ManuelW/grbl-LPC-CoreXY
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(Another) Planner bug fix.

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- Oops again. Thought the new planner changes made things much better,
but there was a bug. Improvements we on the order of 20% execution time
reduction, rather than half. The increase to 30kHz Ranade timer
frequency also increased the overall overhead, so the total planner
change? Zero. But, it's still better.
This commit is contained in:
Sonny Jeon 2012-12-10 20:11:08 -07:00
parent b7b31df3af
commit 4f273db805
1 changed files with 28 additions and 23 deletions
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47
planner.c
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@ -174,27 +174,33 @@ static void planner_recalculate()
// Perform reverse planner pass. Skip the head(end) block since it is already initialized, and skip the
// tail(first) block to prevent over-writing of the initial entry speed.
uint8_t block_index = block_buffer_head;
block_t *current = &block_buffer[block_index]; // Head block.
block_t *next;
if (block_index != block_buffer_tail) { block_index = prev_block_index( block_index ); }
while (block_index != block_buffer_tail) {
next = current;
current = &block_buffer[block_index];
// 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.
if (current->entry_speed != current->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) && (current->max_entry_speed > next->entry_speed)) {
current->entry_speed = min( current->max_entry_speed,
calculate_final_velocity(settings.acceleration,next->entry_speed,current->millimeters)); // Back-compute
} else {
current->entry_speed = current->max_entry_speed;
}
current->recalculate_flag = true;
}
block_t *next = NULL;
block_t *current = NULL;
block_t *previous = NULL;
while(block_index != block_buffer_tail) {
block_index = prev_block_index( block_index );
next = current;
current = previous;
previous = &block_buffer[block_index];
if (current) {
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.
if (current->entry_speed != current->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) && (current->max_entry_speed > next->entry_speed)) {
current->entry_speed = min( current->max_entry_speed,
calculate_final_velocity(settings.acceleration,next->entry_speed,current->millimeters));
} else {
current->entry_speed = current->max_entry_speed;
}
current->recalculate_flag = true;
}
}
}
}
// Perform forward planner pass. Begins junction speed adjustments after tail(first) block.
@ -206,7 +212,6 @@ static void planner_recalculate()
next= &block_buffer[block_index];
if (current) {
// If the current 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.