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1051 lines
43 KiB
1051 lines
43 KiB
/**
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* planner.cpp - Buffer movement commands and manage the acceleration profile plan
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* Part of Grbl
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*
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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* Grbl is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Grbl is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*
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*
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* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis.
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*
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*
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* Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
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*
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* s == speed, a == acceleration, t == time, d == distance
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*
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* Basic definitions:
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* Speed[s_, a_, t_] := s + (a*t)
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* Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
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*
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* Distance to reach a specific speed with a constant acceleration:
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* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
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* d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
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*
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* Speed after a given distance of travel with constant acceleration:
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* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
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* m -> Sqrt[2 a d + s^2]
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*
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* DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
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*
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* When to start braking (di) to reach a specified destination speed (s2) after accelerating
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* from initial speed s1 without ever stopping at a plateau:
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* Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
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* di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
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*
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* IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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*
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*/
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#include "Marlin.h"
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#include "planner.h"
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#include "stepper.h"
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#include "temperature.h"
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#include "ultralcd.h"
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#include "language.h"
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#if ENABLED(MESH_BED_LEVELING)
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#include "mesh_bed_leveling.h"
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#endif
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//===========================================================================
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//============================= public variables ============================
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//===========================================================================
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millis_t minsegmenttime;
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float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
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float axis_steps_per_unit[NUM_AXIS];
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unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
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float minimumfeedrate;
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float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
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float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
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float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
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float max_xy_jerk; // The largest speed change requiring no acceleration
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float max_z_jerk;
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float max_e_jerk;
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float mintravelfeedrate;
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unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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#if ENABLED(AUTO_BED_LEVELING_FEATURE)
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// Transform required to compensate for bed level
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matrix_3x3 plan_bed_level_matrix = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0
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};
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#endif // AUTO_BED_LEVELING_FEATURE
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#if ENABLED(AUTOTEMP)
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float autotemp_max = 250;
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float autotemp_min = 210;
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float autotemp_factor = 0.1;
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bool autotemp_enabled = false;
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#endif
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//===========================================================================
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//============ semi-private variables, used in inline functions =============
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//===========================================================================
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block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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volatile unsigned char block_buffer_tail; // Index of the block to process now
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//===========================================================================
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//============================ private variables ============================
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//===========================================================================
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// The current position of the tool in absolute steps
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long position[NUM_AXIS]; // Rescaled from extern when axis_steps_per_unit are changed by gcode
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static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
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static float previous_nominal_speed; // Nominal speed of previous path line segment
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uint8_t g_uc_extruder_last_move[EXTRUDERS] = { 0 };
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#ifdef XY_FREQUENCY_LIMIT
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// Used for the frequency limit
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#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
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// Old direction bits. Used for speed calculations
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static unsigned char old_direction_bits = 0;
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// Segment times (in µs). Used for speed calculations
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static long axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
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#endif
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#if ENABLED(FILAMENT_SENSOR)
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static char meas_sample; //temporary variable to hold filament measurement sample
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#endif
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#if ENABLED(DUAL_X_CARRIAGE)
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extern bool extruder_duplication_enabled;
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#endif
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//===========================================================================
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//================================ functions ================================
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//===========================================================================
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// Get the next / previous index of the next block in the ring buffer
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// NOTE: Using & here (not %) because BLOCK_BUFFER_SIZE is always a power of 2
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FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
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FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
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// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
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// given acceleration:
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FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
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if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
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return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
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}
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// This function gives you the point at which you must start braking (at the rate of -acceleration) if
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// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
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// a total travel of distance. This can be used to compute the intersection point between acceleration and
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// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
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FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
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if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
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return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4);
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}
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// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
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void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor) {
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unsigned long initial_rate = ceil(block->nominal_rate * entry_factor); // (step/min)
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unsigned long final_rate = ceil(block->nominal_rate * exit_factor); // (step/min)
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// Limit minimal step rate (Otherwise the timer will overflow.)
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NOLESS(initial_rate, 120);
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NOLESS(final_rate, 120);
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long acceleration = block->acceleration_st;
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int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
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int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
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// Calculate the size of Plateau of Nominal Rate.
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int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
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// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
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// have to use intersection_distance() to calculate when to abort acceleration and start braking
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// in order to reach the final_rate exactly at the end of this block.
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if (plateau_steps < 0) {
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accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
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accelerate_steps = max(accelerate_steps, 0); // Check limits due to numerical round-off
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accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
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plateau_steps = 0;
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}
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#if ENABLED(ADVANCE)
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volatile long initial_advance = block->advance * entry_factor * entry_factor;
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volatile long final_advance = block->advance * exit_factor * exit_factor;
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#endif // ADVANCE
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// block->accelerate_until = accelerate_steps;
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// block->decelerate_after = accelerate_steps+plateau_steps;
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CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
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if (!block->busy) { // Don't update variables if block is busy.
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block->accelerate_until = accelerate_steps;
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block->decelerate_after = accelerate_steps + plateau_steps;
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block->initial_rate = initial_rate;
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block->final_rate = final_rate;
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#if ENABLED(ADVANCE)
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block->initial_advance = initial_advance;
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block->final_advance = final_advance;
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#endif
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}
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CRITICAL_SECTION_END;
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}
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// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
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// acceleration within the allotted distance.
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FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
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return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
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}
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// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
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// This method will calculate the junction jerk as the euclidean distance between the nominal
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// velocities of the respective blocks.
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//inline float junction_jerk(block_t *before, block_t *after) {
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// return sqrt(
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// pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
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//}
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// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
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void planner_reverse_pass_kernel(block_t* previous, block_t* current, block_t* next) {
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if (!current) return;
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UNUSED(previous);
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if (next) {
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// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
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// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
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// check for maximum allowable speed reductions to ensure maximum possible planned speed.
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if (current->entry_speed != current->max_entry_speed) {
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// If nominal length true, max junction speed is guaranteed to be reached. Only compute
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// for max allowable speed if block is decelerating and nominal length is false.
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if (!current->nominal_length_flag && current->max_entry_speed > next->entry_speed) {
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current->entry_speed = min(current->max_entry_speed,
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max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
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}
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else {
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current->entry_speed = current->max_entry_speed;
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}
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current->recalculate_flag = true;
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}
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} // Skip last block. Already initialized and set for recalculation.
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the reverse pass.
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void planner_reverse_pass() {
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uint8_t block_index = block_buffer_head;
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//Make a local copy of block_buffer_tail, because the interrupt can alter it
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CRITICAL_SECTION_START;
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unsigned char tail = block_buffer_tail;
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CRITICAL_SECTION_END
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if (BLOCK_MOD(block_buffer_head - tail + BLOCK_BUFFER_SIZE) > 3) { // moves queued
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block_index = BLOCK_MOD(block_buffer_head - 3);
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block_t* block[3] = { NULL, NULL, NULL };
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while (block_index != tail) {
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block_index = prev_block_index(block_index);
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block[2] = block[1];
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block[1] = block[0];
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block[0] = &block_buffer[block_index];
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planner_reverse_pass_kernel(block[0], block[1], block[2]);
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}
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}
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}
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// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
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void planner_forward_pass_kernel(block_t* previous, block_t* current, block_t* next) {
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if (!previous) return;
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UNUSED(next);
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// If the previous block is an acceleration block, but it is not long enough to complete the
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// full speed change within the block, we need to adjust the entry speed accordingly. Entry
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// speeds have already been reset, maximized, and reverse planned by reverse planner.
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// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
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if (!previous->nominal_length_flag) {
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if (previous->entry_speed < current->entry_speed) {
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double entry_speed = min(current->entry_speed,
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max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
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// Check for junction speed change
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if (current->entry_speed != entry_speed) {
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current->entry_speed = entry_speed;
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current->recalculate_flag = true;
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}
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}
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}
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the forward pass.
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void planner_forward_pass() {
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uint8_t block_index = block_buffer_tail;
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block_t* block[3] = { NULL, NULL, NULL };
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while (block_index != block_buffer_head) {
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block[0] = block[1];
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block[1] = block[2];
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block[2] = &block_buffer[block_index];
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planner_forward_pass_kernel(block[0], block[1], block[2]);
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block_index = next_block_index(block_index);
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}
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planner_forward_pass_kernel(block[1], block[2], NULL);
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}
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// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
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// entry_factor for each junction. Must be called by planner_recalculate() after
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// updating the blocks.
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void planner_recalculate_trapezoids() {
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int8_t block_index = block_buffer_tail;
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block_t* current;
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block_t* next = NULL;
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while (block_index != block_buffer_head) {
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current = next;
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next = &block_buffer[block_index];
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if (current) {
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// Recalculate if current block entry or exit junction speed has changed.
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if (current->recalculate_flag || next->recalculate_flag) {
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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float nom = current->nominal_speed;
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calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
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current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
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}
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}
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block_index = next_block_index(block_index);
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}
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// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
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if (next) {
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float nom = next->nominal_speed;
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calculate_trapezoid_for_block(next, next->entry_speed / nom, MINIMUM_PLANNER_SPEED / nom);
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next->recalculate_flag = false;
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}
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}
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// Recalculates the motion plan according to the following algorithm:
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//
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// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
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// so that:
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// a. The junction jerk is within the set limit
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// b. No speed reduction within one block requires faster deceleration than the one, true constant
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// acceleration.
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// 2. Go over every block in chronological order and dial down junction speed reduction values if
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// a. The speed increase within one block would require faster acceleration than the one, true
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// constant acceleration.
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//
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// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
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// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
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// the set limit. Finally it will:
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//
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// 3. Recalculate trapezoids for all blocks.
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void planner_recalculate() {
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planner_reverse_pass();
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planner_forward_pass();
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planner_recalculate_trapezoids();
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}
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void plan_init() {
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block_buffer_head = block_buffer_tail = 0;
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memset(position, 0, sizeof(position)); // clear position
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for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
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previous_nominal_speed = 0.0;
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}
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#if ENABLED(AUTOTEMP)
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void getHighESpeed() {
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static float oldt = 0;
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if (!autotemp_enabled) return;
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if (degTargetHotend0() + 2 < autotemp_min) return; // probably temperature set to zero.
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float high = 0.0;
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uint8_t block_index = block_buffer_tail;
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while (block_index != block_buffer_head) {
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block_t* block = &block_buffer[block_index];
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if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
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float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
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if (se > high) high = se;
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}
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block_index = next_block_index(block_index);
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}
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float t = autotemp_min + high * autotemp_factor;
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t = constrain(t, autotemp_min, autotemp_max);
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if (oldt > t) {
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t *= (1 - AUTOTEMP_OLDWEIGHT);
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t += AUTOTEMP_OLDWEIGHT * oldt;
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}
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oldt = t;
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setTargetHotend0(t);
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}
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#endif //AUTOTEMP
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void check_axes_activity() {
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unsigned char axis_active[NUM_AXIS] = { 0 },
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tail_fan_speed = fanSpeed;
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#if ENABLED(BARICUDA)
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unsigned char tail_valve_pressure = ValvePressure,
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tail_e_to_p_pressure = EtoPPressure;
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#endif
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block_t* block;
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if (blocks_queued()) {
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uint8_t block_index = block_buffer_tail;
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tail_fan_speed = block_buffer[block_index].fan_speed;
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#if ENABLED(BARICUDA)
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block = &block_buffer[block_index];
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tail_valve_pressure = block->valve_pressure;
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tail_e_to_p_pressure = block->e_to_p_pressure;
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#endif
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while (block_index != block_buffer_head) {
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block = &block_buffer[block_index];
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for (int i = 0; i < NUM_AXIS; i++) if (block->steps[i]) axis_active[i]++;
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block_index = next_block_index(block_index);
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}
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}
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if (DISABLE_X && !axis_active[X_AXIS]) disable_x();
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if (DISABLE_Y && !axis_active[Y_AXIS]) disable_y();
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if (DISABLE_Z && !axis_active[Z_AXIS]) disable_z();
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if (DISABLE_E && !axis_active[E_AXIS]) {
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disable_e0();
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disable_e1();
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disable_e2();
|
|
disable_e3();
|
|
}
|
|
|
|
#if HAS_FAN
|
|
#ifdef FAN_KICKSTART_TIME
|
|
static millis_t fan_kick_end;
|
|
if (tail_fan_speed) {
|
|
millis_t ms = millis();
|
|
if (fan_kick_end == 0) {
|
|
// Just starting up fan - run at full power.
|
|
fan_kick_end = ms + FAN_KICKSTART_TIME;
|
|
tail_fan_speed = 255;
|
|
}
|
|
else if (fan_kick_end > ms)
|
|
// Fan still spinning up.
|
|
tail_fan_speed = 255;
|
|
}
|
|
else {
|
|
fan_kick_end = 0;
|
|
}
|
|
#endif //FAN_KICKSTART_TIME
|
|
#if ENABLED(FAN_MIN_PWM)
|
|
#define CALC_FAN_SPEED (tail_fan_speed ? ( FAN_MIN_PWM + (tail_fan_speed * (255 - FAN_MIN_PWM)) / 255 ) : 0)
|
|
#else
|
|
#define CALC_FAN_SPEED tail_fan_speed
|
|
#endif // FAN_MIN_PWM
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
fanSpeedSoftPwm = CALC_FAN_SPEED;
|
|
#else
|
|
analogWrite(FAN_PIN, CALC_FAN_SPEED);
|
|
#endif // FAN_SOFT_PWM
|
|
#endif // HAS_FAN
|
|
|
|
#if ENABLED(AUTOTEMP)
|
|
getHighESpeed();
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
#if HAS_HEATER_1
|
|
analogWrite(HEATER_1_PIN, tail_valve_pressure);
|
|
#endif
|
|
#if HAS_HEATER_2
|
|
analogWrite(HEATER_2_PIN, tail_e_to_p_pressure);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
|
|
float junction_deviation = 0.1;
|
|
// Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in
|
|
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
|
|
// calculation the caller must also provide the physical length of the line in millimeters.
|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
|
|
void plan_buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder)
|
|
#else
|
|
void plan_buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder)
|
|
#endif // AUTO_BED_LEVELING_FEATURE
|
|
{
|
|
// Calculate the buffer head after we push this byte
|
|
int next_buffer_head = next_block_index(block_buffer_head);
|
|
|
|
// If the buffer is full: good! That means we are well ahead of the robot.
|
|
// Rest here until there is room in the buffer.
|
|
while (block_buffer_tail == next_buffer_head) idle();
|
|
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
if (mbl.active) z += mbl.get_z(x, y);
|
|
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
|
|
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
|
|
#endif
|
|
|
|
// The target position of the tool in absolute steps
|
|
// Calculate target position in absolute steps
|
|
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
|
|
long target[NUM_AXIS];
|
|
target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
|
|
target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
|
|
target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
|
|
target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
|
|
|
|
long dx = target[X_AXIS] - position[X_AXIS],
|
|
dy = target[Y_AXIS] - position[Y_AXIS],
|
|
dz = target[Z_AXIS] - position[Z_AXIS];
|
|
|
|
// DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
|
|
if (marlin_debug_flags & DEBUG_DRYRUN)
|
|
position[E_AXIS] = target[E_AXIS];
|
|
|
|
long de = target[E_AXIS] - position[E_AXIS];
|
|
|
|
#if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
|
|
if (de) {
|
|
if (degHotend(extruder) < extrude_min_temp) {
|
|
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
|
|
de = 0; // no difference
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
|
|
}
|
|
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
|
|
if (labs(de) > axis_steps_per_unit[E_AXIS] * EXTRUDE_MAXLENGTH) {
|
|
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
|
|
de = 0; // no difference
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
|
|
}
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
// Prepare to set up new block
|
|
block_t* block = &block_buffer[block_buffer_head];
|
|
|
|
// Mark block as not busy (Not executed by the stepper interrupt)
|
|
block->busy = false;
|
|
|
|
// Number of steps for each axis
|
|
#if ENABLED(COREXY)
|
|
// corexy planning
|
|
// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
|
|
block->steps[A_AXIS] = labs(dx + dy);
|
|
block->steps[B_AXIS] = labs(dx - dy);
|
|
block->steps[Z_AXIS] = labs(dz);
|
|
#elif ENABLED(COREXZ)
|
|
// corexz planning
|
|
block->steps[A_AXIS] = labs(dx + dz);
|
|
block->steps[Y_AXIS] = labs(dy);
|
|
block->steps[C_AXIS] = labs(dx - dz);
|
|
#else
|
|
// default non-h-bot planning
|
|
block->steps[X_AXIS] = labs(dx);
|
|
block->steps[Y_AXIS] = labs(dy);
|
|
block->steps[Z_AXIS] = labs(dz);
|
|
#endif
|
|
|
|
block->steps[E_AXIS] = labs(de);
|
|
block->steps[E_AXIS] *= volumetric_multiplier[extruder];
|
|
block->steps[E_AXIS] *= extruder_multiplier[extruder];
|
|
block->steps[E_AXIS] /= 100;
|
|
block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
|
|
|
|
// Bail if this is a zero-length block
|
|
if (block->step_event_count <= dropsegments) return;
|
|
|
|
block->fan_speed = fanSpeed;
|
|
#if ENABLED(BARICUDA)
|
|
block->valve_pressure = ValvePressure;
|
|
block->e_to_p_pressure = EtoPPressure;
|
|
#endif
|
|
|
|
// Compute direction bits for this block
|
|
uint8_t db = 0;
|
|
#if ENABLED(COREXY)
|
|
if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
|
|
if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
|
|
if (dz < 0) db |= BIT(Z_AXIS);
|
|
if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
|
|
if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
|
|
#elif ENABLED(COREXZ)
|
|
if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
|
|
if (dy < 0) db |= BIT(Y_AXIS);
|
|
if (dz < 0) db |= BIT(Z_HEAD); // ...and Z
|
|
if (dx + dz < 0) db |= BIT(A_AXIS); // Motor A direction
|
|
if (dx - dz < 0) db |= BIT(C_AXIS); // Motor B direction
|
|
#else
|
|
if (dx < 0) db |= BIT(X_AXIS);
|
|
if (dy < 0) db |= BIT(Y_AXIS);
|
|
if (dz < 0) db |= BIT(Z_AXIS);
|
|
#endif
|
|
if (de < 0) db |= BIT(E_AXIS);
|
|
block->direction_bits = db;
|
|
|
|
block->active_extruder = extruder;
|
|
|
|
//enable active axes
|
|
#if ENABLED(COREXY)
|
|
if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
|
|
enable_x();
|
|
enable_y();
|
|
}
|
|
#if DISABLED(Z_LATE_ENABLE)
|
|
if (block->steps[Z_AXIS]) enable_z();
|
|
#endif
|
|
#elif ENABLED(COREXZ)
|
|
if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
|
|
enable_x();
|
|
enable_z();
|
|
}
|
|
if (block->steps[Y_AXIS]) enable_y();
|
|
#else
|
|
if (block->steps[X_AXIS]) enable_x();
|
|
if (block->steps[Y_AXIS]) enable_y();
|
|
#if DISABLED(Z_LATE_ENABLE)
|
|
if (block->steps[Z_AXIS]) enable_z();
|
|
#endif
|
|
#endif
|
|
|
|
// Enable extruder(s)
|
|
if (block->steps[E_AXIS]) {
|
|
if (DISABLE_INACTIVE_EXTRUDER) { //enable only selected extruder
|
|
|
|
for (int i = 0; i < EXTRUDERS; i++)
|
|
if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
|
|
|
|
switch(extruder) {
|
|
case 0:
|
|
enable_e0();
|
|
#if ENABLED(DUAL_X_CARRIAGE)
|
|
if (extruder_duplication_enabled) {
|
|
enable_e1();
|
|
g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE * 2;
|
|
}
|
|
#endif
|
|
g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE * 2;
|
|
#if EXTRUDERS > 1
|
|
if (g_uc_extruder_last_move[1] == 0) disable_e1();
|
|
#if EXTRUDERS > 2
|
|
if (g_uc_extruder_last_move[2] == 0) disable_e2();
|
|
#if EXTRUDERS > 3
|
|
if (g_uc_extruder_last_move[3] == 0) disable_e3();
|
|
#endif
|
|
#endif
|
|
#endif
|
|
break;
|
|
#if EXTRUDERS > 1
|
|
case 1:
|
|
enable_e1();
|
|
g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE * 2;
|
|
if (g_uc_extruder_last_move[0] == 0) disable_e0();
|
|
#if EXTRUDERS > 2
|
|
if (g_uc_extruder_last_move[2] == 0) disable_e2();
|
|
#if EXTRUDERS > 3
|
|
if (g_uc_extruder_last_move[3] == 0) disable_e3();
|
|
#endif
|
|
#endif
|
|
break;
|
|
#if EXTRUDERS > 2
|
|
case 2:
|
|
enable_e2();
|
|
g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE * 2;
|
|
if (g_uc_extruder_last_move[0] == 0) disable_e0();
|
|
if (g_uc_extruder_last_move[1] == 0) disable_e1();
|
|
#if EXTRUDERS > 3
|
|
if (g_uc_extruder_last_move[3] == 0) disable_e3();
|
|
#endif
|
|
break;
|
|
#if EXTRUDERS > 3
|
|
case 3:
|
|
enable_e3();
|
|
g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE * 2;
|
|
if (g_uc_extruder_last_move[0] == 0) disable_e0();
|
|
if (g_uc_extruder_last_move[1] == 0) disable_e1();
|
|
if (g_uc_extruder_last_move[2] == 0) disable_e2();
|
|
break;
|
|
#endif // EXTRUDERS > 3
|
|
#endif // EXTRUDERS > 2
|
|
#endif // EXTRUDERS > 1
|
|
}
|
|
}
|
|
else { // enable all
|
|
enable_e0();
|
|
enable_e1();
|
|
enable_e2();
|
|
enable_e3();
|
|
}
|
|
}
|
|
|
|
if (block->steps[E_AXIS])
|
|
NOLESS(feed_rate, minimumfeedrate);
|
|
else
|
|
NOLESS(feed_rate, mintravelfeedrate);
|
|
|
|
/**
|
|
* 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.
|
|
*/
|
|
#if ENABLED(COREXY)
|
|
float delta_mm[6];
|
|
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
|
|
delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
|
|
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
|
|
delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
|
|
delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
|
|
#elif ENABLED(COREXZ)
|
|
float delta_mm[6];
|
|
delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
|
|
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
|
|
delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
|
|
delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS];
|
|
delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS];
|
|
#else
|
|
float delta_mm[4];
|
|
delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
|
|
delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
|
|
delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
|
|
#endif
|
|
delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
|
|
|
|
if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
|
|
block->millimeters = fabs(delta_mm[E_AXIS]);
|
|
}
|
|
else {
|
|
block->millimeters = sqrt(
|
|
#if ENABLED(COREXY)
|
|
square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
|
|
#elif ENABLED(COREXZ)
|
|
square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD])
|
|
#else
|
|
square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
|
|
#endif
|
|
);
|
|
}
|
|
float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
|
|
|
|
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
|
|
float inverse_second = feed_rate * inverse_millimeters;
|
|
|
|
int moves_queued = movesplanned();
|
|
|
|
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
|
|
#if ENABLED(OLD_SLOWDOWN) || ENABLED(SLOWDOWN)
|
|
bool mq = moves_queued > 1 && moves_queued < BLOCK_BUFFER_SIZE / 2;
|
|
#if ENABLED(OLD_SLOWDOWN)
|
|
if (mq) feed_rate *= 2.0 * moves_queued / BLOCK_BUFFER_SIZE;
|
|
#endif
|
|
#if ENABLED(SLOWDOWN)
|
|
// segment time im micro seconds
|
|
unsigned long segment_time = lround(1000000.0/inverse_second);
|
|
if (mq) {
|
|
if (segment_time < minsegmenttime) {
|
|
// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
|
|
inverse_second = 1000000.0 / (segment_time + lround(2 * (minsegmenttime - segment_time) / moves_queued));
|
|
#ifdef XY_FREQUENCY_LIMIT
|
|
segment_time = lround(1000000.0 / inverse_second);
|
|
#endif
|
|
}
|
|
}
|
|
#endif
|
|
#endif
|
|
|
|
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
|
|
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
|
|
|
|
#if ENABLED(FILAMENT_SENSOR)
|
|
//FMM update ring buffer used for delay with filament measurements
|
|
|
|
if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && delay_index2 > -1) { //only for extruder with filament sensor and if ring buffer is initialized
|
|
|
|
const int MMD = MAX_MEASUREMENT_DELAY + 1, MMD10 = MMD * 10;
|
|
|
|
delay_dist += delta_mm[E_AXIS]; // increment counter with next move in e axis
|
|
while (delay_dist >= MMD10) delay_dist -= MMD10; // loop around the buffer
|
|
while (delay_dist < 0) delay_dist += MMD10;
|
|
|
|
delay_index1 = delay_dist / 10.0; // calculate index
|
|
delay_index1 = constrain(delay_index1, 0, MAX_MEASUREMENT_DELAY); // (already constrained above)
|
|
|
|
if (delay_index1 != delay_index2) { // moved index
|
|
meas_sample = widthFil_to_size_ratio() - 100; // Subtract 100 to reduce magnitude - to store in a signed char
|
|
while (delay_index1 != delay_index2) {
|
|
// Increment and loop around buffer
|
|
if (++delay_index2 >= MMD) delay_index2 -= MMD;
|
|
delay_index2 = constrain(delay_index2, 0, MAX_MEASUREMENT_DELAY);
|
|
measurement_delay[delay_index2] = meas_sample;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// Calculate and limit speed in mm/sec for each axis
|
|
float current_speed[NUM_AXIS];
|
|
float speed_factor = 1.0; //factor <=1 do decrease speed
|
|
for (int i = 0; i < NUM_AXIS; i++) {
|
|
current_speed[i] = delta_mm[i] * inverse_second;
|
|
float cs = fabs(current_speed[i]), mf = max_feedrate[i];
|
|
if (cs > mf) speed_factor = min(speed_factor, mf / cs);
|
|
}
|
|
|
|
// Max segement time in us.
|
|
#ifdef XY_FREQUENCY_LIMIT
|
|
|
|
// Check and limit the xy direction change frequency
|
|
unsigned char direction_change = block->direction_bits ^ old_direction_bits;
|
|
old_direction_bits = block->direction_bits;
|
|
segment_time = lround((float)segment_time / speed_factor);
|
|
|
|
long xs0 = axis_segment_time[X_AXIS][0],
|
|
xs1 = axis_segment_time[X_AXIS][1],
|
|
xs2 = axis_segment_time[X_AXIS][2],
|
|
ys0 = axis_segment_time[Y_AXIS][0],
|
|
ys1 = axis_segment_time[Y_AXIS][1],
|
|
ys2 = axis_segment_time[Y_AXIS][2];
|
|
|
|
if ((direction_change & BIT(X_AXIS)) != 0) {
|
|
xs2 = axis_segment_time[X_AXIS][2] = xs1;
|
|
xs1 = axis_segment_time[X_AXIS][1] = xs0;
|
|
xs0 = 0;
|
|
}
|
|
xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
|
|
|
|
if ((direction_change & BIT(Y_AXIS)) != 0) {
|
|
ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
|
|
ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
|
|
ys0 = 0;
|
|
}
|
|
ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
|
|
|
|
long max_x_segment_time = max(xs0, max(xs1, xs2)),
|
|
max_y_segment_time = max(ys0, max(ys1, ys2)),
|
|
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
|
|
if (min_xy_segment_time < MAX_FREQ_TIME) {
|
|
float low_sf = speed_factor * min_xy_segment_time / MAX_FREQ_TIME;
|
|
speed_factor = min(speed_factor, low_sf);
|
|
}
|
|
#endif // XY_FREQUENCY_LIMIT
|
|
|
|
// Correct the speed
|
|
if (speed_factor < 1.0) {
|
|
for (unsigned char i = 0; i < NUM_AXIS; i++) current_speed[i] *= speed_factor;
|
|
block->nominal_speed *= speed_factor;
|
|
block->nominal_rate *= speed_factor;
|
|
}
|
|
|
|
// Compute and limit the acceleration rate for the trapezoid generator.
|
|
float steps_per_mm = block->step_event_count / block->millimeters;
|
|
long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
|
|
if (bsx == 0 && bsy == 0 && bsz == 0) {
|
|
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
|
|
}
|
|
else if (bse == 0) {
|
|
block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
|
|
}
|
|
else {
|
|
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
|
|
}
|
|
// Limit acceleration per axis
|
|
unsigned long acc_st = block->acceleration_st,
|
|
xsteps = axis_steps_per_sqr_second[X_AXIS],
|
|
ysteps = axis_steps_per_sqr_second[Y_AXIS],
|
|
zsteps = axis_steps_per_sqr_second[Z_AXIS],
|
|
esteps = axis_steps_per_sqr_second[E_AXIS];
|
|
if ((float)acc_st * bsx / block->step_event_count > xsteps) acc_st = xsteps;
|
|
if ((float)acc_st * bsy / block->step_event_count > ysteps) acc_st = ysteps;
|
|
if ((float)acc_st * bsz / block->step_event_count > zsteps) acc_st = zsteps;
|
|
if ((float)acc_st * bse / block->step_event_count > esteps) acc_st = esteps;
|
|
|
|
block->acceleration_st = acc_st;
|
|
block->acceleration = acc_st / steps_per_mm;
|
|
block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
|
|
|
|
#if 0 // Use old jerk for now
|
|
// Compute path unit vector
|
|
double unit_vec[3];
|
|
|
|
unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters;
|
|
unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters;
|
|
unit_vec[Z_AXIS] = delta_mm[Z_AXIS] * inverse_millimeters;
|
|
|
|
// 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.
|
|
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
|
|
|
|
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
|
|
if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
|
|
// 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.
|
|
double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
|
|
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
|
|
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
|
|
// Skip and use default max junction speed for 0 degree acute junction.
|
|
if (cos_theta < 0.95) {
|
|
vmax_junction = min(previous_nominal_speed, block->nominal_speed);
|
|
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
|
|
if (cos_theta > -0.95) {
|
|
// Compute maximum junction velocity based on maximum acceleration and junction deviation
|
|
double sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
|
|
vmax_junction = min(vmax_junction,
|
|
sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// Start with a safe speed
|
|
float vmax_junction = max_xy_jerk / 2;
|
|
float vmax_junction_factor = 1.0;
|
|
float mz2 = max_z_jerk / 2, me2 = max_e_jerk / 2;
|
|
float csz = current_speed[Z_AXIS], cse = current_speed[E_AXIS];
|
|
if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
|
|
if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
|
|
vmax_junction = min(vmax_junction, block->nominal_speed);
|
|
float safe_speed = vmax_junction;
|
|
|
|
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
|
|
float dsx = current_speed[X_AXIS] - previous_speed[X_AXIS],
|
|
dsy = current_speed[Y_AXIS] - previous_speed[Y_AXIS],
|
|
dsz = fabs(csz - previous_speed[Z_AXIS]),
|
|
dse = fabs(cse - previous_speed[E_AXIS]),
|
|
jerk = sqrt(dsx * dsx + dsy * dsy);
|
|
|
|
// if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
|
|
vmax_junction = block->nominal_speed;
|
|
// }
|
|
if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
|
|
if (dsz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dsz);
|
|
if (dse > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / dse);
|
|
|
|
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
|
|
}
|
|
block->max_entry_speed = vmax_junction;
|
|
|
|
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
|
|
double v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
|
|
block->entry_speed = min(vmax_junction, v_allowable);
|
|
|
|
// 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->nominal_length_flag = (block->nominal_speed <= v_allowable);
|
|
block->recalculate_flag = true; // Always calculate trapezoid for new block
|
|
|
|
// Update previous path unit_vector and nominal speed
|
|
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
|
|
previous_nominal_speed = block->nominal_speed;
|
|
|
|
#if ENABLED(ADVANCE)
|
|
// Calculate advance rate
|
|
if (!bse || (!bsx && !bsy && !bsz)) {
|
|
block->advance_rate = 0;
|
|
block->advance = 0;
|
|
}
|
|
else {
|
|
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
|
|
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * (cse * cse * EXTRUSION_AREA * EXTRUSION_AREA) * 256;
|
|
block->advance = advance;
|
|
block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
|
|
}
|
|
/*
|
|
SERIAL_ECHO_START;
|
|
SERIAL_ECHOPGM("advance :");
|
|
SERIAL_ECHO(block->advance/256.0);
|
|
SERIAL_ECHOPGM("advance rate :");
|
|
SERIAL_ECHOLN(block->advance_rate/256.0);
|
|
*/
|
|
#endif // ADVANCE
|
|
|
|
calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
|
|
|
|
// Move buffer head
|
|
block_buffer_head = next_buffer_head;
|
|
|
|
// Update position
|
|
for (int i = 0; i < NUM_AXIS; i++) position[i] = target[i];
|
|
|
|
planner_recalculate();
|
|
|
|
st_wake_up();
|
|
|
|
} // plan_buffer_line()
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
|
|
vector_3 plan_get_position() {
|
|
vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
|
|
|
|
//position.debug("in plan_get position");
|
|
//plan_bed_level_matrix.debug("in plan_get_position");
|
|
matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
|
|
//inverse.debug("in plan_get inverse");
|
|
position.apply_rotation(inverse);
|
|
//position.debug("after rotation");
|
|
|
|
return position;
|
|
}
|
|
#endif // AUTO_BED_LEVELING_FEATURE && !DELTA
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
|
|
void plan_set_position(float x, float y, float z, const float& e)
|
|
#else
|
|
void plan_set_position(const float& x, const float& y, const float& z, const float& e)
|
|
#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
|
|
{
|
|
#if ENABLED(MESH_BED_LEVELING)
|
|
if (mbl.active) z += mbl.get_z(x, y);
|
|
#elif ENABLED(AUTO_BED_LEVELING_FEATURE)
|
|
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
|
|
#endif
|
|
|
|
long nx = position[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]),
|
|
ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]),
|
|
nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]),
|
|
ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
|
|
st_set_position(nx, ny, nz, ne);
|
|
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
|
|
|
|
for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
|
|
}
|
|
|
|
void plan_set_e_position(const float& e) {
|
|
position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
|
|
st_set_e_position(position[E_AXIS]);
|
|
}
|
|
|
|
// Calculate the steps/s^2 acceleration rates, based on the mm/s^s
|
|
void reset_acceleration_rates() {
|
|
for (int i = 0; i < NUM_AXIS; i++)
|
|
axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
|
|
}
|
|
|