bissen21/Marlin_Firmware
1
0
Fork 0
Code Issues Pull Requests Projects Releases 4 Wiki Activity

Spindle/Laser power in planner blocks (#14437)

Browse Source
This commit is contained in:
Scott Lahteine
2019-10-15 16:10:20 -05:00
committed by GitHub
parent 53abfdc2c3
commit b7b303f4bf
9 changed files with 106 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
Marlin/src/module/planner.cpp
View File

@ -100,6 +100,10 @@
#include "../feature/power_loss_recovery.h"
#endif
#if HAS_CUTTER
#include "../feature/spindle_laser.h"
#endif
// Delay for delivery of first block to the stepper ISR, if the queue contains 2 or
// fewer movements. The delay is measured in milliseconds, and must be less than 250ms
#define BLOCK_DELAY_FOR_1ST_MOVE 100
@ -1220,6 +1224,11 @@ void Planner::check_axes_activity() {
#endif
}
else {
#if HAS_CUTTER
cutter.refresh();
#endif
#if FAN_COUNT > 0
FANS_LOOP(i)
tail_fan_speed[i] = thermalManager.scaledFanSpeed(i);
@ -1235,6 +1244,9 @@ void Planner::check_axes_activity() {
#endif
}
//
// Disable inactive axes
//
#if ENABLED(DISABLE_X)
if (!axis_active.x) disable_X();
#endif
@ -1248,6 +1260,9 @@ void Planner::check_axes_activity() {
if (!axis_active.e) disable_e_steppers();
#endif
//
// Update Fan speeds
//
#if FAN_COUNT > 0
#if FAN_KICKSTART_TIME > 0
@ -1841,6 +1856,10 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
MIXER_POPULATE_BLOCK();
#endif
#if HAS_CUTTER
block->cutter_power = cutter.power;
#endif
#if FAN_COUNT > 0
FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
#endif
@ -2354,13 +2373,21 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
#endif
#ifdef USE_CACHED_SQRT
#define CACHED_SQRT(N, V) \
static float saved_V, N; \
if (V != saved_V) { N = SQRT(V); saved_V = V; }
#else
#define CACHED_SQRT(N, V) const float N = SQRT(V)
#endif
#if HAS_CLASSIC_JERK
/**
* Adapted from Průša MKS firmware
* https://github.com/prusa3d/Prusa-Firmware
*/
const float nominal_speed = SQRT(block->nominal_speed_sqr);
CACHED_SQRT(nominal_speed, block->nominal_speed_sqr);
// Exit speed limited by a jerk to full halt of a previous last segment
static float previous_safe_speed;
@ -2401,7 +2428,8 @@ bool Planner::_populate_block(block_t * const block, bool split_move,
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
const float previous_nominal_speed = SQRT(previous_nominal_speed_sqr);
CACHED_SQRT(previous_nominal_speed, previous_nominal_speed_sqr);
vmax_junction = _MIN(nominal_speed, previous_nominal_speed);
// Now limit the jerk in all axes.