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♻️ Refactor axis counts and loops

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This commit is contained in:
Scott Lahteine
2021-05-18 22:51:19 -05:00
committed by Scott Lahteine
parent f7d28ce1d6
commit 26a244325b
45 changed files with 178 additions and 165 deletions
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14
Marlin/src/module/planner.cpp
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@ -136,9 +136,9 @@ planner_settings_t Planner::settings; // Initialized by settings.load(
laser_state_t Planner::laser_inline; // Current state for blocks
#endif
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived from mm_per_s2
uint32_t Planner::max_acceleration_steps_per_s2[DISTINCT_AXES]; // (steps/s^2) Derived from mm_per_s2
float Planner::steps_to_mm[XYZE_N]; // (mm) Millimeters per step
float Planner::steps_to_mm[DISTINCT_AXES]; // (mm) Millimeters per step
#if HAS_JUNCTION_DEVIATION
float Planner::junction_deviation_mm; // (mm) M205 J
@ -2201,7 +2201,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
float speed_factor = 1.0f; // factor <1 decreases speed
// Linear axes first with less logic
LOOP_XYZ(i) {
LOOP_LINEAR_AXES(i) {
current_speed[i] = steps_dist_mm[i] * inverse_secs;
const feedRate_t cs = ABS(current_speed[i]),
max_fr = settings.max_feedrate_mm_s[i];
@ -2593,7 +2593,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
const float extra_xyjerk = (de <= 0) ? TRAVEL_EXTRA_XYJERK : 0;
uint8_t limited = 0;
TERN(HAS_LINEAR_E_JERK, LOOP_XYZ, LOOP_XYZE)(i) {
TERN(HAS_LINEAR_E_JERK, LOOP_LINEAR_AXES, LOOP_LOGICAL_AXES)(i) {
const float jerk = ABS(current_speed[i]), // cs : Starting from zero, change in speed for this axis
maxj = (max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f)); // mj : The max jerk setting for this axis
if (jerk > maxj) { // cs > mj : New current speed too fast?
@ -2631,7 +2631,7 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
vmax_junction = previous_nominal_speed;
// Now limit the jerk in all axes.
TERN(HAS_LINEAR_E_JERK, LOOP_XYZ, LOOP_XYZE)(axis) {
TERN(HAS_LINEAR_E_JERK, LOOP_LINEAR_AXES, LOOP_LOGICAL_AXES)(axis) {
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
float v_exit = previous_speed[axis] * smaller_speed_factor,
v_entry = current_speed[axis];
@ -3033,7 +3033,7 @@ void Planner::reset_acceleration_rates() {
#define AXIS_CONDITION true
#endif
uint32_t highest_rate = 1;
LOOP_XYZE_N(i) {
LOOP_DISTINCT_AXES(i) {
max_acceleration_steps_per_s2[i] = settings.max_acceleration_mm_per_s2[i] * settings.axis_steps_per_mm[i];
if (AXIS_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
}
@ -3046,7 +3046,7 @@ void Planner::reset_acceleration_rates() {
* Must be called whenever settings.axis_steps_per_mm changes!
*/
void Planner::refresh_positioning() {
LOOP_XYZE_N(i) steps_to_mm[i] = 1.0f / settings.axis_steps_per_mm[i];
LOOP_DISTINCT_AXES(i) steps_to_mm[i] = 1.0f / settings.axis_steps_per_mm[i];
set_position_mm(current_position);
reset_acceleration_rates();
}