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This commit is contained in:
Scott Lahteine 2025-01-11 21:33:30 -06:00
parent 4fa1863233
commit 1db5df2d8f
1 changed files with 19 additions and 19 deletions
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38
Marlin/src/module/stepper.cpp
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@ -1769,7 +1769,7 @@ void Stepper::pulse_phase_isr() {
// Skipping step processing causes motion to freeze
#if ENABLED(FREEZE_FEATURE)
if(is_frozen_triggered() && is_frozen_solid()) return;
if (is_frozen_triggered() && is_frozen_solid()) return;
#endif
// Count of pending loops and events for this iteration
@ -2415,7 +2415,7 @@ hal_timer_t Stepper::block_phase_isr() {
// If we are frozen solid
#if ENABLED(FREEZE_FEATURE)
if(is_frozen_triggered() && is_frozen_solid()) {
if (is_frozen_triggered() && is_frozen_solid()) {
return interval;
} else
#endif
@ -4579,11 +4579,11 @@ void Stepper::report_positions() {
#if ENABLED(FREEZE_FEATURE)
void Stepper::set_frozen_solid(bool state) {
if(state != is_frozen_solid()) {
if (state != is_frozen_solid()) {
set_frozen_flag(state, 2);
#if ENABLED(LASER_FEATURE)
if(state) {
if (state) {
frozen_last_laser_power = cutter.last_power_applied;
cutter.apply_power(0); // No movement in dynamic mode so turn Laser off
} else {
@ -4595,22 +4595,22 @@ void Stepper::set_frozen_solid(bool state) {
void Stepper::check_frozen_time(uint32_t &step_rate) {
//If frozen_time is 0 there is no need to modify the current step_rate
if(!frozen_time) return;
if (!frozen_time) return;
#if ENABLED(S_CURVE_ACCELERATION)
//If the machine is configured to use S_CURVE_ACCELERATION standard ramp acceleration
//If the machine is configured to use S_CURVE_ACCELERATION standard ramp acceleration
// rate will not have been calculated at this point
if(!current_block->acceleration_rate) {
if (!current_block->acceleration_rate) {
current_block->acceleration_rate = (uint32_t)(current_block->acceleration_steps_per_s2 * (float(1UL << 24) / (STEPPER_TIMER_RATE)));
}
#endif
uint32_t freeze_rate = STEP_MULTIPLY(frozen_time, current_block->acceleration_rate);
if(freeze_rate >= step_rate) step_rate = 0;
if (freeze_rate >= step_rate) step_rate = 0;
else step_rate -= freeze_rate;
uint32_t min_step_rate = (current_block->steps_per_mm * FREEZE_JERK);
if(step_rate <= min_step_rate) {
if (step_rate <= min_step_rate) {
set_frozen_solid(true);
step_rate = min_step_rate;
}
@ -4620,7 +4620,7 @@ void Stepper::check_frozen_state(uint8_t type, uint32_t interval) {
switch(type) {
case 0: //Stationary
//If triggered while stationary immediately set solid flag
if(is_frozen_triggered()) {
if (is_frozen_triggered()) {
frozen_time = 0;
set_frozen_solid(true);
} else {
@ -4630,8 +4630,8 @@ void Stepper::check_frozen_state(uint8_t type, uint32_t interval) {
case 1: //Acceleration
//If frozen state is activated during the acceleration phase of a block we need to double our decceleration efforts
if(is_frozen_triggered()) {
if(!is_frozen_solid()) {
if (is_frozen_triggered()) {
if (!is_frozen_solid()) {
frozen_time += interval * 2;
}
} else {
@ -4641,9 +4641,9 @@ void Stepper::check_frozen_state(uint8_t type, uint32_t interval) {
case 2: //Deceleration
//If frozen state is deactivated during the deceleration phase we need to double our acceleration efforts
if(!is_frozen_triggered()) {
if(frozen_time) {
if(frozen_time > interval * 2) frozen_time -= interval * 2;
if (!is_frozen_triggered()) {
if (frozen_time) {
if (frozen_time > interval * 2) frozen_time -= interval * 2;
else frozen_time = 0;
}
@ -4653,10 +4653,10 @@ void Stepper::check_frozen_state(uint8_t type, uint32_t interval) {
case 3: //Cruise
//During cruise stage acceleration/deceleration take place at regular rate
if(is_frozen_triggered()) {
if(!is_frozen_solid()) frozen_time += interval;
if (is_frozen_triggered()) {
if (!is_frozen_solid()) frozen_time += interval;
} else {
if(frozen_time) {
if (frozen_time) {
if (frozen_time > interval) {
frozen_time -= interval;
}
@ -4672,4 +4672,4 @@ void Stepper::check_frozen_state(uint8_t type, uint32_t interval) {
}
}
#endif
#endif