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Add/correct time units on planner vars / M205 B

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This commit is contained in:
Scott Lahteine
2017-10-29 18:21:15 -05:00
parent b2a48f1a04
commit 3e8754a38a
4 changed files with 39 additions and 39 deletions
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50
Marlin/src/module/planner.cpp
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@@ -112,7 +112,7 @@ float Planner::filament_size[EXTRUDERS], // As a baseline for the multip
uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
millis_t Planner::min_segment_time;
uint32_t Planner::min_segment_time_us;
// Initialized by settings.load()
float Planner::min_feedrate_mm_s,
@@ -159,7 +159,7 @@ float Planner::previous_speed[NUM_AXIS],
// Old direction bits. Used for speed calculations
unsigned char Planner::old_direction_bits = 0;
// Segment times (in µs). Used for speed calculations
long Planner::axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
uint32_t Planner::axis_segment_time_us[2][3] = { { MAX_FREQ_TIME_US + 1, 0, 0 }, { MAX_FREQ_TIME_US + 1, 0, 0 } };
#endif
#if ENABLED(LIN_ADVANCE)
@@ -1057,15 +1057,15 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
#if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
// Segment time im micro seconds
unsigned long segment_time = LROUND(1000000.0 / inverse_mm_s);
uint32_t segment_time_us = LROUND(1000000.0 / inverse_mm_s);
#endif
#if ENABLED(SLOWDOWN)
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
if (segment_time < min_segment_time) {
if (segment_time_us < min_segment_time_us) {
// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
inverse_mm_s = 1000000.0 / (segment_time + LROUND(2 * (min_segment_time - segment_time) / moves_queued));
inverse_mm_s = 1000000.0 / (segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued));
#if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD)
segment_time = LROUND(1000000.0 / inverse_mm_s);
segment_time_us = LROUND(1000000.0 / inverse_mm_s);
#endif
}
}
@@ -1073,7 +1073,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
#if ENABLED(ULTRA_LCD)
CRITICAL_SECTION_START
block_buffer_runtime_us += segment_time;
block_buffer_runtime_us += segment_time_us;
CRITICAL_SECTION_END
#endif
@@ -1130,34 +1130,34 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Check and limit the xy direction change frequency
const unsigned char direction_change = block->direction_bits ^ old_direction_bits;
old_direction_bits = block->direction_bits;
segment_time = LROUND((float)segment_time / speed_factor);
segment_time_us = LROUND((float)segment_time_us / speed_factor);
long xs0 = axis_segment_time[X_AXIS][0],
xs1 = axis_segment_time[X_AXIS][1],
xs2 = axis_segment_time[X_AXIS][2],
ys0 = axis_segment_time[Y_AXIS][0],
ys1 = axis_segment_time[Y_AXIS][1],
ys2 = axis_segment_time[Y_AXIS][2];
uint32_t xs0 = axis_segment_time_us[X_AXIS][0],
xs1 = axis_segment_time_us[X_AXIS][1],
xs2 = axis_segment_time_us[X_AXIS][2],
ys0 = axis_segment_time_us[Y_AXIS][0],
ys1 = axis_segment_time_us[Y_AXIS][1],
ys2 = axis_segment_time_us[Y_AXIS][2];
if (TEST(direction_change, X_AXIS)) {
xs2 = axis_segment_time[X_AXIS][2] = xs1;
xs1 = axis_segment_time[X_AXIS][1] = xs0;
xs2 = axis_segment_time_us[X_AXIS][2] = xs1;
xs1 = axis_segment_time_us[X_AXIS][1] = xs0;
xs0 = 0;
}
xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
xs0 = axis_segment_time_us[X_AXIS][0] = xs0 + segment_time_us;
if (TEST(direction_change, Y_AXIS)) {
ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
ys2 = axis_segment_time_us[Y_AXIS][2] = axis_segment_time_us[Y_AXIS][1];
ys1 = axis_segment_time_us[Y_AXIS][1] = axis_segment_time_us[Y_AXIS][0];
ys0 = 0;
}
ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
ys0 = axis_segment_time_us[Y_AXIS][0] = ys0 + segment_time_us;
const long max_x_segment_time = MAX3(xs0, xs1, xs2),
max_y_segment_time = MAX3(ys0, ys1, ys2),
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
if (min_xy_segment_time < MAX_FREQ_TIME) {
const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME);
const uint32_t max_x_segment_time = MAX3(xs0, xs1, xs2),
max_y_segment_time = MAX3(ys0, ys1, ys2),
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
if (min_xy_segment_time < MAX_FREQ_TIME_US) {
const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME_US);
NOMORE(speed_factor, low_sf);
}
#endif // XY_FREQUENCY_LIMIT