Rename inverse_mm_s => inverse_secs
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23557f8e77
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8056120195
2 changed files with 19 additions and 14 deletions
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@ -215,14 +215,18 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
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NOLESS(initial_rate, MINIMAL_STEP_RATE);
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NOLESS(initial_rate, MINIMAL_STEP_RATE);
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NOLESS(final_rate, MINIMAL_STEP_RATE);
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NOLESS(final_rate, MINIMAL_STEP_RATE);
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int32_t accel = block->acceleration_steps_per_s2,
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const int32_t accel = block->acceleration_steps_per_s2;
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accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
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// Steps required for acceleration, deceleration to/from nominal rate
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int32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
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decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)),
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decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)),
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// Steps between acceleration and deceleration, if any
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plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
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plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
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// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
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// Does accelerate_steps + decelerate_steps exceed step_event_count?
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// have to use intersection_distance() to calculate when to abort accel and start braking
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// Then we can't possibly reach the nominal rate, there will be no cruising.
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// in order to reach the final_rate exactly at the end of this block.
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// Use intersection_distance() to calculate accel / braking time in order to
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// reach the final_rate exactly at the end of this block.
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if (plateau_steps < 0) {
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if (plateau_steps < 0) {
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accelerate_steps = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
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accelerate_steps = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
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NOLESS(accelerate_steps, 0); // Check limits due to numerical round-off
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NOLESS(accelerate_steps, 0); // Check limits due to numerical round-off
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@ -1052,22 +1056,23 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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}
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}
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float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
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// Calculate moves/second for this move. No divide by zero due to previous checks.
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// Calculate inverse time for this move. No divide by zero due to previous checks.
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float inverse_mm_s = fr_mm_s * inverse_millimeters;
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// Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0.
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float inverse_secs = fr_mm_s * inverse_millimeters;
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const uint8_t moves_queued = movesplanned();
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const uint8_t moves_queued = movesplanned();
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// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
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// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
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#if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
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#if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
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// Segment time im micro seconds
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// Segment time im micro seconds
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uint32_t segment_time_us = LROUND(1000000.0 / inverse_mm_s);
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uint32_t segment_time_us = LROUND(1000000.0 / inverse_secs);
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#endif
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#endif
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#if ENABLED(SLOWDOWN)
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#if ENABLED(SLOWDOWN)
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if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
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if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
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if (segment_time_us < min_segment_time_us) {
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if (segment_time_us < min_segment_time_us) {
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// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
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const uint32_t nst = segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued);
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const uint32_t nst = segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued);
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inverse_mm_s = 1000000.0 / nst;
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inverse_secs = 1000000.0 / nst;
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#if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD)
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#if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD)
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segment_time_us = nst;
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segment_time_us = nst;
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#endif
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#endif
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@ -1081,8 +1086,8 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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CRITICAL_SECTION_END
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CRITICAL_SECTION_END
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#endif
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#endif
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block->nominal_speed = block->millimeters * inverse_mm_s; // (mm/sec) Always > 0
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block->nominal_speed = block->millimeters * inverse_secs; // (mm/sec) Always > 0
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block->nominal_rate = CEIL(block->step_event_count * inverse_mm_s); // (step/sec) Always > 0
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block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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static float filwidth_e_count = 0, filwidth_delay_dist = 0;
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static float filwidth_e_count = 0, filwidth_delay_dist = 0;
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@ -1121,7 +1126,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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// Calculate and limit speed in mm/sec for each axis
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// Calculate and limit speed in mm/sec for each axis
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float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed
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float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed
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LOOP_XYZE(i) {
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LOOP_XYZE(i) {
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const float cs = FABS((current_speed[i] = delta_mm[i] * inverse_mm_s));
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const float cs = FABS((current_speed[i] = delta_mm[i] * inverse_secs));
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#if ENABLED(DISTINCT_E_FACTORS)
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#if ENABLED(DISTINCT_E_FACTORS)
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if (i == E_AXIS) i += extruder;
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if (i == E_AXIS) i += extruder;
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#endif
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#endif
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@ -1374,7 +1379,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
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previous_safe_speed = safe_speed;
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previous_safe_speed = safe_speed;
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#if ENABLED(LIN_ADVANCE)
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#if ENABLED(LIN_ADVANCE)
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/**
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/**
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*
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*
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* Use LIN_ADVANCE for blocks if all these are true:
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* Use LIN_ADVANCE for blocks if all these are true:
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@ -452,6 +452,7 @@ class Planner {
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/**
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/**
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* The current block. NULL if the buffer is empty.
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* The current block. NULL if the buffer is empty.
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* This also marks the block as busy.
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* This also marks the block as busy.
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* WARNING: Called from Stepper ISR context!
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*/
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*/
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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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@ -518,7 +519,7 @@ class Planner {
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}
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}
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/**
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/**
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* Return the point at which you must start braking (at the rate of -'acceleration') if
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* Return the point at which you must start braking (at the rate of -'accel') if
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* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
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* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
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* 'final_rate' after traveling 'distance'.
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* 'final_rate' after traveling 'distance'.
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*
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*
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