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Planner anti-stutter by Sebastian Popp

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This commit is contained in:
Scott Lahteine 2018-01-11 21:02:13 -06:00
parent ac368f2788
commit 4f5e087ff4
2 changed files with 15 additions and 6 deletions
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9
Marlin/src/module/planner.cpp
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@ -1352,7 +1352,9 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters); const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable); // If stepper ISR is disabled, this indicates buffer_segment wants to add a split block.
// In this case start with the max. allowed speed to avoid an interrupted first move.
block->entry_speed = STEPPER_ISR_ENABLED() ? MINIMUM_PLANNER_SPEED : min(vmax_junction, v_allowable);
// Initialize planner efficiency flags // Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
@ -1362,7 +1364,7 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
// the reverse and forward planners, the corresponding block junction speed will always be at the // the reverse and forward planners, the corresponding block junction speed will always be at the
// the maximum junction speed and may always be ignored for any speed reduction checks. // the maximum junction speed and may always be ignored for any speed reduction checks.
block->flag |= BLOCK_FLAG_RECALCULATE | (block->nominal_speed <= v_allowable ? BLOCK_FLAG_NOMINAL_LENGTH : 0); block->flag |= block->nominal_speed <= v_allowable ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE;
// Update previous path unit_vector and nominal speed // Update previous path unit_vector and nominal speed
COPY(previous_speed, current_speed); COPY(previous_speed, current_speed);
@ -1398,9 +1400,6 @@ void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const
#endif // LIN_ADVANCE #endif // LIN_ADVANCE
const float bnsr = 1.0 / block->nominal_speed;
calculate_trapezoid_for_block(block, block->entry_speed * bnsr, safe_speed * bnsr);
// Move buffer head // Move buffer head
block_buffer_head = next_buffer_head; block_buffer_head = next_buffer_head;

10
Marlin/src/module/planner.h
View File

@ -534,6 +534,16 @@ class Planner {
static block_t* get_current_block() { static block_t* get_current_block() {
if (blocks_queued()) { if (blocks_queued()) {
block_t * const block = &block_buffer[block_buffer_tail]; block_t * const block = &block_buffer[block_buffer_tail];
// If the block has no trapezoid calculated, it's unsafe to execute.
if (movesplanned() > 1) {
const block_t * const next = &block_buffer[next_block_index(block_buffer_tail)];
if (TEST(block->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE))
return NULL;
}
else if (TEST(block->flag, BLOCK_BIT_RECALCULATE))
return NULL;
#if ENABLED(ULTRA_LCD) #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. 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.
#endif #endif