Replace block.busy with a block.flag bit
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c7f22f688f
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75dbb71dd7
3 changed files with 35 additions and 30 deletions
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@ -180,7 +180,7 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
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// block->decelerate_after = accelerate_steps+plateau_steps;
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// block->decelerate_after = accelerate_steps+plateau_steps;
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CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
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CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
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if (!block->busy) { // Don't update variables if block is busy.
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if (!TEST(block->flag, BLOCK_BIT_BUSY)) { // Don't update variables if block is busy.
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block->accelerate_until = accelerate_steps;
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block->accelerate_until = accelerate_steps;
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block->decelerate_after = accelerate_steps + plateau_steps;
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block->decelerate_after = accelerate_steps + plateau_steps;
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block->initial_rate = initial_rate;
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block->initial_rate = initial_rate;
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@ -212,10 +212,10 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t *next) {
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if (current->entry_speed != max_entry_speed) {
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if (current->entry_speed != max_entry_speed) {
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// If nominal length true, max junction speed is guaranteed to be reached. Only compute
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// If nominal length true, max junction speed is guaranteed to be reached. Only compute
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// for max allowable speed if block is decelerating and nominal length is false.
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// for max allowable speed if block is decelerating and nominal length is false.
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current->entry_speed = ((current->flag & BLOCK_FLAG_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
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current->entry_speed = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
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? max_entry_speed
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? max_entry_speed
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: min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
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: min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
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current->flag |= BLOCK_FLAG_RECALCULATE;
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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}
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}
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@ -237,7 +237,7 @@ void Planner::reverse_pass() {
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uint8_t b = BLOCK_MOD(block_buffer_head - 3);
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uint8_t b = BLOCK_MOD(block_buffer_head - 3);
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while (b != tail) {
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while (b != tail) {
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if (block[0] && (block[0]->flag & BLOCK_FLAG_START_FROM_FULL_HALT)) break;
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if (block[0] && TEST(block[0]->flag, BLOCK_BIT_START_FROM_FULL_HALT)) break;
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b = prev_block_index(b);
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b = prev_block_index(b);
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block[2] = block[1];
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block[2] = block[1];
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block[1] = block[0];
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block[1] = block[0];
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@ -255,14 +255,14 @@ void Planner::forward_pass_kernel(const block_t* previous, block_t* const curren
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// full speed change within the block, we need to adjust the entry speed accordingly. Entry
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// full speed change within the block, we need to adjust the entry speed accordingly. Entry
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// speeds have already been reset, maximized, and reverse planned by reverse planner.
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// speeds have already been reset, maximized, and reverse planned by reverse planner.
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// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
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// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
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if (!(previous->flag & BLOCK_FLAG_NOMINAL_LENGTH)) {
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if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) {
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if (previous->entry_speed < current->entry_speed) {
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if (previous->entry_speed < current->entry_speed) {
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float entry_speed = min(current->entry_speed,
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float entry_speed = min(current->entry_speed,
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max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
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max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
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// Check for junction speed change
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// Check for junction speed change
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if (current->entry_speed != entry_speed) {
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if (current->entry_speed != entry_speed) {
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current->entry_speed = entry_speed;
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current->entry_speed = entry_speed;
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current->flag |= BLOCK_FLAG_RECALCULATE;
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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}
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}
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}
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}
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@ -298,11 +298,11 @@ void Planner::recalculate_trapezoids() {
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next = &block_buffer[block_index];
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next = &block_buffer[block_index];
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if (current) {
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if (current) {
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// Recalculate if current block entry or exit junction speed has changed.
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// Recalculate if current block entry or exit junction speed has changed.
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if ((current->flag & BLOCK_FLAG_RECALCULATE) || (next->flag & BLOCK_FLAG_RECALCULATE)) {
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if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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float nom = current->nominal_speed;
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float nom = current->nominal_speed;
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calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
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calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
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current->flag &= ~BLOCK_FLAG_RECALCULATE; // Reset current only to ensure next trapezoid is computed
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CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed
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}
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}
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}
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}
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block_index = next_block_index(block_index);
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block_index = next_block_index(block_index);
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@ -311,7 +311,7 @@ void Planner::recalculate_trapezoids() {
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if (next) {
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if (next) {
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float nom = next->nominal_speed;
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float nom = next->nominal_speed;
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calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
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calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
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next->flag &= ~BLOCK_FLAG_RECALCULATE;
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CBI(next->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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}
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}
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@ -666,8 +666,8 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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// Prepare to set up new block
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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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block_t* block = &block_buffer[block_buffer_head];
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// Mark block as not busy (Not executed by the stepper interrupt)
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// Clear all flags, including the "busy" bit
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block->busy = false;
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block->flag = 0;
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// Number of steps for each axis
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// Number of steps for each axis
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#if ENABLED(COREXY)
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#if ENABLED(COREXY)
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@ -699,9 +699,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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// Bail if this is a zero-length block
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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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if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
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// Clear the block flags
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block->flag = 0;
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// For a mixing extruder, get a magnified step_event_count for each
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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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#if ENABLED(MIXING_EXTRUDER)
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
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@ -1187,12 +1184,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
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if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
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// Not coasting. The machine will stop and start the movements anyway,
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// Not coasting. The machine will stop and start the movements anyway,
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// better to start the segment from start.
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// better to start the segment from start.
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block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
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SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
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vmax_junction = safe_speed;
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vmax_junction = safe_speed;
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}
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}
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}
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}
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else {
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else {
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block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
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SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
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vmax_junction = safe_speed;
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vmax_junction = safe_speed;
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}
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}
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@ -40,17 +40,27 @@
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#include "vector_3.h"
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#include "vector_3.h"
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#endif
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#endif
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enum BlockFlagBit {
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// Recalculate trapezoids on entry junction. For optimization.
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BLOCK_BIT_RECALCULATE,
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// Nominal speed always reached.
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// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
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// from a safe speed (in consideration of jerking from zero speed).
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BLOCK_BIT_NOMINAL_LENGTH,
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// Start from a halt at the start of this block, respecting the maximum allowed jerk.
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BLOCK_BIT_START_FROM_FULL_HALT,
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// The block is busy
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BLOCK_BIT_BUSY
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};
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enum BlockFlag {
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enum BlockFlag {
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// Recalculate trapezoids on entry junction. For optimization.
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BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
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BLOCK_FLAG_RECALCULATE = _BV(0),
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BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
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BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT),
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// Nominal speed always reached.
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BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY)
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// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
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// from a safe speed (in consideration of jerking from zero speed).
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BLOCK_FLAG_NOMINAL_LENGTH = _BV(1),
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// Start from a halt at the start of this block, respecting the maximum allowed jerk.
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BLOCK_FLAG_START_FROM_FULL_HALT = _BV(2)
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};
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};
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/**
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/**
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@ -113,8 +123,6 @@ typedef struct {
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unsigned long valve_pressure, e_to_p_pressure;
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unsigned long valve_pressure, e_to_p_pressure;
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#endif
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#endif
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volatile char busy;
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} block_t;
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} block_t;
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#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
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#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
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@ -341,7 +349,7 @@ class Planner {
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static block_t* get_current_block() {
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static block_t* get_current_block() {
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if (blocks_queued()) {
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if (blocks_queued()) {
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block_t* block = &block_buffer[block_buffer_tail];
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block_t* block = &block_buffer[block_buffer_tail];
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block->busy = true;
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SBI(block->flag, BLOCK_BIT_BUSY);
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return block;
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return block;
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}
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}
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else
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else
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@ -344,7 +344,7 @@ void Stepper::isr() {
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// Anything in the buffer?
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// Anything in the buffer?
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current_block = planner.get_current_block();
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current_block = planner.get_current_block();
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if (current_block) {
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if (current_block) {
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current_block->busy = true;
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SBI(current_block->flag, BLOCK_BIT_BUSY);
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trapezoid_generator_reset();
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trapezoid_generator_reset();
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// Initialize Bresenham counters to 1/2 the ceiling
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// Initialize Bresenham counters to 1/2 the ceiling
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