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Rename inverse_mm_s => inverse_secs

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This commit is contained in:
Scott Lahteine 2017-12-02 20:17:51 -06:00
parent 23557f8e77
commit 8056120195
2 changed files with 19 additions and 14 deletions
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30
Marlin/src/module/planner.cpp
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@ -215,14 +215,18 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
NOLESS(initial_rate, MINIMAL_STEP_RATE);
NOLESS(final_rate, MINIMAL_STEP_RATE);
int32_t accel = block->acceleration_steps_per_s2,
accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
const int32_t accel = block->acceleration_steps_per_s2;
// Steps required for acceleration, deceleration to/from nominal rate
int32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)),
// Steps between acceleration and deceleration, if any
plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort accel and start braking
// in order to reach the final_rate exactly at the end of this block.
// Does accelerate_steps + decelerate_steps exceed step_event_count?
// Then we can't possibly reach the nominal rate, there will be no cruising.
// Use intersection_distance() to calculate accel / braking time in order to
// reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
NOLESS(accelerate_steps, 0); // Check limits due to numerical round-off
@ -1052,22 +1056,23 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
}
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate moves/second for this move. No divide by zero due to previous checks.
float inverse_mm_s = fr_mm_s * inverse_millimeters;
// Calculate inverse time for this move. No divide by zero due to previous checks.
// Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0.
float inverse_secs = fr_mm_s * inverse_millimeters;
const uint8_t moves_queued = movesplanned();
// 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
uint32_t segment_time_us = LROUND(1000000.0 / inverse_mm_s);
uint32_t segment_time_us = LROUND(1000000.0 / inverse_secs);
#endif
#if ENABLED(SLOWDOWN)
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
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.
const uint32_t nst = segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued);
inverse_mm_s = 1000000.0 / nst;
inverse_secs = 1000000.0 / nst;
#if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD)
segment_time_us = nst;
#endif
@ -1081,8 +1086,8 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
CRITICAL_SECTION_END
#endif
block->nominal_speed = block->millimeters * inverse_mm_s; // (mm/sec) Always > 0
block->nominal_rate = CEIL(block->step_event_count * inverse_mm_s); // (step/sec) Always > 0
block->nominal_speed = block->millimeters * inverse_secs; // (mm/sec) Always > 0
block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0
#if ENABLED(FILAMENT_WIDTH_SENSOR)
static float filwidth_e_count = 0, filwidth_delay_dist = 0;
@ -1121,7 +1126,7 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Calculate and limit speed in mm/sec for each axis
float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed
LOOP_XYZE(i) {
const float cs = FABS((current_speed[i] = delta_mm[i] * inverse_mm_s));
const float cs = FABS((current_speed[i] = delta_mm[i] * inverse_secs));
#if ENABLED(DISTINCT_E_FACTORS)
if (i == E_AXIS) i += extruder;
#endif
@ -1374,7 +1379,6 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
previous_safe_speed = safe_speed;
#if ENABLED(LIN_ADVANCE)
/**
*
* Use LIN_ADVANCE for blocks if all these are true:

3
Marlin/src/module/planner.h
View File

@ -452,6 +452,7 @@ class Planner {
/**
* The current block. NULL if the buffer is empty.
* This also marks the block as busy.
* WARNING: Called from Stepper ISR context!
*/
static block_t* get_current_block() {
if (blocks_queued()) {
@ -518,7 +519,7 @@ class Planner {
}
/**
* Return the point at which you must start braking (at the rate of -'acceleration') if
* Return the point at which you must start braking (at the rate of -'accel') if
* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
* 'final_rate' after traveling 'distance'.
*