MPCNC/Firmware
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Discard all CONTINUED blocks on interrupted move

Browse Source
This commit is contained in:
Scott Lahteine 2017-12-07 22:38:40 -06:00
parent 8be7a0b131
commit 75eb93140f
3 changed files with 34 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Marlin/planner.cpp
View File

@ -778,7 +778,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
block_t* block = &block_buffer[block_buffer_head];
// Clear all flags, including the "busy" bit
block->flag = 0;
block->flag = 0x00;
// Set direction bits
block->direction_bits = dm;
@ -1139,6 +1139,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
float safe_speed = block->nominal_speed * min_axis_accel_ratio;
static float previous_safe_speed;
// Compute and limit the acceleration rate for the trapezoid generator.
const float steps_per_mm = block->step_event_count * inverse_millimeters;
uint32_t accel;
@ -1423,7 +1424,9 @@ 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) };
DISABLE_STEPPER_DRIVER_INTERRUPT();
_buffer_steps(between, fr_mm_s, extruder);
const uint8_t next = block_buffer_head;
_buffer_steps(target, fr_mm_s, extruder);
SBI(block_buffer[next].flag, BLOCK_BIT_CONTINUED);
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
else

24
Marlin/planner.h
View File

@ -53,14 +53,18 @@ enum BlockFlagBit {
BLOCK_BIT_START_FROM_FULL_HALT,
// The block is busy
BLOCK_BIT_BUSY
BLOCK_BIT_BUSY,
// The block is segment 2+ of a longer move
BLOCK_BIT_CONTINUED
};
enum BlockFlag {
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
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)
};
/**
@ -450,14 +454,24 @@ class Planner {
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.
*/
static void discard_current_block() {
FORCE_INLINE static void discard_current_block() {
if (blocks_queued())
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.
* This also marks the block as busy.
@ -465,7 +479,7 @@ class Planner {
*/
static block_t* get_current_block() {
if (blocks_queued()) {
block_t* block = &block_buffer[block_buffer_tail];
block_t * const block = &block_buffer[block_buffer_tail];
#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.
#endif

17
Marlin/stepper.cpp
View File

@ -427,16 +427,19 @@ void Stepper::isr() {
// When cleaning, discard the current block and run fast
//
if (cleaning_buffer_counter) {
current_block = NULL;
planner.discard_current_block();
if (cleaning_buffer_counter < 0)
++cleaning_buffer_counter; // Count up for endstop hit
if (cleaning_buffer_counter < 0) { // 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 {
planner.discard_current_block();
--cleaning_buffer_counter; // Count down for abort print
#ifdef SD_FINISHED_RELEASECOMMAND
if (!cleaning_buffer_counter && (SD_FINISHED_STEPPERRELEASE)) enqueue_and_echo_commands_P(PSTR(SD_FINISHED_RELEASECOMMAND));
#endif
}
current_block = NULL; // Prep to get a new block after cleaning
_NEXT_ISR(200); // Run at max speed - 10 KHz
_ENABLE_ISRs();
return;
@ -1124,9 +1127,9 @@ 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
@ -1250,7 +1253,7 @@ void Stepper::endstop_triggered(AxisEnum axis) {
#endif // !COREXY && !COREXZ && !COREYZ
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() {