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Do not operate on the prev block when already in use

This commit is contained in:
Yuri D'Elia 2019-05-21 11:54:14 +02:00
parent aae5cce28f
commit 53b77bab36
1 changed files with 11 additions and 7 deletions
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18
Firmware/planner.cpp
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@ -400,14 +400,18 @@ void planner_recalculate(const float &safe_final_speed)
} }
// Recalculate if current block entry or exit junction speed has changed. // Recalculate if current block entry or exit junction speed has changed.
if ((prev->flag | current->flag) & BLOCK_FLAG_RECALCULATE) { if ((prev->flag | current->flag) & BLOCK_FLAG_RECALCULATE) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations. // @wavexx: FIXME: the following check is not really enough. calculate_trapezoid does block
calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed); // the isr to update the rates, but we don't. we should update atomically
#ifdef LIN_ADVANCE if (!prev->busy) {
if (prev->use_advance_lead) { // NOTE: Entry and exit factors always > 0 by all previous logic operations.
const float comp = prev->e_D_ratio * extruder_advance_K * cs.axis_steps_per_unit[E_AXIS]; calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed);
prev->final_adv_steps = current->entry_speed * comp; #ifdef LIN_ADVANCE
if (prev->use_advance_lead) {
const float comp = prev->e_D_ratio * extruder_advance_K * cs.axis_steps_per_unit[E_AXIS];
prev->final_adv_steps = current->entry_speed * comp;
}
#endif
} }
#endif
// Reset current only to ensure next trapezoid is computed. // Reset current only to ensure next trapezoid is computed.
prev->flag &= ~BLOCK_FLAG_RECALCULATE; prev->flag &= ~BLOCK_FLAG_RECALCULATE;
} }