit = previous_speed[axis] * smaller_speed_factor,
@@ -1414,13 +1382,89 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
block_buffer_head = next_buffer_head;
// Update the position (only when a move was queued)
+ static_assert(COUNT(target) > 1, "array as function parameter should be declared as reference and with count");
COPY(position, target);
recalculate();
+} // _buffer_steps()
+
+/**
+ * Planner::_buffer_line
+ *
+ * Add a new linear movement to the buffer in axis units.
+ *
+ * Leveling and kinematics should be applied ahead of calling this.
+ *
+ * a,b,c,e - target positions in mm and/or degrees
+ * fr_mm_s - (target) speed of the move
+ * extruder - target extruder
+ */
+void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder) {
+ // When changing extruders recalculate steps corresponding to the E position
+ #if ENABLED(DISTINCT_E_FACTORS)
+ if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
+ position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
+ last_extruder = extruder;
+ }
+ #endif
+
+ // The target position of the tool in absolute steps
+ // Calculate target position in absolute steps
+ const int32_t target[XYZE] = {
+ LROUND(a * axis_steps_per_mm[X_AXIS]),
+ LROUND(b * axis_steps_per_mm[Y_AXIS]),
+ LROUND(c * axis_steps_per_mm[Z_AXIS]),
+ LROUND(e * axis_steps_per_mm[E_AXIS_N])
+ };
+
+ /* <-- add a slash to enable
+ SERIAL_ECHOPAIR(" _buffer_line FR:", fr_mm_s);
+ #if IS_KINEMATIC
+ SERIAL_ECHOPAIR(" A:", a);
+ SERIAL_ECHOPAIR(" (", position[A_AXIS]);
+ SERIAL_ECHOPAIR("->", target[A_AXIS]);
+ SERIAL_ECHOPAIR(") B:", b);
+ #else
+ SERIAL_ECHOPAIR(" X:", a);
+ SERIAL_ECHOPAIR(" (", position[X_AXIS]);
+ SERIAL_ECHOPAIR("->", target[X_AXIS]);
+ SERIAL_ECHOPAIR(") Y:", b);
+ #endif
+ SERIAL_ECHOPAIR(" (", position[Y_AXIS]);
+ SERIAL_ECHOPAIR("->", target[Y_AXIS]);
+ #if ENABLED(DELTA)
+ SERIAL_ECHOPAIR(") C:", c);
+ #else
+ SERIAL_ECHOPAIR(") Z:", c);
+ #endif
+ SERIAL_ECHOPAIR(" (", position[Z_AXIS]);
+ SERIAL_ECHOPAIR("->", target[Z_AXIS]);
+ SERIAL_ECHOPAIR(") E:", e);
+ SERIAL_ECHOPAIR(" (", position[E_AXIS]);
+ SERIAL_ECHOPAIR("->", target[E_AXIS]);
+ SERIAL_ECHOLNPGM(")");
+ //*/
+
+ // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
+ if (DEBUGGING(DRYRUN))
+ position[E_AXIS] = target[E_AXIS];
+
+ // Always split the first move into one longer and one shorter move
+ if (!blocks_queued()) {
+ #define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
+ const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
+ DISABLE_STEPPER_DRIVER_INTERRUPT();
+ _buffer_steps(between, fr_mm_s, extruder);
+ _buffer_steps(target, fr_mm_s, extruder);
+ ENABLE_STEPPER_DRIVER_INTERRUPT();
+ }
+ else
+ _buffer_steps(target, fr_mm_s, extruder);
+
stepper.wake_up();
-} // buffer_line()
+} // _buffer_line()
/**
* Directly set the planner XYZ position (and stepper positions)
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 84818bc5f9..37259f3783 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -352,6 +352,17 @@ class Planner {
#endif
+ /**
+ * Planner::_buffer_steps
+ *
+ * Add a new linear movement to the buffer (in terms of steps).
+ *
+ * target - target position in steps units
+ * fr_mm_s - (target) speed of the move
+ * extruder - target extruder
+ */
+ static void _buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const uint8_t extruder);
+
/**
* Planner::_buffer_line
*
@@ -363,7 +374,7 @@ class Planner {
* fr_mm_s - (target) speed of the move
* extruder - target extruder
*/
- static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
+ static void _buffer_line(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder);
static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);