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Merge pull request #5274 from Sebastianv650/improve_smooth_moves

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Improvement for ENSURE_SMOOTH_MOVES
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Scott Lahteine 2016-11-28 02:22:08 -06:00 committed by GitHub
commit e9e4208ff1
3 changed files with 20 additions and 1 deletions
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5
Marlin/planner.cpp
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@ -141,6 +141,10 @@ float Planner::previous_speed[NUM_AXIS],
float Planner::position_float[NUM_AXIS] = { 0 }; float Planner::position_float[NUM_AXIS] = { 0 };
#endif #endif
#if ENABLED(ENSURE_SMOOTH_MOVES)
uint32_t Planner::block_buffer_runtime_us = 0;
#endif
/** /**
* Class and Instance Methods * Class and Instance Methods
*/ */
@ -988,6 +992,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
segment_time = (MIN_BLOCK_TIME) * 1000UL; segment_time = (MIN_BLOCK_TIME) * 1000UL;
} }
block->segment_time = segment_time; block->segment_time = segment_time;
block_buffer_runtime_us += segment_time;
#endif #endif
block->nominal_speed = block->millimeters * inverse_mm_s; // (mm/sec) Always > 0 block->nominal_speed = block->millimeters * inverse_mm_s; // (mm/sec) Always > 0

13
Marlin/planner.h
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@ -210,6 +210,10 @@ class Planner {
static float extruder_advance_k; static float extruder_advance_k;
#endif #endif
#if ENABLED(ENSURE_SMOOTH_MOVES)
static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
#endif
public: public:
/** /**
@ -367,6 +371,9 @@ 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* block = &block_buffer[block_buffer_tail];
#if ENABLED(ENSURE_SMOOTH_MOVES)
block_buffer_runtime_us -= block->segment_time; //We can't be sure how long an active block will take, so don't count it.
#endif
SBI(block->flag, BLOCK_BIT_BUSY); SBI(block->flag, BLOCK_BIT_BUSY);
return block; return block;
} }
@ -378,11 +385,15 @@ class Planner {
static bool long_move() { static bool long_move() {
if (blocks_queued()) { if (blocks_queued()) {
block_t* block = &block_buffer[block_buffer_tail]; block_t* block = &block_buffer[block_buffer_tail];
return block->segment_time > (LCD_UPDATE_THRESHOLD) * 1000UL; return block_buffer_runtime_us > (LCD_UPDATE_THRESHOLD) * 1000UL + (MIN_BLOCK_TIME) * 3000UL;
} }
else else
return true; return true;
} }
static void clear_block_buffer_runtime(){
block_buffer_runtime_us = 0;
}
#endif #endif
#if ENABLED(AUTOTEMP) #if ENABLED(AUTOTEMP)

3
Marlin/stepper.cpp
View File

@ -1072,6 +1072,9 @@ void Stepper::finish_and_disable() {
void Stepper::quick_stop() { void Stepper::quick_stop() {
cleaning_buffer_counter = 5000; cleaning_buffer_counter = 5000;
#if ENABLED(ENSURE_SMOOTH_MOVES)
planner.clear_block_buffer_runtime();
#endif
DISABLE_STEPPER_DRIVER_INTERRUPT(); DISABLE_STEPPER_DRIVER_INTERRUPT();
while (planner.blocks_queued()) planner.discard_current_block(); while (planner.blocks_queued()) planner.discard_current_block();
current_block = NULL; current_block = NULL;