You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
3305 lines
132 KiB
3305 lines
132 KiB
/**
|
|
* Marlin 3D Printer Firmware
|
|
* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
*
|
|
* Based on Sprinter and grbl.
|
|
* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
|
|
*
|
|
* This program 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.
|
|
*
|
|
* This program 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 this program. If not, see <https://www.gnu.org/licenses/>.
|
|
*
|
|
*/
|
|
|
|
/**
|
|
* planner.cpp
|
|
*
|
|
* Buffer movement commands and manage the acceleration profile plan
|
|
*
|
|
* Derived from Grbl
|
|
* Copyright (c) 2009-2011 Simen Svale Skogsrud
|
|
*
|
|
* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis.
|
|
*
|
|
*
|
|
* Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
|
|
*
|
|
* s == speed, a == acceleration, t == time, d == distance
|
|
*
|
|
* Basic definitions:
|
|
* Speed[s_, a_, t_] := s + (a*t)
|
|
* Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
|
|
*
|
|
* Distance to reach a specific speed with a constant acceleration:
|
|
* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
|
|
* d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
|
|
*
|
|
* Speed after a given distance of travel with constant acceleration:
|
|
* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
|
|
* m -> Sqrt[2 a d + s^2]
|
|
*
|
|
* DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
|
|
*
|
|
* When to start braking (di) to reach a specified destination speed (s2) after accelerating
|
|
* from initial speed s1 without ever stopping at a plateau:
|
|
* Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
|
|
* di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
|
|
*
|
|
* IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
|
|
*
|
|
* --
|
|
*
|
|
* The fast inverse function needed for Bézier interpolation for AVR
|
|
* was designed, written and tested by Eduardo José Tagle on April/2018
|
|
*/
|
|
|
|
#include "planner.h"
|
|
#include "stepper.h"
|
|
#include "motion.h"
|
|
#include "temperature.h"
|
|
#include "../lcd/marlinui.h"
|
|
#include "../gcode/parser.h"
|
|
|
|
#include "../MarlinCore.h"
|
|
|
|
#if HAS_LEVELING
|
|
#include "../feature/bedlevel/bedlevel.h"
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
#include "../feature/filwidth.h"
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
#include "../feature/baricuda.h"
|
|
#endif
|
|
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
#include "../feature/mixing.h"
|
|
#endif
|
|
|
|
#if ENABLED(AUTO_POWER_CONTROL)
|
|
#include "../feature/power.h"
|
|
#endif
|
|
|
|
#if ENABLED(BACKLASH_COMPENSATION)
|
|
#include "../feature/backlash.h"
|
|
#endif
|
|
|
|
#if ENABLED(CANCEL_OBJECTS)
|
|
#include "../feature/cancel_object.h"
|
|
#endif
|
|
|
|
#if ENABLED(POWER_LOSS_RECOVERY)
|
|
#include "../feature/powerloss.h"
|
|
#endif
|
|
|
|
#if HAS_CUTTER
|
|
#include "../feature/spindle_laser.h"
|
|
#endif
|
|
|
|
// Delay for delivery of first block to the stepper ISR, if the queue contains 2 or
|
|
// fewer movements. The delay is measured in milliseconds, and must be less than 250ms
|
|
#define BLOCK_DELAY_FOR_1ST_MOVE 100
|
|
|
|
Planner planner;
|
|
|
|
// public:
|
|
|
|
/**
|
|
* A ring buffer of moves described in steps
|
|
*/
|
|
block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
|
|
volatile uint8_t Planner::block_buffer_head, // Index of the next block to be pushed
|
|
Planner::block_buffer_nonbusy, // Index of the first non-busy block
|
|
Planner::block_buffer_planned, // Index of the optimally planned block
|
|
Planner::block_buffer_tail; // Index of the busy block, if any
|
|
uint16_t Planner::cleaning_buffer_counter; // A counter to disable queuing of blocks
|
|
uint8_t Planner::delay_before_delivering; // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
|
|
|
|
planner_settings_t Planner::settings; // Initialized by settings.load()
|
|
|
|
#if ENABLED(LASER_POWER_INLINE)
|
|
laser_state_t Planner::laser_inline; // Current state for blocks
|
|
#endif
|
|
|
|
uint32_t Planner::max_acceleration_steps_per_s2[DISTINCT_AXES]; // (steps/s^2) Derived from mm_per_s2
|
|
|
|
float Planner::mm_per_step[DISTINCT_AXES]; // (mm) Millimeters per step
|
|
|
|
#if HAS_JUNCTION_DEVIATION
|
|
float Planner::junction_deviation_mm; // (mm) M205 J
|
|
#if HAS_LINEAR_E_JERK
|
|
float Planner::max_e_jerk[DISTINCT_E]; // Calculated from junction_deviation_mm
|
|
#endif
|
|
#endif
|
|
|
|
#if HAS_CLASSIC_JERK
|
|
TERN(HAS_LINEAR_E_JERK, xyz_pos_t, xyze_pos_t) Planner::max_jerk;
|
|
#endif
|
|
|
|
#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
|
|
bool Planner::abort_on_endstop_hit = false;
|
|
#endif
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
uint8_t Planner::last_extruder = 0; // Respond to extruder change
|
|
#endif
|
|
|
|
#if ENABLED(DIRECT_STEPPING)
|
|
uint32_t Planner::last_page_step_rate = 0;
|
|
xyze_bool_t Planner::last_page_dir{0};
|
|
#endif
|
|
|
|
#if HAS_EXTRUDERS
|
|
int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder
|
|
float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0f); // The flow percentage and volumetric multiplier combine to scale E movement
|
|
#endif
|
|
|
|
#if DISABLED(NO_VOLUMETRICS)
|
|
float Planner::filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
|
|
Planner::volumetric_area_nominal = CIRCLE_AREA(float(DEFAULT_NOMINAL_FILAMENT_DIA) * 0.5f), // Nominal cross-sectional area
|
|
Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
|
|
#endif
|
|
|
|
#if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT)
|
|
float Planner::volumetric_extruder_limit[EXTRUDERS], // max mm^3/sec the extruder is able to handle
|
|
Planner::volumetric_extruder_feedrate_limit[EXTRUDERS]; // pre calculated extruder feedrate limit based on volumetric_extruder_limit; pre-calculated to reduce computation in the planner
|
|
#endif
|
|
|
|
#if HAS_LEVELING
|
|
bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled
|
|
#if ABL_PLANAR
|
|
matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
|
|
#endif
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
float Planner::z_fade_height, // Initialized by settings.load()
|
|
Planner::inverse_z_fade_height,
|
|
Planner::last_fade_z;
|
|
#endif
|
|
#else
|
|
constexpr bool Planner::leveling_active;
|
|
#endif
|
|
|
|
skew_factor_t Planner::skew_factor; // Initialized by settings.load()
|
|
|
|
#if ENABLED(AUTOTEMP)
|
|
celsius_t Planner::autotemp_max = 250,
|
|
Planner::autotemp_min = 210;
|
|
float Planner::autotemp_factor = 0.1f;
|
|
bool Planner::autotemp_enabled = false;
|
|
#endif
|
|
|
|
// private:
|
|
|
|
xyze_long_t Planner::position{0};
|
|
|
|
uint32_t Planner::acceleration_long_cutoff;
|
|
|
|
xyze_float_t Planner::previous_speed;
|
|
float Planner::previous_nominal_speed_sqr;
|
|
|
|
#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
|
|
last_move_t Planner::g_uc_extruder_last_move[E_STEPPERS] = { 0 };
|
|
#endif
|
|
|
|
#ifdef XY_FREQUENCY_LIMIT
|
|
int8_t Planner::xy_freq_limit_hz = XY_FREQUENCY_LIMIT;
|
|
float Planner::xy_freq_min_speed_factor = (XY_FREQUENCY_MIN_PERCENT) * 0.01f;
|
|
int32_t Planner::xy_freq_min_interval_us = LROUND(1000000.0 / (XY_FREQUENCY_LIMIT));
|
|
#endif
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
float Planner::extruder_advance_K[EXTRUDERS]; // Initialized by settings.load()
|
|
#endif
|
|
|
|
#if HAS_POSITION_FLOAT
|
|
xyze_pos_t Planner::position_float; // Needed for accurate maths. Steps cannot be used!
|
|
#endif
|
|
|
|
#if IS_KINEMATIC
|
|
xyze_pos_t Planner::position_cart;
|
|
#endif
|
|
|
|
#if HAS_WIRED_LCD
|
|
volatile uint32_t Planner::block_buffer_runtime_us = 0;
|
|
#endif
|
|
|
|
/**
|
|
* Class and Instance Methods
|
|
*/
|
|
|
|
Planner::Planner() { init(); }
|
|
|
|
void Planner::init() {
|
|
position.reset();
|
|
TERN_(HAS_POSITION_FLOAT, position_float.reset());
|
|
TERN_(IS_KINEMATIC, position_cart.reset());
|
|
previous_speed.reset();
|
|
previous_nominal_speed_sqr = 0;
|
|
TERN_(ABL_PLANAR, bed_level_matrix.set_to_identity());
|
|
clear_block_buffer();
|
|
delay_before_delivering = 0;
|
|
#if ENABLED(DIRECT_STEPPING)
|
|
last_page_step_rate = 0;
|
|
last_page_dir.reset();
|
|
#endif
|
|
}
|
|
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
#ifdef __AVR__
|
|
/**
|
|
* This routine returns 0x1000000 / d, getting the inverse as fast as possible.
|
|
* A fast-converging iterative Newton-Raphson method can reach full precision in
|
|
* just 1 iteration, and takes 211 cycles (worst case; the mean case is less, up
|
|
* to 30 cycles for small divisors), instead of the 500 cycles a normal division
|
|
* would take.
|
|
*
|
|
* Inspired by the following page:
|
|
* https://stackoverflow.com/questions/27801397/newton-raphson-division-with-big-integers
|
|
*
|
|
* Suppose we want to calculate floor(2 ^ k / B) where B is a positive integer
|
|
* Then, B must be <= 2^k, otherwise, the quotient is 0.
|
|
*
|
|
* The Newton - Raphson iteration for x = B / 2 ^ k yields:
|
|
* q[n + 1] = q[n] * (2 - q[n] * B / 2 ^ k)
|
|
*
|
|
* This can be rearranged to:
|
|
* q[n + 1] = q[n] * (2 ^ (k + 1) - q[n] * B) >> k
|
|
*
|
|
* Each iteration requires only integer multiplications and bit shifts.
|
|
* It doesn't necessarily converge to floor(2 ^ k / B) but in the worst case
|
|
* it eventually alternates between floor(2 ^ k / B) and ceil(2 ^ k / B).
|
|
* So it checks for this case and extracts floor(2 ^ k / B).
|
|
*
|
|
* A simple but important optimization for this approach is to truncate
|
|
* multiplications (i.e., calculate only the higher bits of the product) in the
|
|
* early iterations of the Newton - Raphson method. This is done so the results
|
|
* of the early iterations are far from the quotient. Then it doesn't matter if
|
|
* they are done inaccurately.
|
|
* It's important to pick a good starting value for x. Knowing how many
|
|
* digits the divisor has, it can be estimated:
|
|
*
|
|
* 2^k / x = 2 ^ log2(2^k / x)
|
|
* 2^k / x = 2 ^(log2(2^k)-log2(x))
|
|
* 2^k / x = 2 ^(k*log2(2)-log2(x))
|
|
* 2^k / x = 2 ^ (k-log2(x))
|
|
* 2^k / x >= 2 ^ (k-floor(log2(x)))
|
|
* floor(log2(x)) is simply the index of the most significant bit set.
|
|
*
|
|
* If this estimation can be improved even further the number of iterations can be
|
|
* reduced a lot, saving valuable execution time.
|
|
* The paper "Software Integer Division" by Thomas L.Rodeheffer, Microsoft
|
|
* Research, Silicon Valley,August 26, 2008, available at
|
|
* https://www.microsoft.com/en-us/research/wp-content/uploads/2008/08/tr-2008-141.pdf
|
|
* suggests, for its integer division algorithm, using a table to supply the first
|
|
* 8 bits of precision, then, due to the quadratic convergence nature of the
|
|
* Newton-Raphon iteration, just 2 iterations should be enough to get maximum
|
|
* precision of the division.
|
|
* By precomputing values of inverses for small denominator values, just one
|
|
* Newton-Raphson iteration is enough to reach full precision.
|
|
* This code uses the top 9 bits of the denominator as index.
|
|
*
|
|
* The AVR assembly function implements this C code using the data below:
|
|
*
|
|
* // For small divisors, it is best to directly retrieve the results
|
|
* if (d <= 110) return pgm_read_dword(&small_inv_tab[d]);
|
|
*
|
|
* // Compute initial estimation of 0x1000000/x -
|
|
* // Get most significant bit set on divider
|
|
* uint8_t idx = 0;
|
|
* uint32_t nr = d;
|
|
* if (!(nr & 0xFF0000)) {
|
|
* nr <<= 8; idx += 8;
|
|
* if (!(nr & 0xFF0000)) { nr <<= 8; idx += 8; }
|
|
* }
|
|
* if (!(nr & 0xF00000)) { nr <<= 4; idx += 4; }
|
|
* if (!(nr & 0xC00000)) { nr <<= 2; idx += 2; }
|
|
* if (!(nr & 0x800000)) { nr <<= 1; idx += 1; }
|
|
*
|
|
* // Isolate top 9 bits of the denominator, to be used as index into the initial estimation table
|
|
* uint32_t tidx = nr >> 15, // top 9 bits. bit8 is always set
|
|
* ie = inv_tab[tidx & 0xFF] + 256, // Get the table value. bit9 is always set
|
|
* x = idx <= 8 ? (ie >> (8 - idx)) : (ie << (idx - 8)); // Position the estimation at the proper place
|
|
*
|
|
* x = uint32_t((x * uint64_t(_BV(25) - x * d)) >> 24); // Refine estimation by newton-raphson. 1 iteration is enough
|
|
* const uint32_t r = _BV(24) - x * d; // Estimate remainder
|
|
* if (r >= d) x++; // Check whether to adjust result
|
|
* return uint32_t(x); // x holds the proper estimation
|
|
*/
|
|
static uint32_t get_period_inverse(uint32_t d) {
|
|
|
|
static const uint8_t inv_tab[256] PROGMEM = {
|
|
255,253,252,250,248,246,244,242,240,238,236,234,233,231,229,227,
|
|
225,224,222,220,218,217,215,213,212,210,208,207,205,203,202,200,
|
|
199,197,195,194,192,191,189,188,186,185,183,182,180,179,178,176,
|
|
175,173,172,170,169,168,166,165,164,162,161,160,158,157,156,154,
|
|
153,152,151,149,148,147,146,144,143,142,141,139,138,137,136,135,
|
|
134,132,131,130,129,128,127,126,125,123,122,121,120,119,118,117,
|
|
116,115,114,113,112,111,110,109,108,107,106,105,104,103,102,101,
|
|
100,99,98,97,96,95,94,93,92,91,90,89,88,88,87,86,
|
|
85,84,83,82,81,80,80,79,78,77,76,75,74,74,73,72,
|
|
71,70,70,69,68,67,66,66,65,64,63,62,62,61,60,59,
|
|
59,58,57,56,56,55,54,53,53,52,51,50,50,49,48,48,
|
|
47,46,46,45,44,43,43,42,41,41,40,39,39,38,37,37,
|
|
36,35,35,34,33,33,32,32,31,30,30,29,28,28,27,27,
|
|
26,25,25,24,24,23,22,22,21,21,20,19,19,18,18,17,
|
|
17,16,15,15,14,14,13,13,12,12,11,10,10,9,9,8,
|
|
8,7,7,6,6,5,5,4,4,3,3,2,2,1,0,0
|
|
};
|
|
|
|
// For small denominators, it is cheaper to directly store the result.
|
|
// For bigger ones, just ONE Newton-Raphson iteration is enough to get
|
|
// maximum precision we need
|
|
static const uint32_t small_inv_tab[111] PROGMEM = {
|
|
16777216,16777216,8388608,5592405,4194304,3355443,2796202,2396745,2097152,1864135,1677721,1525201,1398101,1290555,1198372,1118481,
|
|
1048576,986895,932067,883011,838860,798915,762600,729444,699050,671088,645277,621378,599186,578524,559240,541200,
|
|
524288,508400,493447,479349,466033,453438,441505,430185,419430,409200,399457,390167,381300,372827,364722,356962,
|
|
349525,342392,335544,328965,322638,316551,310689,305040,299593,294337,289262,284359,279620,275036,270600,266305,
|
|
262144,258111,254200,250406,246723,243148,239674,236298,233016,229824,226719,223696,220752,217885,215092,212369,
|
|
209715,207126,204600,202135,199728,197379,195083,192841,190650,188508,186413,184365,182361,180400,178481,176602,
|
|
174762,172960,171196,169466,167772,166111,164482,162885,161319,159783,158275,156796,155344,153919,152520
|
|
};
|
|
|
|
// For small divisors, it is best to directly retrieve the results
|
|
if (d <= 110) return pgm_read_dword(&small_inv_tab[d]);
|
|
|
|
uint8_t r8 = d & 0xFF,
|
|
r9 = (d >> 8) & 0xFF,
|
|
r10 = (d >> 16) & 0xFF,
|
|
r2,r3,r4,r5,r6,r7,r11,r12,r13,r14,r15,r16,r17,r18;
|
|
const uint8_t *ptab = inv_tab;
|
|
|
|
__asm__ __volatile__(
|
|
// %8:%7:%6 = interval
|
|
// r31:r30: MUST be those registers, and they must point to the inv_tab
|
|
|
|
A("clr %13") // %13 = 0
|
|
|
|
// Now we must compute
|
|
// result = 0xFFFFFF / d
|
|
// %8:%7:%6 = interval
|
|
// %16:%15:%14 = nr
|
|
// %13 = 0
|
|
|
|
// A plain division of 24x24 bits should take 388 cycles to complete. We will
|
|
// use Newton-Raphson for the calculation, and will strive to get way less cycles
|
|
// for the same result - Using C division, it takes 500cycles to complete .
|
|
|
|
A("clr %3") // idx = 0
|
|
A("mov %14,%6")
|
|
A("mov %15,%7")
|
|
A("mov %16,%8") // nr = interval
|
|
A("tst %16") // nr & 0xFF0000 == 0 ?
|
|
A("brne 2f") // No, skip this
|
|
A("mov %16,%15")
|
|
A("mov %15,%14") // nr <<= 8, %14 not needed
|
|
A("subi %3,-8") // idx += 8
|
|
A("tst %16") // nr & 0xFF0000 == 0 ?
|
|
A("brne 2f") // No, skip this
|
|
A("mov %16,%15") // nr <<= 8, %14 not needed
|
|
A("clr %15") // We clear %14
|
|
A("subi %3,-8") // idx += 8
|
|
|
|
// here %16 != 0 and %16:%15 contains at least 9 MSBits, or both %16:%15 are 0
|
|
L("2")
|
|
A("cpi %16,0x10") // (nr & 0xF00000) == 0 ?
|
|
A("brcc 3f") // No, skip this
|
|
A("swap %15") // Swap nybbles
|
|
A("swap %16") // Swap nybbles. Low nybble is 0
|
|
A("mov %14, %15")
|
|
A("andi %14,0x0F") // Isolate low nybble
|
|
A("andi %15,0xF0") // Keep proper nybble in %15
|
|
A("or %16, %14") // %16:%15 <<= 4
|
|
A("subi %3,-4") // idx += 4
|
|
|
|
L("3")
|
|
A("cpi %16,0x40") // (nr & 0xC00000) == 0 ?
|
|
A("brcc 4f") // No, skip this
|
|
A("add %15,%15")
|
|
A("adc %16,%16")
|
|
A("add %15,%15")
|
|
A("adc %16,%16") // %16:%15 <<= 2
|
|
A("subi %3,-2") // idx += 2
|
|
|
|
L("4")
|
|
A("cpi %16,0x80") // (nr & 0x800000) == 0 ?
|
|
A("brcc 5f") // No, skip this
|
|
A("add %15,%15")
|
|
A("adc %16,%16") // %16:%15 <<= 1
|
|
A("inc %3") // idx += 1
|
|
|
|
// Now %16:%15 contains its MSBit set to 1, or %16:%15 is == 0. We are now absolutely sure
|
|
// we have at least 9 MSBits available to enter the initial estimation table
|
|
L("5")
|
|
A("add %15,%15")
|
|
A("adc %16,%16") // %16:%15 = tidx = (nr <<= 1), we lose the top MSBit (always set to 1, %16 is the index into the inverse table)
|
|
A("add r30,%16") // Only use top 8 bits
|
|
A("adc r31,%13") // r31:r30 = inv_tab + (tidx)
|
|
A("lpm %14, Z") // %14 = inv_tab[tidx]
|
|
A("ldi %15, 1") // %15 = 1 %15:%14 = inv_tab[tidx] + 256
|
|
|
|
// We must scale the approximation to the proper place
|
|
A("clr %16") // %16 will always be 0 here
|
|
A("subi %3,8") // idx == 8 ?
|
|
A("breq 6f") // yes, no need to scale
|
|
A("brcs 7f") // If C=1, means idx < 8, result was negative!
|
|
|
|
// idx > 8, now %3 = idx - 8. We must perform a left shift. idx range:[1-8]
|
|
A("sbrs %3,0") // shift by 1bit position?
|
|
A("rjmp 8f") // No
|
|
A("add %14,%14")
|
|
A("adc %15,%15") // %15:16 <<= 1
|
|
L("8")
|
|
A("sbrs %3,1") // shift by 2bit position?
|
|
A("rjmp 9f") // No
|
|
A("add %14,%14")
|
|
A("adc %15,%15")
|
|
A("add %14,%14")
|
|
A("adc %15,%15") // %15:16 <<= 1
|
|
L("9")
|
|
A("sbrs %3,2") // shift by 4bits position?
|
|
A("rjmp 16f") // No
|
|
A("swap %15") // Swap nybbles. lo nybble of %15 will always be 0
|
|
A("swap %14") // Swap nybbles
|
|
A("mov %12,%14")
|
|
A("andi %12,0x0F") // isolate low nybble
|
|
A("andi %14,0xF0") // and clear it
|
|
A("or %15,%12") // %15:%16 <<= 4
|
|
L("16")
|
|
A("sbrs %3,3") // shift by 8bits position?
|
|
A("rjmp 6f") // No, we are done
|
|
A("mov %16,%15")
|
|
A("mov %15,%14")
|
|
A("clr %14")
|
|
A("jmp 6f")
|
|
|
|
// idx < 8, now %3 = idx - 8. Get the count of bits
|
|
L("7")
|
|
A("neg %3") // %3 = -idx = count of bits to move right. idx range:[1...8]
|
|
A("sbrs %3,0") // shift by 1 bit position ?
|
|
A("rjmp 10f") // No, skip it
|
|
A("asr %15") // (bit7 is always 0 here)
|
|
A("ror %14")
|
|
L("10")
|
|
A("sbrs %3,1") // shift by 2 bit position ?
|
|
A("rjmp 11f") // No, skip it
|
|
A("asr %15") // (bit7 is always 0 here)
|
|
A("ror %14")
|
|
A("asr %15") // (bit7 is always 0 here)
|
|
A("ror %14")
|
|
L("11")
|
|
A("sbrs %3,2") // shift by 4 bit position ?
|
|
A("rjmp 12f") // No, skip it
|
|
A("swap %15") // Swap nybbles
|
|
A("andi %14, 0xF0") // Lose the lowest nybble
|
|
A("swap %14") // Swap nybbles. Upper nybble is 0
|
|
A("or %14,%15") // Pass nybble from upper byte
|
|
A("andi %15, 0x0F") // And get rid of that nybble
|
|
L("12")
|
|
A("sbrs %3,3") // shift by 8 bit position ?
|
|
A("rjmp 6f") // No, skip it
|
|
A("mov %14,%15")
|
|
A("clr %15")
|
|
L("6") // %16:%15:%14 = initial estimation of 0x1000000 / d
|
|
|
|
// Now, we must refine the estimation present on %16:%15:%14 using 1 iteration
|
|
// of Newton-Raphson. As it has a quadratic convergence, 1 iteration is enough
|
|
// to get more than 18bits of precision (the initial table lookup gives 9 bits of
|
|
// precision to start from). 18bits of precision is all what is needed here for result
|
|
|
|
// %8:%7:%6 = d = interval
|
|
// %16:%15:%14 = x = initial estimation of 0x1000000 / d
|
|
// %13 = 0
|
|
// %3:%2:%1:%0 = working accumulator
|
|
|
|
// Compute 1<<25 - x*d. Result should never exceed 25 bits and should always be positive
|
|
A("clr %0")
|
|
A("clr %1")
|
|
A("clr %2")
|
|
A("ldi %3,2") // %3:%2:%1:%0 = 0x2000000
|
|
A("mul %6,%14") // r1:r0 = LO(d) * LO(x)
|
|
A("sub %0,r0")
|
|
A("sbc %1,r1")
|
|
A("sbc %2,%13")
|
|
A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x)
|
|
A("mul %7,%14") // r1:r0 = MI(d) * LO(x)
|
|
A("sub %1,r0")
|
|
A("sbc %2,r1" )
|
|
A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8
|
|
A("mul %8,%14") // r1:r0 = HI(d) * LO(x)
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16
|
|
A("mul %6,%15") // r1:r0 = LO(d) * MI(x)
|
|
A("sub %1,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8
|
|
A("mul %7,%15") // r1:r0 = MI(d) * MI(x)
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16
|
|
A("mul %8,%15") // r1:r0 = HI(d) * MI(x)
|
|
A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24
|
|
A("mul %6,%16") // r1:r0 = LO(d) * HI(x)
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16
|
|
A("mul %7,%16") // r1:r0 = MI(d) * HI(x)
|
|
A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24
|
|
// %3:%2:%1:%0 = (1<<25) - x*d [169]
|
|
|
|
// We need to multiply that result by x, and we are only interested in the top 24bits of that multiply
|
|
|
|
// %16:%15:%14 = x = initial estimation of 0x1000000 / d
|
|
// %3:%2:%1:%0 = (1<<25) - x*d = acc
|
|
// %13 = 0
|
|
|
|
// result = %11:%10:%9:%5:%4
|
|
A("mul %14,%0") // r1:r0 = LO(x) * LO(acc)
|
|
A("mov %4,r1")
|
|
A("clr %5")
|
|
A("clr %9")
|
|
A("clr %10")
|
|
A("clr %11") // %11:%10:%9:%5:%4 = LO(x) * LO(acc) >> 8
|
|
A("mul %15,%0") // r1:r0 = MI(x) * LO(acc)
|
|
A("add %4,r0")
|
|
A("adc %5,r1")
|
|
A("adc %9,%13")
|
|
A("adc %10,%13")
|
|
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc)
|
|
A("mul %16,%0") // r1:r0 = HI(x) * LO(acc)
|
|
A("add %5,r0")
|
|
A("adc %9,r1")
|
|
A("adc %10,%13")
|
|
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) << 8
|
|
|
|
A("mul %14,%1") // r1:r0 = LO(x) * MIL(acc)
|
|
A("add %4,r0")
|
|
A("adc %5,r1")
|
|
A("adc %9,%13")
|
|
A("adc %10,%13")
|
|
A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIL(acc)
|
|
A("mul %15,%1") // r1:r0 = MI(x) * MIL(acc)
|
|
A("add %5,r0")
|
|
A("adc %9,r1")
|
|
A("adc %10,%13")
|
|
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 8
|
|
A("mul %16,%1") // r1:r0 = HI(x) * MIL(acc)
|
|
A("add %9,r0")
|
|
A("adc %10,r1")
|
|
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 16
|
|
|
|
A("mul %14,%2") // r1:r0 = LO(x) * MIH(acc)
|
|
A("add %5,r0")
|
|
A("adc %9,r1")
|
|
A("adc %10,%13")
|
|
A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIH(acc) << 8
|
|
A("mul %15,%2") // r1:r0 = MI(x) * MIH(acc)
|
|
A("add %9,r0")
|
|
A("adc %10,r1")
|
|
A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 16
|
|
A("mul %16,%2") // r1:r0 = HI(x) * MIH(acc)
|
|
A("add %10,r0")
|
|
A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 24
|
|
|
|
A("mul %14,%3") // r1:r0 = LO(x) * HI(acc)
|
|
A("add %9,r0")
|
|
A("adc %10,r1")
|
|
A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * HI(acc) << 16
|
|
A("mul %15,%3") // r1:r0 = MI(x) * HI(acc)
|
|
A("add %10,r0")
|
|
A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 24
|
|
A("mul %16,%3") // r1:r0 = HI(x) * HI(acc)
|
|
A("add %11,r0") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 32
|
|
|
|
// At this point, %11:%10:%9 contains the new estimation of x.
|
|
|
|
// Finally, we must correct the result. Estimate remainder as
|
|
// (1<<24) - x*d
|
|
// %11:%10:%9 = x
|
|
// %8:%7:%6 = d = interval" "\n\t"
|
|
A("ldi %3,1")
|
|
A("clr %2")
|
|
A("clr %1")
|
|
A("clr %0") // %3:%2:%1:%0 = 0x1000000
|
|
A("mul %6,%9") // r1:r0 = LO(d) * LO(x)
|
|
A("sub %0,r0")
|
|
A("sbc %1,r1")
|
|
A("sbc %2,%13")
|
|
A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x)
|
|
A("mul %7,%9") // r1:r0 = MI(d) * LO(x)
|
|
A("sub %1,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8
|
|
A("mul %8,%9") // r1:r0 = HI(d) * LO(x)
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16
|
|
A("mul %6,%10") // r1:r0 = LO(d) * MI(x)
|
|
A("sub %1,r0")
|
|
A("sbc %2,r1")
|
|
A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8
|
|
A("mul %7,%10") // r1:r0 = MI(d) * MI(x)
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16
|
|
A("mul %8,%10") // r1:r0 = HI(d) * MI(x)
|
|
A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24
|
|
A("mul %6,%11") // r1:r0 = LO(d) * HI(x)
|
|
A("sub %2,r0")
|
|
A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16
|
|
A("mul %7,%11") // r1:r0 = MI(d) * HI(x)
|
|
A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24
|
|
// %3:%2:%1:%0 = r = (1<<24) - x*d
|
|
// %8:%7:%6 = d = interval
|
|
|
|
// Perform the final correction
|
|
A("sub %0,%6")
|
|
A("sbc %1,%7")
|
|
A("sbc %2,%8") // r -= d
|
|
A("brcs 14f") // if ( r >= d)
|
|
|
|
// %11:%10:%9 = x
|
|
A("ldi %3,1")
|
|
A("add %9,%3")
|
|
A("adc %10,%13")
|
|
A("adc %11,%13") // x++
|
|
L("14")
|
|
|
|
// Estimation is done. %11:%10:%9 = x
|
|
A("clr __zero_reg__") // Make C runtime happy
|
|
// [211 cycles total]
|
|
: "=r" (r2),
|
|
"=r" (r3),
|
|
"=r" (r4),
|
|
"=d" (r5),
|
|
"=r" (r6),
|
|
"=r" (r7),
|
|
"+r" (r8),
|
|
"+r" (r9),
|
|
"+r" (r10),
|
|
"=d" (r11),
|
|
"=r" (r12),
|
|
"=r" (r13),
|
|
"=d" (r14),
|
|
"=d" (r15),
|
|
"=d" (r16),
|
|
"=d" (r17),
|
|
"=d" (r18),
|
|
"+z" (ptab)
|
|
:
|
|
: "r0", "r1", "cc"
|
|
);
|
|
|
|
// Return the result
|
|
return r11 | (uint16_t(r12) << 8) | (uint32_t(r13) << 16);
|
|
}
|
|
#else
|
|
// All other 32-bit MPUs can easily do inverse using hardware division,
|
|
// so we don't need to reduce precision or to use assembly language at all.
|
|
// This routine, for all other archs, returns 0x100000000 / d ~= 0xFFFFFFFF / d
|
|
static FORCE_INLINE uint32_t get_period_inverse(const uint32_t d) {
|
|
return d ? 0xFFFFFFFF / d : 0xFFFFFFFF;
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
#define MINIMAL_STEP_RATE 120
|
|
|
|
/**
|
|
* Get the current block for processing
|
|
* and mark the block as busy.
|
|
* Return nullptr if the buffer is empty
|
|
* or if there is a first-block delay.
|
|
*
|
|
* WARNING: Called from Stepper ISR context!
|
|
*/
|
|
block_t* Planner::get_current_block() {
|
|
// Get the number of moves in the planner queue so far
|
|
const uint8_t nr_moves = movesplanned();
|
|
|
|
// If there are any moves queued ...
|
|
if (nr_moves) {
|
|
|
|
// If there is still delay of delivery of blocks running, decrement it
|
|
if (delay_before_delivering) {
|
|
--delay_before_delivering;
|
|
// If the number of movements queued is less than 3, and there is still time
|
|
// to wait, do not deliver anything
|
|
if (nr_moves < 3 && delay_before_delivering) return nullptr;
|
|
delay_before_delivering = 0;
|
|
}
|
|
|
|
// If we are here, there is no excuse to deliver the block
|
|
block_t * const block = &block_buffer[block_buffer_tail];
|
|
|
|
// No trapezoid calculated? Don't execute yet.
|
|
if (TEST(block->flag, BLOCK_BIT_RECALCULATE)) return nullptr;
|
|
|
|
// We can't be sure how long an active block will take, so don't count it.
|
|
TERN_(HAS_WIRED_LCD, block_buffer_runtime_us -= block->segment_time_us);
|
|
|
|
// As this block is busy, advance the nonbusy block pointer
|
|
block_buffer_nonbusy = next_block_index(block_buffer_tail);
|
|
|
|
// Push block_buffer_planned pointer, if encountered.
|
|
if (block_buffer_tail == block_buffer_planned)
|
|
block_buffer_planned = block_buffer_nonbusy;
|
|
|
|
// Return the block
|
|
return block;
|
|
}
|
|
|
|
// The queue became empty
|
|
TERN_(HAS_WIRED_LCD, clear_block_buffer_runtime()); // paranoia. Buffer is empty now - so reset accumulated time to zero.
|
|
|
|
return nullptr;
|
|
}
|
|
|
|
/**
|
|
* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
|
|
* by the provided factors.
|
|
**
|
|
* ############ VERY IMPORTANT ############
|
|
* NOTE that the PRECONDITION to call this function is that the block is
|
|
* NOT BUSY and it is marked as RECALCULATE. That WARRANTIES the Stepper ISR
|
|
* is not and will not use the block while we modify it, so it is safe to
|
|
* alter its values.
|
|
*/
|
|
void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t entry_factor, const_float_t exit_factor) {
|
|
|
|
uint32_t initial_rate = CEIL(block->nominal_rate * entry_factor),
|
|
final_rate = CEIL(block->nominal_rate * exit_factor); // (steps per second)
|
|
|
|
// Limit minimal step rate (Otherwise the timer will overflow.)
|
|
NOLESS(initial_rate, uint32_t(MINIMAL_STEP_RATE));
|
|
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
|
|
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
uint32_t cruise_rate = initial_rate;
|
|
#endif
|
|
|
|
const int32_t accel = block->acceleration_steps_per_s2;
|
|
|
|
// Steps required for acceleration, deceleration to/from nominal rate
|
|
uint32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
|
|
decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel));
|
|
// Steps between acceleration and deceleration, if any
|
|
int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
|
|
|
|
// Does accelerate_steps + decelerate_steps exceed step_event_count?
|
|
// Then we can't possibly reach the nominal rate, there will be no cruising.
|
|
// Use intersection_distance() to calculate accel / braking time in order to
|
|
// reach the final_rate exactly at the end of this block.
|
|
if (plateau_steps < 0) {
|
|
const float accelerate_steps_float = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
|
|
accelerate_steps = _MIN(uint32_t(_MAX(accelerate_steps_float, 0)), block->step_event_count);
|
|
plateau_steps = 0;
|
|
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
// We won't reach the cruising rate. Let's calculate the speed we will reach
|
|
cruise_rate = final_speed(initial_rate, accel, accelerate_steps);
|
|
#endif
|
|
}
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
else // We have some plateau time, so the cruise rate will be the nominal rate
|
|
cruise_rate = block->nominal_rate;
|
|
#endif
|
|
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
// Jerk controlled speed requires to express speed versus time, NOT steps
|
|
uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE),
|
|
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE),
|
|
// And to offload calculations from the ISR, we also calculate the inverse of those times here
|
|
acceleration_time_inverse = get_period_inverse(acceleration_time),
|
|
deceleration_time_inverse = get_period_inverse(deceleration_time);
|
|
#endif
|
|
|
|
// Store new block parameters
|
|
block->accelerate_until = accelerate_steps;
|
|
block->decelerate_after = accelerate_steps + plateau_steps;
|
|
block->initial_rate = initial_rate;
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
block->acceleration_time = acceleration_time;
|
|
block->deceleration_time = deceleration_time;
|
|
block->acceleration_time_inverse = acceleration_time_inverse;
|
|
block->deceleration_time_inverse = deceleration_time_inverse;
|
|
block->cruise_rate = cruise_rate;
|
|
#endif
|
|
block->final_rate = final_rate;
|
|
|
|
/**
|
|
* Laser trapezoid calculations
|
|
*
|
|
* Approximate the trapezoid with the laser, incrementing the power every `entry_per` while accelerating
|
|
* and decrementing it every `exit_power_per` while decelerating, thus ensuring power is related to feedrate.
|
|
*
|
|
* LASER_POWER_INLINE_TRAPEZOID_CONT doesn't need this as it continuously approximates
|
|
*
|
|
* Note this may behave unreliably when running with S_CURVE_ACCELERATION
|
|
*/
|
|
#if ENABLED(LASER_POWER_INLINE_TRAPEZOID)
|
|
if (block->laser.power > 0) { // No need to care if power == 0
|
|
const uint8_t entry_power = block->laser.power * entry_factor; // Power on block entry
|
|
#if DISABLED(LASER_POWER_INLINE_TRAPEZOID_CONT)
|
|
// Speedup power
|
|
const uint8_t entry_power_diff = block->laser.power - entry_power;
|
|
if (entry_power_diff) {
|
|
block->laser.entry_per = accelerate_steps / entry_power_diff;
|
|
block->laser.power_entry = entry_power;
|
|
}
|
|
else {
|
|
block->laser.entry_per = 0;
|
|
block->laser.power_entry = block->laser.power;
|
|
}
|
|
// Slowdown power
|
|
const uint8_t exit_power = block->laser.power * exit_factor, // Power on block entry
|
|
exit_power_diff = block->laser.power - exit_power;
|
|
if (exit_power_diff) {
|
|
block->laser.exit_per = (block->step_event_count - block->decelerate_after) / exit_power_diff;
|
|
block->laser.power_exit = exit_power;
|
|
}
|
|
else {
|
|
block->laser.exit_per = 0;
|
|
block->laser.power_exit = block->laser.power;
|
|
}
|
|
#else
|
|
block->laser.power_entry = entry_power;
|
|
#endif
|
|
}
|
|
#endif
|
|
}
|
|
|
|
/* PLANNER SPEED DEFINITION
|
|
+--------+ <- current->nominal_speed
|
|
/ \
|
|
current->entry_speed -> + \
|
|
| + <- next->entry_speed (aka exit speed)
|
|
+-------------+
|
|
time -->
|
|
|
|
Recalculates the motion plan according to the following basic guidelines:
|
|
|
|
1. Go over every feasible block sequentially in reverse order and calculate the junction speeds
|
|
(i.e. current->entry_speed) such that:
|
|
a. No junction speed exceeds the pre-computed maximum junction speed limit or nominal speeds of
|
|
neighboring blocks.
|
|
b. A block entry speed cannot exceed one reverse-computed from its exit speed (next->entry_speed)
|
|
with a maximum allowable deceleration over the block travel distance.
|
|
c. The last (or newest appended) block is planned from a complete stop (an exit speed of zero).
|
|
2. Go over every block in chronological (forward) order and dial down junction speed values if
|
|
a. The exit speed exceeds the one forward-computed from its entry speed with the maximum allowable
|
|
acceleration over the block travel distance.
|
|
|
|
When these stages are complete, the planner will have maximized the velocity profiles throughout the all
|
|
of the planner blocks, where every block is operating at its maximum allowable acceleration limits. In
|
|
other words, for all of the blocks in the planner, the plan is optimal and no further speed improvements
|
|
are possible. If a new block is added to the buffer, the plan is recomputed according to the said
|
|
guidelines for a new optimal plan.
|
|
|
|
To increase computational efficiency of these guidelines, a set of planner block pointers have been
|
|
created to indicate stop-compute points for when the planner guidelines cannot logically make any further
|
|
changes or improvements to the plan when in normal operation and new blocks are streamed and added to the
|
|
planner buffer. For example, if a subset of sequential blocks in the planner have been planned and are
|
|
bracketed by junction velocities at their maximums (or by the first planner block as well), no new block
|
|
added to the planner buffer will alter the velocity profiles within them. So we no longer have to compute
|
|
them. Or, if a set of sequential blocks from the first block in the planner (or a optimal stop-compute
|
|
point) are all accelerating, they are all optimal and can not be altered by a new block added to the
|
|
planner buffer, as this will only further increase the plan speed to chronological blocks until a maximum
|
|
junction velocity is reached. However, if the operational conditions of the plan changes from infrequently
|
|
used feed holds or feedrate overrides, the stop-compute pointers will be reset and the entire plan is
|
|
recomputed as stated in the general guidelines.
|
|
|
|
Planner buffer index mapping:
|
|
- block_buffer_tail: Points to the beginning of the planner buffer. First to be executed or being executed.
|
|
- block_buffer_head: Points to the buffer block after the last block in the buffer. Used to indicate whether
|
|
the buffer is full or empty. As described for standard ring buffers, this block is always empty.
|
|
- block_buffer_planned: Points to the first buffer block after the last optimally planned block for normal
|
|
streaming operating conditions. Use for planning optimizations by avoiding recomputing parts of the
|
|
planner buffer that don't change with the addition of a new block, as describe above. In addition,
|
|
this block can never be less than block_buffer_tail and will always be pushed forward and maintain
|
|
this requirement when encountered by the Planner::release_current_block() routine during a cycle.
|
|
|
|
NOTE: Since the planner only computes on what's in the planner buffer, some motions with lots of short
|
|
line segments, like G2/3 arcs or complex curves, may seem to move slow. This is because there simply isn't
|
|
enough combined distance traveled in the entire buffer to accelerate up to the nominal speed and then
|
|
decelerate to a complete stop at the end of the buffer, as stated by the guidelines. If this happens and
|
|
becomes an annoyance, there are a few simple solutions: (1) Maximize the machine acceleration. The planner
|
|
will be able to compute higher velocity profiles within the same combined distance. (2) Maximize line
|
|
motion(s) distance per block to a desired tolerance. The more combined distance the planner has to use,
|
|
the faster it can go. (3) Maximize the planner buffer size. This also will increase the combined distance
|
|
for the planner to compute over. It also increases the number of computations the planner has to perform
|
|
to compute an optimal plan, so select carefully.
|
|
*/
|
|
|
|
// 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) {
|
|
// If entry speed is already at the maximum entry speed, and there was no change of speed
|
|
// in the next block, there is no need to recheck. Block is cruising and there is no need to
|
|
// compute anything for this block,
|
|
// If not, block entry speed needs to be recalculated to ensure maximum possible planned speed.
|
|
const float max_entry_speed_sqr = current->max_entry_speed_sqr;
|
|
|
|
// Compute maximum entry speed decelerating over the current block from its exit speed.
|
|
// If not at the maximum entry speed, or the previous block entry speed changed
|
|
if (current->entry_speed_sqr != max_entry_speed_sqr || (next && TEST(next->flag, BLOCK_BIT_RECALCULATE))) {
|
|
|
|
// If nominal length true, max junction speed is guaranteed to be reached.
|
|
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
|
|
// the current block and next block junction speeds are guaranteed to always be at their maximum
|
|
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
|
|
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
|
|
// the reverse and forward planners, the corresponding block junction speed will always be at the
|
|
// the maximum junction speed and may always be ignored for any speed reduction checks.
|
|
|
|
const float new_entry_speed_sqr = TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH)
|
|
? max_entry_speed_sqr
|
|
: _MIN(max_entry_speed_sqr, max_allowable_speed_sqr(-current->acceleration, next ? next->entry_speed_sqr : sq(float(MINIMUM_PLANNER_SPEED)), current->millimeters));
|
|
if (current->entry_speed_sqr != new_entry_speed_sqr) {
|
|
|
|
// Need to recalculate the block speed - Mark it now, so the stepper
|
|
// ISR does not consume the block before being recalculated
|
|
SBI(current->flag, BLOCK_BIT_RECALCULATE);
|
|
|
|
// But there is an inherent race condition here, as the block may have
|
|
// become BUSY just before being marked RECALCULATE, so check for that!
|
|
if (stepper.is_block_busy(current)) {
|
|
// Block became busy. Clear the RECALCULATE flag (no point in
|
|
// recalculating BUSY blocks). And don't set its speed, as it can't
|
|
// be updated at this time.
|
|
CBI(current->flag, BLOCK_BIT_RECALCULATE);
|
|
}
|
|
else {
|
|
// Block is not BUSY so this is ahead of the Stepper ISR:
|
|
// Just Set the new entry speed.
|
|
current->entry_speed_sqr = new_entry_speed_sqr;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* recalculate() needs to go over the current plan twice.
|
|
* Once in reverse and once forward. This implements the reverse pass.
|
|
*/
|
|
void Planner::reverse_pass() {
|
|
// Initialize block index to the last block in the planner buffer.
|
|
uint8_t block_index = prev_block_index(block_buffer_head);
|
|
|
|
// Read the index of the last buffer planned block.
|
|
// The ISR may change it so get a stable local copy.
|
|
uint8_t planned_block_index = block_buffer_planned;
|
|
|
|
// If there was a race condition and block_buffer_planned was incremented
|
|
// or was pointing at the head (queue empty) break loop now and avoid
|
|
// planning already consumed blocks
|
|
if (planned_block_index == block_buffer_head) return;
|
|
|
|
// Reverse Pass: Coarsely maximize all possible deceleration curves back-planning from the last
|
|
// block in buffer. Cease planning when the last optimal planned or tail pointer is reached.
|
|
// NOTE: Forward pass will later refine and correct the reverse pass to create an optimal plan.
|
|
const block_t *next = nullptr;
|
|
while (block_index != planned_block_index) {
|
|
|
|
// Perform the reverse pass
|
|
block_t *current = &block_buffer[block_index];
|
|
|
|
// Only consider non sync-and-page blocks
|
|
if (!(current->flag & BLOCK_MASK_SYNC) && !IS_PAGE(current)) {
|
|
reverse_pass_kernel(current, next);
|
|
next = current;
|
|
}
|
|
|
|
// Advance to the next
|
|
block_index = prev_block_index(block_index);
|
|
|
|
// The ISR could advance the block_buffer_planned while we were doing the reverse pass.
|
|
// We must try to avoid using an already consumed block as the last one - So follow
|
|
// changes to the pointer and make sure to limit the loop to the currently busy block
|
|
while (planned_block_index != block_buffer_planned) {
|
|
|
|
// If we reached the busy block or an already processed block, break the loop now
|
|
if (block_index == planned_block_index) return;
|
|
|
|
// Advance the pointer, following the busy block
|
|
planned_block_index = next_block_index(planned_block_index);
|
|
}
|
|
}
|
|
}
|
|
|
|
// 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, const uint8_t block_index) {
|
|
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) &&
|
|
previous->entry_speed_sqr < current->entry_speed_sqr) {
|
|
|
|
// Compute the maximum allowable speed
|
|
const float new_entry_speed_sqr = max_allowable_speed_sqr(-previous->acceleration, previous->entry_speed_sqr, previous->millimeters);
|
|
|
|
// If true, current block is full-acceleration and we can move the planned pointer forward.
|
|
if (new_entry_speed_sqr < current->entry_speed_sqr) {
|
|
|
|
// Mark we need to recompute the trapezoidal shape, and do it now,
|
|
// so the stepper ISR does not consume the block before being recalculated
|
|
SBI(current->flag, BLOCK_BIT_RECALCULATE);
|
|
|
|
// But there is an inherent race condition here, as the block maybe
|
|
// became BUSY, just before it was marked as RECALCULATE, so check
|
|
// if that is the case!
|
|
if (stepper.is_block_busy(current)) {
|
|
// Block became busy. Clear the RECALCULATE flag (no point in
|
|
// recalculating BUSY blocks and don't set its speed, as it can't
|
|
// be updated at this time.
|
|
CBI(current->flag, BLOCK_BIT_RECALCULATE);
|
|
}
|
|
else {
|
|
// Block is not BUSY, we won the race against the Stepper ISR:
|
|
|
|
// Always <= max_entry_speed_sqr. Backward pass sets this.
|
|
current->entry_speed_sqr = new_entry_speed_sqr; // Always <= max_entry_speed_sqr. Backward pass sets this.
|
|
|
|
// Set optimal plan pointer.
|
|
block_buffer_planned = block_index;
|
|
}
|
|
}
|
|
}
|
|
|
|
// Any block set at its maximum entry speed also creates an optimal plan up to this
|
|
// point in the buffer. When the plan is bracketed by either the beginning of the
|
|
// buffer and a maximum entry speed or two maximum entry speeds, every block in between
|
|
// cannot logically be further improved. Hence, we don't have to recompute them anymore.
|
|
if (current->entry_speed_sqr == current->max_entry_speed_sqr)
|
|
block_buffer_planned = block_index;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* recalculate() needs to go over the current plan twice.
|
|
* Once in reverse and once forward. This implements the forward pass.
|
|
*/
|
|
void Planner::forward_pass() {
|
|
|
|
// Forward Pass: Forward plan the acceleration curve from the planned pointer onward.
|
|
// Also scans for optimal plan breakpoints and appropriately updates the planned pointer.
|
|
|
|
// Begin at buffer planned pointer. Note that block_buffer_planned can be modified
|
|
// by the stepper ISR, so read it ONCE. It it guaranteed that block_buffer_planned
|
|
// will never lead head, so the loop is safe to execute. Also note that the forward
|
|
// pass will never modify the values at the tail.
|
|
uint8_t block_index = block_buffer_planned;
|
|
|
|
block_t *block;
|
|
const block_t * previous = nullptr;
|
|
while (block_index != block_buffer_head) {
|
|
|
|
// Perform the forward pass
|
|
block = &block_buffer[block_index];
|
|
|
|
// Skip SYNC and page blocks
|
|
if (!(block->flag & BLOCK_MASK_SYNC) && !IS_PAGE(block)) {
|
|
// If there's no previous block or the previous block is not
|
|
// BUSY (thus, modifiable) run the forward_pass_kernel. Otherwise,
|
|
// the previous block became BUSY, so assume the current block's
|
|
// entry speed can't be altered (since that would also require
|
|
// updating the exit speed of the previous block).
|
|
if (!previous || !stepper.is_block_busy(previous))
|
|
forward_pass_kernel(previous, block, block_index);
|
|
previous = block;
|
|
}
|
|
// Advance to the previous
|
|
block_index = next_block_index(block_index);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Recalculate the trapezoid speed profiles for all blocks in the plan
|
|
* according to the entry_factor for each junction. Must be called by
|
|
* recalculate() after updating the blocks.
|
|
*/
|
|
void Planner::recalculate_trapezoids() {
|
|
// The tail may be changed by the ISR so get a local copy.
|
|
uint8_t block_index = block_buffer_tail,
|
|
head_block_index = block_buffer_head;
|
|
// Since there could be a sync block in the head of the queue, and the
|
|
// next loop must not recalculate the head block (as it needs to be
|
|
// specially handled), scan backwards to the first non-SYNC block.
|
|
while (head_block_index != block_index) {
|
|
|
|
// Go back (head always point to the first free block)
|
|
const uint8_t prev_index = prev_block_index(head_block_index);
|
|
|
|
// Get the pointer to the block
|
|
block_t *prev = &block_buffer[prev_index];
|
|
|
|
// If not dealing with a sync block, we are done. The last block is not a SYNC block
|
|
if (!(prev->flag & BLOCK_MASK_SYNC)) break;
|
|
|
|
// Examine the previous block. This and all following are SYNC blocks
|
|
head_block_index = prev_index;
|
|
}
|
|
|
|
// Go from the tail (currently executed block) to the first block, without including it)
|
|
block_t *block = nullptr, *next = nullptr;
|
|
float current_entry_speed = 0.0, next_entry_speed = 0.0;
|
|
while (block_index != head_block_index) {
|
|
|
|
next = &block_buffer[block_index];
|
|
|
|
// Skip sync and page blocks
|
|
if (!(next->flag & BLOCK_MASK_SYNC) && !IS_PAGE(next)) {
|
|
next_entry_speed = SQRT(next->entry_speed_sqr);
|
|
|
|
if (block) {
|
|
// Recalculate if current block entry or exit junction speed has changed.
|
|
if (TEST(block->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
|
|
|
|
// Mark the current block as RECALCULATE, to protect it from the Stepper ISR running it.
|
|
// Note that due to the above condition, there's a chance the current block isn't marked as
|
|
// RECALCULATE yet, but the next one is. That's the reason for the following line.
|
|
SBI(block->flag, BLOCK_BIT_RECALCULATE);
|
|
|
|
// But there is an inherent race condition here, as the block maybe
|
|
// became BUSY, just before it was marked as RECALCULATE, so check
|
|
// if that is the case!
|
|
if (!stepper.is_block_busy(block)) {
|
|
// Block is not BUSY, we won the race against the Stepper ISR:
|
|
|
|
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
|
|
const float current_nominal_speed = SQRT(block->nominal_speed_sqr),
|
|
nomr = 1.0f / current_nominal_speed;
|
|
calculate_trapezoid_for_block(block, current_entry_speed * nomr, next_entry_speed * nomr);
|
|
#if ENABLED(LIN_ADVANCE)
|
|
if (block->use_advance_lead) {
|
|
const float comp = block->e_D_ratio * extruder_advance_K[active_extruder] * settings.axis_steps_per_mm[E_AXIS];
|
|
block->max_adv_steps = current_nominal_speed * comp;
|
|
block->final_adv_steps = next_entry_speed * comp;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
// Reset current only to ensure next trapezoid is computed - The
|
|
// stepper is free to use the block from now on.
|
|
CBI(block->flag, BLOCK_BIT_RECALCULATE);
|
|
}
|
|
}
|
|
|
|
block = next;
|
|
current_entry_speed = next_entry_speed;
|
|
}
|
|
|
|
block_index = next_block_index(block_index);
|
|
}
|
|
|
|
// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
|
|
if (next) {
|
|
|
|
// Mark the next(last) block as RECALCULATE, to prevent the Stepper ISR running it.
|
|
// As the last block is always recalculated here, there is a chance the block isn't
|
|
// marked as RECALCULATE yet. That's the reason for the following line.
|
|
SBI(next->flag, BLOCK_BIT_RECALCULATE);
|
|
|
|
// But there is an inherent race condition here, as the block maybe
|
|
// became BUSY, just before it was marked as RECALCULATE, so check
|
|
// if that is the case!
|
|
if (!stepper.is_block_busy(block)) {
|
|
// Block is not BUSY, we won the race against the Stepper ISR:
|
|
|
|
const float next_nominal_speed = SQRT(next->nominal_speed_sqr),
|
|
nomr = 1.0f / next_nominal_speed;
|
|
calculate_trapezoid_for_block(next, next_entry_speed * nomr, float(MINIMUM_PLANNER_SPEED) * nomr);
|
|
#if ENABLED(LIN_ADVANCE)
|
|
if (next->use_advance_lead) {
|
|
const float comp = next->e_D_ratio * extruder_advance_K[active_extruder] * settings.axis_steps_per_mm[E_AXIS];
|
|
next->max_adv_steps = next_nominal_speed * comp;
|
|
next->final_adv_steps = (MINIMUM_PLANNER_SPEED) * comp;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
// Reset next only to ensure its trapezoid is computed - The stepper is free to use
|
|
// the block from now on.
|
|
CBI(next->flag, BLOCK_BIT_RECALCULATE);
|
|
}
|
|
}
|
|
|
|
void Planner::recalculate() {
|
|
// Initialize block index to the last block in the planner buffer.
|
|
const uint8_t block_index = prev_block_index(block_buffer_head);
|
|
// If there is just one block, no planning can be done. Avoid it!
|
|
if (block_index != block_buffer_planned) {
|
|
reverse_pass();
|
|
forward_pass();
|
|
}
|
|
recalculate_trapezoids();
|
|
}
|
|
|
|
#if HAS_FAN && DISABLED(LASER_SYNCHRONOUS_M106_M107)
|
|
#define HAS_TAIL_FAN_SPEED 1
|
|
#endif
|
|
|
|
/**
|
|
* Apply fan speeds
|
|
*/
|
|
#if HAS_FAN
|
|
|
|
void Planner::sync_fan_speeds(uint8_t (&fan_speed)[FAN_COUNT]) {
|
|
|
|
#if FAN_MIN_PWM != 0 || FAN_MAX_PWM != 255
|
|
#define CALC_FAN_SPEED(f) (fan_speed[f] ? map(fan_speed[f], 1, 255, FAN_MIN_PWM, FAN_MAX_PWM) : FAN_OFF_PWM)
|
|
#else
|
|
#define CALC_FAN_SPEED(f) (fan_speed[f] ?: FAN_OFF_PWM)
|
|
#endif
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
#define _FAN_SET(F) thermalManager.soft_pwm_amount_fan[F] = CALC_FAN_SPEED(F);
|
|
#else
|
|
#define _FAN_SET(F) set_pwm_duty(pin_t(FAN##F##_PIN), CALC_FAN_SPEED(F));
|
|
#endif
|
|
#define FAN_SET(F) do{ kickstart_fan(fan_speed, ms, F); _FAN_SET(F); }while(0)
|
|
|
|
const millis_t ms = millis();
|
|
TERN_(HAS_FAN0, FAN_SET(0));
|
|
TERN_(HAS_FAN1, FAN_SET(1));
|
|
TERN_(HAS_FAN2, FAN_SET(2));
|
|
TERN_(HAS_FAN3, FAN_SET(3));
|
|
TERN_(HAS_FAN4, FAN_SET(4));
|
|
TERN_(HAS_FAN5, FAN_SET(5));
|
|
TERN_(HAS_FAN6, FAN_SET(6));
|
|
TERN_(HAS_FAN7, FAN_SET(7));
|
|
}
|
|
|
|
#if FAN_KICKSTART_TIME
|
|
|
|
void Planner::kickstart_fan(uint8_t (&fan_speed)[FAN_COUNT], const millis_t &ms, const uint8_t f) {
|
|
static millis_t fan_kick_end[FAN_COUNT] = { 0 };
|
|
if (fan_speed[f]) {
|
|
if (fan_kick_end[f] == 0) {
|
|
fan_kick_end[f] = ms + FAN_KICKSTART_TIME;
|
|
fan_speed[f] = 255;
|
|
}
|
|
else if (PENDING(ms, fan_kick_end[f]))
|
|
fan_speed[f] = 255;
|
|
}
|
|
else
|
|
fan_kick_end[f] = 0;
|
|
}
|
|
|
|
#endif
|
|
|
|
#endif // HAS_FAN
|
|
|
|
/**
|
|
* Maintain fans, paste extruder pressure,
|
|
*/
|
|
void Planner::check_axes_activity() {
|
|
|
|
#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K, DISABLE_E)
|
|
xyze_bool_t axis_active = { false };
|
|
#endif
|
|
|
|
#if HAS_TAIL_FAN_SPEED
|
|
static uint8_t tail_fan_speed[FAN_COUNT];
|
|
bool fans_need_update = false;
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
#if HAS_HEATER_1
|
|
uint8_t tail_valve_pressure;
|
|
#endif
|
|
#if HAS_HEATER_2
|
|
uint8_t tail_e_to_p_pressure;
|
|
#endif
|
|
#endif
|
|
|
|
if (has_blocks_queued()) {
|
|
|
|
#if EITHER(HAS_TAIL_FAN_SPEED, BARICUDA)
|
|
block_t *block = &block_buffer[block_buffer_tail];
|
|
#endif
|
|
|
|
#if HAS_TAIL_FAN_SPEED
|
|
FANS_LOOP(i) {
|
|
const uint8_t spd = thermalManager.scaledFanSpeed(i, block->fan_speed[i]);
|
|
if (tail_fan_speed[i] != spd) {
|
|
fans_need_update = true;
|
|
tail_fan_speed[i] = spd;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
TERN_(HAS_HEATER_1, tail_valve_pressure = block->valve_pressure);
|
|
TERN_(HAS_HEATER_2, tail_e_to_p_pressure = block->e_to_p_pressure);
|
|
#endif
|
|
|
|
#if ANY(DISABLE_X, DISABLE_Y, DISABLE_Z, DISABLE_I, DISABLE_J, DISABLE_K, DISABLE_E)
|
|
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
|
|
block_t *block = &block_buffer[b];
|
|
LOGICAL_AXIS_CODE(
|
|
if (TERN0(DISABLE_E, block->steps.e)) axis_active.e = true,
|
|
if (TERN0(DISABLE_X, block->steps.x)) axis_active.x = true,
|
|
if (TERN0(DISABLE_Y, block->steps.y)) axis_active.y = true,
|
|
if (TERN0(DISABLE_Z, block->steps.z)) axis_active.z = true,
|
|
if (TERN0(DISABLE_I, block->steps.i)) axis_active.i = true,
|
|
if (TERN0(DISABLE_J, block->steps.j)) axis_active.j = true,
|
|
if (TERN0(DISABLE_K, block->steps.k)) axis_active.k = true
|
|
);
|
|
}
|
|
#endif
|
|
}
|
|
else {
|
|
|
|
TERN_(HAS_CUTTER, cutter.refresh());
|
|
|
|
#if HAS_TAIL_FAN_SPEED
|
|
FANS_LOOP(i) {
|
|
const uint8_t spd = thermalManager.scaledFanSpeed(i);
|
|
if (tail_fan_speed[i] != spd) {
|
|
fans_need_update = true;
|
|
tail_fan_speed[i] = spd;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
TERN_(HAS_HEATER_1, tail_valve_pressure = baricuda_valve_pressure);
|
|
TERN_(HAS_HEATER_2, tail_e_to_p_pressure = baricuda_e_to_p_pressure);
|
|
#endif
|
|
}
|
|
|
|
//
|
|
// Disable inactive axes
|
|
//
|
|
LOGICAL_AXIS_CODE(
|
|
if (TERN0(DISABLE_E, !axis_active.e)) stepper.disable_e_steppers(),
|
|
if (TERN0(DISABLE_X, !axis_active.x)) stepper.disable_axis(X_AXIS),
|
|
if (TERN0(DISABLE_Y, !axis_active.y)) stepper.disable_axis(Y_AXIS),
|
|
if (TERN0(DISABLE_Z, !axis_active.z)) stepper.disable_axis(Z_AXIS),
|
|
if (TERN0(DISABLE_I, !axis_active.i)) stepper.disable_axis(I_AXIS),
|
|
if (TERN0(DISABLE_J, !axis_active.j)) stepper.disable_axis(J_AXIS),
|
|
if (TERN0(DISABLE_K, !axis_active.k)) stepper.disable_axis(K_AXIS)
|
|
);
|
|
|
|
//
|
|
// Update Fan speeds
|
|
// Only if synchronous M106/M107 is disabled
|
|
//
|
|
TERN_(HAS_TAIL_FAN_SPEED, if (fans_need_update) sync_fan_speeds(tail_fan_speed));
|
|
|
|
TERN_(AUTOTEMP, autotemp_task());
|
|
|
|
#if ENABLED(BARICUDA)
|
|
TERN_(HAS_HEATER_1, set_pwm_duty(pin_t(HEATER_1_PIN), tail_valve_pressure));
|
|
TERN_(HAS_HEATER_2, set_pwm_duty(pin_t(HEATER_2_PIN), tail_e_to_p_pressure));
|
|
#endif
|
|
}
|
|
|
|
#if ENABLED(AUTOTEMP)
|
|
|
|
#if ENABLED(AUTOTEMP_PROPORTIONAL)
|
|
void Planner::_autotemp_update_from_hotend() {
|
|
const celsius_t target = thermalManager.degTargetHotend(active_extruder);
|
|
autotemp_min = target + AUTOTEMP_MIN_P;
|
|
autotemp_max = target + AUTOTEMP_MAX_P;
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* Called after changing tools to:
|
|
* - Reset or re-apply the default proportional autotemp factor.
|
|
* - Enable autotemp if the factor is non-zero.
|
|
*/
|
|
void Planner::autotemp_update() {
|
|
_autotemp_update_from_hotend();
|
|
autotemp_factor = TERN(AUTOTEMP_PROPORTIONAL, AUTOTEMP_FACTOR_P, 0);
|
|
autotemp_enabled = autotemp_factor != 0;
|
|
}
|
|
|
|
/**
|
|
* Called by the M104/M109 commands after setting Hotend Temperature
|
|
*
|
|
*/
|
|
void Planner::autotemp_M104_M109() {
|
|
_autotemp_update_from_hotend();
|
|
|
|
if (parser.seenval('S')) autotemp_min = parser.value_celsius();
|
|
if (parser.seenval('B')) autotemp_max = parser.value_celsius();
|
|
|
|
// When AUTOTEMP_PROPORTIONAL is enabled, F0 disables autotemp.
|
|
// Normally, leaving off F also disables autotemp.
|
|
autotemp_factor = parser.seen('F') ? parser.value_float() : TERN(AUTOTEMP_PROPORTIONAL, AUTOTEMP_FACTOR_P, 0);
|
|
autotemp_enabled = autotemp_factor != 0;
|
|
}
|
|
|
|
/**
|
|
* Called every so often to adjust the hotend target temperature
|
|
* based on the extrusion speed, which is calculated from the blocks
|
|
* currently in the planner.
|
|
*/
|
|
void Planner::autotemp_task() {
|
|
static float oldt = 0;
|
|
|
|
if (!autotemp_enabled) return;
|
|
if (thermalManager.degTargetHotend(active_extruder) < autotemp_min - 2) return; // Below the min?
|
|
|
|
float high = 0.0;
|
|
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
|
|
block_t *block = &block_buffer[b];
|
|
if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, || block->steps.i, || block->steps.j, || block->steps.k)) {
|
|
const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec;
|
|
NOLESS(high, se);
|
|
}
|
|
}
|
|
|
|
float t = autotemp_min + high * autotemp_factor;
|
|
LIMIT(t, autotemp_min, autotemp_max);
|
|
if (t < oldt) t = t * (1.0f - (AUTOTEMP_OLDWEIGHT)) + oldt * (AUTOTEMP_OLDWEIGHT);
|
|
oldt = t;
|
|
thermalManager.setTargetHotend(t, active_extruder);
|
|
}
|
|
|
|
#endif
|
|
|
|
#if DISABLED(NO_VOLUMETRICS)
|
|
|
|
/**
|
|
* Get a volumetric multiplier from a filament diameter.
|
|
* This is the reciprocal of the circular cross-section area.
|
|
* Return 1.0 with volumetric off or a diameter of 0.0.
|
|
*/
|
|
inline float calculate_volumetric_multiplier(const_float_t diameter) {
|
|
return (parser.volumetric_enabled && diameter) ? 1.0f / CIRCLE_AREA(diameter * 0.5f) : 1;
|
|
}
|
|
|
|
/**
|
|
* Convert the filament sizes into volumetric multipliers.
|
|
* The multiplier converts a given E value into a length.
|
|
*/
|
|
void Planner::calculate_volumetric_multipliers() {
|
|
LOOP_L_N(i, COUNT(filament_size)) {
|
|
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
|
|
refresh_e_factor(i);
|
|
}
|
|
#if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT)
|
|
calculate_volumetric_extruder_limits(); // update volumetric_extruder_limits as well.
|
|
#endif
|
|
}
|
|
|
|
#endif // !NO_VOLUMETRICS
|
|
|
|
#if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT)
|
|
|
|
/**
|
|
* Convert volumetric based limits into pre calculated extruder feedrate limits.
|
|
*/
|
|
void Planner::calculate_volumetric_extruder_limit(const uint8_t e) {
|
|
const float &lim = volumetric_extruder_limit[e], &siz = filament_size[e];
|
|
volumetric_extruder_feedrate_limit[e] = (lim && siz) ? lim / CIRCLE_AREA(siz * 0.5f) : 0;
|
|
}
|
|
void Planner::calculate_volumetric_extruder_limits() {
|
|
LOOP_L_N(e, EXTRUDERS) calculate_volumetric_extruder_limit(e);
|
|
}
|
|
|
|
#endif
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
/**
|
|
* Convert the ratio value given by the filament width sensor
|
|
* into a volumetric multiplier. Conversion differs when using
|
|
* linear extrusion vs volumetric extrusion.
|
|
*/
|
|
void Planner::apply_filament_width_sensor(const int8_t encoded_ratio) {
|
|
// Reconstitute the nominal/measured ratio
|
|
const float nom_meas_ratio = 1 + 0.01f * encoded_ratio,
|
|
ratio_2 = sq(nom_meas_ratio);
|
|
|
|
volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = parser.volumetric_enabled
|
|
? ratio_2 / CIRCLE_AREA(filwidth.nominal_mm * 0.5f) // Volumetric uses a true volumetric multiplier
|
|
: ratio_2; // Linear squares the ratio, which scales the volume
|
|
|
|
refresh_e_factor(FILAMENT_SENSOR_EXTRUDER_NUM);
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(IMPROVE_HOMING_RELIABILITY)
|
|
|
|
void Planner::enable_stall_prevention(const bool onoff) {
|
|
static motion_state_t saved_motion_state;
|
|
if (onoff) {
|
|
saved_motion_state.acceleration.x = settings.max_acceleration_mm_per_s2[X_AXIS];
|
|
saved_motion_state.acceleration.y = settings.max_acceleration_mm_per_s2[Y_AXIS];
|
|
settings.max_acceleration_mm_per_s2[X_AXIS] = settings.max_acceleration_mm_per_s2[Y_AXIS] = 100;
|
|
#if ENABLED(DELTA)
|
|
saved_motion_state.acceleration.z = settings.max_acceleration_mm_per_s2[Z_AXIS];
|
|
settings.max_acceleration_mm_per_s2[Z_AXIS] = 100;
|
|
#endif
|
|
#if HAS_CLASSIC_JERK
|
|
saved_motion_state.jerk_state = max_jerk;
|
|
max_jerk.set(0, 0 OPTARG(DELTA, 0));
|
|
#endif
|
|
}
|
|
else {
|
|
settings.max_acceleration_mm_per_s2[X_AXIS] = saved_motion_state.acceleration.x;
|
|
settings.max_acceleration_mm_per_s2[Y_AXIS] = saved_motion_state.acceleration.y;
|
|
TERN_(DELTA, settings.max_acceleration_mm_per_s2[Z_AXIS] = saved_motion_state.acceleration.z);
|
|
TERN_(HAS_CLASSIC_JERK, max_jerk = saved_motion_state.jerk_state);
|
|
}
|
|
reset_acceleration_rates();
|
|
}
|
|
|
|
#endif
|
|
|
|
#if HAS_LEVELING
|
|
|
|
constexpr xy_pos_t level_fulcrum = {
|
|
TERN(Z_SAFE_HOMING, Z_SAFE_HOMING_X_POINT, X_HOME_POS),
|
|
TERN(Z_SAFE_HOMING, Z_SAFE_HOMING_Y_POINT, Y_HOME_POS)
|
|
};
|
|
|
|
/**
|
|
* rx, ry, rz - Cartesian positions in mm
|
|
* Leveled XYZ on completion
|
|
*/
|
|
void Planner::apply_leveling(xyz_pos_t &raw) {
|
|
if (!leveling_active) return;
|
|
|
|
#if ABL_PLANAR
|
|
|
|
xy_pos_t d = raw - level_fulcrum;
|
|
bed_level_matrix.apply_rotation_xyz(d.x, d.y, raw.z);
|
|
raw = d + level_fulcrum;
|
|
|
|
#elif HAS_MESH
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
const float fade_scaling_factor = fade_scaling_factor_for_z(raw.z);
|
|
#elif DISABLED(MESH_BED_LEVELING)
|
|
constexpr float fade_scaling_factor = 1.0;
|
|
#endif
|
|
|
|
raw.z += (
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
mbl.get_z(raw OPTARG(ENABLE_LEVELING_FADE_HEIGHT, fade_scaling_factor))
|
|
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
|
fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(raw) : 0.0
|
|
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
fade_scaling_factor ? fade_scaling_factor * bilinear_z_offset(raw) : 0.0
|
|
#endif
|
|
);
|
|
|
|
#endif
|
|
}
|
|
|
|
void Planner::unapply_leveling(xyz_pos_t &raw) {
|
|
|
|
if (leveling_active) {
|
|
|
|
#if ABL_PLANAR
|
|
|
|
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
|
|
|
|
xy_pos_t d = raw - level_fulcrum;
|
|
inverse.apply_rotation_xyz(d.x, d.y, raw.z);
|
|
raw = d + level_fulcrum;
|
|
|
|
#elif HAS_MESH
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
const float fade_scaling_factor = fade_scaling_factor_for_z(raw.z);
|
|
#elif DISABLED(MESH_BED_LEVELING)
|
|
constexpr float fade_scaling_factor = 1.0;
|
|
#endif
|
|
|
|
raw.z -= (
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
mbl.get_z(raw OPTARG(ENABLE_LEVELING_FADE_HEIGHT, fade_scaling_factor))
|
|
#elif ENABLED(AUTO_BED_LEVELING_UBL)
|
|
fade_scaling_factor ? fade_scaling_factor * ubl.get_z_correction(raw) : 0.0
|
|
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
fade_scaling_factor ? fade_scaling_factor * bilinear_z_offset(raw) : 0.0
|
|
#endif
|
|
);
|
|
|
|
#endif
|
|
}
|
|
}
|
|
|
|
#endif // HAS_LEVELING
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
/**
|
|
* rz, e - Cartesian positions in mm
|
|
*/
|
|
void Planner::apply_retract(float &rz, float &e) {
|
|
rz += fwretract.current_hop;
|
|
e -= fwretract.current_retract[active_extruder];
|
|
}
|
|
|
|
void Planner::unapply_retract(float &rz, float &e) {
|
|
rz -= fwretract.current_hop;
|
|
e += fwretract.current_retract[active_extruder];
|
|
}
|
|
|
|
#endif
|
|
|
|
void Planner::quick_stop() {
|
|
|
|
// Remove all the queued blocks. Note that this function is NOT
|
|
// called from the Stepper ISR, so we must consider tail as readonly!
|
|
// that is why we set head to tail - But there is a race condition that
|
|
// must be handled: The tail could change between the read and the assignment
|
|
// so this must be enclosed in a critical section
|
|
|
|
const bool was_enabled = stepper.suspend();
|
|
|
|
// Drop all queue entries
|
|
block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail;
|
|
|
|
// Restart the block delay for the first movement - As the queue was
|
|
// forced to empty, there's no risk the ISR will touch this.
|
|
delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE;
|
|
|
|
#if HAS_WIRED_LCD
|
|
// Clear the accumulated runtime
|
|
clear_block_buffer_runtime();
|
|
#endif
|
|
|
|
// Make sure to drop any attempt of queuing moves for 1 second
|
|
cleaning_buffer_counter = TEMP_TIMER_FREQUENCY;
|
|
|
|
// Reenable Stepper ISR
|
|
if (was_enabled) stepper.wake_up();
|
|
|
|
// And stop the stepper ISR
|
|
stepper.quick_stop();
|
|
}
|
|
|
|
#if ENABLED(REALTIME_REPORTING_COMMANDS)
|
|
|
|
void Planner::quick_pause() {
|
|
// Suspend until quick_resume is called
|
|
// Don't empty buffers or queues
|
|
const bool did_suspend = stepper.suspend();
|
|
if (did_suspend)
|
|
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(M_HOLD));
|
|
}
|
|
|
|
// Resume if suspended
|
|
void Planner::quick_resume() {
|
|
TERN_(FULL_REPORT_TO_HOST_FEATURE, set_and_report_grblstate(grbl_state_for_marlin_state()));
|
|
stepper.wake_up();
|
|
}
|
|
|
|
#endif
|
|
|
|
void Planner::endstop_triggered(const AxisEnum axis) {
|
|
// Record stepper position and discard the current block
|
|
stepper.endstop_triggered(axis);
|
|
}
|
|
|
|
float Planner::triggered_position_mm(const AxisEnum axis) {
|
|
return stepper.triggered_position(axis) * mm_per_step[axis];
|
|
}
|
|
|
|
void Planner::finish_and_disable() {
|
|
while (has_blocks_queued() || cleaning_buffer_counter) idle();
|
|
stepper.disable_all_steppers();
|
|
}
|
|
|
|
/**
|
|
* Get an axis position according to stepper position(s)
|
|
* For CORE machines apply translation from ABC to XYZ.
|
|
*/
|
|
float Planner::get_axis_position_mm(const AxisEnum axis) {
|
|
float axis_steps;
|
|
#if IS_CORE
|
|
|
|
// Requesting one of the "core" axes?
|
|
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
|
|
|
|
// Protect the access to the position.
|
|
const bool was_enabled = stepper.suspend();
|
|
|
|
const int32_t p1 = stepper.position(CORE_AXIS_1),
|
|
p2 = stepper.position(CORE_AXIS_2);
|
|
|
|
if (was_enabled) stepper.wake_up();
|
|
|
|
// ((a1+a2)+(a1-a2))/2 -> (a1+a2+a1-a2)/2 -> (a1+a1)/2 -> a1
|
|
// ((a1+a2)-(a1-a2))/2 -> (a1+a2-a1+a2)/2 -> (a2+a2)/2 -> a2
|
|
axis_steps = (axis == CORE_AXIS_2 ? CORESIGN(p1 - p2) : p1 + p2) * 0.5f;
|
|
}
|
|
else
|
|
axis_steps = stepper.position(axis);
|
|
|
|
#elif ENABLED(MARKFORGED_XY)
|
|
|
|
// Requesting one of the joined axes?
|
|
if (axis == CORE_AXIS_1 || axis == CORE_AXIS_2) {
|
|
// Protect the access to the position.
|
|
const bool was_enabled = stepper.suspend();
|
|
|
|
const int32_t p1 = stepper.position(CORE_AXIS_1),
|
|
p2 = stepper.position(CORE_AXIS_2);
|
|
|
|
if (was_enabled) stepper.wake_up();
|
|
|
|
axis_steps = ((axis == CORE_AXIS_1) ? p1 - p2 : p2);
|
|
}
|
|
else
|
|
axis_steps = stepper.position(axis);
|
|
|
|
#else
|
|
|
|
axis_steps = stepper.position(axis);
|
|
|
|
#endif
|
|
|
|
return axis_steps * mm_per_step[axis];
|
|
}
|
|
|
|
/**
|
|
* Block until the planner is finished processing
|
|
*/
|
|
void Planner::synchronize() { while (busy()) idle(); }
|
|
|
|
/**
|
|
* Planner::_buffer_steps
|
|
*
|
|
* Add a new linear movement to the planner queue (in terms of steps).
|
|
*
|
|
* target - target position in steps units
|
|
* target_float - target position in direct (mm, degrees) units. optional
|
|
* fr_mm_s - (target) speed of the move
|
|
* extruder - target extruder
|
|
* millimeters - the length of the movement, if known
|
|
*
|
|
* Returns true if movement was properly queued, false otherwise (if cleaning)
|
|
*/
|
|
bool Planner::_buffer_steps(const xyze_long_t &target
|
|
OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float)
|
|
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
|
|
, feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters
|
|
) {
|
|
|
|
// Wait for the next available block
|
|
uint8_t next_buffer_head;
|
|
block_t * const block = get_next_free_block(next_buffer_head);
|
|
|
|
// If we are cleaning, do not accept queuing of movements
|
|
// This must be after get_next_free_block() because it calls idle()
|
|
// where cleaning_buffer_counter can be changed
|
|
if (cleaning_buffer_counter) return false;
|
|
|
|
// Fill the block with the specified movement
|
|
if (!_populate_block(block, false, target
|
|
OPTARG(HAS_POSITION_FLOAT, target_float)
|
|
OPTARG(HAS_DIST_MM_ARG, cart_dist_mm)
|
|
, fr_mm_s, extruder, millimeters
|
|
)) {
|
|
// Movement was not queued, probably because it was too short.
|
|
// Simply accept that as movement queued and done
|
|
return true;
|
|
}
|
|
|
|
// If this is the first added movement, reload the delay, otherwise, cancel it.
|
|
if (block_buffer_head == block_buffer_tail) {
|
|
// If it was the first queued block, restart the 1st block delivery delay, to
|
|
// give the planner an opportunity to queue more movements and plan them
|
|
// As there are no queued movements, the Stepper ISR will not touch this
|
|
// variable, so there is no risk setting this here (but it MUST be done
|
|
// before the following line!!)
|
|
delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE;
|
|
}
|
|
|
|
// Move buffer head
|
|
block_buffer_head = next_buffer_head;
|
|
|
|
// Recalculate and optimize trapezoidal speed profiles
|
|
recalculate();
|
|
|
|
// Movement successfully queued!
|
|
return true;
|
|
}
|
|
|
|
/**
|
|
* Planner::_populate_block
|
|
*
|
|
* Fills a new linear movement in the block (in terms of steps).
|
|
*
|
|
* target - target position in steps units
|
|
* fr_mm_s - (target) speed of the move
|
|
* extruder - target extruder
|
|
*
|
|
* Returns true if movement is acceptable, false otherwise
|
|
*/
|
|
bool Planner::_populate_block(block_t * const block, bool split_move,
|
|
const abce_long_t &target
|
|
OPTARG(HAS_POSITION_FLOAT, const xyze_pos_t &target_float)
|
|
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
|
|
, feedRate_t fr_mm_s, const uint8_t extruder, const_float_t millimeters/*=0.0*/
|
|
) {
|
|
int32_t LOGICAL_AXIS_LIST(
|
|
de = target.e - position.e,
|
|
da = target.a - position.a,
|
|
db = target.b - position.b,
|
|
dc = target.c - position.c,
|
|
di = target.i - position.i,
|
|
dj = target.j - position.j,
|
|
dk = target.k - position.k
|
|
);
|
|
|
|
/* <-- add a slash to enable
|
|
SERIAL_ECHOLNPGM(
|
|
" _populate_block FR:", fr_mm_s,
|
|
" A:", target.a, " (", da, " steps)"
|
|
" B:", target.b, " (", db, " steps)"
|
|
" C:", target.c, " (", dc, " steps)"
|
|
#if LINEAR_AXES >= 4
|
|
" " AXIS4_STR ":", target.i, " (", di, " steps)"
|
|
#endif
|
|
#if LINEAR_AXES >= 5
|
|
" " AXIS5_STR ":", target.j, " (", dj, " steps)"
|
|
#endif
|
|
#if LINEAR_AXES >= 6
|
|
" " AXIS6_STR ":", target.k, " (", dk, " steps)"
|
|
#endif
|
|
#if HAS_EXTRUDERS
|
|
" E:", target.e, " (", de, " steps)"
|
|
#endif
|
|
);
|
|
//*/
|
|
|
|
#if EITHER(PREVENT_COLD_EXTRUSION, PREVENT_LENGTHY_EXTRUDE)
|
|
if (de) {
|
|
#if ENABLED(PREVENT_COLD_EXTRUSION)
|
|
if (thermalManager.tooColdToExtrude(extruder)) {
|
|
position.e = target.e; // Behave as if the move really took place, but ignore E part
|
|
TERN_(HAS_POSITION_FLOAT, position_float.e = target_float.e);
|
|
de = 0; // no difference
|
|
SERIAL_ECHO_MSG(STR_ERR_COLD_EXTRUDE_STOP);
|
|
}
|
|
#endif // PREVENT_COLD_EXTRUSION
|
|
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
|
|
const float e_steps = ABS(de * e_factor[extruder]);
|
|
const float max_e_steps = settings.axis_steps_per_mm[E_AXIS_N(extruder)] * (EXTRUDE_MAXLENGTH);
|
|
if (e_steps > max_e_steps) {
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
bool ignore_e = false;
|
|
float collector[MIXING_STEPPERS];
|
|
mixer.refresh_collector(1.0, mixer.get_current_vtool(), collector);
|
|
MIXER_STEPPER_LOOP(e)
|
|
if (e_steps * collector[e] > max_e_steps) { ignore_e = true; break; }
|
|
#else
|
|
constexpr bool ignore_e = true;
|
|
#endif
|
|
if (ignore_e) {
|
|
position.e = target.e; // Behave as if the move really took place, but ignore E part
|
|
TERN_(HAS_POSITION_FLOAT, position_float.e = target_float.e);
|
|
de = 0; // no difference
|
|
SERIAL_ECHO_MSG(STR_ERR_LONG_EXTRUDE_STOP);
|
|
}
|
|
}
|
|
#endif // PREVENT_LENGTHY_EXTRUDE
|
|
}
|
|
#endif // PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE
|
|
|
|
// Compute direction bit-mask for this block
|
|
axis_bits_t dm = 0;
|
|
#if CORE_IS_XY
|
|
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
|
|
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
|
|
if (dc < 0) SBI(dm, Z_AXIS);
|
|
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
|
|
if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction
|
|
#elif CORE_IS_XZ
|
|
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
|
|
if (db < 0) SBI(dm, Y_AXIS);
|
|
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
|
|
if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
|
|
if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
|
|
#elif CORE_IS_YZ
|
|
if (da < 0) SBI(dm, X_AXIS);
|
|
if (db < 0) SBI(dm, Y_HEAD); // Save the toolhead's true direction in Y
|
|
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
|
|
if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
|
|
if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
|
|
#elif ENABLED(MARKFORGED_XY)
|
|
if (da < 0) SBI(dm, X_HEAD); // Save the toolhead's true direction in X
|
|
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
|
|
if (dc < 0) SBI(dm, Z_AXIS);
|
|
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
|
|
if (db < 0) SBI(dm, B_AXIS); // Motor B direction
|
|
#else
|
|
LINEAR_AXIS_CODE(
|
|
if (da < 0) SBI(dm, X_AXIS),
|
|
if (db < 0) SBI(dm, Y_AXIS),
|
|
if (dc < 0) SBI(dm, Z_AXIS),
|
|
if (di < 0) SBI(dm, I_AXIS),
|
|
if (dj < 0) SBI(dm, J_AXIS),
|
|
if (dk < 0) SBI(dm, K_AXIS)
|
|
);
|
|
#endif
|
|
|
|
#if IS_CORE
|
|
#if LINEAR_AXES >= 4
|
|
if (di < 0) SBI(dm, I_AXIS);
|
|
#endif
|
|
#if LINEAR_AXES >= 5
|
|
if (dj < 0) SBI(dm, J_AXIS);
|
|
#endif
|
|
#if LINEAR_AXES >= 6
|
|
if (dk < 0) SBI(dm, K_AXIS);
|
|
#endif
|
|
#endif
|
|
|
|
TERN_(HAS_EXTRUDERS, if (de < 0) SBI(dm, E_AXIS));
|
|
|
|
#if HAS_EXTRUDERS
|
|
const float esteps_float = de * e_factor[extruder];
|
|
const uint32_t esteps = ABS(esteps_float) + 0.5f;
|
|
#else
|
|
constexpr uint32_t esteps = 0;
|
|
#endif
|
|
|
|
// Clear all flags, including the "busy" bit
|
|
block->flag = 0x00;
|
|
|
|
// Set direction bits
|
|
block->direction_bits = dm;
|
|
|
|
// Update block laser power
|
|
#if ENABLED(LASER_POWER_INLINE)
|
|
laser_inline.status.isPlanned = true;
|
|
block->laser.status = laser_inline.status;
|
|
block->laser.power = laser_inline.power;
|
|
#endif
|
|
|
|
// Number of steps for each axis
|
|
// See https://www.corexy.com/theory.html
|
|
#if CORE_IS_XY
|
|
block->steps.set(LINEAR_AXIS_LIST(ABS(da + db), ABS(da - db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
|
|
#elif CORE_IS_XZ
|
|
block->steps.set(LINEAR_AXIS_LIST(ABS(da + dc), ABS(db), ABS(da - dc), ABS(di), ABS(dj), ABS(dk)));
|
|
#elif CORE_IS_YZ
|
|
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db + dc), ABS(db - dc), ABS(di), ABS(dj), ABS(dk)));
|
|
#elif ENABLED(MARKFORGED_XY)
|
|
block->steps.set(LINEAR_AXIS_LIST(ABS(da + db), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
|
|
#elif IS_SCARA
|
|
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
|
|
#else
|
|
// default non-h-bot planning
|
|
block->steps.set(LINEAR_AXIS_LIST(ABS(da), ABS(db), ABS(dc), ABS(di), ABS(dj), ABS(dk)));
|
|
#endif
|
|
|
|
/**
|
|
* This part of the code calculates the total length of the movement.
|
|
* For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
|
|
* But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
|
|
* and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
|
|
* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
|
|
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
|
|
*/
|
|
struct DistanceMM : abce_float_t {
|
|
#if EITHER(IS_CORE, MARKFORGED_XY)
|
|
struct { float x, y, z; } head;
|
|
#endif
|
|
} steps_dist_mm;
|
|
#if IS_CORE
|
|
#if CORE_IS_XY
|
|
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
|
|
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
|
|
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
|
|
steps_dist_mm.a = (da + db) * mm_per_step[A_AXIS];
|
|
steps_dist_mm.b = CORESIGN(da - db) * mm_per_step[B_AXIS];
|
|
#elif CORE_IS_XZ
|
|
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
|
|
steps_dist_mm.y = db * mm_per_step[Y_AXIS];
|
|
steps_dist_mm.head.z = dc * mm_per_step[C_AXIS];
|
|
steps_dist_mm.a = (da + dc) * mm_per_step[A_AXIS];
|
|
steps_dist_mm.c = CORESIGN(da - dc) * mm_per_step[C_AXIS];
|
|
#elif CORE_IS_YZ
|
|
steps_dist_mm.x = da * mm_per_step[X_AXIS];
|
|
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
|
|
steps_dist_mm.head.z = dc * mm_per_step[C_AXIS];
|
|
steps_dist_mm.b = (db + dc) * mm_per_step[B_AXIS];
|
|
steps_dist_mm.c = CORESIGN(db - dc) * mm_per_step[C_AXIS];
|
|
#endif
|
|
#if LINEAR_AXES >= 4
|
|
steps_dist_mm.i = di * mm_per_step[I_AXIS];
|
|
#endif
|
|
#if LINEAR_AXES >= 5
|
|
steps_dist_mm.j = dj * mm_per_step[J_AXIS];
|
|
#endif
|
|
#if LINEAR_AXES >= 6
|
|
steps_dist_mm.k = dk * mm_per_step[K_AXIS];
|
|
#endif
|
|
#elif ENABLED(MARKFORGED_XY)
|
|
steps_dist_mm.head.x = da * mm_per_step[A_AXIS];
|
|
steps_dist_mm.head.y = db * mm_per_step[B_AXIS];
|
|
steps_dist_mm.z = dc * mm_per_step[Z_AXIS];
|
|
steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS];
|
|
steps_dist_mm.b = db * mm_per_step[B_AXIS];
|
|
#else
|
|
LINEAR_AXIS_CODE(
|
|
steps_dist_mm.a = da * mm_per_step[A_AXIS],
|
|
steps_dist_mm.b = db * mm_per_step[B_AXIS],
|
|
steps_dist_mm.c = dc * mm_per_step[C_AXIS],
|
|
steps_dist_mm.i = di * mm_per_step[I_AXIS],
|
|
steps_dist_mm.j = dj * mm_per_step[J_AXIS],
|
|
steps_dist_mm.k = dk * mm_per_step[K_AXIS]
|
|
);
|
|
#endif
|
|
|
|
TERN_(HAS_EXTRUDERS, steps_dist_mm.e = esteps_float * mm_per_step[E_AXIS_N(extruder)]);
|
|
|
|
TERN_(LCD_SHOW_E_TOTAL, e_move_accumulator += steps_dist_mm.e);
|
|
|
|
if (true LINEAR_AXIS_GANG(
|
|
&& block->steps.a < MIN_STEPS_PER_SEGMENT,
|
|
&& block->steps.b < MIN_STEPS_PER_SEGMENT,
|
|
&& block->steps.c < MIN_STEPS_PER_SEGMENT,
|
|
&& block->steps.i < MIN_STEPS_PER_SEGMENT,
|
|
&& block->steps.j < MIN_STEPS_PER_SEGMENT,
|
|
&& block->steps.k < MIN_STEPS_PER_SEGMENT
|
|
)
|
|
) {
|
|
block->millimeters = TERN0(HAS_EXTRUDERS, ABS(steps_dist_mm.e));
|
|
}
|
|
else {
|
|
if (millimeters)
|
|
block->millimeters = millimeters;
|
|
else {
|
|
block->millimeters = SQRT(
|
|
#if EITHER(CORE_IS_XY, MARKFORGED_XY)
|
|
LINEAR_AXIS_GANG(
|
|
sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z),
|
|
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
|
|
)
|
|
#elif CORE_IS_XZ
|
|
LINEAR_AXIS_GANG(
|
|
sq(steps_dist_mm.head.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.head.z),
|
|
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
|
|
)
|
|
#elif CORE_IS_YZ
|
|
LINEAR_AXIS_GANG(
|
|
sq(steps_dist_mm.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.head.z)
|
|
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
|
|
)
|
|
#elif ENABLED(FOAMCUTTER_XYUV)
|
|
// Return the largest distance move from either X/Y or I/J plane
|
|
#if LINEAR_AXES >= 5
|
|
_MAX(sq(steps_dist_mm.x) + sq(steps_dist_mm.y), sq(steps_dist_mm.i) + sq(steps_dist_mm.j))
|
|
#else
|
|
sq(steps_dist_mm.x) + sq(steps_dist_mm.y)
|
|
#endif
|
|
#else
|
|
LINEAR_AXIS_GANG(
|
|
sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z),
|
|
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
|
|
)
|
|
#endif
|
|
);
|
|
}
|
|
|
|
/**
|
|
* At this point at least one of the axes has more steps than
|
|
* MIN_STEPS_PER_SEGMENT, ensuring the segment won't get dropped as
|
|
* zero-length. It's important to not apply corrections
|
|
* to blocks that would get dropped!
|
|
*
|
|
* A correction function is permitted to add steps to an axis, it
|
|
* should *never* remove steps!
|
|
*/
|
|
TERN_(BACKLASH_COMPENSATION, backlash.add_correction_steps(da, db, dc, dm, block));
|
|
}
|
|
|
|
TERN_(HAS_EXTRUDERS, block->steps.e = esteps);
|
|
|
|
block->step_event_count = _MAX(LOGICAL_AXIS_LIST(
|
|
esteps, block->steps.a, block->steps.b, block->steps.c, block->steps.i, block->steps.j, block->steps.k
|
|
));
|
|
|
|
// Bail if this is a zero-length block
|
|
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return false;
|
|
|
|
TERN_(MIXING_EXTRUDER, mixer.populate_block(block->b_color));
|
|
|
|
TERN_(HAS_CUTTER, block->cutter_power = cutter.power);
|
|
|
|
#if HAS_FAN
|
|
FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
block->valve_pressure = baricuda_valve_pressure;
|
|
block->e_to_p_pressure = baricuda_e_to_p_pressure;
|
|
#endif
|
|
|
|
E_TERN_(block->extruder = extruder);
|
|
|
|
#if ENABLED(AUTO_POWER_CONTROL)
|
|
if (LINEAR_AXIS_GANG(
|
|
block->steps.x,
|
|
|| block->steps.y,
|
|
|| block->steps.z,
|
|
|| block->steps.i,
|
|
|| block->steps.j,
|
|
|| block->steps.k
|
|
)) powerManager.power_on();
|
|
#endif
|
|
|
|
// Enable active axes
|
|
#if EITHER(CORE_IS_XY, MARKFORGED_XY)
|
|
if (block->steps.a || block->steps.b) {
|
|
stepper.enable_axis(X_AXIS);
|
|
stepper.enable_axis(Y_AXIS);
|
|
}
|
|
#if DISABLED(Z_LATE_ENABLE)
|
|
if (block->steps.z) stepper.enable_axis(Z_AXIS);
|
|
#endif
|
|
#elif CORE_IS_XZ
|
|
if (block->steps.a || block->steps.c) {
|
|
stepper.enable_axis(X_AXIS);
|
|
stepper.enable_axis(Z_AXIS);
|
|
}
|
|
if (block->steps.y) stepper.enable_axis(Y_AXIS);
|
|
#elif CORE_IS_YZ
|
|
if (block->steps.b || block->steps.c) {
|
|
stepper.enable_axis(Y_AXIS);
|
|
stepper.enable_axis(Z_AXIS);
|
|
}
|
|
if (block->steps.x) stepper.enable_axis(X_AXIS);
|
|
#else
|
|
LINEAR_AXIS_CODE(
|
|
if (block->steps.x) stepper.enable_axis(X_AXIS),
|
|
if (block->steps.y) stepper.enable_axis(Y_AXIS),
|
|
if (TERN(Z_LATE_ENABLE, 0, block->steps.z)) stepper.enable_axis(Z_AXIS),
|
|
if (block->steps.i) stepper.enable_axis(I_AXIS),
|
|
if (block->steps.j) stepper.enable_axis(J_AXIS),
|
|
if (block->steps.k) stepper.enable_axis(K_AXIS)
|
|
);
|
|
#endif
|
|
#if EITHER(IS_CORE, MARKFORGED_XY)
|
|
#if LINEAR_AXES >= 4
|
|
if (block->steps.i) stepper.enable_axis(I_AXIS);
|
|
#endif
|
|
#if LINEAR_AXES >= 5
|
|
if (block->steps.j) stepper.enable_axis(J_AXIS);
|
|
#endif
|
|
#if LINEAR_AXES >= 6
|
|
if (block->steps.k) stepper.enable_axis(K_AXIS);
|
|
#endif
|
|
#endif
|
|
|
|
// Enable extruder(s)
|
|
#if HAS_EXTRUDERS
|
|
if (esteps) {
|
|
TERN_(AUTO_POWER_CONTROL, powerManager.power_on());
|
|
|
|
#if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder
|
|
|
|
// Count down all steppers that were recently moved
|
|
LOOP_L_N(i, E_STEPPERS)
|
|
if (g_uc_extruder_last_move[i]) g_uc_extruder_last_move[i]--;
|
|
|
|
// Switching Extruder uses one E stepper motor per two nozzles
|
|
#define E_STEPPER_INDEX(E) TERN(SWITCHING_EXTRUDER, (E) / 2, E)
|
|
|
|
// Enable all (i.e., both) E steppers for IDEX-style duplication, but only active E steppers for multi-nozzle (i.e., single wide X carriage) duplication
|
|
#define _IS_DUPE(N) TERN0(HAS_DUPLICATION_MODE, (extruder_duplication_enabled && TERN1(MULTI_NOZZLE_DUPLICATION, TEST(duplication_e_mask, N))))
|
|
|
|
#define ENABLE_ONE_E(N) do{ \
|
|
if (N == E_STEPPER_INDEX(extruder) || _IS_DUPE(N)) { /* N is 'extruder', or N is duplicating */ \
|
|
stepper.ENABLE_EXTRUDER(N); /* Enable the relevant E stepper... */ \
|
|
g_uc_extruder_last_move[N] = (BLOCK_BUFFER_SIZE) * 2; /* ...and reset its counter */ \
|
|
} \
|
|
else if (!g_uc_extruder_last_move[N]) /* Counter expired since last E stepper enable */ \
|
|
stepper.DISABLE_EXTRUDER(N); /* Disable the E stepper */ \
|
|
}while(0);
|
|
|
|
#else
|
|
|
|
#define ENABLE_ONE_E(N) stepper.ENABLE_EXTRUDER(N);
|
|
|
|
#endif
|
|
|
|
REPEAT(E_STEPPERS, ENABLE_ONE_E); // (ENABLE_ONE_E must end with semicolon)
|
|
}
|
|
#endif // HAS_EXTRUDERS
|
|
|
|
if (esteps)
|
|
NOLESS(fr_mm_s, settings.min_feedrate_mm_s);
|
|
else
|
|
NOLESS(fr_mm_s, settings.min_travel_feedrate_mm_s);
|
|
|
|
const float inverse_millimeters = 1.0f / block->millimeters; // Inverse millimeters to remove multiple divides
|
|
|
|
// Calculate inverse time for this move. No divide by zero due to previous checks.
|
|
// Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0.
|
|
float inverse_secs = fr_mm_s * inverse_millimeters;
|
|
|
|
// Get the number of non busy movements in queue (non busy means that they can be altered)
|
|
const uint8_t moves_queued = nonbusy_movesplanned();
|
|
|
|
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
|
|
#if EITHER(SLOWDOWN, HAS_WIRED_LCD) || defined(XY_FREQUENCY_LIMIT)
|
|
// Segment time im micro seconds
|
|
int32_t segment_time_us = LROUND(1000000.0f / inverse_secs);
|
|
#endif
|
|
|
|
#if ENABLED(SLOWDOWN)
|
|
#ifndef SLOWDOWN_DIVISOR
|
|
#define SLOWDOWN_DIVISOR 2
|
|
#endif
|
|
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / (SLOWDOWN_DIVISOR) - 1)) {
|
|
const int32_t time_diff = settings.min_segment_time_us - segment_time_us;
|
|
if (time_diff > 0) {
|
|
// Buffer is draining so add extra time. The amount of time added increases if the buffer is still emptied more.
|
|
const int32_t nst = segment_time_us + LROUND(2 * time_diff / moves_queued);
|
|
inverse_secs = 1000000.0f / nst;
|
|
#if defined(XY_FREQUENCY_LIMIT) || HAS_WIRED_LCD
|
|
segment_time_us = nst;
|
|
#endif
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if HAS_WIRED_LCD
|
|
// Protect the access to the position.
|
|
const bool was_enabled = stepper.suspend();
|
|
|
|
block_buffer_runtime_us += segment_time_us;
|
|
block->segment_time_us = segment_time_us;
|
|
|
|
if (was_enabled) stepper.wake_up();
|
|
#endif
|
|
|
|
block->nominal_speed_sqr = sq(block->millimeters * inverse_secs); // (mm/sec)^2 Always > 0
|
|
block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM) // Only for extruder with filament sensor
|
|
filwidth.advance_e(steps_dist_mm.e);
|
|
#endif
|
|
|
|
// Calculate and limit speed in mm/sec
|
|
|
|
xyze_float_t current_speed;
|
|
float speed_factor = 1.0f; // factor <1 decreases speed
|
|
|
|
// Linear axes first with less logic
|
|
LOOP_LINEAR_AXES(i) {
|
|
current_speed[i] = steps_dist_mm[i] * inverse_secs;
|
|
const feedRate_t cs = ABS(current_speed[i]),
|
|
max_fr = settings.max_feedrate_mm_s[i];
|
|
if (cs > max_fr) NOMORE(speed_factor, max_fr / cs);
|
|
}
|
|
|
|
// Limit speed on extruders, if any
|
|
#if HAS_EXTRUDERS
|
|
{
|
|
current_speed.e = steps_dist_mm.e * inverse_secs;
|
|
#if HAS_MIXER_SYNC_CHANNEL
|
|
// Move all mixing extruders at the specified rate
|
|
if (mixer.get_current_vtool() == MIXER_AUTORETRACT_TOOL)
|
|
current_speed.e *= MIXING_STEPPERS;
|
|
#endif
|
|
|
|
const feedRate_t cs = ABS(current_speed.e),
|
|
max_fr = settings.max_feedrate_mm_s[E_AXIS_N(extruder)]
|
|
* TERN(HAS_MIXER_SYNC_CHANNEL, MIXING_STEPPERS, 1);
|
|
|
|
if (cs > max_fr) NOMORE(speed_factor, max_fr / cs); //respect max feedrate on any movement (doesn't matter if E axes only or not)
|
|
|
|
#if ENABLED(VOLUMETRIC_EXTRUDER_LIMIT)
|
|
const feedRate_t max_vfr = volumetric_extruder_feedrate_limit[extruder]
|
|
* TERN(HAS_MIXER_SYNC_CHANNEL, MIXING_STEPPERS, 1);
|
|
|
|
// TODO: Doesn't work properly for joined segments. Set MIN_STEPS_PER_SEGMENT 1 as workaround.
|
|
|
|
if (block->steps.a || block->steps.b || block->steps.c) {
|
|
|
|
if (max_vfr > 0 && cs > max_vfr) {
|
|
NOMORE(speed_factor, max_vfr / cs); // respect volumetric extruder limit (if any)
|
|
/* <-- add a slash to enable
|
|
SERIAL_ECHOPGM("volumetric extruder limit enforced: ", (cs * CIRCLE_AREA(filament_size[extruder] * 0.5f)));
|
|
SERIAL_ECHOPGM(" mm^3/s (", cs);
|
|
SERIAL_ECHOPGM(" mm/s) limited to ", (max_vfr * CIRCLE_AREA(filament_size[extruder] * 0.5f)));
|
|
SERIAL_ECHOPGM(" mm^3/s (", max_vfr);
|
|
SERIAL_ECHOLNPGM(" mm/s)");
|
|
//*/
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#ifdef XY_FREQUENCY_LIMIT
|
|
|
|
static axis_bits_t old_direction_bits; // = 0
|
|
|
|
if (xy_freq_limit_hz) {
|
|
// Check and limit the xy direction change frequency
|
|
const axis_bits_t direction_change = block->direction_bits ^ old_direction_bits;
|
|
old_direction_bits = block->direction_bits;
|
|
segment_time_us = LROUND(float(segment_time_us) / speed_factor);
|
|
|
|
static int32_t xs0, xs1, xs2, ys0, ys1, ys2;
|
|
if (segment_time_us > xy_freq_min_interval_us)
|
|
xs2 = xs1 = ys2 = ys1 = xy_freq_min_interval_us;
|
|
else {
|
|
xs2 = xs1; xs1 = xs0;
|
|
ys2 = ys1; ys1 = ys0;
|
|
}
|
|
xs0 = TEST(direction_change, X_AXIS) ? segment_time_us : xy_freq_min_interval_us;
|
|
ys0 = TEST(direction_change, Y_AXIS) ? segment_time_us : xy_freq_min_interval_us;
|
|
|
|
if (segment_time_us < xy_freq_min_interval_us) {
|
|
const int32_t least_xy_segment_time = _MIN(_MAX(xs0, xs1, xs2), _MAX(ys0, ys1, ys2));
|
|
if (least_xy_segment_time < xy_freq_min_interval_us) {
|
|
float freq_xy_feedrate = (speed_factor * least_xy_segment_time) / xy_freq_min_interval_us;
|
|
NOLESS(freq_xy_feedrate, xy_freq_min_speed_factor);
|
|
NOMORE(speed_factor, freq_xy_feedrate);
|
|
}
|
|
}
|
|
}
|
|
|
|
#endif // XY_FREQUENCY_LIMIT
|
|
|
|
// Correct the speed
|
|
if (speed_factor < 1.0f) {
|
|
current_speed *= speed_factor;
|
|
block->nominal_rate *= speed_factor;
|
|
block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor);
|
|
}
|
|
|
|
// Compute and limit the acceleration rate for the trapezoid generator.
|
|
const float steps_per_mm = block->step_event_count * inverse_millimeters;
|
|
uint32_t accel;
|
|
if (LINEAR_AXIS_GANG(
|
|
!block->steps.a, && !block->steps.b, && !block->steps.c,
|
|
&& !block->steps.i, && !block->steps.j, && !block->steps.k)
|
|
) { // Is this a retract / recover move?
|
|
accel = CEIL(settings.retract_acceleration * steps_per_mm); // Convert to: acceleration steps/sec^2
|
|
TERN_(LIN_ADVANCE, block->use_advance_lead = false); // No linear advance for simple retract/recover
|
|
}
|
|
else {
|
|
#define LIMIT_ACCEL_LONG(AXIS,INDX) do{ \
|
|
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
|
|
const uint32_t max_possible = max_acceleration_steps_per_s2[AXIS+INDX] * block->step_event_count / block->steps[AXIS]; \
|
|
NOMORE(accel, max_possible); \
|
|
} \
|
|
}while(0)
|
|
|
|
#define LIMIT_ACCEL_FLOAT(AXIS,INDX) do{ \
|
|
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
|
|
const float max_possible = float(max_acceleration_steps_per_s2[AXIS+INDX]) * float(block->step_event_count) / float(block->steps[AXIS]); \
|
|
NOMORE(accel, max_possible); \
|
|
} \
|
|
}while(0)
|
|
|
|
// Start with print or travel acceleration
|
|
accel = CEIL((esteps ? settings.acceleration : settings.travel_acceleration) * steps_per_mm);
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
|
|
#define MAX_E_JERK(N) TERN(HAS_LINEAR_E_JERK, max_e_jerk[E_INDEX_N(N)], max_jerk.e)
|
|
|
|
/**
|
|
* Use LIN_ADVANCE for blocks if all these are true:
|
|
*
|
|
* esteps : This is a print move, because we checked for A, B, C steps before.
|
|
*
|
|
* extruder_advance_K[active_extruder] : There is an advance factor set for this extruder.
|
|
*
|
|
* de > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
|
|
*/
|
|
block->use_advance_lead = esteps
|
|
&& extruder_advance_K[active_extruder]
|
|
&& de > 0;
|
|
|
|
if (block->use_advance_lead) {
|
|
block->e_D_ratio = (target_float.e - position_float.e) /
|
|
#if IS_KINEMATIC
|
|
block->millimeters
|
|
#else
|
|
SQRT(sq(target_float.x - position_float.x)
|
|
+ sq(target_float.y - position_float.y)
|
|
+ sq(target_float.z - position_float.z))
|
|
#endif
|
|
;
|
|
|
|
// Check for unusual high e_D ratio to detect if a retract move was combined with the last print move due to min. steps per segment. Never execute this with advance!
|
|
// This assumes no one will use a retract length of 0mm < retr_length < ~0.2mm and no one will print 100mm wide lines using 3mm filament or 35mm wide lines using 1.75mm filament.
|
|
if (block->e_D_ratio > 3.0f)
|
|
block->use_advance_lead = false;
|
|
else {
|
|
const uint32_t max_accel_steps_per_s2 = MAX_E_JERK(extruder) / (extruder_advance_K[active_extruder] * block->e_D_ratio) * steps_per_mm;
|
|
if (TERN0(LA_DEBUG, accel > max_accel_steps_per_s2))
|
|
SERIAL_ECHOLNPGM("Acceleration limited.");
|
|
NOMORE(accel, max_accel_steps_per_s2);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// Limit acceleration per axis
|
|
if (block->step_event_count <= acceleration_long_cutoff) {
|
|
LOGICAL_AXIS_CODE(
|
|
LIMIT_ACCEL_LONG(E_AXIS, E_INDEX_N(extruder)),
|
|
LIMIT_ACCEL_LONG(A_AXIS, 0),
|
|
LIMIT_ACCEL_LONG(B_AXIS, 0),
|
|
LIMIT_ACCEL_LONG(C_AXIS, 0),
|
|
LIMIT_ACCEL_LONG(I_AXIS, 0),
|
|
LIMIT_ACCEL_LONG(J_AXIS, 0),
|
|
LIMIT_ACCEL_LONG(K_AXIS, 0)
|
|
);
|
|
}
|
|
else {
|
|
LOGICAL_AXIS_CODE(
|
|
LIMIT_ACCEL_FLOAT(E_AXIS, E_INDEX_N(extruder)),
|
|
LIMIT_ACCEL_FLOAT(A_AXIS, 0),
|
|
LIMIT_ACCEL_FLOAT(B_AXIS, 0),
|
|
LIMIT_ACCEL_FLOAT(C_AXIS, 0),
|
|
LIMIT_ACCEL_FLOAT(I_AXIS, 0),
|
|
LIMIT_ACCEL_FLOAT(J_AXIS, 0),
|
|
LIMIT_ACCEL_FLOAT(K_AXIS, 0)
|
|
);
|
|
}
|
|
}
|
|
block->acceleration_steps_per_s2 = accel;
|
|
block->acceleration = accel / steps_per_mm;
|
|
#if DISABLED(S_CURVE_ACCELERATION)
|
|
block->acceleration_rate = (uint32_t)(accel * (sq(4096.0f) / (STEPPER_TIMER_RATE)));
|
|
#endif
|
|
#if ENABLED(LIN_ADVANCE)
|
|
if (block->use_advance_lead) {
|
|
block->advance_speed = (STEPPER_TIMER_RATE) / (extruder_advance_K[active_extruder] * block->e_D_ratio * block->acceleration * settings.axis_steps_per_mm[E_AXIS_N(extruder)]);
|
|
#if ENABLED(LA_DEBUG)
|
|
if (extruder_advance_K[active_extruder] * block->e_D_ratio * block->acceleration * 2 < SQRT(block->nominal_speed_sqr) * block->e_D_ratio)
|
|
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");
|
|
if (block->advance_speed < 200)
|
|
SERIAL_ECHOLNPGM("eISR running at > 10kHz.");
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
float vmax_junction_sqr; // Initial limit on the segment entry velocity (mm/s)^2
|
|
|
|
#if HAS_JUNCTION_DEVIATION
|
|
/**
|
|
* Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
|
|
* Let a circle be tangent to both previous and current path line segments, where the junction
|
|
* deviation is defined as the distance from the junction to the closest edge of the circle,
|
|
* colinear with the circle center. The circular segment joining the two paths represents the
|
|
* path of centripetal acceleration. Solve for max velocity based on max acceleration about the
|
|
* radius of the circle, defined indirectly by junction deviation. This may be also viewed as
|
|
* path width or max_jerk in the previous Grbl version. This approach does not actually deviate
|
|
* from path, but used as a robust way to compute cornering speeds, as it takes into account the
|
|
* nonlinearities of both the junction angle and junction velocity.
|
|
*
|
|
* NOTE: If the junction deviation value is finite, Grbl executes the motions in an exact path
|
|
* mode (G61). If the junction deviation value is zero, Grbl will execute the motion in an exact
|
|
* stop mode (G61.1) manner. In the future, if continuous mode (G64) is desired, the math here
|
|
* is exactly the same. Instead of motioning all the way to junction point, the machine will
|
|
* just follow the arc circle defined here. The Arduino doesn't have the CPU cycles to perform
|
|
* a continuous mode path, but ARM-based microcontrollers most certainly do.
|
|
*
|
|
* NOTE: The max junction speed is a fixed value, since machine acceleration limits cannot be
|
|
* changed dynamically during operation nor can the line move geometry. This must be kept in
|
|
* memory in the event of a feedrate override changing the nominal speeds of blocks, which can
|
|
* change the overall maximum entry speed conditions of all blocks.
|
|
*
|
|
* #######
|
|
* https://github.com/MarlinFirmware/Marlin/issues/10341#issuecomment-388191754
|
|
*
|
|
* hoffbaked: on May 10 2018 tuned and improved the GRBL algorithm for Marlin:
|
|
Okay! It seems to be working good. I somewhat arbitrarily cut it off at 1mm
|
|
on then on anything with less sides than an octagon. With this, and the
|
|
reverse pass actually recalculating things, a corner acceleration value
|
|
of 1000 junction deviation of .05 are pretty reasonable. If the cycles
|
|
can be spared, a better acos could be used. For all I know, it may be
|
|
already calculated in a different place. */
|
|
|
|
// Unit vector of previous path line segment
|
|
static xyze_float_t prev_unit_vec;
|
|
|
|
xyze_float_t unit_vec =
|
|
#if HAS_DIST_MM_ARG
|
|
cart_dist_mm
|
|
#else
|
|
LOGICAL_AXIS_ARRAY(steps_dist_mm.e, steps_dist_mm.x, steps_dist_mm.y, steps_dist_mm.z, steps_dist_mm.i, steps_dist_mm.j, steps_dist_mm.k)
|
|
#endif
|
|
;
|
|
|
|
/**
|
|
* On CoreXY the length of the vector [A,B] is SQRT(2) times the length of the head movement vector [X,Y].
|
|
* So taking Z and E into account, we cannot scale to a unit vector with "inverse_millimeters".
|
|
* => normalize the complete junction vector.
|
|
* Elsewise, when needed JD will factor-in the E component
|
|
*/
|
|
if (EITHER(IS_CORE, MARKFORGED_XY) || esteps > 0)
|
|
normalize_junction_vector(unit_vec); // Normalize with XYZE components
|
|
else
|
|
unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))
|
|
|
|
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
|
|
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
|
|
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
|
|
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
|
|
float junction_cos_theta = LOGICAL_AXIS_GANG(
|
|
+ (-prev_unit_vec.e * unit_vec.e),
|
|
(-prev_unit_vec.x * unit_vec.x),
|
|
+ (-prev_unit_vec.y * unit_vec.y),
|
|
+ (-prev_unit_vec.z * unit_vec.z),
|
|
+ (-prev_unit_vec.i * unit_vec.i),
|
|
+ (-prev_unit_vec.j * unit_vec.j),
|
|
+ (-prev_unit_vec.k * unit_vec.k)
|
|
);
|
|
|
|
// NOTE: Computed without any expensive trig, sin() or acos(), by trig half angle identity of cos(theta).
|
|
if (junction_cos_theta > 0.999999f) {
|
|
// For a 0 degree acute junction, just set minimum junction speed.
|
|
vmax_junction_sqr = sq(float(MINIMUM_PLANNER_SPEED));
|
|
}
|
|
else {
|
|
NOLESS(junction_cos_theta, -0.999999f); // Check for numerical round-off to avoid divide by zero.
|
|
|
|
// Convert delta vector to unit vector
|
|
xyze_float_t junction_unit_vec = unit_vec - prev_unit_vec;
|
|
normalize_junction_vector(junction_unit_vec);
|
|
|
|
const float junction_acceleration = limit_value_by_axis_maximum(block->acceleration, junction_unit_vec),
|
|
sin_theta_d2 = SQRT(0.5f * (1.0f - junction_cos_theta)); // Trig half angle identity. Always positive.
|
|
|
|
vmax_junction_sqr = junction_acceleration * junction_deviation_mm * sin_theta_d2 / (1.0f - sin_theta_d2);
|
|
|
|
#if ENABLED(JD_HANDLE_SMALL_SEGMENTS)
|
|
|
|
// For small moves with >135° junction (octagon) find speed for approximate arc
|
|
if (block->millimeters < 1 && junction_cos_theta < -0.7071067812f) {
|
|
|
|
#if ENABLED(JD_USE_MATH_ACOS)
|
|
|
|
#error "TODO: Inline maths with the MCU / FPU."
|
|
|
|
#elif ENABLED(JD_USE_LOOKUP_TABLE)
|
|
|
|
// Fast acos approximation (max. error +-0.01 rads)
|
|
// Based on LUT table and linear interpolation
|
|
|
|
/**
|
|
* // Generate the JD Lookup Table
|
|
* constexpr float c = 1.00751495f; // Correction factor to center error around 0
|
|
* for (int i = 0; i < jd_lut_count - 1; ++i) {
|
|
* const float x0 = (sq(i) - 1) / sq(i),
|
|
* y0 = acos(x0) * (i == 0 ? 1 : c),
|
|
* x1 = i < jd_lut_count - 1 ? 0.5 * x0 + 0.5 : 0.999999f,
|
|
* y1 = acos(x1) * (i < jd_lut_count - 1 ? c : 1);
|
|
* jd_lut_k[i] = (y0 - y1) / (x0 - x1);
|
|
* jd_lut_b[i] = (y1 * x0 - y0 * x1) / (x0 - x1);
|
|
* }
|
|
*
|
|
* // Compute correction factor (Set c to 1.0f first!)
|
|
* float min = INFINITY, max = -min;
|
|
* for (float t = 0; t <= 1; t += 0.0003f) {
|
|
* const float e = acos(t) / approx(t);
|
|
* if (isfinite(e)) {
|
|
* if (e < min) min = e;
|
|
* if (e > max) max = e;
|
|
* }
|
|
* }
|
|
* fprintf(stderr, "%.9gf, ", (min + max) / 2);
|
|
*/
|
|
static constexpr int16_t jd_lut_count = 16;
|
|
static constexpr uint16_t jd_lut_tll = _BV(jd_lut_count - 1);
|
|
static constexpr int16_t jd_lut_tll0 = __builtin_clz(jd_lut_tll) + 1; // i.e., 16 - jd_lut_count + 1
|
|
static constexpr float jd_lut_k[jd_lut_count] PROGMEM = {
|
|
-1.03145837f, -1.30760646f, -1.75205851f, -2.41705704f,
|
|
-3.37769222f, -4.74888992f, -6.69649887f, -9.45661736f,
|
|
-13.3640480f, -18.8928222f, -26.7136841f, -37.7754593f,
|
|
-53.4201813f, -75.5458374f, -106.836761f, -218.532821f };
|
|
static constexpr float jd_lut_b[jd_lut_count] PROGMEM = {
|
|
1.57079637f, 1.70887053f, 2.04220939f, 2.62408352f,
|
|
3.52467871f, 4.85302639f, 6.77020454f, 9.50875854f,
|
|
13.4009285f, 18.9188995f, 26.7321243f, 37.7885055f,
|
|
53.4293975f, 75.5523529f, 106.841369f, 218.534011f };
|
|
|
|
const float neg = junction_cos_theta < 0 ? -1 : 1,
|
|
t = neg * junction_cos_theta;
|
|
|
|
const int16_t idx = (t < 0.00000003f) ? 0 : __builtin_clz(uint16_t((1.0f - t) * jd_lut_tll)) - jd_lut_tll0;
|
|
|
|
float junction_theta = t * pgm_read_float(&jd_lut_k[idx]) + pgm_read_float(&jd_lut_b[idx]);
|
|
if (neg > 0) junction_theta = RADIANS(180) - junction_theta; // acos(-t)
|
|
|
|
#else
|
|
|
|
// Fast acos(-t) approximation (max. error +-0.033rad = 1.89°)
|
|
// Based on MinMax polynomial published by W. Randolph Franklin, see
|
|
// https://wrf.ecse.rpi.edu/Research/Short_Notes/arcsin/onlyelem.html
|
|
// acos( t) = pi / 2 - asin(x)
|
|
// acos(-t) = pi - acos(t) ... pi / 2 + asin(x)
|
|
|
|
const float neg = junction_cos_theta < 0 ? -1 : 1,
|
|
t = neg * junction_cos_theta,
|
|
asinx = 0.032843707f
|
|
+ t * (-1.451838349f
|
|
+ t * ( 29.66153956f
|
|
+ t * (-131.1123477f
|
|
+ t * ( 262.8130562f
|
|
+ t * (-242.7199627f
|
|
+ t * ( 84.31466202f ) ))))),
|
|
junction_theta = RADIANS(90) + neg * asinx; // acos(-t)
|
|
|
|
// NOTE: junction_theta bottoms out at 0.033 which avoids divide by 0.
|
|
|
|
#endif
|
|
|
|
const float limit_sqr = (block->millimeters * junction_acceleration) / junction_theta;
|
|
NOMORE(vmax_junction_sqr, limit_sqr);
|
|
}
|
|
|
|
#endif // JD_HANDLE_SMALL_SEGMENTS
|
|
}
|
|
|
|
// Get the lowest speed
|
|
vmax_junction_sqr = _MIN(vmax_junction_sqr, block->nominal_speed_sqr, previous_nominal_speed_sqr);
|
|
}
|
|
else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later.
|
|
vmax_junction_sqr = 0;
|
|
|
|
prev_unit_vec = unit_vec;
|
|
|
|
#endif
|
|
|
|
#ifdef USE_CACHED_SQRT
|
|
#define CACHED_SQRT(N, V) \
|
|
static float saved_V, N; \
|
|
if (V != saved_V) { N = SQRT(V); saved_V = V; }
|
|
#else
|
|
#define CACHED_SQRT(N, V) const float N = SQRT(V)
|
|
#endif
|
|
|
|
#if HAS_CLASSIC_JERK
|
|
|
|
/**
|
|
* Adapted from Průša MKS firmware
|
|
* https://github.com/prusa3d/Prusa-Firmware
|
|
*/
|
|
CACHED_SQRT(nominal_speed, block->nominal_speed_sqr);
|
|
|
|
// Exit speed limited by a jerk to full halt of a previous last segment
|
|
static float previous_safe_speed;
|
|
|
|
// Start with a safe speed (from which the machine may halt to stop immediately).
|
|
float safe_speed = nominal_speed;
|
|
|
|
#ifndef TRAVEL_EXTRA_XYJERK
|
|
#define TRAVEL_EXTRA_XYJERK 0
|
|
#endif
|
|
const float extra_xyjerk = TERN0(HAS_EXTRUDERS, de <= 0) ? TRAVEL_EXTRA_XYJERK : 0;
|
|
|
|
uint8_t limited = 0;
|
|
TERN(HAS_LINEAR_E_JERK, LOOP_LINEAR_AXES, LOOP_LOGICAL_AXES)(i) {
|
|
const float jerk = ABS(current_speed[i]), // cs : Starting from zero, change in speed for this axis
|
|
maxj = (max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f)); // mj : The max jerk setting for this axis
|
|
if (jerk > maxj) { // cs > mj : New current speed too fast?
|
|
if (limited) { // limited already?
|
|
const float mjerk = nominal_speed * maxj; // ns*mj
|
|
if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk; // ns*mj/cs
|
|
}
|
|
else {
|
|
safe_speed *= maxj / jerk; // Initial limit: ns*mj/cs
|
|
++limited; // Initially limited
|
|
}
|
|
}
|
|
}
|
|
|
|
float vmax_junction;
|
|
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) {
|
|
// Estimate a maximum velocity allowed at a joint of two successive segments.
|
|
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
|
|
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
|
|
|
|
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
|
|
float v_factor = 1;
|
|
limited = 0;
|
|
|
|
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
|
|
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
|
|
CACHED_SQRT(previous_nominal_speed, previous_nominal_speed_sqr);
|
|
|
|
float smaller_speed_factor = 1.0f;
|
|
if (nominal_speed < previous_nominal_speed) {
|
|
vmax_junction = nominal_speed;
|
|
smaller_speed_factor = vmax_junction / previous_nominal_speed;
|
|
}
|
|
else
|
|
vmax_junction = previous_nominal_speed;
|
|
|
|
// Now limit the jerk in all axes.
|
|
TERN(HAS_LINEAR_E_JERK, LOOP_LINEAR_AXES, LOOP_LOGICAL_AXES)(axis) {
|
|
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
|
|
float v_exit = previous_speed[axis] * smaller_speed_factor,
|
|
v_entry = current_speed[axis];
|
|
if (limited) {
|
|
v_exit *= v_factor;
|
|
v_entry *= v_factor;
|
|
}
|
|
|
|
// Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
|
|
const float jerk = (v_exit > v_entry)
|
|
? // coasting axis reversal
|
|
( (v_entry > 0 || v_exit < 0) ? (v_exit - v_entry) : _MAX(v_exit, -v_entry) )
|
|
: // v_exit <= v_entry coasting axis reversal
|
|
( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : _MAX(-v_exit, v_entry) );
|
|
|
|
const float maxj = (max_jerk[axis] + (axis == X_AXIS || axis == Y_AXIS ? extra_xyjerk : 0.0f));
|
|
|
|
if (jerk > maxj) {
|
|
v_factor *= maxj / jerk;
|
|
++limited;
|
|
}
|
|
}
|
|
if (limited) vmax_junction *= v_factor;
|
|
// Now the transition velocity is known, which maximizes the shared exit / entry velocity while
|
|
// respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
|
|
const float vmax_junction_threshold = vmax_junction * 0.99f;
|
|
if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold)
|
|
vmax_junction = safe_speed;
|
|
}
|
|
else
|
|
vmax_junction = safe_speed;
|
|
|
|
previous_safe_speed = safe_speed;
|
|
|
|
#if HAS_JUNCTION_DEVIATION
|
|
NOMORE(vmax_junction_sqr, sq(vmax_junction)); // Throttle down to max speed
|
|
#else
|
|
vmax_junction_sqr = sq(vmax_junction); // Go up or down to the new speed
|
|
#endif
|
|
|
|
#endif // Classic Jerk Limiting
|
|
|
|
// Max entry speed of this block equals the max exit speed of the previous block.
|
|
block->max_entry_speed_sqr = vmax_junction_sqr;
|
|
|
|
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
|
|
const float v_allowable_sqr = max_allowable_speed_sqr(-block->acceleration, sq(float(MINIMUM_PLANNER_SPEED)), block->millimeters);
|
|
|
|
// If we are trying to add a split block, start with the
|
|
// max. allowed speed to avoid an interrupted first move.
|
|
block->entry_speed_sqr = !split_move ? sq(float(MINIMUM_PLANNER_SPEED)) : _MIN(vmax_junction_sqr, v_allowable_sqr);
|
|
|
|
// Initialize planner efficiency flags
|
|
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
|
|
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
|
|
// the current block and next block junction speeds are guaranteed to always be at their maximum
|
|
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
|
|
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
|
|
// the reverse and forward planners, the corresponding block junction speed will always be at the
|
|
// the maximum junction speed and may always be ignored for any speed reduction checks.
|
|
block->flag |= block->nominal_speed_sqr <= v_allowable_sqr ? BLOCK_FLAG_RECALCULATE | BLOCK_FLAG_NOMINAL_LENGTH : BLOCK_FLAG_RECALCULATE;
|
|
|
|
// Update previous path unit_vector and nominal speed
|
|
previous_speed = current_speed;
|
|
previous_nominal_speed_sqr = block->nominal_speed_sqr;
|
|
|
|
position = target; // Update the position
|
|
|
|
TERN_(HAS_POSITION_FLOAT, position_float = target_float);
|
|
TERN_(GRADIENT_MIX, mixer.gradient_control(target_float.z));
|
|
TERN_(POWER_LOSS_RECOVERY, block->sdpos = recovery.command_sdpos());
|
|
|
|
return true; // Movement was accepted
|
|
|
|
} // _populate_block()
|
|
|
|
/**
|
|
* Planner::buffer_sync_block
|
|
* Add a block to the buffer that just updates the position,
|
|
* or in case of LASER_SYNCHRONOUS_M106_M107 the fan PWM
|
|
*/
|
|
void Planner::buffer_sync_block(TERN_(LASER_SYNCHRONOUS_M106_M107, uint8_t sync_flag)) {
|
|
#if DISABLED(LASER_SYNCHRONOUS_M106_M107)
|
|
constexpr uint8_t sync_flag = BLOCK_FLAG_SYNC_POSITION;
|
|
#endif
|
|
|
|
// Wait for the next available block
|
|
uint8_t next_buffer_head;
|
|
block_t * const block = get_next_free_block(next_buffer_head);
|
|
|
|
// Clear block
|
|
memset(block, 0, sizeof(block_t));
|
|
|
|
block->flag = sync_flag;
|
|
|
|
block->position = position;
|
|
|
|
#if BOTH(HAS_FAN, LASER_SYNCHRONOUS_M106_M107)
|
|
FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
|
|
#endif
|
|
|
|
// If this is the first added movement, reload the delay, otherwise, cancel it.
|
|
if (block_buffer_head == block_buffer_tail) {
|
|
// If it was the first queued block, restart the 1st block delivery delay, to
|
|
// give the planner an opportunity to queue more movements and plan them
|
|
// As there are no queued movements, the Stepper ISR will not touch this
|
|
// variable, so there is no risk setting this here (but it MUST be done
|
|
// before the following line!!)
|
|
delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE;
|
|
}
|
|
|
|
block_buffer_head = next_buffer_head;
|
|
|
|
stepper.wake_up();
|
|
} // buffer_sync_block()
|
|
|
|
/**
|
|
* Planner::buffer_segment
|
|
*
|
|
* Add a new linear movement to the buffer in axis units.
|
|
*
|
|
* Leveling and kinematics should be applied ahead of calling this.
|
|
*
|
|
* a,b,c,e - target positions in mm and/or degrees
|
|
* fr_mm_s - (target) speed of the move
|
|
* extruder - target extruder
|
|
* millimeters - the length of the movement, if known
|
|
*
|
|
* Return 'false' if no segment was queued due to cleaning, cold extrusion, full queue, etc.
|
|
*/
|
|
bool Planner::buffer_segment(const abce_pos_t &abce
|
|
OPTARG(HAS_DIST_MM_ARG, const xyze_float_t &cart_dist_mm)
|
|
, const_feedRate_t fr_mm_s, const uint8_t extruder/*=active_extruder*/, const_float_t millimeters/*=0.0*/
|
|
) {
|
|
|
|
// If we are cleaning, do not accept queuing of movements
|
|
if (cleaning_buffer_counter) return false;
|
|
|
|
// When changing extruders recalculate steps corresponding to the E position
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
if (last_extruder != extruder && settings.axis_steps_per_mm[E_AXIS_N(extruder)] != settings.axis_steps_per_mm[E_AXIS_N(last_extruder)]) {
|
|
position.e = LROUND(position.e * settings.axis_steps_per_mm[E_AXIS_N(extruder)] * mm_per_step[E_AXIS_N(last_extruder)]);
|
|
last_extruder = extruder;
|
|
}
|
|
#endif
|
|
|
|
// The target position of the tool in absolute steps
|
|
// Calculate target position in absolute steps
|
|
const abce_long_t target = {
|
|
LOGICAL_AXIS_LIST(
|
|
int32_t(LROUND(abce.e * settings.axis_steps_per_mm[E_AXIS_N(extruder)])),
|
|
int32_t(LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS])),
|
|
int32_t(LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS])),
|
|
int32_t(LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS])),
|
|
int32_t(LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS])),
|
|
int32_t(LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS])),
|
|
int32_t(LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS]))
|
|
)
|
|
};
|
|
|
|
#if HAS_POSITION_FLOAT
|
|
const xyze_pos_t target_float = abce;
|
|
#endif
|
|
|
|
#if HAS_EXTRUDERS
|
|
// DRYRUN prevents E moves from taking place
|
|
if (DEBUGGING(DRYRUN) || TERN0(CANCEL_OBJECTS, cancelable.skipping)) {
|
|
position.e = target.e;
|
|
TERN_(HAS_POSITION_FLOAT, position_float.e = abce.e);
|
|
}
|
|
#endif
|
|
|
|
/* <-- add a slash to enable
|
|
SERIAL_ECHOPGM(" buffer_segment FR:", fr_mm_s);
|
|
#if IS_KINEMATIC
|
|
SERIAL_ECHOPGM(" A:", abce.a, " (", position.a, "->", target.a, ") B:", abce.b);
|
|
#else
|
|
SERIAL_ECHOPGM_P(SP_X_LBL, abce.a);
|
|
SERIAL_ECHOPGM(" (", position.x, "->", target.x);
|
|
SERIAL_CHAR(')');
|
|
SERIAL_ECHOPGM_P(SP_Y_LBL, abce.b);
|
|
#endif
|
|
SERIAL_ECHOPGM(" (", position.y, "->", target.y);
|
|
#if LINEAR_AXES >= ABC
|
|
#if ENABLED(DELTA)
|
|
SERIAL_ECHOPGM(") C:", abce.c);
|
|
#else
|
|
SERIAL_CHAR(')');
|
|
SERIAL_ECHOPGM_P(SP_Z_LBL, abce.c);
|
|
#endif
|
|
SERIAL_ECHOPGM(" (", position.z, "->", target.z);
|
|
SERIAL_CHAR(')');
|
|
#endif
|
|
#if LINEAR_AXES >= 4
|
|
SERIAL_ECHOPGM_P(SP_I_LBL, abce.i);
|
|
SERIAL_ECHOPGM(" (", position.i, "->", target.i);
|
|
SERIAL_CHAR(')');
|
|
#endif
|
|
#if LINEAR_AXES >= 5
|
|
SERIAL_ECHOPGM_P(SP_J_LBL, abce.j);
|
|
SERIAL_ECHOPGM(" (", position.j, "->", target.j);
|
|
SERIAL_CHAR(')');
|
|
#endif
|
|
#if LINEAR_AXES >= 6
|
|
SERIAL_ECHOPGM_P(SP_K_LBL, abce.k);
|
|
SERIAL_ECHOPGM(" (", position.k, "->", target.k);
|
|
SERIAL_CHAR(')');
|
|
#endif
|
|
#if HAS_EXTRUDERS
|
|
SERIAL_ECHOPGM_P(SP_E_LBL, abce.e);
|
|
SERIAL_ECHOLNPGM(" (", position.e, "->", target.e, ")");
|
|
#else
|
|
SERIAL_EOL();
|
|
#endif
|
|
//*/
|
|
|
|
// Queue the movement. Return 'false' if the move was not queued.
|
|
if (!_buffer_steps(target
|
|
OPTARG(HAS_POSITION_FLOAT, target_float)
|
|
OPTARG(HAS_DIST_MM_ARG, cart_dist_mm)
|
|
, fr_mm_s, extruder, millimeters)
|
|
) return false;
|
|
|
|
stepper.wake_up();
|
|
return true;
|
|
} // buffer_segment()
|
|
|
|
/**
|
|
* Add a new linear movement to the buffer.
|
|
* The target is cartesian. It's translated to
|
|
* delta/scara if needed.
|
|
*
|
|
* cart - target position in mm or degrees
|
|
* fr_mm_s - (target) speed of the move (mm/s)
|
|
* extruder - target extruder
|
|
* millimeters - the length of the movement, if known
|
|
* inv_duration - the reciprocal if the duration of the movement, if known (kinematic only if feeedrate scaling is enabled)
|
|
*/
|
|
bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s, const uint8_t extruder/*=active_extruder*/, const float millimeters/*=0.0*/
|
|
OPTARG(SCARA_FEEDRATE_SCALING, const_float_t inv_duration/*=0.0*/)
|
|
) {
|
|
xyze_pos_t machine = cart;
|
|
TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine));
|
|
|
|
#if IS_KINEMATIC
|
|
|
|
#if HAS_JUNCTION_DEVIATION
|
|
const xyze_pos_t cart_dist_mm = LOGICAL_AXIS_ARRAY(
|
|
cart.e - position_cart.e,
|
|
cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z,
|
|
cart.i - position_cart.i, cart.j - position_cart.j, cart.j - position_cart.k
|
|
);
|
|
#else
|
|
const xyz_pos_t cart_dist_mm = LINEAR_AXIS_ARRAY(
|
|
cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z,
|
|
cart.i - position_cart.i, cart.j - position_cart.j, cart.j - position_cart.k
|
|
);
|
|
#endif
|
|
|
|
const float mm = millimeters ?: (cart_dist_mm.x || cart_dist_mm.y) ? cart_dist_mm.magnitude() : TERN0(HAS_Z_AXIS, ABS(cart_dist_mm.z));
|
|
|
|
// Cartesian XYZ to kinematic ABC, stored in global 'delta'
|
|
inverse_kinematics(machine);
|
|
|
|
#if ENABLED(SCARA_FEEDRATE_SCALING)
|
|
// For SCARA scale the feed rate from mm/s to degrees/s
|
|
// i.e., Complete the angular vector in the given time.
|
|
const float duration_recip = inv_duration ?: fr_mm_s / mm;
|
|
const xyz_pos_t diff = delta - position_float;
|
|
const feedRate_t feedrate = diff.magnitude() * duration_recip;
|
|
#else
|
|
const feedRate_t feedrate = fr_mm_s;
|
|
#endif
|
|
TERN_(HAS_EXTRUDERS, delta.e = machine.e);
|
|
if (buffer_segment(delta OPTARG(HAS_DIST_MM_ARG, cart_dist_mm), feedrate, extruder, mm)) {
|
|
position_cart = cart;
|
|
return true;
|
|
}
|
|
return false;
|
|
#else
|
|
return buffer_segment(machine, fr_mm_s, extruder, millimeters);
|
|
#endif
|
|
} // buffer_line()
|
|
|
|
#if ENABLED(DIRECT_STEPPING)
|
|
|
|
void Planner::buffer_page(const page_idx_t page_idx, const uint8_t extruder, const uint16_t num_steps) {
|
|
if (!last_page_step_rate) {
|
|
kill(GET_TEXT_F(MSG_BAD_PAGE_SPEED));
|
|
return;
|
|
}
|
|
|
|
uint8_t next_buffer_head;
|
|
block_t * const block = get_next_free_block(next_buffer_head);
|
|
|
|
block->flag = BLOCK_FLAG_IS_PAGE;
|
|
|
|
#if HAS_FAN
|
|
FANS_LOOP(i) block->fan_speed[i] = thermalManager.fan_speed[i];
|
|
#endif
|
|
|
|
E_TERN_(block->extruder = extruder);
|
|
|
|
block->page_idx = page_idx;
|
|
|
|
block->step_event_count = num_steps;
|
|
block->initial_rate = block->final_rate = block->nominal_rate = last_page_step_rate; // steps/s
|
|
|
|
block->accelerate_until = 0;
|
|
block->decelerate_after = block->step_event_count;
|
|
|
|
// Will be set to last direction later if directional format.
|
|
block->direction_bits = 0;
|
|
|
|
#define PAGE_UPDATE_DIR(AXIS) \
|
|
if (!last_page_dir[_AXIS(AXIS)]) SBI(block->direction_bits, _AXIS(AXIS));
|
|
|
|
if (!DirectStepping::Config::DIRECTIONAL) {
|
|
PAGE_UPDATE_DIR(X);
|
|
PAGE_UPDATE_DIR(Y);
|
|
PAGE_UPDATE_DIR(Z);
|
|
PAGE_UPDATE_DIR(E);
|
|
}
|
|
|
|
// If this is the first added movement, reload the delay, otherwise, cancel it.
|
|
if (block_buffer_head == block_buffer_tail) {
|
|
// If it was the first queued block, restart the 1st block delivery delay, to
|
|
// give the planner an opportunity to queue more movements and plan them
|
|
// As there are no queued movements, the Stepper ISR will not touch this
|
|
// variable, so there is no risk setting this here (but it MUST be done
|
|
// before the following line!!)
|
|
delay_before_delivering = BLOCK_DELAY_FOR_1ST_MOVE;
|
|
}
|
|
|
|
// Move buffer head
|
|
block_buffer_head = next_buffer_head;
|
|
|
|
stepper.enable_all_steppers();
|
|
stepper.wake_up();
|
|
}
|
|
|
|
#endif // DIRECT_STEPPING
|
|
|
|
/**
|
|
* Directly set the planner ABCE position (and stepper positions)
|
|
* converting mm (or angles for SCARA) into steps.
|
|
*
|
|
* The provided ABCE position is in machine units.
|
|
*/
|
|
void Planner::set_machine_position_mm(const abce_pos_t &abce) {
|
|
TERN_(DISTINCT_E_FACTORS, last_extruder = active_extruder);
|
|
TERN_(HAS_POSITION_FLOAT, position_float = abce);
|
|
position.set(
|
|
LOGICAL_AXIS_LIST(
|
|
LROUND(abce.e * settings.axis_steps_per_mm[E_AXIS_N(active_extruder)]),
|
|
LROUND(abce.a * settings.axis_steps_per_mm[A_AXIS]),
|
|
LROUND(abce.b * settings.axis_steps_per_mm[B_AXIS]),
|
|
LROUND(abce.c * settings.axis_steps_per_mm[C_AXIS]),
|
|
LROUND(abce.i * settings.axis_steps_per_mm[I_AXIS]),
|
|
LROUND(abce.j * settings.axis_steps_per_mm[J_AXIS]),
|
|
LROUND(abce.k * settings.axis_steps_per_mm[K_AXIS])
|
|
)
|
|
);
|
|
if (has_blocks_queued()) {
|
|
//previous_nominal_speed_sqr = 0.0; // Reset planner junction speeds. Assume start from rest.
|
|
//previous_speed.reset();
|
|
buffer_sync_block();
|
|
}
|
|
else
|
|
stepper.set_position(position);
|
|
}
|
|
|
|
void Planner::set_position_mm(const xyze_pos_t &xyze) {
|
|
xyze_pos_t machine = xyze;
|
|
TERN_(HAS_POSITION_MODIFIERS, apply_modifiers(machine, true));
|
|
#if IS_KINEMATIC
|
|
position_cart = xyze;
|
|
inverse_kinematics(machine);
|
|
TERN_(HAS_EXTRUDERS, delta.e = machine.e);
|
|
set_machine_position_mm(delta);
|
|
#else
|
|
set_machine_position_mm(machine);
|
|
#endif
|
|
}
|
|
|
|
#if HAS_EXTRUDERS
|
|
|
|
/**
|
|
* Setters for planner position (also setting stepper position).
|
|
*/
|
|
void Planner::set_e_position_mm(const_float_t e) {
|
|
const uint8_t axis_index = E_AXIS_N(active_extruder);
|
|
TERN_(DISTINCT_E_FACTORS, last_extruder = active_extruder);
|
|
|
|
const float e_new = DIFF_TERN(FWRETRACT, e, fwretract.current_retract[active_extruder]);
|
|
position.e = LROUND(settings.axis_steps_per_mm[axis_index] * e_new);
|
|
TERN_(HAS_POSITION_FLOAT, position_float.e = e_new);
|
|
TERN_(IS_KINEMATIC, TERN_(HAS_EXTRUDERS, position_cart.e = e));
|
|
|
|
if (has_blocks_queued())
|
|
buffer_sync_block();
|
|
else
|
|
stepper.set_axis_position(E_AXIS, position.e);
|
|
}
|
|
|
|
#endif
|
|
|
|
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
|
|
void Planner::reset_acceleration_rates() {
|
|
uint32_t highest_rate = 1;
|
|
LOOP_DISTINCT_AXES(i) {
|
|
max_acceleration_steps_per_s2[i] = settings.max_acceleration_mm_per_s2[i] * settings.axis_steps_per_mm[i];
|
|
if (TERN1(DISTINCT_E_FACTORS, i < E_AXIS || i == E_AXIS_N(active_extruder)))
|
|
NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
|
|
}
|
|
acceleration_long_cutoff = 4294967295UL / highest_rate; // 0xFFFFFFFFUL
|
|
TERN_(HAS_LINEAR_E_JERK, recalculate_max_e_jerk());
|
|
}
|
|
|
|
/**
|
|
* Recalculate 'position' and 'mm_per_step'.
|
|
* Must be called whenever settings.axis_steps_per_mm changes!
|
|
*/
|
|
void Planner::refresh_positioning() {
|
|
LOOP_DISTINCT_AXES(i) mm_per_step[i] = 1.0f / settings.axis_steps_per_mm[i];
|
|
set_position_mm(current_position);
|
|
reset_acceleration_rates();
|
|
}
|
|
|
|
// Apply limits to a variable and give a warning if the value was out of range
|
|
inline void limit_and_warn(float &val, const uint8_t axis, PGM_P const setting_name, const xyze_float_t &max_limit) {
|
|
const uint8_t lim_axis = TERN_(HAS_EXTRUDERS, axis > E_AXIS ? E_AXIS :) axis;
|
|
const float before = val;
|
|
LIMIT(val, 0.1, max_limit[lim_axis]);
|
|
if (before != val) {
|
|
SERIAL_CHAR(AXIS_CHAR(lim_axis));
|
|
SERIAL_ECHOPGM(" Max ");
|
|
SERIAL_ECHOPGM_P(setting_name);
|
|
SERIAL_ECHOLNPGM(" limited to ", val);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* For the specified 'axis' set the Maximum Acceleration to the given value (mm/s^2)
|
|
* The value may be limited with warning feedback, if configured.
|
|
* Calls reset_acceleration_rates to precalculate planner terms in steps.
|
|
*
|
|
* This hard limit is applied as a block is being added to the planner queue.
|
|
*/
|
|
void Planner::set_max_acceleration(const uint8_t axis, float inMaxAccelMMS2) {
|
|
#if ENABLED(LIMITED_MAX_ACCEL_EDITING)
|
|
#ifdef MAX_ACCEL_EDIT_VALUES
|
|
constexpr xyze_float_t max_accel_edit = MAX_ACCEL_EDIT_VALUES;
|
|
const xyze_float_t &max_acc_edit_scaled = max_accel_edit;
|
|
#else
|
|
constexpr xyze_float_t max_accel_edit = DEFAULT_MAX_ACCELERATION;
|
|
const xyze_float_t max_acc_edit_scaled = max_accel_edit * 2;
|
|
#endif
|
|
limit_and_warn(inMaxAccelMMS2, axis, PSTR("Acceleration"), max_acc_edit_scaled);
|
|
#endif
|
|
settings.max_acceleration_mm_per_s2[axis] = inMaxAccelMMS2;
|
|
|
|
// Update steps per s2 to agree with the units per s2 (since they are used in the planner)
|
|
reset_acceleration_rates();
|
|
}
|
|
|
|
/**
|
|
* For the specified 'axis' set the Maximum Feedrate to the given value (mm/s)
|
|
* The value may be limited with warning feedback, if configured.
|
|
*
|
|
* This hard limit is applied as a block is being added to the planner queue.
|
|
*/
|
|
void Planner::set_max_feedrate(const uint8_t axis, float inMaxFeedrateMMS) {
|
|
#if ENABLED(LIMITED_MAX_FR_EDITING)
|
|
#ifdef MAX_FEEDRATE_EDIT_VALUES
|
|
constexpr xyze_float_t max_fr_edit = MAX_FEEDRATE_EDIT_VALUES;
|
|
const xyze_float_t &max_fr_edit_scaled = max_fr_edit;
|
|
#else
|
|
constexpr xyze_float_t max_fr_edit = DEFAULT_MAX_FEEDRATE;
|
|
const xyze_float_t max_fr_edit_scaled = max_fr_edit * 2;
|
|
#endif
|
|
limit_and_warn(inMaxFeedrateMMS, axis, PSTR("Feedrate"), max_fr_edit_scaled);
|
|
#endif
|
|
settings.max_feedrate_mm_s[axis] = inMaxFeedrateMMS;
|
|
}
|
|
|
|
#if HAS_CLASSIC_JERK
|
|
|
|
/**
|
|
* For the specified 'axis' set the Maximum Jerk (instant change) to the given value (mm/s)
|
|
* The value may be limited with warning feedback, if configured.
|
|
*
|
|
* This hard limit is applied (to the block start speed) as the block is being added to the planner queue.
|
|
*/
|
|
void Planner::set_max_jerk(const AxisEnum axis, float inMaxJerkMMS) {
|
|
#if ENABLED(LIMITED_JERK_EDITING)
|
|
constexpr xyze_float_t max_jerk_edit =
|
|
#ifdef MAX_JERK_EDIT_VALUES
|
|
MAX_JERK_EDIT_VALUES
|
|
#else
|
|
{ (DEFAULT_XJERK) * 2, (DEFAULT_YJERK) * 2,
|
|
(DEFAULT_ZJERK) * 2, (DEFAULT_EJERK) * 2 }
|
|
#endif
|
|
;
|
|
limit_and_warn(inMaxJerkMMS, axis, PSTR("Jerk"), max_jerk_edit);
|
|
#endif
|
|
max_jerk[axis] = inMaxJerkMMS;
|
|
}
|
|
|
|
#endif
|
|
|
|
#if HAS_WIRED_LCD
|
|
|
|
uint16_t Planner::block_buffer_runtime() {
|
|
#ifdef __AVR__
|
|
// Protect the access to the variable. Only required for AVR, as
|
|
// any 32bit CPU offers atomic access to 32bit variables
|
|
const bool was_enabled = stepper.suspend();
|
|
#endif
|
|
|
|
uint32_t bbru = block_buffer_runtime_us;
|
|
|
|
#ifdef __AVR__
|
|
// Reenable Stepper ISR
|
|
if (was_enabled) stepper.wake_up();
|
|
#endif
|
|
|
|
// To translate µs to ms a division by 1000 would be required.
|
|
// We introduce 2.4% error here by dividing by 1024.
|
|
// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
|
|
bbru >>= 10;
|
|
// limit to about a minute.
|
|
NOMORE(bbru, 0x0000FFFFUL);
|
|
return bbru;
|
|
}
|
|
|
|
void Planner::clear_block_buffer_runtime() {
|
|
#ifdef __AVR__
|
|
// Protect the access to the variable. Only required for AVR, as
|
|
// any 32bit CPU offers atomic access to 32bit variables
|
|
const bool was_enabled = stepper.suspend();
|
|
#endif
|
|
|
|
block_buffer_runtime_us = 0;
|
|
|
|
#ifdef __AVR__
|
|
// Reenable Stepper ISR
|
|
if (was_enabled) stepper.wake_up();
|
|
#endif
|
|
}
|
|
|
|
#endif
|
|
|