From 307dfb15ca88f424dcb4cf579e4542e77dfb0eaf Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Sun, 26 Jun 2022 22:24:59 -0500 Subject: [PATCH] =?UTF-8?q?=E2=99=BB=EF=B8=8F=20Planner=20flags=20refactor?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/gcode/motion/G2_G3.cpp | 2 +- Marlin/src/gcode/motion/G6.cpp | 2 +- Marlin/src/gcode/temp/M106_M107.cpp | 4 +- Marlin/src/module/planner.cpp | 155 +++++++++++++--------------- Marlin/src/module/planner.h | 122 +++++++++++++--------- Marlin/src/module/stepper.cpp | 21 ++-- Marlin/src/module/stepper.h | 3 +- 7 files changed, 160 insertions(+), 149 deletions(-) diff --git a/Marlin/src/gcode/motion/G2_G3.cpp b/Marlin/src/gcode/motion/G2_G3.cpp index cd8225de69..d9458f61eb 100644 --- a/Marlin/src/gcode/motion/G2_G3.cpp +++ b/Marlin/src/gcode/motion/G2_G3.cpp @@ -315,7 +315,7 @@ void plan_arc( // Compute exact location by applying transformation matrix from initial radius vector(=-offset). // To reduce stuttering, the sin and cos could be computed at different times. // For now, compute both at the same time. - const float cos_Ti = cos(i * theta_per_segment), sin_Ti = sin(i * theta_per_segment); + const float Ti = i * theta_per_segment, cos_Ti = cos(Ti), sin_Ti = sin(Ti); rvec.a = -offset[0] * cos_Ti + offset[1] * sin_Ti; rvec.b = -offset[0] * sin_Ti - offset[1] * cos_Ti; } diff --git a/Marlin/src/gcode/motion/G6.cpp b/Marlin/src/gcode/motion/G6.cpp index a57a293e06..fb6281707b 100644 --- a/Marlin/src/gcode/motion/G6.cpp +++ b/Marlin/src/gcode/motion/G6.cpp @@ -50,7 +50,7 @@ void GcodeSuite::G6() { // No speed is set, can't schedule the move if (!planner.last_page_step_rate) return; - const page_idx_t page_idx = (page_idx_t) parser.value_ulong(); + const page_idx_t page_idx = (page_idx_t)parser.value_ulong(); uint16_t num_steps = DirectStepping::Config::TOTAL_STEPS; if (parser.seen('S')) num_steps = parser.value_ushort(); diff --git a/Marlin/src/gcode/temp/M106_M107.cpp b/Marlin/src/gcode/temp/M106_M107.cpp index 98e87c415d..ae517c977b 100644 --- a/Marlin/src/gcode/temp/M106_M107.cpp +++ b/Marlin/src/gcode/temp/M106_M107.cpp @@ -90,7 +90,7 @@ void GcodeSuite::M106() { // Set speed, with constraint thermalManager.set_fan_speed(pfan, speed); - TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_FLAG_SYNC_FANS)); + TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_BIT_SYNC_FANS)); if (TERN0(DUAL_X_CARRIAGE, idex_is_duplicating())) // pfan == 0 when duplicating thermalManager.set_fan_speed(1 - pfan, speed); @@ -111,7 +111,7 @@ void GcodeSuite::M107() { if (TERN0(DUAL_X_CARRIAGE, idex_is_duplicating())) // pfan == 0 when duplicating thermalManager.set_fan_speed(1 - pfan, 0); - TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_FLAG_SYNC_FANS)); + TERN_(LASER_SYNCHRONOUS_M106_M107, planner.buffer_sync_block(BLOCK_BIT_SYNC_FANS)); } #endif // HAS_FAN diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 950f11f862..d12fa5ed4b 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -739,7 +739,7 @@ block_t* Planner::get_current_block() { block_t * const block = &block_buffer[block_buffer_tail]; // No trapezoid calculated? Don't execute yet. - if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr; + if (block->flag.recalculate) return nullptr; // We can't be sure how long an active block will take, so don't count it. TERN_(HAS_WIRED_LCD, block_buffer_runtime_us -= block->segment_time_us); @@ -948,7 +948,7 @@ void Planner::reverse_pass_kernel(block_t * const current, const block_t * const // Compute maximum entry speed decelerating over the current block from its exit speed. // If not at the maximum entry speed, or the previous block entry speed changed - if (current->entry_speed_sqr != max_entry_speed_sqr || (next && TEST(next->flag, BLOCK_BIT_RECALCULATE))) { + if (current->entry_speed_sqr != max_entry_speed_sqr || (next && next->flag.recalculate)) { // If nominal length true, max junction speed is guaranteed to be reached. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then @@ -958,14 +958,14 @@ void Planner::reverse_pass_kernel(block_t * const current, const block_t * const // the reverse and forward planners, the corresponding block junction speed will always be at the // the maximum junction speed and may always be ignored for any speed reduction checks. - const float new_entry_speed_sqr = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) + const float new_entry_speed_sqr = current->flag.nominal_length ? max_entry_speed_sqr : _MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(float(MINIMUM_PLANNER_SPEED)), current->millimeters)); if (current->entry_speed_sqr != new_entry_speed_sqr) { // Need to recalculate the block speed - Mark it now, so the stepper // ISR does not consume the block before being recalculated - SBI(current->flag, BLOCK_BIT_RECALCULATE); + current->flag.recalculate = true; // But there is an inherent race condition here, as the block may have // become BUSY just before being marked RECALCULATE, so check for that! @@ -973,7 +973,7 @@ void Planner::reverse_pass_kernel(block_t * const current, const block_t * const // Block became busy. Clear the RECALCULATE flag (no point in // recalculating BUSY blocks). And don't set its speed, as it can't // be updated at this time. - CBI(current->flag, BLOCK_BIT_RECALCULATE); + current->flag.recalculate = false; } else { // Block is not BUSY so this is ahead of the Stepper ISR: @@ -1011,8 +1011,8 @@ void Planner::reverse_pass() { // Perform the reverse pass block_t *current = &block_buffer[block_index]; - // Only consider non sync-and-page blocks - if (!(current->flag & BLOCK_MASK_SYNC) && !IS_PAGE(current)) { + // Only process movement blocks + if (current->is_move()) { reverse_pass_kernel(current, next); next = current; } @@ -1041,8 +1041,7 @@ void Planner::forward_pass_kernel(const block_t * const previous, block_t * cons // change, adjust the entry speed accordingly. Entry speeds have already been reset, // maximized, and reverse-planned. If nominal length is set, max junction speed is // guaranteed to be reached. No need to recheck. - if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH) && - previous->entry_speed_sqr < current->entry_speed_sqr) { + if (!previous->flag.nominal_length && previous->entry_speed_sqr < current->entry_speed_sqr) { // Compute the maximum allowable speed const float new_entry_speed_sqr = max_allowable_speed_sqr(-previous->acceleration, previous->entry_speed_sqr, previous->millimeters); @@ -1052,7 +1051,7 @@ void Planner::forward_pass_kernel(const block_t * const previous, block_t * cons // Mark we need to recompute the trapezoidal shape, and do it now, // so the stepper ISR does not consume the block before being recalculated - SBI(current->flag, BLOCK_BIT_RECALCULATE); + current->flag.recalculate = true; // But there is an inherent race condition here, as the block maybe // became BUSY, just before it was marked as RECALCULATE, so check @@ -1061,7 +1060,7 @@ void Planner::forward_pass_kernel(const block_t * const previous, block_t * cons // Block became busy. Clear the RECALCULATE flag (no point in // recalculating BUSY blocks and don't set its speed, as it can't // be updated at this time. - CBI(current->flag, BLOCK_BIT_RECALCULATE); + current->flag.recalculate = false; } else { // Block is not BUSY, we won the race against the Stepper ISR: @@ -1106,8 +1105,8 @@ void Planner::forward_pass() { // Perform the forward pass block = &block_buffer[block_index]; - // Skip SYNC and page blocks - if (!(block->flag & BLOCK_MASK_SYNC) && !IS_PAGE(block)) { + // Only process movement blocks + if (block->is_move()) { // If there's no previous block or the previous block is not // BUSY (thus, modifiable) run the forward_pass_kernel. Otherwise, // the previous block became BUSY, so assume the current block's @@ -1131,9 +1130,10 @@ void Planner::recalculate_trapezoids() { // The tail may be changed by the ISR so get a local copy. uint8_t block_index = block_buffer_tail, head_block_index = block_buffer_head; - // Since there could be a sync block in the head of the queue, and the + + // Since there could be non-move blocks in the head of the queue, and the // next loop must not recalculate the head block (as it needs to be - // specially handled), scan backwards to the first non-SYNC block. + // specially handled), scan backwards to the first move block. while (head_block_index != block_index) { // Go back (head always point to the first free block) @@ -1142,8 +1142,8 @@ void Planner::recalculate_trapezoids() { // Get the pointer to the block block_t *prev = &block_buffer[prev_index]; - // If not dealing with a sync block, we are done. The last block is not a SYNC block - if (!(prev->flag & BLOCK_MASK_SYNC)) break; + // It the block is a move, we're done with this loop + if (prev->is_move()) break; // Examine the previous block. This and all following are SYNC blocks head_block_index = prev_index; @@ -1156,18 +1156,17 @@ void Planner::recalculate_trapezoids() { next = &block_buffer[block_index]; - // Skip sync and page blocks - if (!(next->flag & BLOCK_MASK_SYNC) && !IS_PAGE(next)) { + // Only process movement blocks + if (next->is_move()) { next_entry_speed = SQRT(next->entry_speed_sqr); if (block) { - // Recalculate if current block entry or exit junction speed has changed. - if (TEST(block->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) { - // Mark the current block as RECALCULATE, to protect it from the Stepper ISR running it. - // Note that due to the above condition, there's a chance the current block isn't marked as - // RECALCULATE yet, but the next one is. That's the reason for the following line. - SBI(block->flag, BLOCK_BIT_RECALCULATE); + // If the next block is marked to RECALCULATE, also mark the previously-fetched one + if (next->flag.recalculate) block->flag.recalculate = true; + + // Recalculate if current block entry or exit junction speed has changed. + if (block->flag.recalculate) { // But there is an inherent race condition here, as the block maybe // became BUSY, just before it was marked as RECALCULATE, so check @@ -1190,7 +1189,7 @@ void Planner::recalculate_trapezoids() { // Reset current only to ensure next trapezoid is computed - The // stepper is free to use the block from now on. - CBI(block->flag, BLOCK_BIT_RECALCULATE); + block->flag.recalculate = false; } } @@ -1204,10 +1203,10 @@ void Planner::recalculate_trapezoids() { // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated. if (next) { - // Mark the next(last) block as RECALCULATE, to prevent the Stepper ISR running it. + // Mark the last block as RECALCULATE, to prevent the Stepper ISR running it. // As the last block is always recalculated here, there is a chance the block isn't // marked as RECALCULATE yet. That's the reason for the following line. - SBI(next->flag, BLOCK_BIT_RECALCULATE); + block->flag.recalculate = true; // But there is an inherent race condition here, as the block maybe // became BUSY, just before it was marked as RECALCULATE, so check @@ -1229,7 +1228,7 @@ void Planner::recalculate_trapezoids() { // Reset next only to ensure its trapezoid is computed - The stepper is free to use // the block from now on. - CBI(next->flag, BLOCK_BIT_RECALCULATE); + next->flag.recalculate = false; } } @@ -1460,7 +1459,7 @@ void Planner::check_axes_activity() { for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { const block_t * const block = &block_buffer[b]; if (NUM_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, || block->steps.i, || block->steps.j, || block->steps.k, || block->steps.u, || block->steps.v, || block->steps.w)) { - const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec; + const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec NOLESS(high, se); } } @@ -1782,7 +1781,7 @@ void Planner::synchronize() { while (busy()) idle(); } bool Planner::_buffer_steps(const xyze_long_t &target OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float) OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm) - , feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters + , feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters/*=0.0*/ ) { // Wait for the next available block @@ -1796,10 +1795,11 @@ bool Planner::_buffer_steps(const xyze_long_t &target // Fill the block with the specified movement if (!_populate_block(block, false, target - OPTARG(HAS_POSITION_FLOAT, target_float) - OPTARG(HAS_DIST_MM_ARG, cart_dist_mm) - , fr_mm_s, extruder, millimeters - )) { + OPTARG(HAS_POSITION_FLOAT, target_float) + OPTARG(HAS_DIST_MM_ARG, cart_dist_mm) + , fr_mm_s, extruder, millimeters + ) + ) { // Movement was not queued, probably because it was too short. // Simply accept that as movement queued and done return true; @@ -1856,36 +1856,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move, ); /* <-- add a slash to enable - SERIAL_ECHOLNPGM( - " _populate_block FR:", fr_mm_s, - " A:", target.a, " (", da, " steps)" - #if HAS_Y_AXIS - " B:", target.b, " (", db, " steps)" - #endif - #if HAS_Z_AXIS - " C:", target.c, " (", dc, " steps)" - #endif - #if HAS_I_AXIS - " " STR_I ":", target.i, " (", di, " steps)" - #endif - #if HAS_J_AXIS - " " STR_J ":", target.j, " (", dj, " steps)" - #endif - #if HAS_K_AXIS - " " STR_K ":", target.k, " (", dk, " steps)" - #endif - #if HAS_U_AXIS - " " STR_U ":", target.u, " (", du, " steps)" - #endif - #if HAS_V_AXIS - " " STR_V ":", target.v, " (", dv, " steps)" - #endif - #if HAS_W_AXIS - " " STR_W ":", target.w, " (", dw, " steps)" - #if HAS_EXTRUDERS - " E:", target.e, " (", de, " steps)" - #endif - ); + #define _ALINE(A) " " STR_##A ":", target[_AXIS(A)], " (", int32_t(target[_AXIS(A)] - position[_AXIS(A)]), " steps)" + SERIAL_ECHOLNPGM(" _populate_block FR:", fr_mm_s, LOGICAL_AXIS_MAP(_ALINE)); //*/ #if EITHER(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE) @@ -1978,7 +1950,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, #endif // Clear all flags, including the "busy" bit - block->flag = 0x00; + block->flag.clear(); // Set direction bits block->direction_bits = dm; @@ -2449,7 +2421,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, if (speed_factor < 1.0f) { current_speed *= speed_factor; block->nominal_rate *= speed_factor; - block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor); + block->nominal_speed_sqr *= sq(speed_factor); } // Compute and limit the acceleration rate for the trapezoid generator. @@ -2651,14 +2623,15 @@ bool Planner::_populate_block(block_t * const block, bool split_move, vmax_junction_sqr = sq(float(MINIMUM_PLANNER_SPEED)); } else { - NOLESS(junction_cos_theta, -0.999999f); // Check for numerical round-off to avoid divide by zero. - // Convert delta vector to unit vector xyze_float_t junction_unit_vec = unit_vec - prev_unit_vec; normalize_junction_vector(junction_unit_vec); - const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec), - sin_theta_d2 = SQRT(0.5f * (1.0f - junction_cos_theta)); // Trig half angle identity. Always positive. + const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec); + + NOLESS(junction_cos_theta, -0.999999f); // Check for numerical round-off to avoid divide by zero. + + const float sin_theta_d2 = SQRT(0.5f * (1.0f - junction_cos_theta)); // Trig half angle identity. Always positive. vmax_junction_sqr = junction_acceleration * junction_deviation_mm * sin_theta_d2 / (1.0f - sin_theta_d2); @@ -2888,7 +2861,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move, // block nominal speed limits both the current and next maximum junction speeds. Hence, in both // the reverse and forward planners, the corresponding block junction speed will always be at the // the maximum junction speed and may always be ignored for any speed reduction checks. - block->flag |= block->nominal_speed_sqr <= v_allowable_sqr ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE; + block->flag.set_nominal(block->nominal_speed_sqr <= v_allowable_sqr); // Update previous path unit_vector and nominal speed previous_speed = current_speed; @@ -2913,9 +2886,9 @@ bool Planner::_populate_block(block_t * const block, bool split_move, * Add a block to the buffer that just updates the position, * or in case of LASER_SYNCHRONOUS_M106_M107 the fan PWM */ -void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_flag)) { +void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, const BlockFlagBit sync_flag/*=BLOCK_BIT_SYNC_POSITION*/)) { #if DISABLED(LASER_SYNCHRONOUS_M106_M107) - constexpr uint8_t sync_flag = BLOCK_FLAG_SYNC_POSITION; + constexpr BlockFlagBit sync_flag = BLOCK_BIT_SYNC_POSITION; #endif // Wait for the next available block @@ -2925,7 +2898,7 @@ void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_ // Clear block memset(block, 0, sizeof(block_t)); - block->flag = sync_flag; + block->flag.apply(sync_flag); block->position = position; #if ENABLED(BACKLASH_COMPENSATION) @@ -3073,8 +3046,8 @@ bool Planner::buffer_segment(const abce_pos_t &abce if (!_buffer_steps(target OPTARG(HAS_POSITION_FLOAT, target_float) OPTARG(HAS_DIST_MM_ARG, cart_dist_mm) - , fr_mm_s, extruder, millimeters) - ) return false; + , fr_mm_s, extruder, millimeters + )) return false; stepper.wake_up(); return true; @@ -3141,6 +3114,14 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, cons #if ENABLED(DIRECT_STEPPING) + /** + * @brief Add a direct stepping page block to the buffer + * and wake up the Stepper ISR to process it. + * + * @param page_idx Page index provided by G6 I + * @param extruder The extruder to use in the move + * @param num_steps Number of steps to process in the ISR + */ void Planner::buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps) { if (!last_page_step_rate) { kill(GET_TEXT_F(MSG_BAD_PAGE_SPEED)); @@ -3150,7 +3131,7 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, cons uint8_t next_buffer_head; block_t * const block = get_next_free_block(next_buffer_head); - block->flag = BLOCK_FLAG_IS_PAGE; + block->flag.reset(BLOCK_BIT_PAGE); #if HAS_FAN FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i]; @@ -3238,6 +3219,12 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) { } } +/** + * @brief Set the Planner position in mm + * @details Set the Planner position from a native machine position in mm + * + * @param xyze A native (Cartesian) machine position + */ void Planner::set_position_mm(const xyze_pos_t &xyze) { xyze_pos_t machine = xyze; TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine, true)); @@ -3273,7 +3260,13 @@ void Planner::set_position_mm(const xyze_pos_t &xyze) { #endif -// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2 +/** + * @brief Recalculate the steps/s^2 acceleration rates, based on the mm/s^2 + * @details Update planner movement factors after a change to certain settings: + * - max_acceleration_steps_per_s2 from settings max_acceleration_mm_per_s2 * axis_steps_per_mm (M201, M92) + * - acceleration_long_cutoff based on the largest max_acceleration_steps_per_s2 (M201) + * - max_e_jerk for all extruders based on junction_deviation_mm (M205 J) + */ void Planner::reset_acceleration_rates() { uint32_t highest_rate = 1; LOOP_DISTINCT_AXES(i) { @@ -3286,8 +3279,8 @@ void Planner::reset_acceleration_rates() { } /** - * Recalculate 'position' and 'mm_per_step'. - * Must be called whenever settings.axis_steps_per_mm changes! + * @brief Recalculate 'position' and 'mm_per_step'. + * @details Required whenever settings.axis_steps_per_mm changes! */ void Planner::refresh_positioning() { LOOP_DISTINCT_AXES(i) mm_per_step[i] = 1.0f / settings.axis_steps_per_mm[i]; diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index bef381b5c7..d181b771c1 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -70,9 +70,6 @@ #if ENABLED(DIRECT_STEPPING) #include "../feature/direct_stepping.h" - #define IS_PAGE(B) TEST(B->flag, BLOCK_BIT_IS_PAGE) -#else - #define IS_PAGE(B) false #endif #if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER) @@ -92,47 +89,6 @@ #define HAS_DIST_MM_ARG 1 #endif -enum BlockFlagBit : char { - // Recalculate trapezoids on entry junction. For optimization. - BLOCK_BIT_RECALCULATE, - - // Nominal speed always reached. - // i.e., The segment is long enough, so the nominal speed is reachable if accelerating - // from a safe speed (in consideration of jerking from zero speed). - BLOCK_BIT_NOMINAL_LENGTH, - - // The block is segment 2+ of a longer move - BLOCK_BIT_CONTINUED, - - // Sync the stepper counts from the block - BLOCK_BIT_SYNC_POSITION - - // Direct stepping page - #if ENABLED(DIRECT_STEPPING) - , BLOCK_BIT_IS_PAGE - #endif - - // Sync the fan speeds from the block - #if ENABLED(LASER_SYNCHRONOUS_M106_M107) - , BLOCK_BIT_SYNC_FANS - #endif -}; - -enum BlockFlag : char { - BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE) - , BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH) - , BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED) - , BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION) - #if ENABLED(DIRECT_STEPPING) - , BLOCK_FLAG_IS_PAGE = _BV(BLOCK_BIT_IS_PAGE) - #endif - #if ENABLED(LASER_SYNCHRONOUS_M106_M107) - , BLOCK_FLAG_SYNC_FANS = _BV(BLOCK_BIT_SYNC_FANS) - #endif -}; - -#define BLOCK_MASK_SYNC ( BLOCK_FLAG_SYNC_POSITION | TERN0(LASER_SYNCHRONOUS_M106_M107, BLOCK_FLAG_SYNC_FANS) ) - #if ENABLED(LASER_POWER_INLINE) typedef struct { @@ -158,17 +114,83 @@ enum BlockFlag : char { #endif /** - * struct block_t - * - * A single entry in the planner buffer. - * Tracks linear movement over multiple axes. + * Planner block flags as boolean bit fields + */ +enum BlockFlagBit { + // Recalculate trapezoids on entry junction. For optimization. + BLOCK_BIT_RECALCULATE, + + // Nominal speed always reached. + // i.e., The segment is long enough, so the nominal speed is reachable if accelerating + // from a safe speed (in consideration of jerking from zero speed). + BLOCK_BIT_NOMINAL_LENGTH, + + // The block is segment 2+ of a longer move + BLOCK_BIT_CONTINUED, + + // Sync the stepper counts from the block + BLOCK_BIT_SYNC_POSITION + + // Direct stepping page + #if ENABLED(DIRECT_STEPPING) + , BLOCK_BIT_PAGE + #endif + + // Sync the fan speeds from the block + #if ENABLED(LASER_SYNCHRONOUS_M106_M107) + , BLOCK_BIT_SYNC_FANS + #endif +}; + +/** + * Planner block flags as boolean bit fields + */ +typedef struct { + union { + uint8_t bits; + + struct { + bool recalculate:1; + + bool nominal_length:1; + + bool continued:1; + + bool sync_position:1; + + #if ENABLED(DIRECT_STEPPING) + bool page:1; + #endif + + #if ENABLED(LASER_SYNCHRONOUS_M106_M107) + bool sync_fans:1; + #endif + }; + }; + + void clear() volatile { bits = 0; } + void apply(const uint8_t f) volatile { bits |= f; } + void apply(const BlockFlagBit b) volatile { SBI(bits, b); } + void reset(const BlockFlagBit b) volatile { bits = _BV(b); } + void set_nominal(const bool n) volatile { recalculate = true; if (n) nominal_length = true; } + +} block_flags_t; + +/** + * A single entry in the planner buffer, used to set up and + * track a coordinated linear motion for one or more axes. * * The "nominal" values are as-specified by G-code, and * may never actually be reached due to acceleration limits. */ typedef struct block_t { - volatile uint8_t flag; // Block flags (See BlockFlag enum above) - Modified by ISR and main thread! + volatile block_flags_t flag; // Block flags + + volatile bool is_fan_sync() { return TERN0(LASER_SYNCHRONOUS_M106_M107, flag.sync_fans); } + volatile bool is_sync() { return flag.sync_position || is_fan_sync(); } + volatile bool is_page() { return TERN0(DIRECT_STEPPING, flag.page); } + volatile bool is_move() { return !(is_sync() || is_page()); } // Fields used by the motion planner to manage acceleration float nominal_speed_sqr, // The nominal speed for this block in (mm/sec)^2 @@ -759,7 +781,7 @@ class Planner { * case of LASER_SYNCHRONOUS_M106_M107 the fan pwm */ static void buffer_sync_block( - TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_flag=BLOCK_FLAG_SYNC_POSITION) + TERN_(LASER_SYNCHRONOUS_M106_M107, const BlockFlagBit flag=BLOCK_BIT_SYNC_POSITION) ); #if IS_KINEMATIC diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 40cf7d02ea..5dd1bd24b3 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -1699,7 +1699,7 @@ void Stepper::pulse_phase_isr() { }while(0) // Direct Stepping page? - const bool is_page = IS_PAGE(current_block); + const bool is_page = current_block->is_page(); #if ENABLED(DIRECT_STEPPING) // Direct stepping is currently not ready for HAS_I_AXIS @@ -1977,7 +1977,7 @@ uint32_t Stepper::block_phase_isr() { count_position[_AXIS(AXIS)] += page_step_state.bd[_AXIS(AXIS)] * count_direction[_AXIS(AXIS)]; #endif - if (IS_PAGE(current_block)) { + if (current_block->is_page()) { PAGE_SEGMENT_UPDATE_POS(X); PAGE_SEGMENT_UPDATE_POS(Y); PAGE_SEGMENT_UPDATE_POS(Z); @@ -2167,16 +2167,13 @@ uint32_t Stepper::block_phase_isr() { if ((current_block = planner.get_current_block())) { // Sync block? Sync the stepper counts or fan speeds and return - while (current_block->flag & BLOCK_MASK_SYNC) { + while (current_block->is_sync()) { - #if ENABLED(LASER_SYNCHRONOUS_M106_M107) - const bool is_sync_fans = TEST(current_block->flag, BLOCK_BIT_SYNC_FANS); - if (is_sync_fans) planner.sync_fan_speeds(current_block->fan_speed); - #else - constexpr bool is_sync_fans = false; - #endif - - if (!is_sync_fans) _set_position(current_block->position); + if (current_block->is_fan_sync()) { + TERN_(LASER_SYNCHRONOUS_M106_M107, planner.sync_fan_speeds(current_block->fan_speed)); + } + else + _set_position(current_block->position); discard_current_block(); @@ -2196,7 +2193,7 @@ uint32_t Stepper::block_phase_isr() { #endif #if ENABLED(DIRECT_STEPPING) - if (IS_PAGE(current_block)) { + if (current_block->is_page()) { page_step_state.segment_steps = 0; page_step_state.segment_idx = 0; page_step_state.page = page_manager.get_page(current_block->page_idx); diff --git a/Marlin/src/module/stepper.h b/Marlin/src/module/stepper.h index 3b899e93e2..c9a83caa7e 100644 --- a/Marlin/src/module/stepper.h +++ b/Marlin/src/module/stepper.h @@ -524,8 +524,7 @@ class Stepper { // Discard current block and free any resources FORCE_INLINE static void discard_current_block() { #if ENABLED(DIRECT_STEPPING) - if (IS_PAGE(current_block)) - page_manager.free_page(current_block->page_idx); + if (current_block->is_page()) page_manager.free_page(current_block->page_idx); #endif current_block = nullptr; axis_did_move = 0;