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Fix planner block optimization

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This commit is contained in:
Scott Lahteine
2018-05-20 10:50:15 -05:00
parent a4f2f2fe54
commit d2f8971045
2 changed files with 174 additions and 70 deletions
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23
Marlin/planner.h
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@@ -172,7 +172,9 @@ class Planner {
static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
block_buffer_tail; // Index of the busy block, if any
static uint16_t cleaning_buffer_counter; // A counter to disable queuing of blocks
static uint8_t delay_before_delivering; // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
static uint8_t delay_before_delivering, // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
block_buffer_planned; // Index of the optimally planned block
#if ENABLED(DISTINCT_E_FACTORS)
static uint8_t last_extruder; // Respond to extruder change
@@ -650,9 +652,7 @@ class Planner {
block_t * const block = &block_buffer[block_buffer_tail];
// No trapezoid calculated? Don't execute yet.
if ( TEST(block->flag, BLOCK_BIT_RECALCULATE)
|| (movesplanned() > 1 && TEST(block_buffer[next_block_index(block_buffer_tail)].flag, BLOCK_BIT_RECALCULATE))
) return NULL;
if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return NULL;
#if ENABLED(ULTRA_LCD)
block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
@@ -677,7 +677,14 @@ class Planner {
* NB: There MUST be a current block to call this function!!
*/
FORCE_INLINE static void discard_current_block() {
block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
if (has_blocks_queued()) { // Discard non-empty buffer.
uint8_t block_index = next_block_index( block_buffer_tail );
// Push block_buffer_planned pointer, if encountered.
if (!has_blocks_queued()) block_buffer_planned = block_index;
block_buffer_tail = block_index;
}
}
#if ENABLED(ULTRA_LCD)
@@ -728,8 +735,8 @@ class Planner {
/**
* Get the index of the next / previous block in the ring buffer
*/
static constexpr int8_t next_block_index(const int8_t block_index) { return BLOCK_MOD(block_index + 1); }
static constexpr int8_t prev_block_index(const int8_t block_index) { return BLOCK_MOD(block_index - 1); }
static constexpr uint8_t next_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index + 1); }
static constexpr uint8_t prev_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index - 1); }
/**
* Calculate the distance (not time) it takes to accelerate
@@ -774,7 +781,7 @@ class Planner {
static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
static void reverse_pass_kernel(block_t* const current, const block_t * const next);
static void forward_pass_kernel(const block_t * const previous, block_t* const current);
static void forward_pass_kernel(const block_t * const previous, block_t* const current, uint8_t block_index);
static void reverse_pass();
static void forward_pass();