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Tweaks to planner.h

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This commit is contained in:
Scott Lahteine 2017-12-08 20:48:04 -06:00
parent 22baf3356a
commit 77519e9f14
1 changed files with 20 additions and 11 deletions
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31
Marlin/planner.h
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@ -130,21 +130,30 @@ typedef struct {
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1)) #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
class Planner { class Planner {
public: public:
/** /**
* A ring buffer of moves described in steps * The move buffer, calculated in stepper steps
*
* block_buffer is a ring buffer...
*
* head,tail : indexes for write,read
* head==tail : the buffer is empty
* head!=tail : blocks are in the buffer
* head==(tail-1)%size : the buffer is full
*
* Writer of head is Planner::_buffer_line().
* Reader of tail is Stepper::isr(). Always consider tail busy / read-only
*/ */
static block_t block_buffer[BLOCK_BUFFER_SIZE]; static block_t block_buffer[BLOCK_BUFFER_SIZE];
static volatile uint8_t block_buffer_head, // Index of the next block to be pushed static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
block_buffer_tail; block_buffer_tail; // Index of the busy block, if any
#if ENABLED(DISTINCT_E_FACTORS) #if ENABLED(DISTINCT_E_FACTORS)
static uint8_t last_extruder; // Respond to extruder change static uint8_t last_extruder; // Respond to extruder change
#endif #endif
static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
static float e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement static float e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement
filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
@ -152,7 +161,7 @@ class Planner {
volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
// May be auto-adjusted by a filament width sensor // May be auto-adjusted by a filament width sensor
static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
axis_steps_per_mm[XYZE_N], axis_steps_per_mm[XYZE_N],
steps_to_mm[XYZE_N]; steps_to_mm[XYZE_N];
static uint32_t max_acceleration_steps_per_s2[XYZE_N], static uint32_t max_acceleration_steps_per_s2[XYZE_N],
@ -273,9 +282,9 @@ class Planner {
/** /**
* Number of moves currently in the planner * Number of moves currently in the planner
*/ */
static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); } FORCE_INLINE static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); } FORCE_INLINE static bool is_full() { return block_buffer_tail == next_block_index(block_buffer_head); }
// Update multipliers based on new diameter measurements // Update multipliers based on new diameter measurements
static void calculate_volumetric_multipliers(); static void calculate_volumetric_multipliers();
@ -529,8 +538,8 @@ class Planner {
/** /**
* Get the index of the next / previous block in the ring buffer * Get the index of the next / previous block in the ring buffer
*/ */
static int8_t next_block_index(const int8_t block_index) { return BLOCK_MOD(block_index + 1); } static constexpr int8_t next_block_index(const int8_t block_index) { return BLOCK_MOD(block_index + 1); }
static int8_t prev_block_index(const int8_t block_index) { return BLOCK_MOD(block_index - 1); } static constexpr int8_t prev_block_index(const int8_t block_index) { return BLOCK_MOD(block_index - 1); }
/** /**
* Calculate the distance (not time) it takes to accelerate * Calculate the distance (not time) it takes to accelerate