From 814b53750fbc03ffc2572252474aca2f4bf043eb Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Fri, 1 Jul 2022 20:10:51 -0500 Subject: [PATCH] =?UTF-8?q?=F0=9F=A9=B9=20Remove=20obsolete=20split=5Fmove?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Marlin/src/module/planner.cpp | 30 ++++++++++++++++++------------ Marlin/src/module/planner.h | 23 ++++++++++++++--------- 2 files changed, 32 insertions(+), 21 deletions(-) diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 129b9962d3..b80be01dea 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -1794,7 +1794,7 @@ bool Planner::_buffer_steps(const xyze_long_t &target if (cleaning_buffer_counter) return false; // Fill the block with the specified movement - if (!_populate_block(block, false, target + if (!_populate_block(block, target OPTARG(HAS_POSITION_FLOAT, target_float) OPTARG(HAS_DIST_MM_ARG, cart_dist_mm) , fr_mm_s, extruder, millimeters @@ -1826,17 +1826,24 @@ bool Planner::_buffer_steps(const xyze_long_t &target } /** - * Planner::_populate_block + * @brief Populate a block in preparation for insertion + * @details Populate the fields of a new linear movement block + * that will be added to the queue and processed soon + * by the Stepper ISR. * - * Fills a new linear movement in the block (in terms of steps). + * @param block A block to populate + * @param target Target position in steps units + * @param target_float Target position in native mm + * @param cart_dist_mm The pre-calculated move lengths for all axes, in mm + * @param fr_mm_s (target) speed of the move + * @param extruder target extruder + * @param millimeters A pre-calculated linear distance for the move, in mm, + * or 0.0 to have the distance calculated here. * - * target - target position in steps units - * fr_mm_s - (target) speed of the move - * extruder - target extruder - * - * Returns true if movement is acceptable, false otherwise + * @return true if movement is acceptable, false otherwise */ -bool Planner::_populate_block(block_t * const block, bool split_move, +bool Planner::_populate_block( + block_t * const block, const abce_long_t &target OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float) OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm) @@ -2849,9 +2856,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move, // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. const float v_allowable_sqr = max_allowable_speed_sqr(-block->acceleration, sq(float(MINIMUM_PLANNER_SPEED)), block->millimeters); - // If we are trying to add a split block, start with the - // max. allowed speed to avoid an interrupted first move. - block->entry_speed_sqr = !split_move ? sq(float(MINIMUM_PLANNER_SPEED)) : _MIN(vmax_junction_sqr, v_allowable_sqr); + // Start with the minimum allowed speed + block->entry_speed_sqr = sq(float(MINIMUM_PLANNER_SPEED)); // Initialize planner efficiency flags // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. diff --git a/Marlin/src/module/planner.h b/Marlin/src/module/planner.h index 2d8a966ca0..a6f5bd5774 100644 --- a/Marlin/src/module/planner.h +++ b/Marlin/src/module/planner.h @@ -760,18 +760,23 @@ class Planner { ); /** - * Planner::_populate_block + * @brief Populate a block in preparation for insertion + * @details Populate the fields of a new linear movement block + * that will be added to the queue and processed soon + * by the Stepper ISR. * - * Fills a new linear movement in the block (in terms of steps). + * @param block A block to populate + * @param target Target position in steps units + * @param target_float Target position in native mm + * @param cart_dist_mm The pre-calculated move lengths for all axes, in mm + * @param fr_mm_s (target) speed of the move + * @param extruder target extruder + * @param millimeters A pre-calculated linear distance for the move, in mm, + * or 0.0 to have the distance calculated here. * - * target - target position in steps units - * fr_mm_s - (target) speed of the move - * extruder - target extruder - * millimeters - the length of the movement, if known - * - * Returns true is movement is acceptable, false otherwise + * @return true if movement is acceptable, false otherwise */ - static bool _populate_block(block_t * const block, bool split_move, const xyze_long_t &target + static bool _populate_block(block_t * const block, const xyze_long_t &target OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float) OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm) , feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0