comparison: planner.cpp
planner.cpp
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| 1 /* | |
| 2 planner.c - buffers movement commands and manages the acceleration profile plan | |
| 3 Part of Grbl | |
| 4 | |
| 5 Copyright (c) 2009-2011 Simen Svale Skogsrud | |
| 6 | |
| 7 Grbl is free software: you can redistribute it and/or modify | |
| 8 it under the terms of the GNU General Public License as published by | |
| 9 the Free Software Foundation, either version 3 of the License, or | |
| 10 (at your option) any later version. | |
| 11 | |
| 12 Grbl is distributed in the hope that it will be useful, | |
| 13 but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 15 GNU General Public License for more details. | |
| 16 | |
| 17 You should have received a copy of the GNU General Public License | |
| 18 along with Grbl. If not, see <http://www.gnu.org/licenses/>. | |
| 19 */ | |
| 20 | |
| 21 /* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */ | |
| 22 | |
| 23 /* | |
| 24 Reasoning behind the mathematics in this module (in the key of 'Mathematica'): | |
| 25 | |
| 26 s == speed, a == acceleration, t == time, d == distance | |
| 27 | |
| 28 Basic definitions: | |
| 29 | |
| 30 Speed[s_, a_, t_] := s + (a*t) | |
| 31 Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t] | |
| 32 | |
| 33 Distance to reach a specific speed with a constant acceleration: | |
| 34 | |
| 35 Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] | |
| 36 d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() | |
| 37 | |
| 38 Speed after a given distance of travel with constant acceleration: | |
| 39 | |
| 40 Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] | |
| 41 m -> Sqrt[2 a d + s^2] | |
| 42 | |
| 43 DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] | |
| 44 | |
| 45 When to start braking (di) to reach a specified destionation speed (s2) after accelerating | |
| 46 from initial speed s1 without ever stopping at a plateau: | |
| 47 | |
| 48 Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] | |
| 49 di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() | |
| 50 | |
| 51 IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) | |
| 52 */ | |
| 53 | |
| 54 #include "Marlin.h" | |
| 55 #include "planner.h" | |
| 56 #include "stepper.h" | |
| 57 #include "temperature.h" | |
| 58 #include "ultralcd.h" | |
| 59 #include "language.h" | |
| 60 #include "led.h" | |
| 61 | |
| 62 //=========================================================================== | |
| 63 //=============================public variables ============================ | |
| 64 //=========================================================================== | |
| 65 | |
| 66 unsigned long minsegmenttime; | |
| 67 float max_feedrate[4]; // set the max speeds | |
| 68 float axis_steps_per_unit[4]; | |
| 69 unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software | |
| 70 float minimumfeedrate; | |
| 71 float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX | |
| 72 float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX | |
| 73 float max_xy_jerk; //speed than can be stopped at once, if i understand correctly. | |
| 74 float max_z_jerk; | |
| 75 float max_e_jerk; | |
| 76 float mintravelfeedrate; | |
| 77 unsigned long axis_steps_per_sqr_second[NUM_AXIS]; | |
| 78 | |
| 79 // The current position of the tool in absolute steps | |
| 80 long position[4]; //rescaled from extern when axis_steps_per_unit are changed by gcode | |
| 81 static float previous_speed[4]; // Speed of previous path line segment | |
| 82 static float previous_nominal_speed; // Nominal speed of previous path line segment | |
| 83 | |
| 84 extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent) | |
| 85 | |
| 86 #ifdef AUTOTEMP | |
| 87 float autotemp_max=250; | |
| 88 float autotemp_min=210; | |
| 89 float autotemp_factor=0.1; | |
| 90 bool autotemp_enabled=false; | |
| 91 #endif | |
| 92 | |
| 93 //=========================================================================== | |
| 94 //=================semi-private variables, used in inline functions ===== | |
| 95 //=========================================================================== | |
| 96 block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions | |
| 97 volatile unsigned char block_buffer_head; // Index of the next block to be pushed | |
| 98 volatile unsigned char block_buffer_tail; // Index of the block to process now | |
| 99 | |
| 100 //=========================================================================== | |
| 101 //=============================private variables ============================ | |
| 102 //=========================================================================== | |
| 103 #ifdef PREVENT_DANGEROUS_EXTRUDE | |
| 104 bool allow_cold_extrude=false; | |
| 105 #endif | |
| 106 #ifdef XY_FREQUENCY_LIMIT | |
| 107 // Used for the frequency limit | |
| 108 static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations | |
| 109 static long x_segment_time[3]={0,0,0}; // Segment times (in us). Used for speed calculations | |
| 110 static long y_segment_time[3]={0,0,0}; | |
| 111 #endif | |
| 112 | |
| 113 // Returns the index of the next block in the ring buffer | |
| 114 // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication. | |
| 115 static int8_t next_block_index(int8_t block_index) { | |
| 116 block_index++; | |
| 117 if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; } | |
| 118 return(block_index); | |
| 119 } | |
| 120 | |
| 121 | |
| 122 // Returns the index of the previous block in the ring buffer | |
| 123 static int8_t prev_block_index(int8_t block_index) { | |
| 124 if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; } | |
| 125 block_index--; | |
| 126 return(block_index); | |
| 127 } | |
| 128 | |
| 129 //=========================================================================== | |
| 130 //=============================functions ============================ | |
| 131 //=========================================================================== | |
| 132 | |
| 133 // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the | |
| 134 // given acceleration: | |
| 135 FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) | |
| 136 { | |
| 137 if (acceleration!=0) { | |
| 138 return((target_rate*target_rate-initial_rate*initial_rate)/ | |
| 139 (2.0*acceleration)); | |
| 140 } | |
| 141 else { | |
| 142 return 0.0; // acceleration was 0, set acceleration distance to 0 | |
| 143 } | |
| 144 } | |
| 145 | |
| 146 // This function gives you the point at which you must start braking (at the rate of -acceleration) if | |
| 147 // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after | |
| 148 // a total travel of distance. This can be used to compute the intersection point between acceleration and | |
| 149 // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed) | |
| 150 | |
| 151 FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) | |
| 152 { | |
| 153 if (acceleration!=0) { | |
| 154 return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/ | |
| 155 (4.0*acceleration) ); | |
| 156 } | |
| 157 else { | |
| 158 return 0.0; // acceleration was 0, set intersection distance to 0 | |
| 159 } | |
| 160 } | |
| 161 | |
| 162 // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors. | |
| 163 | |
| 164 void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) { | |
| 165 unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min) | |
| 166 unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min) | |
| 167 | |
| 168 // Limit minimal step rate (Otherwise the timer will overflow.) | |
| 169 if(initial_rate <120) {initial_rate=120; } | |
| 170 if(final_rate < 120) {final_rate=120; } | |
| 171 | |
| 172 long acceleration = block->acceleration_st; | |
| 173 int32_t accelerate_steps = | |
| 174 ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration)); | |
| 175 int32_t decelerate_steps = | |
| 176 floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration)); | |
| 177 | |
| 178 // Calculate the size of Plateau of Nominal Rate. | |
| 179 int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps; | |
| 180 | |
| 181 // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will | |
| 182 // have to use intersection_distance() to calculate when to abort acceleration and start braking | |
| 183 // in order to reach the final_rate exactly at the end of this block. | |
| 184 if (plateau_steps < 0) { | |
| 185 accelerate_steps = ceil( | |
| 186 intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count)); | |
| 187 accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off | |
| 188 accelerate_steps = min(accelerate_steps,block->step_event_count); | |
| 189 plateau_steps = 0; | |
| 190 } | |
| 191 | |
| 192 #ifdef ADVANCE | |
| 193 volatile long initial_advance = block->advance*entry_factor*entry_factor; | |
| 194 volatile long final_advance = block->advance*exit_factor*exit_factor; | |
| 195 #endif // ADVANCE | |
| 196 | |
| 197 // block->accelerate_until = accelerate_steps; | |
| 198 // block->decelerate_after = accelerate_steps+plateau_steps; | |
| 199 CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section | |
| 200 if(block->busy == false) { // Don't update variables if block is busy. | |
| 201 block->accelerate_until = accelerate_steps; | |
| 202 block->decelerate_after = accelerate_steps+plateau_steps; | |
| 203 block->initial_rate = initial_rate; | |
| 204 block->final_rate = final_rate; | |
| 205 #ifdef ADVANCE | |
| 206 block->initial_advance = initial_advance; | |
| 207 block->final_advance = final_advance; | |
| 208 #endif //ADVANCE | |
| 209 } | |
| 210 CRITICAL_SECTION_END; | |
| 211 } | |
| 212 | |
| 213 // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the | |
| 214 // acceleration within the allotted distance. | |
| 215 FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) { | |
| 216 return sqrt(target_velocity*target_velocity-2*acceleration*distance); | |
| 217 } | |
| 218 | |
| 219 // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks. | |
| 220 // This method will calculate the junction jerk as the euclidean distance between the nominal | |
| 221 // velocities of the respective blocks. | |
| 222 //inline float junction_jerk(block_t *before, block_t *after) { | |
| 223 // return sqrt( | |
| 224 // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2)); | |
| 225 //} | |
| 226 | |
| 227 | |
| 228 // The kernel called by planner_recalculate() when scanning the plan from last to first entry. | |
| 229 void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) { | |
| 230 if(!current) { return; } | |
| 231 | |
| 232 if (next) { | |
| 233 // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising. | |
| 234 // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and | |
| 235 // check for maximum allowable speed reductions to ensure maximum possible planned speed. | |
| 236 if (current->entry_speed != current->max_entry_speed) { | |
| 237 | |
| 238 // If nominal length true, max junction speed is guaranteed to be reached. Only compute | |
| 239 // for max allowable speed if block is decelerating and nominal length is false. | |
| 240 if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) { | |
| 241 current->entry_speed = min( current->max_entry_speed, | |
| 242 max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters)); | |
| 243 } else { | |
| 244 current->entry_speed = current->max_entry_speed; | |
| 245 } | |
| 246 current->recalculate_flag = true; | |
| 247 | |
| 248 } | |
| 249 } // Skip last block. Already initialized and set for recalculation. | |
| 250 } | |
| 251 | |
| 252 // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This | |
| 253 // implements the reverse pass. | |
| 254 void planner_reverse_pass() { | |
| 255 uint8_t block_index = block_buffer_head; | |
| 256 if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) { | |
| 257 block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1); | |
| 258 block_t *block[3] = { NULL, NULL, NULL }; | |
| 259 while(block_index != block_buffer_tail) { | |
| 260 block_index = prev_block_index(block_index); | |
| 261 block[2]= block[1]; | |
| 262 block[1]= block[0]; | |
| 263 block[0] = &block_buffer[block_index]; | |
| 264 planner_reverse_pass_kernel(block[0], block[1], block[2]); | |
| 265 } | |
| 266 } | |
| 267 } | |
| 268 | |
| 269 // The kernel called by planner_recalculate() when scanning the plan from first to last entry. | |
| 270 void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) { | |
| 271 if(!previous) { return; } | |
| 272 | |
| 273 // If the previous block is an acceleration block, but it is not long enough to complete the | |
| 274 // full speed change within the block, we need to adjust the entry speed accordingly. Entry | |
| 275 // speeds have already been reset, maximized, and reverse planned by reverse planner. | |
| 276 // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck. | |
| 277 if (!previous->nominal_length_flag) { | |
| 278 if (previous->entry_speed < current->entry_speed) { | |
| 279 double entry_speed = min( current->entry_speed, | |
| 280 max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) ); | |
| 281 | |
| 282 // Check for junction speed change | |
| 283 if (current->entry_speed != entry_speed) { | |
| 284 current->entry_speed = entry_speed; | |
| 285 current->recalculate_flag = true; | |
| 286 } | |
| 287 } | |
| 288 } | |
| 289 } | |
| 290 | |
| 291 // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This | |
| 292 // implements the forward pass. | |
| 293 void planner_forward_pass() { | |
| 294 uint8_t block_index = block_buffer_tail; | |
| 295 block_t *block[3] = { NULL, NULL, NULL }; | |
| 296 | |
| 297 while(block_index != block_buffer_head) { | |
| 298 block[0] = block[1]; | |
| 299 block[1] = block[2]; | |
| 300 block[2] = &block_buffer[block_index]; | |
| 301 planner_forward_pass_kernel(block[0],block[1],block[2]); | |
| 302 block_index = next_block_index(block_index); | |
| 303 } | |
| 304 planner_forward_pass_kernel(block[1], block[2], NULL); | |
| 305 } | |
| 306 | |
| 307 // Recalculates the trapezoid speed profiles for all blocks in the plan according to the | |
| 308 // entry_factor for each junction. Must be called by planner_recalculate() after | |
| 309 // updating the blocks. | |
| 310 void planner_recalculate_trapezoids() { | |
| 311 int8_t block_index = block_buffer_tail; | |
| 312 block_t *current; | |
| 313 block_t *next = NULL; | |
| 314 | |
| 315 while(block_index != block_buffer_head) { | |
| 316 current = next; | |
| 317 next = &block_buffer[block_index]; | |
| 318 if (current) { | |
| 319 // Recalculate if current block entry or exit junction speed has changed. | |
| 320 if (current->recalculate_flag || next->recalculate_flag) { | |
| 321 // NOTE: Entry and exit factors always > 0 by all previous logic operations. | |
| 322 calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed, | |
| 323 next->entry_speed/current->nominal_speed); | |
| 324 current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed | |
| 325 } | |
| 326 } | |
| 327 block_index = next_block_index( block_index ); | |
| 328 } | |
| 329 // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated. | |
| 330 if(next != NULL) { | |
| 331 calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed, | |
| 332 MINIMUM_PLANNER_SPEED/next->nominal_speed); | |
| 333 next->recalculate_flag = false; | |
| 334 } | |
| 335 } | |
| 336 | |
| 337 // Recalculates the motion plan according to the following algorithm: | |
| 338 // | |
| 339 // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor) | |
| 340 // so that: | |
| 341 // a. The junction jerk is within the set limit | |
| 342 // b. No speed reduction within one block requires faster deceleration than the one, true constant | |
| 343 // acceleration. | |
| 344 // 2. Go over every block in chronological order and dial down junction speed reduction values if | |
| 345 // a. The speed increase within one block would require faster accelleration than the one, true | |
| 346 // constant acceleration. | |
| 347 // | |
| 348 // When these stages are complete all blocks have an entry_factor that will allow all speed changes to | |
| 349 // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than | |
| 350 // the set limit. Finally it will: | |
| 351 // | |
| 352 // 3. Recalculate trapezoids for all blocks. | |
| 353 | |
| 354 void planner_recalculate() { | |
| 355 planner_reverse_pass(); | |
| 356 planner_forward_pass(); | |
| 357 planner_recalculate_trapezoids(); | |
| 358 } | |
| 359 | |
| 360 void plan_init() { | |
| 361 block_buffer_head = 0; | |
| 362 block_buffer_tail = 0; | |
| 363 memset(position, 0, sizeof(position)); // clear position | |
| 364 previous_speed[0] = 0.0; | |
| 365 previous_speed[1] = 0.0; | |
| 366 previous_speed[2] = 0.0; | |
| 367 previous_speed[3] = 0.0; | |
| 368 previous_nominal_speed = 0.0; | |
| 369 } | |
| 370 | |
| 371 | |
| 372 | |
| 373 | |
| 374 #ifdef AUTOTEMP | |
| 375 void getHighESpeed() | |
| 376 { | |
| 377 static float oldt=0; | |
| 378 if(!autotemp_enabled){ | |
| 379 return; | |
| 380 } | |
| 381 if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero. | |
| 382 return; //do nothing | |
| 383 } | |
| 384 | |
| 385 float high=0.0; | |
| 386 uint8_t block_index = block_buffer_tail; | |
| 387 | |
| 388 while(block_index != block_buffer_head) { | |
| 389 if((block_buffer[block_index].steps_x != 0) || | |
| 390 (block_buffer[block_index].steps_y != 0) || | |
| 391 (block_buffer[block_index].steps_z != 0)) { | |
| 392 float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed; | |
| 393 //se; mm/sec; | |
| 394 if(se>high) | |
| 395 { | |
| 396 high=se; | |
| 397 } | |
| 398 } | |
| 399 block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); | |
| 400 } | |
| 401 | |
| 402 float g=autotemp_min+high*autotemp_factor; | |
| 403 float t=g; | |
| 404 if(t<autotemp_min) | |
| 405 t=autotemp_min; | |
| 406 if(t>autotemp_max) | |
| 407 t=autotemp_max; | |
| 408 if(oldt>t) | |
| 409 { | |
| 410 t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t; | |
| 411 } | |
| 412 oldt=t; | |
| 413 setTargetHotend0(t); | |
| 414 } | |
| 415 #endif | |
| 416 | |
| 417 void check_axes_activity() { | |
| 418 unsigned char x_active = 0; | |
| 419 unsigned char y_active = 0; | |
| 420 unsigned char z_active = 0; | |
| 421 unsigned char e_active = 0; | |
| 422 unsigned char fan_speed = 0; | |
| 423 unsigned char tail_fan_speed = 0; | |
| 424 block_t *block; | |
| 425 | |
| 426 if(block_buffer_tail != block_buffer_head) { | |
| 427 uint8_t block_index = block_buffer_tail; | |
| 428 tail_fan_speed = block_buffer[block_index].fan_speed; | |
| 429 while(block_index != block_buffer_head) { | |
| 430 block = &block_buffer[block_index]; | |
| 431 if(block->steps_x != 0) x_active++; | |
| 432 if(block->steps_y != 0) y_active++; | |
| 433 if(block->steps_z != 0) z_active++; | |
| 434 if(block->steps_e != 0) e_active++; | |
| 435 if(block->fan_speed != 0) fan_speed++; | |
| 436 block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1); | |
| 437 } | |
| 438 } | |
| 439 else { | |
| 440 #if FAN_PIN > -1 | |
| 441 if (FanSpeed != 0) analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed | |
| 442 #endif | |
| 443 } | |
| 444 if((DISABLE_X) && (x_active == 0)) disable_x(); | |
| 445 if((DISABLE_Y) && (y_active == 0)) disable_y(); | |
| 446 if((DISABLE_Z) && (z_active == 0)) disable_z(); | |
| 447 if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); } | |
| 448 #if FAN_PIN > -1 | |
| 449 if((FanSpeed == 0) && (fan_speed ==0)) analogWrite(FAN_PIN, 0); | |
| 450 #endif | |
| 451 if (FanSpeed != 0 && tail_fan_speed !=0) { | |
| 452 analogWrite(FAN_PIN,tail_fan_speed); | |
| 453 } | |
| 454 } | |
| 455 | |
| 456 | |
| 457 float junction_deviation = 0.1; | |
| 458 // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in | |
| 459 // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration | |
| 460 // calculation the caller must also provide the physical length of the line in millimeters. | |
| 461 void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder) | |
| 462 { | |
| 463 // Calculate the buffer head after we push this byte | |
| 464 int next_buffer_head = next_block_index(block_buffer_head); | |
| 465 | |
| 466 // If the buffer is full: good! That means we are well ahead of the robot. | |
| 467 // Rest here until there is room in the buffer. | |
| 468 while(block_buffer_tail == next_buffer_head) { | |
| 469 manage_heater(); | |
| 470 manage_inactivity(1); | |
| 471 LCD_STATUS; | |
| 472 LED_STATUS; | |
| 473 } | |
| 474 | |
| 475 // The target position of the tool in absolute steps | |
| 476 // Calculate target position in absolute steps | |
| 477 //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow | |
| 478 long target[4]; | |
| 479 target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); | |
| 480 target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); | |
| 481 target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); | |
| 482 target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); | |
| 483 | |
| 484 #ifdef PREVENT_DANGEROUS_EXTRUDE | |
| 485 if(target[E_AXIS]!=position[E_AXIS]) | |
| 486 if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude) | |
| 487 { | |
| 488 position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part | |
| 489 SERIAL_ECHO_START; | |
| 490 SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP); | |
| 491 } | |
| 492 if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH) | |
| 493 { | |
| 494 position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part | |
| 495 SERIAL_ECHO_START; | |
| 496 SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP); | |
| 497 } | |
| 498 #endif | |
| 499 | |
| 500 // Prepare to set up new block | |
| 501 block_t *block = &block_buffer[block_buffer_head]; | |
| 502 | |
| 503 // Mark block as not busy (Not executed by the stepper interrupt) | |
| 504 block->busy = false; | |
| 505 | |
| 506 // Number of steps for each axis | |
| 507 block->steps_x = labs(target[X_AXIS]-position[X_AXIS]); | |
| 508 block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]); | |
| 509 block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]); | |
| 510 block->steps_e = labs(target[E_AXIS]-position[E_AXIS]); | |
| 511 block->steps_e *= extrudemultiply; | |
| 512 block->steps_e /= 100; | |
| 513 block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e))); | |
| 514 | |
| 515 // Bail if this is a zero-length block | |
| 516 if (block->step_event_count <= dropsegments) { return; }; | |
| 517 | |
| 518 block->fan_speed = FanSpeed; | |
| 519 | |
| 520 // Compute direction bits for this block | |
| 521 block->direction_bits = 0; | |
| 522 if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); } | |
| 523 if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); } | |
| 524 if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); } | |
| 525 if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); } | |
| 526 | |
| 527 block->active_extruder = extruder; | |
| 528 | |
| 529 //enable active axes | |
| 530 if(block->steps_x != 0) enable_x(); | |
| 531 if(block->steps_y != 0) enable_y(); | |
| 532 #ifndef Z_LATE_ENABLE | |
| 533 if(block->steps_z != 0) enable_z(); | |
| 534 #endif | |
| 535 | |
| 536 // Enable all | |
| 537 // N571 disables real E drive! (ie. on laser operations) | |
| 538 if (!n571_enabled) { | |
| 539 if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); } | |
| 540 } | |
| 541 | |
| 542 if (block->steps_e == 0) { | |
| 543 if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate; | |
| 544 } | |
| 545 else { | |
| 546 if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate; | |
| 547 } | |
| 548 | |
| 549 float delta_mm[4]; | |
| 550 delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS]; | |
| 551 delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS]; | |
| 552 delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS]; | |
| 553 delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0; | |
| 554 // if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) { | |
| 555 // block->millimeters = abs(delta_mm[E_AXIS]); | |
| 556 // } else { | |
| 557 // block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])); | |
| 558 // } | |
| 559 | |
| 560 // TODO - JMG - SORT OUT RETRACTS WHEN e IS NOT ALONE | |
| 561 block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + | |
| 562 square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS])); | |
| 563 float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides | |
| 564 | |
| 565 // Calculate speed in mm/second for each axis. No divide by zero due to previous checks. | |
| 566 float inverse_second = feed_rate * inverse_millimeters; | |
| 567 | |
| 568 int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); | |
| 569 | |
| 570 // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill | |
| 571 #ifdef OLD_SLOWDOWN | |
| 572 if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5); | |
| 573 #endif | |
| 574 | |
| 575 #ifdef SLOWDOWN | |
| 576 // segment time im micro seconds | |
| 577 unsigned long segment_time = lround(1000000.0/inverse_second); | |
| 578 if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) { | |
| 579 if (segment_time < minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more. | |
| 580 inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued)); | |
| 581 } | |
| 582 } | |
| 583 #endif | |
| 584 // END OF SLOW DOWN SECTION | |
| 585 | |
| 586 | |
| 587 block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0 | |
| 588 block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0 | |
| 589 | |
| 590 // Calculate and limit speed in mm/sec for each axis | |
| 591 float current_speed[4]; | |
| 592 float speed_factor = 1.0; //factor <=1 do decrease speed | |
| 593 for(int i=0; i < 4; i++) { | |
| 594 current_speed[i] = delta_mm[i] * inverse_second; | |
| 595 if(fabs(current_speed[i]) > max_feedrate[i]) | |
| 596 speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i])); | |
| 597 } | |
| 598 | |
| 599 // Max segement time in us. | |
| 600 #ifdef XY_FREQUENCY_LIMIT | |
| 601 #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT) | |
| 602 | |
| 603 // Check and limit the xy direction change frequency | |
| 604 unsigned char direction_change = block->direction_bits ^ old_direction_bits; | |
| 605 old_direction_bits = block->direction_bits; | |
| 606 | |
| 607 if((direction_change & (1<<X_AXIS)) == 0) { | |
| 608 x_segment_time[0] += segment_time; | |
| 609 } | |
| 610 else { | |
| 611 x_segment_time[2] = x_segment_time[1]; | |
| 612 x_segment_time[1] = x_segment_time[0]; | |
| 613 x_segment_time[0] = segment_time; | |
| 614 } | |
| 615 if((direction_change & (1<<Y_AXIS)) == 0) { | |
| 616 y_segment_time[0] += segment_time; | |
| 617 } | |
| 618 else { | |
| 619 y_segment_time[2] = y_segment_time[1]; | |
| 620 y_segment_time[1] = y_segment_time[0]; | |
| 621 y_segment_time[0] = segment_time; | |
| 622 } | |
| 623 long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2])); | |
| 624 long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2])); | |
| 625 long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time); | |
| 626 if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME); | |
| 627 #endif | |
| 628 | |
| 629 // Correct the speed | |
| 630 if( speed_factor < 1.0) { | |
| 631 for(unsigned char i=0; i < 4; i++) { | |
| 632 current_speed[i] *= speed_factor; | |
| 633 } | |
| 634 block->nominal_speed *= speed_factor; | |
| 635 block->nominal_rate *= speed_factor; | |
| 636 } | |
| 637 | |
| 638 // Compute and limit the acceleration rate for the trapezoid generator. | |
| 639 float steps_per_mm = block->step_event_count/block->millimeters; | |
| 640 if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) { | |
| 641 block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 | |
| 642 } | |
| 643 else { | |
| 644 block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2 | |
| 645 // Limit acceleration per axis | |
| 646 if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS]) | |
| 647 block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; | |
| 648 if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS]) | |
| 649 block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; | |
| 650 if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS]) | |
| 651 block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; | |
| 652 if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS]) | |
| 653 block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; | |
| 654 } | |
| 655 block->acceleration = block->acceleration_st / steps_per_mm; | |
| 656 block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608); | |
| 657 | |
| 658 #if 0 // Use old jerk for now | |
| 659 // Compute path unit vector | |
| 660 double unit_vec[3]; | |
| 661 | |
| 662 unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters; | |
| 663 unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters; | |
| 664 unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters; | |
| 665 | |
| 666 // Compute maximum allowable entry speed at junction by centripetal acceleration approximation. | |
| 667 // Let a circle be tangent to both previous and current path line segments, where the junction | |
| 668 // deviation is defined as the distance from the junction to the closest edge of the circle, | |
| 669 // colinear with the circle center. The circular segment joining the two paths represents the | |
| 670 // path of centripetal acceleration. Solve for max velocity based on max acceleration about the | |
| 671 // radius of the circle, defined indirectly by junction deviation. This may be also viewed as | |
| 672 // path width or max_jerk in the previous grbl version. This approach does not actually deviate | |
| 673 // from path, but used as a robust way to compute cornering speeds, as it takes into account the | |
| 674 // nonlinearities of both the junction angle and junction velocity. | |
| 675 double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed | |
| 676 | |
| 677 // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. | |
| 678 if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) { | |
| 679 // Compute cosine of angle between previous and current path. (prev_unit_vec is negative) | |
| 680 // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity. | |
| 681 double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS] | |
| 682 - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS] | |
| 683 - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ; | |
| 684 | |
| 685 // Skip and use default max junction speed for 0 degree acute junction. | |
| 686 if (cos_theta < 0.95) { | |
| 687 vmax_junction = min(previous_nominal_speed,block->nominal_speed); | |
| 688 // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds. | |
| 689 if (cos_theta > -0.95) { | |
| 690 // Compute maximum junction velocity based on maximum acceleration and junction deviation | |
| 691 double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive. | |
| 692 vmax_junction = min(vmax_junction, | |
| 693 sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) ); | |
| 694 } | |
| 695 } | |
| 696 } | |
| 697 #endif | |
| 698 // Start with a safe speed | |
| 699 float vmax_junction = max_xy_jerk/2; | |
| 700 if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2) | |
| 701 vmax_junction = max_z_jerk/2; | |
| 702 vmax_junction = min(vmax_junction, block->nominal_speed); | |
| 703 if(fabs(current_speed[E_AXIS]) > max_e_jerk/2) | |
| 704 vmax_junction = min(vmax_junction, max_e_jerk/2); | |
| 705 | |
| 706 if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) { | |
| 707 float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2)); | |
| 708 if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) { | |
| 709 vmax_junction = block->nominal_speed; | |
| 710 } | |
| 711 if (jerk > max_xy_jerk) { | |
| 712 vmax_junction *= (max_xy_jerk/jerk); | |
| 713 } | |
| 714 if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) { | |
| 715 vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])); | |
| 716 } | |
| 717 if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) { | |
| 718 vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])); | |
| 719 } | |
| 720 } | |
| 721 block->max_entry_speed = vmax_junction; | |
| 722 | |
| 723 // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED. | |
| 724 double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters); | |
| 725 block->entry_speed = min(vmax_junction, v_allowable); | |
| 726 | |
| 727 // Initialize planner efficiency flags | |
| 728 // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds. | |
| 729 // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then | |
| 730 // the current block and next block junction speeds are guaranteed to always be at their maximum | |
| 731 // junction speeds in deceleration and acceleration, respectively. This is due to how the current | |
| 732 // block nominal speed limits both the current and next maximum junction speeds. Hence, in both | |
| 733 // the reverse and forward planners, the corresponding block junction speed will always be at the | |
| 734 // the maximum junction speed and may always be ignored for any speed reduction checks. | |
| 735 if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; } | |
| 736 else { block->nominal_length_flag = false; } | |
| 737 block->recalculate_flag = true; // Always calculate trapezoid for new block | |
| 738 | |
| 739 // Update previous path unit_vector and nominal speed | |
| 740 memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[] | |
| 741 previous_nominal_speed = block->nominal_speed; | |
| 742 | |
| 743 | |
| 744 #ifdef ADVANCE | |
| 745 // Calculate advance rate | |
| 746 if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) { | |
| 747 block->advance_rate = 0; | |
| 748 block->advance = 0; | |
| 749 } | |
| 750 else { | |
| 751 long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st); | |
| 752 float advance = (STEPS_PER_CUBIC_MM_E * advance_k) * | |
| 753 (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256; | |
| 754 block->advance = advance; | |
| 755 if(acc_dist == 0) { | |
| 756 block->advance_rate = 0; | |
| 757 } | |
| 758 else { | |
| 759 block->advance_rate = advance / (float)acc_dist; | |
| 760 } | |
| 761 } | |
| 762 /* | |
| 763 SERIAL_ECHO_START; | |
| 764 SERIAL_ECHOPGM("advance :"); | |
| 765 SERIAL_ECHO(block->advance/256.0); | |
| 766 SERIAL_ECHOPGM("advance rate :"); | |
| 767 SERIAL_ECHOLN(block->advance_rate/256.0); | |
| 768 */ | |
| 769 #endif // ADVANCE | |
| 770 | |
| 771 calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed, | |
| 772 MINIMUM_PLANNER_SPEED/block->nominal_speed); | |
| 773 | |
| 774 // Move buffer head | |
| 775 block_buffer_head = next_buffer_head; | |
| 776 | |
| 777 // Update position | |
| 778 memcpy(position, target, sizeof(target)); // position[] = target[] | |
| 779 | |
| 780 planner_recalculate(); | |
| 781 | |
| 782 st_wake_up(); | |
| 783 } | |
| 784 | |
| 785 void plan_set_position(const float &x, const float &y, const float &z, const float &e) | |
| 786 { | |
| 787 position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]); | |
| 788 position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]); | |
| 789 position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]); | |
| 790 position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); | |
| 791 st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]); | |
| 792 previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest. | |
| 793 previous_speed[0] = 0.0; | |
| 794 previous_speed[1] = 0.0; | |
| 795 previous_speed[2] = 0.0; | |
| 796 previous_speed[3] = 0.0; | |
| 797 } | |
| 798 | |
| 799 void plan_set_e_position(const float &e) | |
| 800 { | |
| 801 position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]); | |
| 802 st_set_e_position(position[E_AXIS]); | |
| 803 } | |
| 804 | |
| 805 uint8_t movesplanned() | |
| 806 { | |
| 807 return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1); | |
| 808 } | |
| 809 | |
| 810 void allow_cold_extrudes(bool allow) | |
| 811 { | |
| 812 #ifdef PREVENT_DANGEROUS_EXTRUDE | |
| 813 allow_cold_extrude=allow; | |
| 814 #endif | |
| 815 } |
