Browse Source

A lot of changes in the planner code

pull/1/head
Erik van der Zalm 13 years ago
parent
commit
65934eee9c
  1. 37
      Marlin/Configuration.h
  2. 8
      Marlin/Marlin.pde
  3. 1297
      Marlin/planner.cpp
  4. 187
      Marlin/planner.h
  5. 1227
      Marlin/stepper.cpp
  6. 1124
      Marlin/temperature.cpp
  7. 16
      Marlin/thermistortables.h

37
Marlin/Configuration.h

@ -6,6 +6,15 @@
#define MM_PER_ARC_SEGMENT 1
#define N_ARC_CORRECTION 25
// Frequency limit
// See nophead's blog for more info
#define XY_FREQUENCY_LIMIT 15
// Minimum planner junction speed. Sets the default minimum speed the planner plans for at the end
// of the buffer and all stops. This should not be much greater than zero and should only be changed
// if unwanted behavior is observed on a user's machine when running at very slow speeds.
#define MINIMUM_PLANNER_SPEED 2.0 // (mm/sec)
// BASIC SETTINGS: select your board type, thermistor type, axis scaling, and endstop configuration
//// The following define selects which electronics board you have. Please choose the one that matches your setup
@ -97,6 +106,11 @@ const int dropsegments=5; //everything with this number of steps will be ignore
#define DISABLE_E false
// Inverting axis direction
//#define INVERT_X_DIR false // for Mendel set to false, for Orca set to true
//#define INVERT_Y_DIR true // for Mendel set to true, for Orca set to false
//#define INVERT_Z_DIR false // for Mendel set to false, for Orca set to true
//#define INVERT_E_DIR true // for direct drive extruder v9 set to true, for geared extruder set to false
#define INVERT_X_DIR true // for Mendel set to false, for Orca set to true
#define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false
#define INVERT_Z_DIR true // for Mendel set to false, for Orca set to true
@ -117,7 +131,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
//// MOVEMENT SETTINGS
#define NUM_AXIS 4 // The axis order in all axis related arrays is X, Y, Z, E
//note: on bernhards ultimaker 200 200 12 are working well.
#define HOMING_FEEDRATE {50*60, 50*60, 12*60, 0} // set the homing speeds
#define HOMING_FEEDRATE {50*60, 50*60, 4*60, 0} // set the homing speeds (mm/min)
#define AXIS_RELATIVE_MODES {false, false, false, false}
@ -126,19 +140,20 @@ const int dropsegments=5; //everything with this number of steps will be ignore
// default settings
#define DEFAULT_AXIS_STEPS_PER_UNIT {79.87220447,79.87220447,200*8/3,14} // default steps per unit for ultimaker
#define DEFAULT_MAX_FEEDRATE {160*60, 160*60, 10*60, 500000}
#define DEFAULT_MAX_ACCELERATION {9000,9000,150,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
//#define DEFAULT_AXIS_STEPS_PER_UNIT {40, 40, 3333.92, 67}
#define DEFAULT_MAX_FEEDRATE {500, 500, 10, 500000} // (mm/min)
#define DEFAULT_MAX_ACCELERATION {9000,9000,100,10000} // X, Y, Z, E maximum start speed for accelerated moves. E default values are good for skeinforge 40+, for older versions raise them a lot.
#define DEFAULT_ACCELERATION 3000 // X, Y, Z and E max acceleration in mm/s^2 for printing moves
#define DEFAULT_RETRACT_ACCELERATION 7000 // X, Y, Z and E max acceleration in mm/s^2 for r retracts
#define DEFAULT_MINIMUMFEEDRATE 10 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 10
#define DEFAULT_MINIMUMFEEDRATE 0 // minimum feedrate
#define DEFAULT_MINTRAVELFEEDRATE 0
// minimum time in microseconds that a movement needs to take if the buffer is emptied. Increase this number if you see blobs while printing high speed & high detail. It will slowdown on the detailed stuff.
#define DEFAULT_MINSEGMENTTIME 20000
#define DEFAULT_XYJERK 30.0*60
#define DEFAULT_ZJERK 10.0*60
#define DEFAULT_XYJERK 30.0 // (mm/sec)
#define DEFAULT_ZJERK 0.4 // (mm/sec)
// The watchdog waits for the watchperiod in milliseconds whenever an M104 or M109 increases the target temperature
@ -162,7 +177,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
//#define TEMP_HYSTERESIS 5 // (C°) range of +/- temperatures considered "close" to the target one
//// The minimal temperature defines the temperature below which the heater will not be enabled
#define HEATER_0_MINTEMP 5
//#define HEATER_0_MINTEMP 5
//#define HEATER_1_MINTEMP 5
//#define BED_MINTEMP 5
@ -170,7 +185,7 @@ const int dropsegments=5; //everything with this number of steps will be ignore
// When temperature exceeds max temp, your heater will be switched off.
// This feature exists to protect your hotend from overheating accidentally, but *NOT* from thermistor short/failure!
// You should use MINTEMP for thermistor short/failure protection.
#define HEATER_0_MAXTEMP 275
//#define HEATER_0_MAXTEMP 275
//#define_HEATER_1_MAXTEMP 275
//#define BED_MAXTEMP 150
@ -246,9 +261,9 @@ const int dropsegments=5; //everything with this number of steps will be ignore
// The number of linear motions that can be in the plan at any give time.
// THE BLOCK_BUFFER_SIZE NEEDS TO BE A POWER OF 2, i.g. 8,16,32 because shifts and ors are used to do the ringbuffering.
#if defined SDSUPPORT
#define BLOCK_BUFFER_SIZE 16 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
#define BLOCK_BUFFER_SIZE 8 // SD,LCD,Buttons take more memory, block buffer needs to be smaller
#else
#define BLOCK_BUFFER_SIZE 16 // maximize block buffer
#define BLOCK_BUFFER_SIZE 8 // maximize block buffer
#endif
//The ASCII buffer for recieving from the serial:

8
Marlin/Marlin.pde

@ -114,7 +114,9 @@ extern float HeaterPower;
//===========================================================================
//=============================public variables=============================
//===========================================================================
#ifdef SDSUPPORT
CardReader card;
#endif
float homing_feedrate[] = HOMING_FEEDRATE;
bool axis_relative_modes[] = AXIS_RELATIVE_MODES;
volatile int feedmultiply=100; //100->1 200->2
@ -215,7 +217,9 @@ void loop()
{
if(buflen<3)
get_command();
#ifdef SDSUPPORT
card.checkautostart(false);
#endif
if(buflen)
{
#ifdef SDSUPPORT
@ -933,7 +937,7 @@ inline void get_arc_coordinates()
void prepare_move()
{
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60.0/100.0);
plan_buffer_line(destination[X_AXIS], destination[Y_AXIS], destination[Z_AXIS], destination[E_AXIS], feedrate*feedmultiply/60/100.0);
for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
@ -943,7 +947,7 @@ void prepare_arc_move(char isclockwise) {
float r = hypot(offset[X_AXIS], offset[Y_AXIS]); // Compute arc radius for mc_arc
// Trace the arc
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60.0/100.0, r, isclockwise);
mc_arc(current_position, destination, offset, X_AXIS, Y_AXIS, Z_AXIS, feedrate*feedmultiply/60/100.0, r, isclockwise);
// As far as the parser is concerned, the position is now == target. In reality the
// motion control system might still be processing the action and the real tool position

1297
Marlin/planner.cpp

File diff suppressed because it is too large

187
Marlin/planner.h

@ -1,93 +1,96 @@
/*
planner.h - buffers movement commands and manages the acceleration profile plan
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
// This module is to be considered a sub-module of stepper.c. Please don't include
// this file from any other module.
#ifndef planner_h
#define planner_h
#include "Configuration.h"
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
long step_event_count; // The number of step events required to complete this block
volatile long accelerate_until; // The index of the step event on which to stop acceleration
volatile long decelerate_after; // The index of the step event on which to start decelerating
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
#ifdef ADVANCE
long advance_rate;
volatile long initial_advance;
volatile long final_advance;
float advance;
#endif
// Fields used by the motion planner to manage acceleration
float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
float nominal_speed; // The nominal speed for this block in mm/min
float millimeters; // The total travel of this block in mm
float entry_speed;
float acceleration; // acceleration mm/sec^2
// Settings for the trapezoid generator
long nominal_rate; // The nominal step rate for this block in step_events/sec
volatile long initial_rate; // The jerk-adjusted step rate at start of block
volatile long final_rate; // The minimal rate at exit
long acceleration_st; // acceleration steps/sec^2
volatile char busy;
} block_t;
// Initialize the motion plan subsystem
void plan_init();
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
// millimaters. Feed rate specifies the speed of the motion.
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
// Set position. Used for G92 instructions.
void plan_set_position(const float &x, const float &y, const float &z, const float &e);
// Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
void plan_discard_current_block();
// Gets the current block. Returns NULL if buffer empty
block_t *plan_get_current_block();
void check_axes_activity();
extern unsigned long minsegmenttime;
extern float max_feedrate[4]; // set the max speeds
extern float axis_steps_per_unit[4];
extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
extern float minimumfeedrate;
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
extern float max_z_jerk;
extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
/*
planner.h - buffers movement commands and manages the acceleration profile plan
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
// This module is to be considered a sub-module of stepper.c. Please don't include
// this file from any other module.
#ifndef planner_h
#define planner_h
#include "Configuration.h"
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
long step_event_count; // The number of step events required to complete this block
volatile long accelerate_until; // The index of the step event on which to stop acceleration
volatile long decelerate_after; // The index of the step event on which to start decelerating
volatile long acceleration_rate; // The acceleration rate used for acceleration calculation
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
#ifdef ADVANCE
// long advance_rate;
// volatile long initial_advance;
// volatile long final_advance;
// float advance;
#endif
// Fields used by the motion planner to manage acceleration
// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/minute for each axis
float nominal_speed; // The nominal speed for this block in mm/min
float entry_speed; // Entry speed at previous-current junction in mm/min
float max_entry_speed; // Maximum allowable junction entry speed in mm/min
float millimeters; // The total travel of this block in mm
float acceleration; // acceleration mm/sec^2
unsigned char recalculate_flag; // Planner flag to recalculate trapezoids on entry junction
unsigned char nominal_length_flag; // Planner flag for nominal speed always reached
// Settings for the trapezoid generator
long nominal_rate; // The nominal step rate for this block in step_events/sec
volatile long initial_rate; // The jerk-adjusted step rate at start of block
volatile long final_rate; // The minimal rate at exit
long acceleration_st; // acceleration steps/sec^2
volatile char busy;
} block_t;
// Initialize the motion plan subsystem
void plan_init();
// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
// millimaters. Feed rate specifies the speed of the motion.
void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate);
// Set position. Used for G92 instructions.
void plan_set_position(const float &x, const float &y, const float &z, const float &e);
// Called when the current block is no longer needed. Discards the block and makes the memory
// availible for new blocks.
void plan_discard_current_block();
// Gets the current block. Returns NULL if buffer empty
block_t *plan_get_current_block();
void check_axes_activity();
extern unsigned long minsegmenttime;
extern float max_feedrate[4]; // set the max speeds
extern float axis_steps_per_unit[4];
extern long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
extern float minimumfeedrate;
extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
extern float max_z_jerk;
extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#endif

1227
Marlin/stepper.cpp

File diff suppressed because it is too large

1124
Marlin/temperature.cpp

File diff suppressed because it is too large

16
Marlin/thermistortables.h

@ -1,12 +1,14 @@
#ifndef THERMISTORTABLES_H_
#define THERMISTORTABLES_H_
#include <avr/pgmspace.h>
#define OVERSAMPLENR 16
#if (THERMISTORHEATER_0 == 1) || (THERMISTORHEATER_1 == 1) || (THERMISTORBED == 1) //100k bed thermistor
#define NUMTEMPS_1 61
const short temptable_1[NUMTEMPS_1][2] = {
const short temptable_1[NUMTEMPS_1][2] PROGMEM = {
{ 23*OVERSAMPLENR , 300 },
{ 25*OVERSAMPLENR , 295 },
{ 27*OVERSAMPLENR , 290 },
@ -72,7 +74,7 @@ const short temptable_1[NUMTEMPS_1][2] = {
#endif
#if (THERMISTORHEATER_0 == 2) || (THERMISTORHEATER_1 == 2) || (THERMISTORBED == 2) //200k bed thermistor
#define NUMTEMPS_2 21
const short temptable_2[NUMTEMPS_2][2] = {
const short temptable_2[NUMTEMPS_2][2] PROGMEM = {
{1*OVERSAMPLENR, 848},
{54*OVERSAMPLENR, 275},
{107*OVERSAMPLENR, 228},
@ -99,7 +101,7 @@ const short temptable_2[NUMTEMPS_2][2] = {
#endif
#if (THERMISTORHEATER_0 == 3) || (THERMISTORHEATER_1 == 3) || (THERMISTORBED == 3) //mendel-parts
#define NUMTEMPS_3 28
const short temptable_3[NUMTEMPS_3][2] = {
const short temptable_3[NUMTEMPS_3][2] PROGMEM = {
{1*OVERSAMPLENR,864},
{21*OVERSAMPLENR,300},
{25*OVERSAMPLENR,290},
@ -134,7 +136,7 @@ const short temptable_3[NUMTEMPS_3][2] = {
#if (THERMISTORHEATER_0 == 4) || (THERMISTORHEATER_1 == 4) || (THERMISTORBED == 4) //10k thermistor
#define NUMTEMPS_4 20
short temptable_4[NUMTEMPS_4][2] = {
const short temptable_4[NUMTEMPS_4][2] PROGMEM = {
{1*OVERSAMPLENR, 430},
{54*OVERSAMPLENR, 137},
{107*OVERSAMPLENR, 107},
@ -161,7 +163,7 @@ short temptable_4[NUMTEMPS_4][2] = {
#if (THERMISTORHEATER_0 == 5) || (THERMISTORHEATER_1 == 5) || (THERMISTORBED == 5) //100k ParCan thermistor (104GT-2)
#define NUMTEMPS_5 61
const short temptable_5[NUMTEMPS_5][2] = {
const short temptable_5[NUMTEMPS_5][2] PROGMEM = {
{1*OVERSAMPLENR, 713},
{18*OVERSAMPLENR, 316},
{35*OVERSAMPLENR, 266},
@ -228,7 +230,7 @@ const short temptable_5[NUMTEMPS_5][2] = {
#if (THERMISTORHEATER_0 == 6) || (THERMISTORHEATER_1 == 6) || (THERMISTORBED == 6) // 100k Epcos thermistor
#define NUMTEMPS_6 36
const short temptable_6[NUMTEMPS_6][2] = {
const short temptable_6[NUMTEMPS_6][2] PROGMEM = {
{28*OVERSAMPLENR, 250},
{31*OVERSAMPLENR, 245},
{35*OVERSAMPLENR, 240},
@ -270,7 +272,7 @@ const short temptable_6[NUMTEMPS_6][2] = {
#if (THERMISTORHEATER_0 == 7) || (THERMISTORHEATER_1 == 7) || (THERMISTORBED == 7) // 100k Honeywell 135-104LAG-J01
#define NUMTEMPS_7 54
const short temptable_7[NUMTEMPS_7][2] = {
const short temptable_7[NUMTEMPS_7][2] PROGMEM = {
{46*OVERSAMPLENR, 270},
{50*OVERSAMPLENR, 265},
{54*OVERSAMPLENR, 260},

Loading…
Cancel
Save