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Improve sync of stepper positions

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This commit is contained in:
Scott Lahteine
2018-05-03 17:45:13 -05:00
parent 0c23792344
commit af1950a63e
5 changed files with 103 additions and 55 deletions
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32
Marlin/src/module/planner.h
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@ -57,14 +57,18 @@ enum BlockFlagBit : char {
BLOCK_BIT_BUSY,
// The block is segment 2+ of a longer move
BLOCK_BIT_CONTINUED
BLOCK_BIT_CONTINUED,
// Sync the stepper counts from the block
BLOCK_BIT_SYNC_POSITION
};
enum BlockFlag : char {
BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY),
BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED)
BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED),
BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION)
};
/**
@ -422,6 +426,20 @@ class Planner {
#endif
/**
* Planner::get_next_free_block
*
* - Get the next head index (passed by reference)
* - Wait for a space to open up in the planner
* - Return the head block
*/
FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head) {
next_buffer_head = next_block_index(block_buffer_head);
while (block_buffer_tail == next_buffer_head) idle(); // while (is_full)
return &block_buffer[block_buffer_head];
}
/**
* Planner::_buffer_steps
*
@ -439,6 +457,12 @@ class Planner {
, float fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
);
/**
* Planner::buffer_sync_block
* Add a block to the buffer that just updates the position
*/
static void buffer_sync_block();
/**
* Planner::buffer_segment
*
@ -518,7 +542,7 @@ class Planner {
static void set_position_mm_kinematic(const float (&cart)[XYZE]);
static void set_position_mm(const AxisEnum axis, const float &v);
FORCE_INLINE static void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }
FORCE_INLINE static void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
/**
* Sync from the stepper positions. (e.g., after an interrupted move)
@ -528,7 +552,7 @@ class Planner {
/**
* Does the buffer have any blocks queued?
*/
static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/**
* "Discard" the block and "release" the memory.