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⚡️ Optimize G2-G3 Arcs (#24366)

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This commit is contained in:
tombrazier
2022-07-08 20:41:39 +01:00
committed by GitHub
parent f65f7a685b
commit 920799e38d
8 changed files with 310 additions and 255 deletions
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61
Marlin/src/module/planner.h
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@@ -280,6 +280,8 @@ typedef struct block_t {
block_laser_t laser;
#endif
void reset() { memset((char*)this, 0, sizeof(*this)); }
} block_t;
#if ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX, LCD_SHOW_E_TOTAL, POWER_LOSS_RECOVERY)
@@ -349,6 +351,30 @@ typedef struct {
typedef IF<(BLOCK_BUFFER_SIZE > 64), uint16_t, uint8_t>::type last_move_t;
#endif
#if ENABLED(ARC_SUPPORT)
#define HINTS_CURVE_RADIUS
#define HINTS_SAFE_EXIT_SPEED
#endif
struct PlannerHints {
float millimeters = 0.0; // Move Length, if known, else 0.
#if ENABLED(SCARA_FEEDRATE_SCALING)
float inv_duration = 0.0; // Reciprocal of the move duration, if known
#endif
#if ENABLED(HINTS_CURVE_RADIUS)
float curve_radius = 0.0; // Radius of curvature of the motion path - to calculate cornering speed
#else
static constexpr float curve_radius = 0.0;
#endif
#if ENABLED(HINTS_SAFE_EXIT_SPEED)
float safe_exit_speed_sqr = 0.0; // Square of the speed considered "safe" at the end of the segment
// i.e., at or below the exit speed of the segment that the planner
// would calculate if it knew the as-yet-unbuffered path
#endif
PlannerHints(const_float_t mm=0.0f) : millimeters(mm) {}
};
class Planner {
public:
@@ -752,14 +778,14 @@ class Planner {
* target - target position in steps units
* fr_mm_s - (target) speed of the move
* extruder - target extruder
* millimeters - the length of the movement, if known
* hints - parameters to aid planner calculations
*
* Returns true if movement was buffered, false otherwise
*/
static bool _buffer_steps(const xyze_long_t &target
OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float)
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
, feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0
, feedRate_t fr_mm_s, const uint8_t extruder, const PlannerHints &hints
);
/**
@@ -774,15 +800,14 @@ class Planner {
* @param cart_dist_mm The pre-calculated move lengths for all axes, in mm
* @param fr_mm_s (target) speed of the move
* @param extruder target extruder
* @param millimeters A pre-calculated linear distance for the move, in mm,
* or 0.0 to have the distance calculated here.
* @param hints parameters to aid planner calculations
*
* @return true if movement is acceptable, false otherwise
*/
static bool _populate_block(block_t * const block, const xyze_long_t &target
OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float)
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
, feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters=0.0
, feedRate_t fr_mm_s, const uint8_t extruder, const PlannerHints &hints
);
/**
@@ -809,12 +834,14 @@ class Planner {
*
* a,b,c,e - target positions in mm and/or degrees
* fr_mm_s - (target) speed of the move
* extruder - target extruder
* millimeters - the length of the movement, if known
* extruder - optional target extruder (otherwise active_extruder)
* hints - optional parameters to aid planner calculations
*/
static bool buffer_segment(const abce_pos_t &abce
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
, const_feedRate_t fr_mm_s, const uint8_t extruder=active_extruder, const_float_t millimeters=0.0
, const_feedRate_t fr_mm_s
, const uint8_t extruder=active_extruder
, const PlannerHints &hints=PlannerHints()
);
public:
@@ -826,12 +853,12 @@ class Planner {
*
* cart - target position in mm or degrees
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
* millimeters - the length of the movement, if known
* inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled)
* extruder - optional target extruder (otherwise active_extruder)
* hints - optional parameters to aid planner calculations
*/
static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder=active_extruder, const float millimeters=0.0
OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration=0.0)
static bool buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s
, const uint8_t extruder=active_extruder
, const PlannerHints &hints=PlannerHints()
);
#if ENABLED(DIRECT_STEPPING)
@@ -1024,15 +1051,15 @@ class Planner {
static void calculate_trapezoid_for_block(block_t * const block, const_float_t entry_factor, const_float_t exit_factor);
static void reverse_pass_kernel(block_t * const current, const block_t * const next);
static void reverse_pass_kernel(block_t * const current, const block_t * const next OPTARG(ARC_SUPPORT, const_float_t safe_exit_speed_sqr));
static void forward_pass_kernel(const block_t * const previous, block_t * const current, uint8_t block_index);
static void reverse_pass();
static void reverse_pass(TERN_(ARC_SUPPORT, const_float_t safe_exit_speed_sqr));
static void forward_pass();
static void recalculate_trapezoids();
static void recalculate_trapezoids(TERN_(ARC_SUPPORT, const_float_t safe_exit_speed_sqr));
static void recalculate();
static void recalculate(TERN_(ARC_SUPPORT, const_float_t safe_exit_speed_sqr));
#if HAS_JUNCTION_DEVIATION