3DPrinting/Prusa-Firmware
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Formatting sanity

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This commit is contained in:
Yuri D'Elia 2019-03-18 18:43:22 +01:00
parent eeea2725cb
commit 45563bfdd3
1 changed files with 65 additions and 69 deletions
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134
Firmware/planner.cpp
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@ -126,8 +126,8 @@ float extrude_min_temp=EXTRUDE_MINTEMP;
#endif
#ifdef LIN_ADVANCE
float extruder_advance_K = LIN_ADVANCE_K,
position_float[NUM_AXIS] = { 0 };
float extruder_advance_K = LIN_ADVANCE_K;
float position_float[NUM_AXIS] = { 0 };
#endif
// Returns the index of the next block in the ring buffer
@ -402,11 +402,11 @@ void planner_recalculate(const float &safe_final_speed)
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed);
#ifdef LIN_ADVANCE
if (current->use_advance_lead) {
const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_unit[E_AXIS];
current->max_adv_steps = current->nominal_speed * comp;
current->final_adv_steps = next->entry_speed * comp;
}
if (current->use_advance_lead) {
const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_unit[E_AXIS];
current->max_adv_steps = current->nominal_speed * comp;
current->final_adv_steps = next->entry_speed * comp;
}
#endif
// Reset current only to ensure next trapezoid is computed.
prev->flag &= ~BLOCK_FLAG_RECALCULATE;
@ -422,11 +422,11 @@ void planner_recalculate(const float &safe_final_speed)
current = block_buffer + prev_block_index(block_buffer_head);
calculate_trapezoid_for_block(current, current->entry_speed, safe_final_speed);
#ifdef LIN_ADVANCE
if (current->use_advance_lead) {
const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_unit[E_AXIS];
current->max_adv_steps = current->nominal_speed * comp;
current->final_adv_steps = safe_final_speed * comp;
}
if (current->use_advance_lead) {
const float comp = current->e_D_ratio * extruder_advance_K * axis_steps_per_unit[E_AXIS];
current->max_adv_steps = current->nominal_speed * comp;
current->final_adv_steps = safe_final_speed * comp;
}
#endif
current->flag &= ~BLOCK_FLAG_RECALCULATE;
@ -437,9 +437,9 @@ void plan_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
#ifdef LIN_ADVANCE
#ifdef LIN_ADVANCE
memset(position_float, 0, sizeof(position)); // clear position
#endif
#endif
previous_speed[0] = 0.0;
previous_speed[1] = 0.0;
previous_speed[2] = 0.0;
@ -767,9 +767,9 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
if(degHotend(active_extruder)<extrude_min_temp)
{
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
#ifdef LIN_ADVANCE
#ifdef LIN_ADVANCE
position_float[E_AXIS] = e;
#endif
#endif
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(_n(" cold extrusion prevented"));////MSG_ERR_COLD_EXTRUDE_STOP
}
@ -778,9 +778,9 @@ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate
if(labs(target[E_AXIS]-position[E_AXIS])>cs.axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
{
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
#ifdef LIN_ADVANCE
position_float[E_AXIS] = e;
#endif
#ifdef LIN_ADVANCE
position_float[E_AXIS] = e;
#endif
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(_n(" too long extrusion prevented"));////MSG_ERR_LONG_EXTRUDE_STOP
}
@ -1008,7 +1008,7 @@ Having the real displacement of the head, we can calculate the total movement le
{
block->acceleration_st = ceil(cs.retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
#ifdef LIN_ADVANCE
block->use_advance_lead = false;
block->use_advance_lead = false;
#endif
}
else
@ -1016,39 +1016,35 @@ Having the real displacement of the head, we can calculate the total movement le
block->acceleration_st = ceil(cs.acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
#ifdef LIN_ADVANCE
/**
*
* Use LIN_ADVANCE for blocks if all these are true:
*
* block->steps_e : This is a print move, because we checked for X, Y, Z steps before.
*
* extruder_advance_K : There is an advance factor set.
*
* delta_mm[E_AXIS] > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
*/
block->use_advance_lead = block->steps_e
&& extruder_advance_K
&& delta_mm[E_AXIS] > 0;
/**
* Use LIN_ADVANCE for blocks if all these are true:
*
* block->steps_e : This is a print move, because we checked for X, Y, Z steps before.
* extruder_advance_K : There is an advance factor set.
* delta_mm[E_AXIS] > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
*/
block->use_advance_lead = block->steps_e
&& extruder_advance_K
&& delta_mm[E_AXIS] > 0;
if (block->use_advance_lead) {
block->e_D_ratio = (e - position_float[E_AXIS]) /
sqrt(sq(x - position_float[X_AXIS])
+ sq(y - position_float[Y_AXIS])
+ sq(z - position_float[Z_AXIS]));
if (block->use_advance_lead) {
block->e_D_ratio = (e - position_float[E_AXIS]) /
sqrt(sq(x - position_float[X_AXIS])
+ sq(y - position_float[Y_AXIS])
+ sq(z - position_float[Z_AXIS]));
// Check for unusual high e_D ratio to detect if a retract move was combined with the last print move due to min. steps per segment. Never execute this with advance!
// This assumes no one will use a retract length of 0mm < retr_length < ~0.2mm and no one will print 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament.
if (block->e_D_ratio > 3.0)
block->use_advance_lead = false;
else {
const uint32_t max_accel_steps_per_s2 = max_jerk[E_AXIS] / (extruder_advance_K * block->e_D_ratio) * steps_per_mm;
#ifdef LA_DEBUG
if (block->acceleration_st > max_accel_steps_per_s2)
SERIAL_ECHOLNPGM("Acceleration limited.");
#endif
NOMORE(block->acceleration_st, max_accel_steps_per_s2);
}
// Check for unusual high e_D ratio to detect if a retract move was combined with the last print move due to min. steps per segment. Never execute this with advance!
// This assumes no one will use a retract length of 0mm < retr_length < ~0.2mm and no one will print 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament.
if (block->e_D_ratio > 3.0)
block->use_advance_lead = false;
else {
const uint32_t max_accel_steps_per_s2 = max_jerk[E_AXIS] / (extruder_advance_K * block->e_D_ratio) * steps_per_mm;
#ifdef LA_DEBUG
if (block->acceleration_st > max_accel_steps_per_s2)
SERIAL_ECHOLNPGM("Acceleration limited.");
#endif
NOMORE(block->acceleration_st, max_accel_steps_per_s2);
}
}
#endif
// Limit acceleration per axis
@ -1084,15 +1080,15 @@ Having the real displacement of the head, we can calculate the total movement le
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
#ifdef LIN_ADVANCE
if (block->use_advance_lead) {
block->advance_speed = ((F_CPU) * 0.125) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_unit[E_AXIS]);
#ifdef LA_DEBUG
if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < block->nominal_speed * block->e_D_ratio)
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");
if (block->advance_speed < 200)
SERIAL_ECHOLNPGM("eISR running at > 10kHz.");
#endif
}
if (block->use_advance_lead) {
block->advance_speed = (F_CPU / 8.0) / (extruder_advance_K * block->e_D_ratio * block->acceleration * axis_steps_per_unit[E_AXIS]);
#ifdef LA_DEBUG
if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < block->nominal_speed * block->e_D_ratio)
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");
if (block->advance_speed < 200)
SERIAL_ECHOLNPGM("eISR running at > 10kHz.");
#endif
}
#endif
// Start with a safe speed.
@ -1224,12 +1220,12 @@ Having the real displacement of the head, we can calculate the total movement le
// Update position
memcpy(position, target, sizeof(target)); // position[] = target[]
#ifdef LIN_ADVANCE
#ifdef LIN_ADVANCE
position_float[X_AXIS] = x;
position_float[Y_AXIS] = y;
position_float[Z_AXIS] = z;
position_float[E_AXIS] = e;
#endif
#endif
// Recalculate the trapezoids to maximize speed at the segment transitions while respecting
// the machine limits (maximum acceleration and maximum jerk).
@ -1292,12 +1288,12 @@ void plan_set_position(float x, float y, float z, const float &e)
position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING
position[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]);
#ifdef LIN_ADVANCE
#ifdef LIN_ADVANCE
position_float[X_AXIS] = x;
position_float[Y_AXIS] = y;
position_float[Z_AXIS] = z;
position_float[E_AXIS] = e;
#endif
#endif
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
previous_speed[0] = 0.0;
@ -1309,11 +1305,11 @@ void plan_set_position(float x, float y, float z, const float &e)
// Only useful in the bed leveling routine, when the mesh bed leveling is off.
void plan_set_z_position(const float &z)
{
#ifdef LIN_ADVANCE
position_float[Z_AXIS] = z;
#endif
position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
#ifdef LIN_ADVANCE
position_float[Z_AXIS] = z;
#endif
position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
}
void plan_set_e_position(const float &e)