bissen21/Marlin_Firmware
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Merge branch 'Marlin_v1', remote-tracking branch 'origin/Marlin_v1' into Marlin_v1

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This commit is contained in:
Erik van der Zalm
2011-12-04 19:54:43 +01:00
parent af22e9cd38 7714b98da7
commit 95a0b28acb
14 changed files with 536 additions and 470 deletions
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25
Marlin/planner.cpp
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@ -91,7 +91,7 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
#ifdef AUTOTEMP
float autotemp_max=250;
float autotemp_min=210;
float autotemp_factor=1;
float autotemp_factor=0.1;
bool autotemp_enabled=false;
#endif
@ -107,10 +107,12 @@ volatile unsigned char block_buffer_tail; // Index of the block to pro
//=============================private variables ============================
//===========================================================================
// Used for the frequency limit
static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
static long x_segment_time[3]={0,0,0}; // Segment times (in us). Used for speed calculations
static long y_segment_time[3]={0,0,0};
#ifdef XY_FREQUENCY_LIMIT
// Used for the frequency limit
static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
static long x_segment_time[3]={0,0,0}; // Segment times (in us). Used for speed calculations
static long y_segment_time[3]={0,0,0};
#endif
// Returns the index of the next block in the ring buffer
// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
@ -254,7 +256,7 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the reverse pass.
void planner_reverse_pass() {
char block_index = block_buffer_head;
uint8_t block_index = block_buffer_head;
if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
block_t *block[3] = { NULL, NULL, NULL };
@ -293,7 +295,7 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the forward pass.
void planner_forward_pass() {
char block_index = block_buffer_tail;
uint8_t block_index = block_buffer_tail;
block_t *block[3] = { NULL, NULL, NULL };
while(block_index != block_buffer_head) {
@ -383,7 +385,7 @@ void getHighESpeed()
return; //do nothing
float high=0;
char block_index = block_buffer_tail;
uint8_t block_index = block_buffer_tail;
while(block_index != block_buffer_head) {
float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
@ -422,7 +424,7 @@ void check_axes_activity() {
block_t *block;
if(block_buffer_tail != block_buffer_head) {
char block_index = block_buffer_tail;
uint8_t block_index = block_buffer_tail;
while(block_index != block_buffer_head) {
block = &block_buffer[block_index];
if(block->steps_x != 0) x_active++;
@ -518,8 +520,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
// segment time im micro seconds
long segment_time = lround(1000000.0/inverse_second);
if (block->steps_e == 0) {
@ -537,6 +538,8 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
#endif
/*
// segment time im micro seconds
long segment_time = lround(1000000.0/inverse_second);
if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);