diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index d1cf89ea5bab111147951fb13d056195da0b3b41..aabba5816aa6e0c30fbbbad35558e45f7f66f167 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -85,8 +85,8 @@ float Planner::max_feedrate_mm_s[NUM_AXIS], // Max speeds in mm per second
Planner::axis_steps_per_mm[NUM_AXIS],
Planner::steps_to_mm[NUM_AXIS];
-unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS],
- Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
+uint32_t Planner::max_acceleration_steps_per_s2[NUM_AXIS],
+ Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
millis_t Planner::min_segment_time;
float Planner::min_feedrate_mm_s,
@@ -145,17 +145,19 @@ void Planner::init() {
#endif
}
+#define MINIMAL_STEP_RATE 120
+
/**
* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
* by the provided factors.
*/
-void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor) {
+void Planner::calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor) {
uint32_t initial_rate = ceil(block->nominal_rate * entry_factor),
final_rate = ceil(block->nominal_rate * exit_factor); // (steps per second)
// Limit minimal step rate (Otherwise the timer will overflow.)
- NOLESS(initial_rate, 120);
- NOLESS(final_rate, 120);
+ 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)),
@@ -172,13 +174,9 @@ void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor,
plateau_steps = 0;
}
- #if ENABLED(ADVANCE)
- volatile int32_t initial_advance = block->advance * sq(entry_factor),
- final_advance = block->advance * sq(exit_factor);
- #endif // ADVANCE
-
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
+
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
if (!block->busy) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
@@ -186,8 +184,8 @@ void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor,
block->initial_rate = initial_rate;
block->final_rate = final_rate;
#if ENABLED(ADVANCE)
- block->initial_advance = initial_advance;
- block->final_advance = final_advance;
+ block->initial_advance = block->advance * sq(entry_factor);
+ block->final_advance = block->advance * sq(exit_factor);
#endif
}
CRITICAL_SECTION_END;
@@ -203,29 +201,20 @@ void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor,
// The kernel called by recalculate() when scanning the plan from last to first entry.
-void Planner::reverse_pass_kernel(block_t* current, block_t* next) {
- if (!current) return;
-
- if (next) {
- // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
- // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
- // check for maximum allowable speed reductions to ensure maximum possible planned speed.
- float max_entry_speed = current->max_entry_speed;
- if (current->entry_speed != max_entry_speed) {
-
- // If nominal length true, max junction speed is guaranteed to be reached. Only compute
- // for max allowable speed if block is decelerating and nominal length is false.
- if (!current->nominal_length_flag && max_entry_speed > next->entry_speed) {
- current->entry_speed = min(max_entry_speed,
- max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
- }
- else {
- current->entry_speed = max_entry_speed;
- }
- current->recalculate_flag = true;
-
- }
- } // Skip last block. Already initialized and set for recalculation.
+void Planner::reverse_pass_kernel(block_t* const current, const block_t *next) {
+ if (!current || !next) return;
+ // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
+ // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
+ // check for maximum allowable speed reductions to ensure maximum possible planned speed.
+ float max_entry_speed = current->max_entry_speed;
+ if (current->entry_speed != max_entry_speed) {
+ // If nominal length true, max junction speed is guaranteed to be reached. Only compute
+ // for max allowable speed if block is decelerating and nominal length is false.
+ current->entry_speed = ((current->flag & BLOCK_FLAG_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
+ ? max_entry_speed
+ : min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
+ current->flag |= BLOCK_FLAG_RECALCULATE;
+ }
}
/**
@@ -239,12 +228,14 @@ void Planner::reverse_pass() {
block_t* block[3] = { NULL, NULL, NULL };
// Make a local copy of block_buffer_tail, because the interrupt can alter it
- CRITICAL_SECTION_START;
- uint8_t tail = block_buffer_tail;
- CRITICAL_SECTION_END
+ // Is a critical section REALLY needed for a single byte change?
+ //CRITICAL_SECTION_START;
+ uint8_t tail = block_buffer_tail;
+ //CRITICAL_SECTION_END
uint8_t b = BLOCK_MOD(block_buffer_head - 3);
while (b != tail) {
+ if (block[0] && (block[0]->flag & BLOCK_FLAG_START_FROM_FULL_HALT)) break;
b = prev_block_index(b);
block[2] = block[1];
block[1] = block[0];
@@ -255,21 +246,21 @@ void Planner::reverse_pass() {
}
// The kernel called by recalculate() when scanning the plan from first to last entry.
-void Planner::forward_pass_kernel(block_t* previous, block_t* current) {
+void Planner::forward_pass_kernel(const block_t* previous, block_t* const current) {
if (!previous) return;
// If the previous block is an acceleration block, but it is not long enough to complete the
// full speed change within the block, we need to adjust the entry speed accordingly. Entry
// speeds have already been reset, maximized, and reverse planned by reverse planner.
// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
- if (!previous->nominal_length_flag) {
+ if (!(previous->flag & BLOCK_FLAG_NOMINAL_LENGTH)) {
if (previous->entry_speed < current->entry_speed) {
float entry_speed = min(current->entry_speed,
max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
// Check for junction speed change
if (current->entry_speed != entry_speed) {
current->entry_speed = entry_speed;
- current->recalculate_flag = true;
+ current->flag |= BLOCK_FLAG_RECALCULATE;
}
}
}
@@ -298,19 +289,18 @@ void Planner::forward_pass() {
*/
void Planner::recalculate_trapezoids() {
int8_t block_index = block_buffer_tail;
- block_t* current;
- block_t* next = NULL;
+ block_t *current, *next = NULL;
while (block_index != block_buffer_head) {
current = next;
next = &block_buffer[block_index];
if (current) {
// Recalculate if current block entry or exit junction speed has changed.
- if (current->recalculate_flag || next->recalculate_flag) {
+ if ((current->flag & BLOCK_FLAG_RECALCULATE) || (next->flag & BLOCK_FLAG_RECALCULATE)) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
float nom = current->nominal_speed;
calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
- current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
+ current->flag &= ~BLOCK_FLAG_RECALCULATE; // Reset current only to ensure next trapezoid is computed
}
}
block_index = next_block_index(block_index);
@@ -319,7 +309,7 @@ void Planner::recalculate_trapezoids() {
if (next) {
float nom = next->nominal_speed;
calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
- next->recalculate_flag = false;
+ next->flag &= ~BLOCK_FLAG_RECALCULATE;
}
}
@@ -706,6 +696,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Bail if this is a zero-length block
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
+ // Clear the block flags
+ block->flag = 0;
+
// For a mixing extruder, get a magnified step_event_count for each
#if ENABLED(MIXING_EXTRUDER)
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
@@ -1021,90 +1014,170 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count / block->millimeters;
+ uint32_t accel;
if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
- block->acceleration_steps_per_s2 = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
+ // convert to: acceleration steps/sec^2
+ accel = ceil(retract_acceleration * steps_per_mm);
}
else {
+ #define LIMIT_ACCEL(AXIS) do{ \
+ const uint32_t comp = max_acceleration_steps_per_s2[AXIS] * block->step_event_count; \
+ if (accel * block->steps[AXIS] > comp) accel = comp / block->steps[AXIS]; \
+ }while(0)
+
+ // Start with print or travel acceleration
+ accel = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
+
// Limit acceleration per axis
- block->acceleration_steps_per_s2 = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
- if (max_acceleration_steps_per_s2[X_AXIS] < (block->acceleration_steps_per_s2 * block->steps[X_AXIS]) / block->step_event_count)
- block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[X_AXIS] * block->step_event_count) / block->steps[X_AXIS];
- if (max_acceleration_steps_per_s2[Y_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Y_AXIS]) / block->step_event_count)
- block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Y_AXIS] * block->step_event_count) / block->steps[Y_AXIS];
- if (max_acceleration_steps_per_s2[Z_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Z_AXIS]) / block->step_event_count)
- block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Z_AXIS] * block->step_event_count) / block->steps[Z_AXIS];
- if (max_acceleration_steps_per_s2[E_AXIS] < (block->acceleration_steps_per_s2 * block->steps[E_AXIS]) / block->step_event_count)
- block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
+ LIMIT_ACCEL(X_AXIS);
+ LIMIT_ACCEL(Y_AXIS);
+ LIMIT_ACCEL(Z_AXIS);
+ LIMIT_ACCEL(E_AXIS);
}
- block->acceleration = block->acceleration_steps_per_s2 / steps_per_mm;
- block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) * 0.125));
+ block->acceleration_steps_per_s2 = accel;
+ block->acceleration = accel / steps_per_mm;
+ block->acceleration_rate = (long)(accel * 16777216.0 / ((F_CPU) * 0.125)); // * 8.388608
+
+ // Initial limit on the segment entry velocity
+ float vmax_junction;
#if 0 // Use old jerk for now
float junction_deviation = 0.1;
// Compute path unit vector
- double unit_vec[XYZ];
-
- unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters;
- unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters;
- unit_vec[Z_AXIS] = delta_mm[Z_AXIS] * inverse_millimeters;
-
- // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
- // Let a circle be tangent to both previous and current path line segments, where the junction
- // deviation is defined as the distance from the junction to the closest edge of the circle,
- // collinear with the circle center. The circular segment joining the two paths represents the
- // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
- // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
- // path width or max_jerk in the previous grbl version. This approach does not actually deviate
- // from path, but used as a robust way to compute cornering speeds, as it takes into account the
- // nonlinearities of both the junction angle and junction velocity.
- double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
+ double unit_vec[XYZ] = {
+ delta_mm[X_AXIS] * inverse_millimeters,
+ delta_mm[Y_AXIS] * inverse_millimeters,
+ delta_mm[Z_AXIS] * inverse_millimeters
+ };
+
+ /*
+ Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
+
+ Let a circle be tangent to both previous and current path line segments, where the junction
+ deviation is defined as the distance from the junction to the closest edge of the circle,
+ collinear with the circle center.
+
+ The circular segment joining the two paths represents the path of centripetal acceleration.
+ Solve for max velocity based on max acceleration about the radius of the circle, defined
+ indirectly by junction deviation.
+
+ This may be also viewed as path width or max_jerk in the previous grbl version. This approach
+ does not actually deviate from path, but used as a robust way to compute cornering speeds, as
+ it takes into account the nonlinearities of both the junction angle and junction velocity.
+ */
+
+ vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
- if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
+ if (block_buffer_head != block_buffer_tail && previous_nominal_speed > 0.0) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
- double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
+ float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
+ - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
+ - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
// Skip and use default max junction speed for 0 degree acute junction.
if (cos_theta < 0.95) {
vmax_junction = min(previous_nominal_speed, block->nominal_speed);
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
if (cos_theta > -0.95) {
// Compute maximum junction velocity based on maximum acceleration and junction deviation
- double sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
+ float sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
NOMORE(vmax_junction, sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
}
}
}
#endif
- // Start with a safe speed
- float vmax_junction = max_jerk[X_AXIS] * 0.5, vmax_junction_factor = 1.0;
- if (max_jerk[Y_AXIS] * 0.5 < fabs(current_speed[Y_AXIS])) NOMORE(vmax_junction, max_jerk[Y_AXIS] * 0.5);
- if (max_jerk[Z_AXIS] * 0.5 < fabs(current_speed[Z_AXIS])) NOMORE(vmax_junction, max_jerk[Z_AXIS] * 0.5);
- if (max_jerk[E_AXIS] * 0.5 < fabs(current_speed[E_AXIS])) NOMORE(vmax_junction, max_jerk[E_AXIS] * 0.5);
- NOMORE(vmax_junction, block->nominal_speed);
- float safe_speed = vmax_junction;
+ /**
+ * Adapted from Prusa MKS firmware
+ *
+ * Start with a safe speed (from which the machine may halt to stop immediately).
+ */
+
+ // Exit speed limited by a jerk to full halt of a previous last segment
+ static float previous_safe_speed;
+
+ float safe_speed = block->nominal_speed;
+ bool limited = false;
+ LOOP_XYZE(i) {
+ float jerk = fabs(current_speed[i]);
+ if (jerk > max_jerk[i]) {
+ // The actual jerk is lower if it has been limited by the XY jerk.
+ if (limited) {
+ // Spare one division by a following gymnastics:
+ // Instead of jerk *= safe_speed / block->nominal_speed,
+ // multiply max_jerk[i] by the divisor.
+ jerk *= safe_speed;
+ float mjerk = max_jerk[i] * block->nominal_speed;
+ if (jerk > mjerk) safe_speed *= mjerk / jerk;
+ }
+ else {
+ safe_speed = max_jerk[i];
+ limited = true;
+ }
+ }
+ }
if (moves_queued > 1 && previous_nominal_speed > 0.0001) {
- //if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
- vmax_junction = block->nominal_speed;
- //}
-
- float dsx = fabs(current_speed[X_AXIS] - previous_speed[X_AXIS]),
- dsy = fabs(current_speed[Y_AXIS] - previous_speed[Y_AXIS]),
- dsz = fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]),
- dse = fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]);
- if (dsx > max_jerk[X_AXIS]) NOMORE(vmax_junction_factor, max_jerk[X_AXIS] / dsx);
- if (dsy > max_jerk[Y_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Y_AXIS] / dsy);
- if (dsz > max_jerk[Z_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Z_AXIS] / dsz);
- if (dse > max_jerk[E_AXIS]) NOMORE(vmax_junction_factor, max_jerk[E_AXIS] / dse);
-
- vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
+ // Estimate a maximum velocity allowed at a joint of two successive segments.
+ // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
+ // then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
+
+ // The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
+ bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
+ float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
+ // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
+ vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
+ // Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
+ float v_factor = 1.f;
+ limited = false;
+ // Now limit the jerk in all axes.
+ LOOP_XYZE(axis) {
+ // Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
+ float v_exit = previous_speed[axis], v_entry = current_speed[axis];
+ if (prev_speed_larger) v_exit *= smaller_speed_factor;
+ if (limited) {
+ v_exit *= v_factor;
+ v_entry *= v_factor;
+ }
+ // Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
+ float jerk =
+ (v_exit > v_entry) ?
+ ((v_entry > 0.f || v_exit < 0.f) ?
+ // coasting
+ (v_exit - v_entry) :
+ // axis reversal
+ max(v_exit, -v_entry)) :
+ // v_exit <= v_entry
+ ((v_entry < 0.f || v_exit > 0.f) ?
+ // coasting
+ (v_entry - v_exit) :
+ // axis reversal
+ max(-v_exit, v_entry));
+ if (jerk > max_jerk[axis]) {
+ v_factor *= max_jerk[axis] / jerk;
+ limited = true;
+ }
+ }
+ if (limited) vmax_junction *= v_factor;
+ // Now the transition velocity is known, which maximizes the shared exit / entry velocity while
+ // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
+ float vmax_junction_threshold = vmax_junction * 0.99f;
+ if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
+ // Not coasting. The machine will stop and start the movements anyway,
+ // better to start the segment from start.
+ block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
+ vmax_junction = safe_speed;
+ }
+ }
+ else {
+ block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
+ vmax_junction = safe_speed;
}
+
+ // Max entry speed of this block equals the max exit speed of the previous block.
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
@@ -1119,12 +1192,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// 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 maximum junction speed and may always be ignored for any speed reduction checks.
- block->nominal_length_flag = (block->nominal_speed <= v_allowable);
- block->recalculate_flag = true; // Always calculate trapezoid for new block
+ block->flag |= BLOCK_FLAG_RECALCULATE | (block->nominal_speed <= v_allowable ? BLOCK_FLAG_NOMINAL_LENGTH : 0);
// Update previous path unit_vector and nominal speed
memcpy(previous_speed, current_speed, sizeof(previous_speed));
previous_nominal_speed = block->nominal_speed;
+ previous_safe_speed = safe_speed;
#if ENABLED(LIN_ADVANCE)
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 80b20c478d9bff3226cd172edad3b942a9705bd9..2e18a7066d26bdeb457d93eb4b61b48b9244c26a 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -40,6 +40,19 @@
#include "vector_3.h"
#endif
+enum BlockFlag {
+ // Recalculate trapezoids on entry junction. For optimization.
+ BLOCK_FLAG_RECALCULATE = _BV(0),
+
+ // Nominal speed always reached.
+ // i.e., The segment is long enough, so the nominal speed is reachable if accelerating
+ // from a safe speed (in consideration of jerking from zero speed).
+ BLOCK_FLAG_NOMINAL_LENGTH = _BV(1),
+
+ // Start from a halt at the start of this block, respecting the maximum allowed jerk.
+ BLOCK_FLAG_START_FROM_FULL_HALT = _BV(2)
+};
+
/**
* struct block_t
*
@@ -79,19 +92,18 @@ typedef struct {
#endif
// Fields used by the motion planner to manage acceleration
- float nominal_speed, // The nominal speed for this block in mm/sec
- entry_speed, // Entry speed at previous-current junction in mm/sec
- max_entry_speed, // Maximum allowable junction entry speed in mm/sec
- millimeters, // The total travel of this block in mm
- acceleration; // acceleration mm/sec^2
- unsigned char recalculate_flag, // Planner flag to recalculate trapezoids on entry junction
- nominal_length_flag; // Planner flag for nominal speed always reached
+ float nominal_speed, // The nominal speed for this block in mm/sec
+ entry_speed, // Entry speed at previous-current junction in mm/sec
+ max_entry_speed, // Maximum allowable junction entry speed in mm/sec
+ millimeters, // The total travel of this block in mm
+ acceleration; // acceleration mm/sec^2
+ uint8_t flag; // Block flags (See BlockFlag enum above)
// Settings for the trapezoid generator
- unsigned long nominal_rate, // The nominal step rate for this block in step_events/sec
- initial_rate, // The jerk-adjusted step rate at start of block
- final_rate, // The minimal rate at exit
- acceleration_steps_per_s2; // acceleration steps/sec^2
+ uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec
+ initial_rate, // The jerk-adjusted step rate at start of block
+ final_rate, // The minimal rate at exit
+ acceleration_steps_per_s2; // acceleration steps/sec^2
#if FAN_COUNT > 0
unsigned long fan_speed[FAN_COUNT];
@@ -379,10 +391,10 @@ class Planner {
return sqrt(sq(target_velocity) - 2 * accel * distance);
}
- static void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);
+ 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* current, block_t* next);
- static void forward_pass_kernel(block_t* previous, block_t* current);
+ static void reverse_pass_kernel(block_t* const current, const block_t *next);
+ static void forward_pass_kernel(const block_t *previous, block_t* const current);
static void reverse_pass();
static void forward_pass();