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♻️ Planner flags refactor

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This commit is contained in:
Scott Lahteine
2022-06-26 22:24:59 -05:00
parent 83784bd8b7
commit 05bdc5640d
7 changed files with 160 additions and 149 deletions
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122
Marlin/src/module/planner.h
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@ -70,9 +70,6 @@
#if ENABLED(DIRECT_STEPPING)
#include "../feature/direct_stepping.h"
#define IS_PAGE(B) TEST(B->flag, BLOCK_BIT_IS_PAGE)
#else
#define IS_PAGE(B) false
#endif
#if ENABLED(EXTERNAL_CLOSED_LOOP_CONTROLLER)
@ -92,47 +89,6 @@
#define HAS_DIST_MM_ARG 1
#endif
enum BlockFlagBit : char {
// Recalculate trapezoids on entry junction. For optimization.
BLOCK_BIT_RECALCULATE,
// Nominal speed always reached.
// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
// from a safe speed (in consideration of jerking from zero speed).
BLOCK_BIT_NOMINAL_LENGTH,
// The block is segment 2+ of a longer move
BLOCK_BIT_CONTINUED,
// Sync the stepper counts from the block
BLOCK_BIT_SYNC_POSITION
// Direct stepping page
#if ENABLED(DIRECT_STEPPING)
, BLOCK_BIT_IS_PAGE
#endif
// Sync the fan speeds from the block
#if ENABLED(LASER_SYNCHRONOUS_M106_M107)
, BLOCK_BIT_SYNC_FANS
#endif
};
enum BlockFlag : char {
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE)
, BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH)
, BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED)
, BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION)
#if ENABLED(DIRECT_STEPPING)
, BLOCK_FLAG_IS_PAGE = _BV(BLOCK_BIT_IS_PAGE)
#endif
#if ENABLED(LASER_SYNCHRONOUS_M106_M107)
, BLOCK_FLAG_SYNC_FANS = _BV(BLOCK_BIT_SYNC_FANS)
#endif
};
#define BLOCK_MASK_SYNC ( BLOCK_FLAG_SYNC_POSITION | TERN0(LASER_SYNCHRONOUS_M106_M107, BLOCK_FLAG_SYNC_FANS) )
#if ENABLED(LASER_POWER_INLINE)
typedef struct {
@ -158,17 +114,83 @@ enum BlockFlag : char {
#endif
/**
* struct block_t
*
* A single entry in the planner buffer.
* Tracks linear movement over multiple axes.
* Planner block flags as boolean bit fields
*/
enum BlockFlagBit {
// Recalculate trapezoids on entry junction. For optimization.
BLOCK_BIT_RECALCULATE,
// Nominal speed always reached.
// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
// from a safe speed (in consideration of jerking from zero speed).
BLOCK_BIT_NOMINAL_LENGTH,
// The block is segment 2+ of a longer move
BLOCK_BIT_CONTINUED,
// Sync the stepper counts from the block
BLOCK_BIT_SYNC_POSITION
// Direct stepping page
#if ENABLED(DIRECT_STEPPING)
, BLOCK_BIT_PAGE
#endif
// Sync the fan speeds from the block
#if ENABLED(LASER_SYNCHRONOUS_M106_M107)
, BLOCK_BIT_SYNC_FANS
#endif
};
/**
* Planner block flags as boolean bit fields
*/
typedef struct {
union {
uint8_t bits;
struct {
bool recalculate:1;
bool nominal_length:1;
bool continued:1;
bool sync_position:1;
#if ENABLED(DIRECT_STEPPING)
bool page:1;
#endif
#if ENABLED(LASER_SYNCHRONOUS_M106_M107)
bool sync_fans:1;
#endif
};
};
void clear() volatile { bits = 0; }
void apply(const uint8_t f) volatile { bits |= f; }
void apply(const BlockFlagBit b) volatile { SBI(bits, b); }
void reset(const BlockFlagBit b) volatile { bits = _BV(b); }
void set_nominal(const bool n) volatile { recalculate = true; if (n) nominal_length = true; }
} block_flags_t;
/**
* A single entry in the planner buffer, used to set up and
* track a coordinated linear motion for one or more axes.
*
* The "nominal" values are as-specified by G-code, and
* may never actually be reached due to acceleration limits.
*/
typedef struct block_t {
volatile uint8_t flag; // Block flags (See BlockFlag enum above) - Modified by ISR and main thread!
volatile block_flags_t flag; // Block flags
volatile bool is_fan_sync() { return TERN0(LASER_SYNCHRONOUS_M106_M107, flag.sync_fans); }
volatile bool is_sync() { return flag.sync_position || is_fan_sync(); }
volatile bool is_page() { return TERN0(DIRECT_STEPPING, flag.page); }
volatile bool is_move() { return !(is_sync() || is_page()); }
// Fields used by the motion planner to manage acceleration
float nominal_speed_sqr, // The nominal speed for this block in (mm/sec)^2
@ -759,7 +781,7 @@ class Planner {
* case of LASER_SYNCHRONOUS_M106_M107 the fan pwm
*/
static void buffer_sync_block(
TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_flag=BLOCK_FLAG_SYNC_POSITION)
TERN_(LASER_SYNCHRONOUS_M106_M107, const BlockFlagBit flag=BLOCK_BIT_SYNC_POSITION)
);
#if IS_KINEMATIC