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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30
Firmware/planner.cpp
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@ -126,8 +126,8 @@ float extrude_min_temp=EXTRUDE_MINTEMP;
#endif #endif
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
float extruder_advance_K = LIN_ADVANCE_K, float extruder_advance_K = LIN_ADVANCE_K;
position_float[NUM_AXIS] = { 0 }; float position_float[NUM_AXIS] = { 0 };
#endif #endif
// Returns the index of the next block in the ring buffer // Returns the index of the next block in the ring buffer
@ -437,9 +437,9 @@ void plan_init() {
block_buffer_head = 0; block_buffer_head = 0;
block_buffer_tail = 0; block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position memset(position, 0, sizeof(position)); // clear position
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
memset(position_float, 0, sizeof(position)); // clear position memset(position_float, 0, sizeof(position)); // clear position
#endif #endif
previous_speed[0] = 0.0; previous_speed[0] = 0.0;
previous_speed[1] = 0.0; previous_speed[1] = 0.0;
previous_speed[2] = 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) 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 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; position_float[E_AXIS] = e;
#endif #endif
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(_n(" cold extrusion prevented"));////MSG_ERR_COLD_EXTRUDE_STOP 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) 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 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; position_float[E_AXIS] = e;
#endif #endif
SERIAL_ECHO_START; SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(_n(" too long extrusion prevented"));////MSG_ERR_LONG_EXTRUDE_STOP SERIAL_ECHOLNRPGM(_n(" too long extrusion prevented"));////MSG_ERR_LONG_EXTRUDE_STOP
} }
@ -1017,19 +1017,15 @@ Having the real displacement of the head, we can calculate the total movement le
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
/** /**
*
* Use LIN_ADVANCE for blocks if all these are true: * 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. * 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. * 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) * 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 block->use_advance_lead = block->steps_e
&& extruder_advance_K && extruder_advance_K
&& delta_mm[E_AXIS] > 0; && delta_mm[E_AXIS] > 0;
if (block->use_advance_lead) { if (block->use_advance_lead) {
block->e_D_ratio = (e - position_float[E_AXIS]) / block->e_D_ratio = (e - position_float[E_AXIS]) /
sqrt(sq(x - position_float[X_AXIS]) sqrt(sq(x - position_float[X_AXIS])
@ -1085,7 +1081,7 @@ Having the real displacement of the head, we can calculate the total movement le
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
if (block->use_advance_lead) { 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]); 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 #ifdef LA_DEBUG
if (extruder_advance_K * block->e_D_ratio * block->acceleration * 2 < block->nominal_speed * block->e_D_ratio) 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."); SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");
@ -1224,12 +1220,12 @@ Having the real displacement of the head, we can calculate the total movement le
// Update position // Update position
memcpy(position, target, sizeof(target)); // position[] = target[] memcpy(position, target, sizeof(target)); // position[] = target[]
#ifdef LIN_ADVANCE #ifdef LIN_ADVANCE
position_float[X_AXIS] = x; position_float[X_AXIS] = x;
position_float[Y_AXIS] = y; position_float[Y_AXIS] = y;
position_float[Z_AXIS] = z; position_float[Z_AXIS] = z;
position_float[E_AXIS] = e; position_float[E_AXIS] = e;
#endif #endif
// Recalculate the trapezoids to maximize speed at the segment transitions while respecting // Recalculate the trapezoids to maximize speed at the segment transitions while respecting
// the machine limits (maximum acceleration and maximum jerk). // 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]); position[Z_AXIS] = lround(z*cs.axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING #endif // ENABLE_MESH_BED_LEVELING
position[E_AXIS] = lround(e*cs.axis_steps_per_unit[E_AXIS]); 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[X_AXIS] = x;
position_float[Y_AXIS] = y; position_float[Y_AXIS] = y;
position_float[Z_AXIS] = z; position_float[Z_AXIS] = z;
position_float[E_AXIS] = e; position_float[E_AXIS] = e;
#endif #endif
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]); 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_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
previous_speed[0] = 0.0; previous_speed[0] = 0.0;