From 85c6ffbe0d411cd223f345705e2b1235239bd91e Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Thu, 7 Dec 2017 23:03:36 -0600
Subject: [PATCH] Discard all "continued" blocks on interrupted move
---
Marlin/src/module/planner.cpp | 4 +++-
Marlin/src/module/planner.h | 24 +++++++++++++++++++-----
Marlin/src/module/stepper.cpp | 19 +++++++++++--------
3 files changed, 33 insertions(+), 14 deletions(-)
diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index 7ca6965025a..bc84657bf25 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -789,7 +789,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
block_t* block = &block_buffer[block_buffer_head];
// Clear all flags, including the "busy" bit
- block->flag = 0;
+ block->flag = 0x00;
// Set direction bits
block->direction_bits = dm;
@@ -1435,7 +1435,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
DISABLE_STEPPER_DRIVER_INTERRUPT();
_buffer_steps(between, fr_mm_s, extruder);
+ const uint8_t next = block_buffer_head;
_buffer_steps(target, fr_mm_s, extruder);
+ SBI(block_buffer[next].flag, BLOCK_BIT_CONTINUED);
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
else
diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h
index 9e70e3f6905..2872ef53b89 100644
--- a/Marlin/src/module/planner.h
+++ b/Marlin/src/module/planner.h
@@ -57,14 +57,18 @@ enum BlockFlagBit {
BLOCK_BIT_START_FROM_FULL_HALT,
// The block is busy
- BLOCK_BIT_BUSY
+ BLOCK_BIT_BUSY,
+
+ // The block is segment 2+ of a longer move
+ BLOCK_BIT_CONTINUED
};
enum BlockFlag {
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT),
- BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY)
+ BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY),
+ BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED)
};
/**
@@ -454,14 +458,24 @@ class Planner {
static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/**
- * "Discards" the block and "releases" the memory.
+ * "Discard" the block and "release" the memory.
* Called when the current block is no longer needed.
*/
- static void discard_current_block() {
+ FORCE_INLINE static void discard_current_block() {
if (blocks_queued())
block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
}
+ /**
+ * "Discard" the next block if it's continued.
+ * Called after an interrupted move to throw away the rest of the move.
+ */
+ FORCE_INLINE static bool discard_continued_block() {
+ const bool discard = blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
+ if (discard) discard_current_block();
+ return discard;
+ }
+
/**
* The current block. NULL if the buffer is empty.
* This also marks the block as busy.
@@ -469,7 +483,7 @@ class Planner {
*/
static block_t* get_current_block() {
if (blocks_queued()) {
- block_t* block = &block_buffer[block_buffer_tail];
+ block_t * const block = &block_buffer[block_buffer_tail];
#if ENABLED(ULTRA_LCD)
block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
#endif
diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp
index 721c9c57c83..d311fe6a2aa 100644
--- a/Marlin/src/module/stepper.cpp
+++ b/Marlin/src/module/stepper.cpp
@@ -388,18 +388,21 @@ void Stepper::isr() {
// When cleaning, discard the current block and run fast
//
if (cleaning_buffer_counter) {
- if (cleaning_buffer_counter < 0)
- ++cleaning_buffer_counter; // Count up for endstop hit
+ if (cleaning_buffer_counter < 0) { // Count up for endstop hit
+ if (current_block) planner.discard_current_block(); // Discard the active block that led to the trigger
+ if (!planner.discard_continued_block()) // Discard next CONTINUED block
+ cleaning_buffer_counter = 0; // Keep discarding until non-CONTINUED
+ }
else {
+ planner.discard_current_block();
--cleaning_buffer_counter; // Count down for abort print
#ifdef SD_FINISHED_RELEASECOMMAND
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
}
- current_block = NULL;
- planner.discard_current_block();
+ current_block = NULL; // Prep to get a new block after cleaning
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
- HAL_ENABLE_ISRs(); // Re-enable ISRs
+ HAL_ENABLE_ISRs();
return;
}
@@ -1119,9 +1122,9 @@ void Stepper::init() {
/**
- * Block until all buffered steps are executed
+ * Block until all buffered steps are executed / cleaned
*/
-void Stepper::synchronize() { while (planner.blocks_queued()) idle(); }
+void Stepper::synchronize() { while (planner.blocks_queued() || cleaning_buffer_counter) idle(); }
/**
* Set the stepper positions directly in steps
@@ -1245,7 +1248,7 @@ void Stepper::endstop_triggered(AxisEnum axis) {
#endif // !COREXY && !COREXZ && !COREYZ
kill_current_block();
- cleaning_buffer_counter = -(BLOCK_BUFFER_SIZE - 1); // Ignore remaining blocks
+ cleaning_buffer_counter = -1; // Discard the rest of the move
}
void Stepper::report_positions() {