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Revert "Merge pull request #8608 from thinkyhead/bf1_planner_split_first"
This reverts commit0eef0ff0de, reversing changes made tod8582b7506.
This commit is contained in:
Scott Lahteine
parent
44d2c5ef88
commit
298a357a43
@ -688,35 +688,69 @@ void Planner::calculate_volumetric_multipliers() {
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#endif // PLANNER_LEVELING
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/**
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* Planner::_buffer_steps
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* Planner::_buffer_line
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*
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* Add a new linear movement to the buffer (in terms of steps).
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* Add a new linear movement to the buffer in axis units.
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*
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* target - target position in steps units
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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_steps(const int32_t target[XYZE], float fr_mm_s, const uint8_t extruder) {
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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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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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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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/*
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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(" steps) B:", target[B_AXIS]);
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SERIAL_ECHOPAIR(" (", db);
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SERIAL_ECHOLNPGM(" steps) C:", target[C_AXIS]);
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SERIAL_ECHOPAIR(" (", dc);
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SERIAL_ECHOLNPGM(" steps) E:", target[E_AXIS]);
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SERIAL_ECHOPAIR(" (", de);
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SERIAL_ECHOLNPGM(" steps)");
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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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#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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@ -1023,7 +1057,6 @@ void Planner::_buffer_steps(const int32_t target[XYZE], float fr_mm_s, const uin
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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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@ -1217,12 +1250,12 @@ void Planner::_buffer_steps(const int32_t target[XYZE], float fr_mm_s, const uin
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vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
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// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
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if (block_buffer_head != block_buffer_tail && previous_nominal_speed > 0.0) {
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if (moves_queued() && !UNEAR_ZERO(previous_nominal_speed)) {
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// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
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// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
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float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
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- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
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- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
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const float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
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- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
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- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS];
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// Skip and use default max junction speed for 0 degree acute junction.
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if (cos_theta < 0.95) {
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vmax_junction = min(previous_nominal_speed, block->nominal_speed);
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@ -1262,24 +1295,25 @@ void Planner::_buffer_steps(const int32_t target[XYZE], float fr_mm_s, const uin
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}
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}
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if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
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if (moves_queued > 1 && !UNEAR_ZERO(previous_nominal_speed)) {
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// Estimate a maximum velocity allowed at a joint of two successive segments.
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// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
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// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
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// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
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const bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
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const float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
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// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
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vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
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vmax_junction = min(block->nominal_speed, previous_nominal_speed);
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// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
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float v_factor = 1;
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limited = 0;
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// Now limit the jerk in all axes.
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const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
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LOOP_XYZE(axis) {
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// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
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float v_exit = previous_speed[axis], v_entry = current_speed[axis];
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if (prev_speed_larger) v_exit *= smaller_speed_factor;
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float v_exit = previous_speed[axis] * smaller_speed_factor,
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v_entry = current_speed[axis];
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if (limited) {
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v_exit *= v_factor;
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v_entry *= v_factor;
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@ -1374,79 +1408,9 @@ void Planner::_buffer_steps(const int32_t target[XYZE], float fr_mm_s, const uin
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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(" (", target[A_AXIS]);
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SERIAL_ECHOPAIR(" steps) B:", b);
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#else
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SERIAL_ECHOPAIR(" X:", a);
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SERIAL_ECHOPAIR(" (", target[X_AXIS]);
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SERIAL_ECHOPAIR(" steps) Y:", b);
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#endif
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SERIAL_ECHOPAIR(" (", target[Y_AXIS]);
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#if ENABLED(DELTA)
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SERIAL_ECHOPAIR(" steps) C:", c);
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#else
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SERIAL_ECHOPAIR(" steps) Z:", c);
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#endif
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SERIAL_ECHOPAIR(" (", target[Z_AXIS]);
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SERIAL_ECHOPAIR(" steps) E:", e);
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SERIAL_ECHOPAIR(" (", target[E_AXIS]);
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SERIAL_ECHOLNPGM(" steps)");
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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 in two so it can chain
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if (!blocks_queued()) {
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DISABLE_STEPPER_DRIVER_INTERRUPT();
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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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_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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@ -348,29 +348,18 @@ class Planner {
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#endif
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/**
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* Planner::_buffer_steps
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*
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* Add a new linear movement to the buffer (in terms of steps).
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*
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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_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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* Add a new direct linear movement to the buffer.
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*
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* Leveling and kinematics should be applied ahead of calling this.
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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 positions in mm and/or degrees
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* fr_mm_s - (target) speed of the move
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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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* 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 _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 _set_position_mm(const float &a, const float &b, const float &c, const float &e);
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