From 77519e9f140363589605dac96c9d69ccf3323503 Mon Sep 17 00:00:00 2001
From: Scott Lahteine <github@thinkyhead.com>
Date: Fri, 8 Dec 2017 20:48:04 -0600
Subject: [PATCH] Tweaks to planner.h
---
Marlin/planner.h | 31 ++++++++++++++++++++-----------
1 file changed, 20 insertions(+), 11 deletions(-)
diff --git a/Marlin/planner.h b/Marlin/planner.h
index c935d481c75..0378e1375aa 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -130,21 +130,30 @@ typedef struct {
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
class Planner {
-
public:
/**
- * A ring buffer of moves described in steps
+ * The move buffer, calculated in stepper steps
+ *
+ * block_buffer is a ring buffer...
+ *
+ * head,tail : indexes for write,read
+ * head==tail : the buffer is empty
+ * head!=tail : blocks are in the buffer
+ * head==(tail-1)%size : the buffer is full
+ *
+ * Writer of head is Planner::_buffer_line().
+ * Reader of tail is Stepper::isr(). Always consider tail busy / read-only
*/
static block_t block_buffer[BLOCK_BUFFER_SIZE];
- static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
- block_buffer_tail;
+ static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
+ block_buffer_tail; // Index of the busy block, if any
#if ENABLED(DISTINCT_E_FACTORS)
- static uint8_t last_extruder; // Respond to extruder change
+ static uint8_t last_extruder; // Respond to extruder change
#endif
- static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
+ static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
static float e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement
filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
@@ -152,7 +161,7 @@ class Planner {
volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
// May be auto-adjusted by a filament width sensor
- static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
+ static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
axis_steps_per_mm[XYZE_N],
steps_to_mm[XYZE_N];
static uint32_t max_acceleration_steps_per_s2[XYZE_N],
@@ -273,9 +282,9 @@ class Planner {
/**
* Number of moves currently in the planner
*/
- static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
+ FORCE_INLINE static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
- static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
+ FORCE_INLINE static bool is_full() { return block_buffer_tail == next_block_index(block_buffer_head); }
// Update multipliers based on new diameter measurements
static void calculate_volumetric_multipliers();
@@ -529,8 +538,8 @@ class Planner {
/**
* Get the index of the next / previous block in the ring buffer
*/
- static int8_t next_block_index(const int8_t block_index) { return BLOCK_MOD(block_index + 1); }
- static int8_t prev_block_index(const int8_t block_index) { return BLOCK_MOD(block_index - 1); }
+ static constexpr int8_t next_block_index(const int8_t block_index) { return BLOCK_MOD(block_index + 1); }
+ static constexpr int8_t prev_block_index(const int8_t block_index) { return BLOCK_MOD(block_index - 1); }
/**
* Calculate the distance (not time) it takes to accelerate