Patch up reverse_pass_kernel (and other planner code) (#10674)

Marlin/src/module/planner.cpp

@@ -821,23 +821,26 @@ void Planner::calculate_trapezoid_for_block(block_t* const block, const float &e
 //    POW((before->speed_x-after->speed_x), 2)+POW((before->speed_y-after->speed_y), 2));
 //}
 
-
 // The kernel called by recalculate() when scanning the plan from last to first entry.
 void Planner::reverse_pass_kernel(block_t* const current, const block_t* const next) {
-  if (!current || !next) return;
+  if (current && 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) {
+    const float max_entry_speed = current->max_entry_speed;
+    if (current->entry_speed != max_entry_speed || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
       // 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 = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
+      const float new_entry_speed = (TEST(current->flag, BLOCK_BIT_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));
+      if (new_entry_speed != current->entry_speed) {
+        current->entry_speed = new_entry_speed;
         SBI(current->flag, BLOCK_BIT_RECALCULATE);
       }
     }
+  }
+}
 
 /**
  * recalculate() needs to go over the current plan twice.
@@ -845,7 +848,7 @@ void Planner::reverse_pass_kernel(block_t* const current, const block_t * const
  */
 void Planner::reverse_pass() {
   if (movesplanned() > 2) {
-    const uint8_t endnr = BLOCK_MOD(block_buffer_tail + 1); // tail is running. tail+1 shouldn't be altered because it's connected to the running block.
+    const uint8_t endnr = next_block_index(block_buffer_tail); // tail is running. tail+1 shouldn't be altered because it's connected to the running block.
     uint8_t blocknr = prev_block_index(block_buffer_head);
     block_t* current = &block_buffer[blocknr];
 
@@ -854,11 +857,14 @@ void Planner::reverse_pass() {
     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 = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH)
+      const float new_entry_speed = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH)
         ? max_entry_speed
         : min(max_entry_speed, max_allowable_speed(-current->acceleration, MINIMUM_PLANNER_SPEED, current->millimeters));
+      if (current->entry_speed != new_entry_speed) {
+        current->entry_speed = new_entry_speed;
         SBI(current->flag, BLOCK_BIT_RECALCULATE);
       }
+    }
 
     do {
       const block_t * const next = current;
@@ -871,24 +877,23 @@ void Planner::reverse_pass() {
 
 // The kernel called by recalculate() when scanning the plan from first to last entry.
 void Planner::forward_pass_kernel(const block_t* const 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) {
+    // If the previous block is an acceleration block, too short to complete the full speed
+    // change, adjust the entry speed accordingly. Entry speeds have already been reset,
+    // maximized, and reverse-planned. If nominal length is set, max junction speed is
+    // guaranteed to be reached. No need to recheck.
     if (!TEST(previous->flag, BLOCK_BIT_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));
+        const float new_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;
+        if (current->entry_speed != new_entry_speed) {
+          current->entry_speed = new_entry_speed;
           SBI(current->flag, BLOCK_BIT_RECALCULATE);
         }
       }
     }
   }
+}
 
 /**
  * recalculate() needs to go over the current plan twice.