bissen21/Marlin_Firmware
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Added support for Gen3+ (Pins file only)

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Added late z enable. (blddk request)
Only calculate look ahead if >2 moves in buffer.
Removed some FORCE_INLINE to save memory.

Signed-off-by: Erik van der Zalm <erik@vdzalm.eu>
This commit is contained in:
Erik van der Zalm
2012-02-05 12:42:15 +01:00
parent 7c6141ebc4
commit e45e5c68bb
6 changed files with 146 additions and 16 deletions
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12
Marlin/planner.cpp
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@ -430,7 +430,9 @@ void check_axes_activity() {
}
if((DISABLE_X) && (x_active == 0)) disable_x();
if((DISABLE_Y) && (y_active == 0)) disable_y();
if((DISABLE_Z) && (z_active == 0)) disable_z();
#ifndef Z_LATE_ENABLE
if((DISABLE_Z) && (z_active == 0)) disable_z();
#endif
if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
}
@ -505,7 +507,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
//enable active axes
if(block->steps_x != 0) enable_x();
if(block->steps_y != 0) enable_y();
if(block->steps_z != 0) enable_z();
// if(block->steps_z != 0) enable_z();
// Enable all
if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
@ -535,10 +537,10 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
}
#ifdef SLOWDOWN
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
#ifdef SLOWDOWN
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
#endif
@ -686,7 +688,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
vmax_junction = max_z_jerk/2;
vmax_junction = min(vmax_junction, block->nominal_speed);
if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
vmax_junction = block->nominal_speed;