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Split first move to planner for better chaining
This commit is contained in:
Scott Lahteine
parent
1bbf55a7f7
commit
000818f5e4
@ -688,69 +688,35 @@ void Planner::calculate_volumetric_multipliers() {
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#endif // PLANNER_LEVELING
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/**
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* Planner::_buffer_line
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* Planner::_buffer_steps
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*
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* Add a new linear movement to the buffer in axis units.
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* Add a new linear movement to the buffer (in terms of steps).
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*
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* Leveling and kinematics should be applied ahead of calling this.
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*
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* a,b,c,e - target positions in mm and/or degrees
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* target - target position in steps units
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* fr_mm_s - (target) speed of the move
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* extruder - target extruder
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*/
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void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder) {
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// The target position of the tool in absolute steps
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// Calculate target position in absolute steps
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//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
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const long target[XYZE] = {
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LROUND(a * axis_steps_per_mm[X_AXIS]),
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LROUND(b * axis_steps_per_mm[Y_AXIS]),
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LROUND(c * axis_steps_per_mm[Z_AXIS]),
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LROUND(e * axis_steps_per_mm[E_AXIS_N])
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};
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// When changing extruders recalculate steps corresponding to the E position
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#if ENABLED(DISTINCT_E_FACTORS)
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if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
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position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
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last_extruder = extruder;
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}
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#endif
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void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const uint8_t extruder) {
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const int32_t da = target[X_AXIS] - position[X_AXIS],
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db = target[Y_AXIS] - position[Y_AXIS],
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dc = target[Z_AXIS] - position[Z_AXIS];
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/*
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SERIAL_ECHOPAIR(" Planner FR:", fr_mm_s);
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SERIAL_CHAR(' ');
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#if IS_KINEMATIC
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SERIAL_ECHOPAIR("A:", a);
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SERIAL_ECHOPAIR(" (", da);
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SERIAL_ECHOPAIR(") B:", b);
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#else
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SERIAL_ECHOPAIR("X:", a);
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SERIAL_ECHOPAIR(" (", da);
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SERIAL_ECHOPAIR(") Y:", b);
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#endif
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SERIAL_ECHOPAIR(" (", db);
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#if ENABLED(DELTA)
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SERIAL_ECHOPAIR(") C:", c);
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#else
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SERIAL_ECHOPAIR(") Z:", c);
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#endif
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SERIAL_ECHOPAIR(" (", dc);
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SERIAL_CHAR(')');
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SERIAL_EOL();
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//*/
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// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
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if (DEBUGGING(DRYRUN))
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position[E_AXIS] = target[E_AXIS];
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int32_t de = target[E_AXIS] - position[E_AXIS];
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/* <-- add a slash to enable
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SERIAL_ECHOPAIR(" _buffer_steps FR:", fr_mm_s);
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SERIAL_ECHOPAIR(" A:", target[A_AXIS]);
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SERIAL_ECHOPAIR(" (", da);
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SERIAL_ECHOPAIR(" steps) B:", target[B_AXIS]);
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SERIAL_ECHOPAIR(" (", db);
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SERIAL_ECHOPAIR(" steps) C:", target[C_AXIS]);
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SERIAL_ECHOPAIR(" (", dc);
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SERIAL_ECHOPAIR(" steps) E:", target[E_AXIS]);
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SERIAL_ECHOPAIR(" (", de);
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SERIAL_ECHOLNPGM(" steps)");
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//*/
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#if ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE)
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if (de) {
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#if ENABLED(PREVENT_COLD_EXTRUSION)
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@ -1057,6 +1023,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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// Segment time im micro seconds
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uint32_t segment_time_us = LROUND(1000000.0 / inverse_secs);
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#endif
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#if ENABLED(SLOWDOWN)
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if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
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if (segment_time_us < min_segment_time_us) {
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@ -1404,13 +1371,89 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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block_buffer_head = next_buffer_head;
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// Update the position (only when a move was queued)
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static_assert(COUNT(target) > 1, "Parameter to _buffer_steps must be (&target)[XYZE]!");
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COPY(position, target);
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recalculate();
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} // _buffer_steps()
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/**
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* Planner::_buffer_line
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*
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* Add a new linear movement to the buffer in axis units.
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*
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* Leveling and kinematics should be applied ahead of calling this.
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*
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* a,b,c,e - target positions in mm and/or degrees
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* fr_mm_s - (target) speed of the move
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* extruder - target extruder
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*/
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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) {
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// When changing extruders recalculate steps corresponding to the E position
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#if ENABLED(DISTINCT_E_FACTORS)
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if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
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position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
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last_extruder = extruder;
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}
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#endif
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// The target position of the tool in absolute steps
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// Calculate target position in absolute steps
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const int32_t target[XYZE] = {
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LROUND(a * axis_steps_per_mm[X_AXIS]),
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LROUND(b * axis_steps_per_mm[Y_AXIS]),
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LROUND(c * axis_steps_per_mm[Z_AXIS]),
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LROUND(e * axis_steps_per_mm[E_AXIS_N])
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};
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/* <-- add a slash to enable
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SERIAL_ECHOPAIR(" _buffer_line FR:", fr_mm_s);
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#if IS_KINEMATIC
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SERIAL_ECHOPAIR(" A:", a);
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SERIAL_ECHOPAIR(" (", position[A_AXIS]);
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SERIAL_ECHOPAIR("->", target[A_AXIS]);
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SERIAL_ECHOPAIR(") B:", b);
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#else
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SERIAL_ECHOPAIR(" X:", a);
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SERIAL_ECHOPAIR(" (", position[X_AXIS]);
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SERIAL_ECHOPAIR("->", target[X_AXIS]);
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SERIAL_ECHOPAIR(") Y:", b);
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#endif
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SERIAL_ECHOPAIR(" (", position[Y_AXIS]);
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SERIAL_ECHOPAIR("->", target[Y_AXIS]);
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#if ENABLED(DELTA)
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SERIAL_ECHOPAIR(") C:", c);
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#else
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SERIAL_ECHOPAIR(") Z:", c);
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#endif
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SERIAL_ECHOPAIR(" (", position[Z_AXIS]);
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SERIAL_ECHOPAIR("->", target[Z_AXIS]);
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SERIAL_ECHOPAIR(") E:", e);
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SERIAL_ECHOPAIR(" (", position[E_AXIS]);
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SERIAL_ECHOPAIR("->", target[E_AXIS]);
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SERIAL_ECHOLNPGM(")");
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//*/
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// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
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if (DEBUGGING(DRYRUN))
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position[E_AXIS] = target[E_AXIS];
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// Always split the first move into one longer and one shorter move
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if (!blocks_queued()) {
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#define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
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const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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_buffer_steps(between, fr_mm_s, extruder);
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_buffer_steps(target, fr_mm_s, extruder);
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ENABLE_STEPPER_DRIVER_INTERRUPT();
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}
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else
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_buffer_steps(target, fr_mm_s, extruder);
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stepper.wake_up();
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} // buffer_line()
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} // _buffer_line()
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/**
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* Directly set the planner XYZ position (and stepper positions)
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@ -349,17 +349,28 @@ class Planner {
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#endif
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/**
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* Planner::_buffer_line
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* Planner::_buffer_steps
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*
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* Add a new direct linear movement to the buffer.
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* Add a new linear movement to the buffer (in terms of steps).
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*
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* Leveling and kinematics should be applied ahead of this.
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*
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* a,b,c,e - target position in mm or degrees
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* fr_mm_s - (target) speed of the move (mm/s)
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* target - target position in steps units
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* fr_mm_s - (target) speed of the move
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* extruder - target extruder
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*/
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static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
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static void _buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const uint8_t extruder);
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/**
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* Planner::_buffer_line
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*
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* Add a new linear movement to the buffer in axis units.
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*
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* Leveling and kinematics should be applied ahead of calling this.
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*
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* a,b,c,e - target positions in mm and/or degrees
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* fr_mm_s - (target) speed of the move
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* extruder - target extruder
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*/
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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);
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static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
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