bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Clean up stepper and babystep (#16857)

Browse Source
This commit is contained in:
Scott Lahteine
2020-02-14 05:14:37 -06:00
committed by GitHub
parent 073e4443e8
commit 0b984519c3
8 changed files with 242 additions and 240 deletions
Download Patch File Download Diff File Expand all files Collapse all files

97
Marlin/src/module/planner.h
View File

@ -763,60 +763,18 @@ class Planner {
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/**
* The current block. nullptr if the buffer is empty.
* This also marks the block as busy.
* Get the current block for processing
* and mark the block as busy.
* Return nullptr if the buffer is empty
* or if there is a first-block delay.
*
* WARNING: Called from Stepper ISR context!
*/
static block_t* get_current_block() {
// Get the number of moves in the planner queue so far
const uint8_t nr_moves = movesplanned();
// If there are any moves queued ...
if (nr_moves) {
// If there is still delay of delivery of blocks running, decrement it
if (delay_before_delivering) {
--delay_before_delivering;
// If the number of movements queued is less than 3, and there is still time
// to wait, do not deliver anything
if (nr_moves < 3 && delay_before_delivering) return nullptr;
delay_before_delivering = 0;
}
// If we are here, there is no excuse to deliver the block
block_t * const block = &block_buffer[block_buffer_tail];
// No trapezoid calculated? Don't execute yet.
if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr;
#if HAS_SPI_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
// As this block is busy, advance the nonbusy block pointer
block_buffer_nonbusy = next_block_index(block_buffer_tail);
// Push block_buffer_planned pointer, if encountered.
if (block_buffer_tail == block_buffer_planned)
block_buffer_planned = block_buffer_nonbusy;
// Return the block
return block;
}
// The queue became empty
#if HAS_SPI_LCD
clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
#endif
return nullptr;
}
static block_t* get_current_block();
/**
* "Discard" the block and "release" the memory.
* Called when the current block is no longer needed.
* NB: There MUST be a current block to call this function!!
*/
FORCE_INLINE static void discard_current_block() {
if (has_blocks_queued())
@ -824,47 +782,8 @@ class Planner {
}
#if HAS_SPI_LCD
static uint16_t block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
millis_t bbru = block_buffer_runtime_us;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
// To translate µs to ms a division by 1000 would be required.
// We introduce 2.4% error here by dividing by 1024.
// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
bbru >>= 10;
// limit to about a minute.
NOMORE(bbru, 0xFFFFul);
return bbru;
}
static void clear_block_buffer_runtime() {
#ifdef __AVR__
// Protect the access to the variable. Only required for AVR, as
// any 32bit CPU offers atomic access to 32bit variables
bool was_enabled = STEPPER_ISR_ENABLED();
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
#endif
block_buffer_runtime_us = 0;
#ifdef __AVR__
// Reenable Stepper ISR
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
#endif
}
static uint16_t block_buffer_runtime();
static void clear_block_buffer_runtime();
#endif
#if ENABLED(AUTOTEMP)