3d_print_resources/Marlin
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Refactor and optimize Stepper/Planner

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This commit is contained in:
Scott Lahteine 2018-05-20 08:19:11 -05:00
parent 38e1823375
commit 8f26c3a6d3
11 changed files with 991 additions and 792 deletions
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45
Marlin/Marlin_main.cpp
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@ -8474,7 +8474,7 @@ inline void gcode_M111() {
*/
inline void gcode_M81() {
thermalManager.disable_all_heaters();
stepper.finish_and_disable();
planner.finish_and_disable();
#if FAN_COUNT > 0
for (uint8_t i = 0; i < FAN_COUNT; i++) fanSpeeds[i] = 0;
@ -8517,7 +8517,7 @@ inline void gcode_M18_M84() {
else {
bool all_axis = !(parser.seen('X') || parser.seen('Y') || parser.seen('Z') || parser.seen('E'));
if (all_axis) {
stepper.finish_and_disable();
planner.finish_and_disable();
}
else {
planner.synchronize();
@ -9963,7 +9963,7 @@ inline void gcode_M400() { planner.synchronize(); }
#endif // FILAMENT_WIDTH_SENSOR
void quickstop_stepper() {
stepper.quick_stop();
planner.quick_stop();
planner.synchronize();
set_current_from_steppers_for_axis(ALL_AXES);
SYNC_PLAN_POSITION_KINEMATIC();
@ -10342,7 +10342,7 @@ inline void gcode_M502() {
* M540: Set whether SD card print should abort on endstop hit (M540 S<0|1>)
*/
inline void gcode_M540() {
if (parser.seen('S')) stepper.abort_on_endstop_hit = parser.value_bool();
if (parser.seen('S')) planner.abort_on_endstop_hit = parser.value_bool();
}
#endif // ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED
@ -12995,7 +12995,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
idle();
}
LOOP_XYZE(i) raw[i] += segment_distance[i];
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder, cartesian_segment_mm);
if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder, cartesian_segment_mm))
break;
}
// Since segment_distance is only approximate,
@ -13281,7 +13282,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
#if ENABLED(SCARA_FEEDRATE_SCALING)
// For SCARA scale the feed rate from mm/s to degrees/s
// i.e., Complete the angular vector in the given time.
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder))
break;
/*
SERIAL_ECHO(segments);
SERIAL_ECHOPAIR(": X=", raw[X_AXIS]); SERIAL_ECHOPAIR(" Y=", raw[Y_AXIS]);
@ -13291,7 +13293,8 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
//*/
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#else
planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm);
if (!planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], raw[E_AXIS], _feedrate_mm_s, active_extruder, cartesian_segment_mm))
break;
#endif
}
@ -13385,14 +13388,14 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
}
// unpark extruder: 1) raise, 2) move into starting XY position, 3) lower
for (uint8_t i = 0; i < 3; i++)
planner.buffer_line(
if (!planner.buffer_line(
i == 0 ? raised_parked_position[X_AXIS] : current_position[X_AXIS],
i == 0 ? raised_parked_position[Y_AXIS] : current_position[Y_AXIS],
i == 2 ? current_position[Z_AXIS] : raised_parked_position[Z_AXIS],
current_position[E_AXIS],
i == 1 ? PLANNER_XY_FEEDRATE() : planner.max_feedrate_mm_s[Z_AXIS],
active_extruder
);
active_extruder)
) break;
delayed_move_time = 0;
active_extruder_parked = false;
#if ENABLED(DEBUG_LEVELING_FEATURE)
@ -13409,17 +13412,12 @@ void set_current_from_steppers_for_axis(const AxisEnum axis) {
}
#endif
// move duplicate extruder into correct duplication position.
planner.set_position_mm(
inactive_extruder_x_pos,
current_position[Y_AXIS],
current_position[Z_AXIS],
current_position[E_AXIS]
);
planner.buffer_line(
planner.set_position_mm(inactive_extruder_x_pos, current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
if (!planner.buffer_line(
current_position[X_AXIS] + duplicate_extruder_x_offset,
current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS],
planner.max_feedrate_mm_s[X_AXIS], 1
);
planner.max_feedrate_mm_s[X_AXIS], 1)
) break;
planner.synchronize();
SYNC_PLAN_POSITION_KINEMATIC();
extruder_duplication_enabled = true;
@ -13652,14 +13650,17 @@ void prepare_move_to_destination() {
// i.e., Complete the angular vector in the given time.
inverse_kinematics(raw);
ADJUST_DELTA(raw);
planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder);
if (!planner.buffer_segment(delta[A_AXIS], delta[B_AXIS], raw[Z_AXIS], raw[E_AXIS], HYPOT(delta[A_AXIS] - oldA, delta[B_AXIS] - oldB) * inverse_secs, active_extruder))
break;
oldA = delta[A_AXIS]; oldB = delta[B_AXIS];
#elif HAS_UBL_AND_CURVES
float pos[XYZ] = { raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS] };
planner.apply_leveling(pos);
planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder);
if (!planner.buffer_segment(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], raw[E_AXIS], fr_mm_s, active_extruder))
break;
#else
planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder);
if (!planner.buffer_line_kinematic(raw, fr_mm_s, active_extruder))
break;
#endif
}