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Replace block flag bools with flag bits

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…and apply const to some method parameters
This commit is contained in:
Scott Lahteine
2016-10-10 23:17:49 -05:00
parent d41f2bdbd8
commit 8e1cc9332a
2 changed files with 51 additions and 48 deletions
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40
Marlin/planner.h
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@ -40,6 +40,19 @@
#include "vector_3.h"
#endif
enum BlockFlag {
// Recalculate trapezoids on entry junction. For optimization.
BLOCK_FLAG_RECALCULATE = _BV(0),
// 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_FLAG_NOMINAL_LENGTH = _BV(1),
// Start from a halt at the start of this block, respecting the maximum allowed jerk.
BLOCK_FLAG_START_FROM_FULL_HALT = _BV(2)
};
/**
* struct block_t
*
@ -79,19 +92,18 @@ typedef struct {
#endif
// Fields used by the motion planner to manage acceleration
float nominal_speed, // The nominal speed for this block in mm/sec
entry_speed, // Entry speed at previous-current junction in mm/sec
max_entry_speed, // Maximum allowable junction entry speed in mm/sec
millimeters, // The total travel of this block in mm
acceleration; // acceleration mm/sec^2
unsigned char recalculate_flag, // Planner flag to recalculate trapezoids on entry junction
nominal_length_flag; // Planner flag for nominal speed always reached
float nominal_speed, // The nominal speed for this block in mm/sec
entry_speed, // Entry speed at previous-current junction in mm/sec
max_entry_speed, // Maximum allowable junction entry speed in mm/sec
millimeters, // The total travel of this block in mm
acceleration; // acceleration mm/sec^2
uint8_t flag; // Block flags (See BlockFlag enum above)
// Settings for the trapezoid generator
unsigned long nominal_rate, // The nominal step rate for this block in step_events/sec
initial_rate, // The jerk-adjusted step rate at start of block
final_rate, // The minimal rate at exit
acceleration_steps_per_s2; // acceleration steps/sec^2
uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec
initial_rate, // The jerk-adjusted step rate at start of block
final_rate, // The minimal rate at exit
acceleration_steps_per_s2; // acceleration steps/sec^2
#if FAN_COUNT > 0
unsigned long fan_speed[FAN_COUNT];
@ -379,10 +391,10 @@ class Planner {
return sqrt(sq(target_velocity) - 2 * accel * distance);
}
static void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);
static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
static void reverse_pass_kernel(block_t* current, block_t* next);
static void forward_pass_kernel(block_t* previous, block_t* current);
static void reverse_pass_kernel(block_t* const current, const block_t *next);
static void forward_pass_kernel(const block_t *previous, block_t* const current);
static void reverse_pass();
static void forward_pass();