Discard all "continued" blocks on interrupted move

This commit is contained in:
Scott Lahteine 2017-12-07 23:03:36 -06:00
parent 4e891e9fb7
commit 85c6ffbe0d
3 changed files with 33 additions and 14 deletions

View file

@ -789,7 +789,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
block_t* block = &block_buffer[block_buffer_head]; block_t* block = &block_buffer[block_buffer_head];
// Clear all flags, including the "busy" bit // Clear all flags, including the "busy" bit
block->flag = 0; block->flag = 0x00;
// Set direction bits // Set direction bits
block->direction_bits = dm; block->direction_bits = dm;
@ -1435,7 +1435,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) }; const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
DISABLE_STEPPER_DRIVER_INTERRUPT(); DISABLE_STEPPER_DRIVER_INTERRUPT();
_buffer_steps(between, fr_mm_s, extruder); _buffer_steps(between, fr_mm_s, extruder);
const uint8_t next = block_buffer_head;
_buffer_steps(target, fr_mm_s, extruder); _buffer_steps(target, fr_mm_s, extruder);
SBI(block_buffer[next].flag, BLOCK_BIT_CONTINUED);
ENABLE_STEPPER_DRIVER_INTERRUPT(); ENABLE_STEPPER_DRIVER_INTERRUPT();
} }
else else

View file

@ -57,14 +57,18 @@ enum BlockFlagBit {
BLOCK_BIT_START_FROM_FULL_HALT, BLOCK_BIT_START_FROM_FULL_HALT,
// The block is busy // The block is busy
BLOCK_BIT_BUSY BLOCK_BIT_BUSY,
// The block is segment 2+ of a longer move
BLOCK_BIT_CONTINUED
}; };
enum BlockFlag { enum BlockFlag {
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE), BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH), BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT), BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT),
BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY) BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY),
BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED)
}; };
/** /**
@ -454,14 +458,24 @@ class Planner {
static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); } static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/** /**
* "Discards" the block and "releases" the memory. * "Discard" the block and "release" the memory.
* Called when the current block is no longer needed. * Called when the current block is no longer needed.
*/ */
static void discard_current_block() { FORCE_INLINE static void discard_current_block() {
if (blocks_queued()) if (blocks_queued())
block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1); block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
} }
/**
* "Discard" the next block if it's continued.
* Called after an interrupted move to throw away the rest of the move.
*/
FORCE_INLINE static bool discard_continued_block() {
const bool discard = blocks_queued() && TEST(block_buffer[block_buffer_tail].flag, BLOCK_BIT_CONTINUED);
if (discard) discard_current_block();
return discard;
}
/** /**
* The current block. NULL if the buffer is empty. * The current block. NULL if the buffer is empty.
* This also marks the block as busy. * This also marks the block as busy.
@ -469,7 +483,7 @@ class Planner {
*/ */
static block_t* get_current_block() { static block_t* get_current_block() {
if (blocks_queued()) { if (blocks_queued()) {
block_t* block = &block_buffer[block_buffer_tail]; block_t * const block = &block_buffer[block_buffer_tail];
#if ENABLED(ULTRA_LCD) #if ENABLED(ULTRA_LCD)
block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it. block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
#endif #endif

View file

@ -388,18 +388,21 @@ void Stepper::isr() {
// When cleaning, discard the current block and run fast // When cleaning, discard the current block and run fast
// //
if (cleaning_buffer_counter) { if (cleaning_buffer_counter) {
if (cleaning_buffer_counter < 0) if (cleaning_buffer_counter < 0) { // Count up for endstop hit
++cleaning_buffer_counter; // Count up for endstop hit if (current_block) planner.discard_current_block(); // Discard the active block that led to the trigger
if (!planner.discard_continued_block()) // Discard next CONTINUED block
cleaning_buffer_counter = 0; // Keep discarding until non-CONTINUED
}
else { else {
planner.discard_current_block();
--cleaning_buffer_counter; // Count down for abort print --cleaning_buffer_counter; // Count down for abort print
#ifdef SD_FINISHED_RELEASECOMMAND #ifdef SD_FINISHED_RELEASECOMMAND
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND)); if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif #endif
} }
current_block = NULL; current_block = NULL; // Prep to get a new block after cleaning
planner.discard_current_block();
_NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz _NEXT_ISR(HAL_STEPPER_TIMER_RATE / 10000); // Run at max speed - 10 KHz
HAL_ENABLE_ISRs(); // Re-enable ISRs HAL_ENABLE_ISRs();
return; return;
} }
@ -1119,9 +1122,9 @@ void Stepper::init() {
/** /**
* Block until all buffered steps are executed * Block until all buffered steps are executed / cleaned
*/ */
void Stepper::synchronize() { while (planner.blocks_queued()) idle(); } void Stepper::synchronize() { while (planner.blocks_queued() || cleaning_buffer_counter) idle(); }
/** /**
* Set the stepper positions directly in steps * Set the stepper positions directly in steps
@ -1245,7 +1248,7 @@ void Stepper::endstop_triggered(AxisEnum axis) {
#endif // !COREXY && !COREXZ && !COREYZ #endif // !COREXY && !COREXZ && !COREYZ
kill_current_block(); kill_current_block();
cleaning_buffer_counter = -(BLOCK_BUFFER_SIZE - 1); // Ignore remaining blocks cleaning_buffer_counter = -1; // Discard the rest of the move
} }
void Stepper::report_positions() { void Stepper::report_positions() {