Calculate dm and e-steps earlier in planner
This commit is contained in:
Scott Lahteine
parent
75dbb71dd7
commit
1cf878fdb1
1 changed files with 68 additions and 64 deletions
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@ -656,64 +656,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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}
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#endif
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// Calculate the buffer head after we push this byte
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int next_buffer_head = next_block_index(block_buffer_head);
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// If the buffer is full: good! That means we are well ahead of the robot.
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// Rest here until there is room in the buffer.
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while (block_buffer_tail == next_buffer_head) idle();
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// Prepare to set up new block
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block_t* block = &block_buffer[block_buffer_head];
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// Clear all flags, including the "busy" bit
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block->flag = 0;
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// Number of steps for each axis
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#if ENABLED(COREXY)
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// corexy planning
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// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
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block->steps[A_AXIS] = labs(da + db);
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block->steps[B_AXIS] = labs(da - db);
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block->steps[Z_AXIS] = labs(dc);
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#elif ENABLED(COREXZ)
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// corexz planning
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block->steps[A_AXIS] = labs(da + dc);
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block->steps[Y_AXIS] = labs(db);
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block->steps[C_AXIS] = labs(da - dc);
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#elif ENABLED(COREYZ)
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// coreyz planning
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block->steps[X_AXIS] = labs(da);
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block->steps[B_AXIS] = labs(db + dc);
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block->steps[C_AXIS] = labs(db - dc);
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#else
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// default non-h-bot planning
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block->steps[X_AXIS] = labs(da);
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block->steps[Y_AXIS] = labs(db);
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block->steps[Z_AXIS] = labs(dc);
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#endif
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block->steps[E_AXIS] = labs(de) * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01 + 0.5;
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block->step_event_count = MAX4(block->steps[X_AXIS], block->steps[Y_AXIS], block->steps[Z_AXIS], block->steps[E_AXIS]);
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// Bail if this is a zero-length block
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if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
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// For a mixing extruder, get a magnified step_event_count for each
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#if ENABLED(MIXING_EXTRUDER)
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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block->mix_event_count[i] = UNEAR_ZERO(mixing_factor[i]) ? 0 : block->step_event_count / mixing_factor[i];
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#endif
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#if FAN_COUNT > 0
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for (uint8_t i = 0; i < FAN_COUNT; i++) block->fan_speed[i] = fanSpeeds[i];
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#endif
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#if ENABLED(BARICUDA)
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block->valve_pressure = baricuda_valve_pressure;
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block->e_to_p_pressure = baricuda_e_to_p_pressure;
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#endif
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// Compute direction bit-mask for this block
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uint8_t dm = 0;
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#if ENABLED(COREXY)
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@ -740,8 +682,70 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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if (dc < 0) SBI(dm, Z_AXIS);
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#endif
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if (de < 0) SBI(dm, E_AXIS);
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int32_t esteps = labs(de) * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01 + 0.5;
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// Calculate the buffer head after we push this byte
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int next_buffer_head = next_block_index(block_buffer_head);
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// If the buffer is full: good! That means we are well ahead of the robot.
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// Rest here until there is room in the buffer.
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while (block_buffer_tail == next_buffer_head) idle();
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// Prepare to set up new block
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block_t* block = &block_buffer[block_buffer_head];
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// Clear all flags, including the "busy" bit
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block->flag = 0;
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// Set direction bits
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block->direction_bits = dm;
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// Number of steps for each axis
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#if ENABLED(COREXY)
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// corexy planning
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// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
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block->steps[A_AXIS] = labs(da + db);
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block->steps[B_AXIS] = labs(da - db);
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block->steps[Z_AXIS] = labs(dc);
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#elif ENABLED(COREXZ)
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// corexz planning
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block->steps[A_AXIS] = labs(da + dc);
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block->steps[Y_AXIS] = labs(db);
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block->steps[C_AXIS] = labs(da - dc);
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#elif ENABLED(COREYZ)
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// coreyz planning
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block->steps[X_AXIS] = labs(da);
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block->steps[B_AXIS] = labs(db + dc);
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block->steps[C_AXIS] = labs(db - dc);
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#else
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// default non-h-bot planning
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block->steps[X_AXIS] = labs(da);
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block->steps[Y_AXIS] = labs(db);
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block->steps[Z_AXIS] = labs(dc);
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#endif
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block->steps[E_AXIS] = esteps;
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block->step_event_count = MAX4(block->steps[X_AXIS], block->steps[Y_AXIS], block->steps[Z_AXIS], esteps);
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// Bail if this is a zero-length block
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if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
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// For a mixing extruder, get a magnified step_event_count for each
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#if ENABLED(MIXING_EXTRUDER)
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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block->mix_event_count[i] = UNEAR_ZERO(mixing_factor[i]) ? 0 : block->step_event_count / mixing_factor[i];
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#endif
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#if FAN_COUNT > 0
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for (uint8_t i = 0; i < FAN_COUNT; i++) block->fan_speed[i] = fanSpeeds[i];
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#endif
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#if ENABLED(BARICUDA)
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block->valve_pressure = baricuda_valve_pressure;
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block->e_to_p_pressure = baricuda_e_to_p_pressure;
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#endif
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block->active_extruder = extruder;
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//enable active axes
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@ -768,7 +772,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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#endif
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// Enable extruder(s)
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if (block->steps[E_AXIS]) {
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if (esteps) {
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#if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder
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@ -837,7 +841,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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#endif
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}
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if (block->steps[E_AXIS])
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if (esteps)
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NOLESS(fr_mm_s, min_feedrate_mm_s);
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else
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NOLESS(fr_mm_s, min_travel_feedrate_mm_s);
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@ -1035,7 +1039,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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}while(0)
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// Start with print or travel acceleration
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accel = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
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accel = ceil((esteps ? acceleration : travel_acceleration) * steps_per_mm);
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// Limit acceleration per axis
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if (block->step_event_count <= cutoff_long){
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@ -1222,18 +1226,18 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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// This leads to an enormous number of advance steps due to a huge e_acceleration.
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// The math is correct, but you don't want a retract move done with advance!
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// So this situation is filtered out here.
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if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t) block->steps[E_AXIS] == block->step_event_count) {
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if (!esteps || (!block->steps[X_AXIS] && !block->steps[Y_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t)esteps == block->step_event_count) {
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block->use_advance_lead = false;
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}
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else {
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block->use_advance_lead = true;
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block->e_speed_multiplier8 = (block->steps[E_AXIS] << 8) / block->step_event_count;
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block->e_speed_multiplier8 = (esteps << 8) / block->step_event_count;
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}
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#elif ENABLED(ADVANCE)
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// Calculate advance rate
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if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS])) {
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if (!esteps || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS])) {
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block->advance_rate = 0;
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block->advance = 0;
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}
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