mirror of
https://github.com/MarlinFirmware/Marlin.git
synced 2024-11-24 04:29:34 +00:00
Calculate dm and e-steps earlier in planner
This commit is contained in:
Scott Lahteine
parent
75dbb71dd7
commit
1cf878fdb1
@ -656,64 +656,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
}
|
||||
#endif
|
||||
|
||||
// Calculate the buffer head after we push this byte
|
||||
int next_buffer_head = next_block_index(block_buffer_head);
|
||||
|
||||
// If the buffer is full: good! That means we are well ahead of the robot.
|
||||
// Rest here until there is room in the buffer.
|
||||
while (block_buffer_tail == next_buffer_head) idle();
|
||||
|
||||
// Prepare to set up new block
|
||||
block_t* block = &block_buffer[block_buffer_head];
|
||||
|
||||
// Clear all flags, including the "busy" bit
|
||||
block->flag = 0;
|
||||
|
||||
// Number of steps for each axis
|
||||
#if ENABLED(COREXY)
|
||||
// corexy planning
|
||||
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
|
||||
block->steps[A_AXIS] = labs(da + db);
|
||||
block->steps[B_AXIS] = labs(da - db);
|
||||
block->steps[Z_AXIS] = labs(dc);
|
||||
#elif ENABLED(COREXZ)
|
||||
// corexz planning
|
||||
block->steps[A_AXIS] = labs(da + dc);
|
||||
block->steps[Y_AXIS] = labs(db);
|
||||
block->steps[C_AXIS] = labs(da - dc);
|
||||
#elif ENABLED(COREYZ)
|
||||
// coreyz planning
|
||||
block->steps[X_AXIS] = labs(da);
|
||||
block->steps[B_AXIS] = labs(db + dc);
|
||||
block->steps[C_AXIS] = labs(db - dc);
|
||||
#else
|
||||
// default non-h-bot planning
|
||||
block->steps[X_AXIS] = labs(da);
|
||||
block->steps[Y_AXIS] = labs(db);
|
||||
block->steps[Z_AXIS] = labs(dc);
|
||||
#endif
|
||||
|
||||
block->steps[E_AXIS] = labs(de) * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01 + 0.5;
|
||||
block->step_event_count = MAX4(block->steps[X_AXIS], block->steps[Y_AXIS], block->steps[Z_AXIS], block->steps[E_AXIS]);
|
||||
|
||||
// Bail if this is a zero-length block
|
||||
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
|
||||
|
||||
// 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++)
|
||||
block->mix_event_count[i] = UNEAR_ZERO(mixing_factor[i]) ? 0 : block->step_event_count / mixing_factor[i];
|
||||
#endif
|
||||
|
||||
#if FAN_COUNT > 0
|
||||
for (uint8_t i = 0; i < FAN_COUNT; i++) block->fan_speed[i] = fanSpeeds[i];
|
||||
#endif
|
||||
|
||||
#if ENABLED(BARICUDA)
|
||||
block->valve_pressure = baricuda_valve_pressure;
|
||||
block->e_to_p_pressure = baricuda_e_to_p_pressure;
|
||||
#endif
|
||||
|
||||
// Compute direction bit-mask for this block
|
||||
uint8_t dm = 0;
|
||||
#if ENABLED(COREXY)
|
||||
@ -740,8 +682,70 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
if (dc < 0) SBI(dm, Z_AXIS);
|
||||
#endif
|
||||
if (de < 0) SBI(dm, E_AXIS);
|
||||
|
||||
int32_t esteps = labs(de) * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01 + 0.5;
|
||||
|
||||
// Calculate the buffer head after we push this byte
|
||||
int next_buffer_head = next_block_index(block_buffer_head);
|
||||
|
||||
// If the buffer is full: good! That means we are well ahead of the robot.
|
||||
// Rest here until there is room in the buffer.
|
||||
while (block_buffer_tail == next_buffer_head) idle();
|
||||
|
||||
// Prepare to set up new block
|
||||
block_t* block = &block_buffer[block_buffer_head];
|
||||
|
||||
// Clear all flags, including the "busy" bit
|
||||
block->flag = 0;
|
||||
|
||||
// Set direction bits
|
||||
block->direction_bits = dm;
|
||||
|
||||
// Number of steps for each axis
|
||||
#if ENABLED(COREXY)
|
||||
// corexy planning
|
||||
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
|
||||
block->steps[A_AXIS] = labs(da + db);
|
||||
block->steps[B_AXIS] = labs(da - db);
|
||||
block->steps[Z_AXIS] = labs(dc);
|
||||
#elif ENABLED(COREXZ)
|
||||
// corexz planning
|
||||
block->steps[A_AXIS] = labs(da + dc);
|
||||
block->steps[Y_AXIS] = labs(db);
|
||||
block->steps[C_AXIS] = labs(da - dc);
|
||||
#elif ENABLED(COREYZ)
|
||||
// coreyz planning
|
||||
block->steps[X_AXIS] = labs(da);
|
||||
block->steps[B_AXIS] = labs(db + dc);
|
||||
block->steps[C_AXIS] = labs(db - dc);
|
||||
#else
|
||||
// default non-h-bot planning
|
||||
block->steps[X_AXIS] = labs(da);
|
||||
block->steps[Y_AXIS] = labs(db);
|
||||
block->steps[Z_AXIS] = labs(dc);
|
||||
#endif
|
||||
|
||||
block->steps[E_AXIS] = esteps;
|
||||
block->step_event_count = MAX4(block->steps[X_AXIS], block->steps[Y_AXIS], block->steps[Z_AXIS], esteps);
|
||||
|
||||
// Bail if this is a zero-length block
|
||||
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
|
||||
|
||||
// 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++)
|
||||
block->mix_event_count[i] = UNEAR_ZERO(mixing_factor[i]) ? 0 : block->step_event_count / mixing_factor[i];
|
||||
#endif
|
||||
|
||||
#if FAN_COUNT > 0
|
||||
for (uint8_t i = 0; i < FAN_COUNT; i++) block->fan_speed[i] = fanSpeeds[i];
|
||||
#endif
|
||||
|
||||
#if ENABLED(BARICUDA)
|
||||
block->valve_pressure = baricuda_valve_pressure;
|
||||
block->e_to_p_pressure = baricuda_e_to_p_pressure;
|
||||
#endif
|
||||
|
||||
block->active_extruder = extruder;
|
||||
|
||||
//enable active axes
|
||||
@ -768,7 +772,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
#endif
|
||||
|
||||
// Enable extruder(s)
|
||||
if (block->steps[E_AXIS]) {
|
||||
if (esteps) {
|
||||
|
||||
#if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder
|
||||
|
||||
@ -837,7 +841,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
#endif
|
||||
}
|
||||
|
||||
if (block->steps[E_AXIS])
|
||||
if (esteps)
|
||||
NOLESS(fr_mm_s, min_feedrate_mm_s);
|
||||
else
|
||||
NOLESS(fr_mm_s, min_travel_feedrate_mm_s);
|
||||
@ -1035,7 +1039,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
}while(0)
|
||||
|
||||
// Start with print or travel acceleration
|
||||
accel = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
|
||||
accel = ceil((esteps ? acceleration : travel_acceleration) * steps_per_mm);
|
||||
|
||||
// Limit acceleration per axis
|
||||
if (block->step_event_count <= cutoff_long){
|
||||
@ -1222,18 +1226,18 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
|
||||
// This leads to an enormous number of advance steps due to a huge e_acceleration.
|
||||
// The math is correct, but you don't want a retract move done with advance!
|
||||
// So this situation is filtered out here.
|
||||
if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t) block->steps[E_AXIS] == block->step_event_count) {
|
||||
if (!esteps || (!block->steps[X_AXIS] && !block->steps[Y_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t)esteps == block->step_event_count) {
|
||||
block->use_advance_lead = false;
|
||||
}
|
||||
else {
|
||||
block->use_advance_lead = true;
|
||||
block->e_speed_multiplier8 = (block->steps[E_AXIS] << 8) / block->step_event_count;
|
||||
block->e_speed_multiplier8 = (esteps << 8) / block->step_event_count;
|
||||
}
|
||||
|
||||
#elif ENABLED(ADVANCE)
|
||||
|
||||
// Calculate advance rate
|
||||
if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS])) {
|
||||
if (!esteps || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS])) {
|
||||
block->advance_rate = 0;
|
||||
block->advance = 0;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user