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961 lines
34 KiB
961 lines
34 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2019 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program 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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* This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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/**
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* planner.h
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*
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* Buffer movement commands and manage the acceleration profile plan
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*
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* Derived from Grbl
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*/
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#include "../Marlin.h"
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#include "motion.h"
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#include "../gcode/queue.h"
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#if ENABLED(DELTA)
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#include "delta.h"
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#endif
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#if ABL_PLANAR
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#include "../libs/vector_3.h" // for matrix_3x3
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#endif
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#if ENABLED(FWRETRACT)
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#include "../feature/fwretract.h"
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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#include "../feature/mixing.h"
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#endif
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// Feedrate for manual moves
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#ifdef MANUAL_FEEDRATE
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constexpr xyze_feedrate_t manual_feedrate_mm_m = MANUAL_FEEDRATE;
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#endif
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enum BlockFlagBit : char {
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// Recalculate trapezoids on entry junction. For optimization.
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BLOCK_BIT_RECALCULATE,
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// Nominal speed always reached.
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// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
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// from a safe speed (in consideration of jerking from zero speed).
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BLOCK_BIT_NOMINAL_LENGTH,
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// The block is segment 2+ of a longer move
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BLOCK_BIT_CONTINUED,
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// Sync the stepper counts from the block
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BLOCK_BIT_SYNC_POSITION
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};
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enum BlockFlag : char {
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BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
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BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
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BLOCK_FLAG_CONTINUED = _BV(BLOCK_BIT_CONTINUED),
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BLOCK_FLAG_SYNC_POSITION = _BV(BLOCK_BIT_SYNC_POSITION)
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};
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/**
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* struct block_t
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*
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* A single entry in the planner buffer.
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* Tracks linear movement over multiple axes.
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*
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* The "nominal" values are as-specified by gcode, and
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* may never actually be reached due to acceleration limits.
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*/
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typedef struct block_t {
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volatile uint8_t flag; // Block flags (See BlockFlag enum above) - Modified by ISR and main thread!
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// Fields used by the motion planner to manage acceleration
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float nominal_speed_sqr, // The nominal speed for this block in (mm/sec)^2
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entry_speed_sqr, // Entry speed at previous-current junction in (mm/sec)^2
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max_entry_speed_sqr, // Maximum allowable junction entry speed in (mm/sec)^2
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millimeters, // The total travel of this block in mm
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acceleration; // acceleration mm/sec^2
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union {
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abce_ulong_t steps; // Step count along each axis
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abce_long_t position; // New position to force when this sync block is executed
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};
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uint32_t step_event_count; // The number of step events required to complete this block
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#if EXTRUDERS > 1
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uint8_t extruder; // The extruder to move (if E move)
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#else
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static constexpr uint8_t extruder = 0;
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#endif
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#if ENABLED(MIXING_EXTRUDER)
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MIXER_BLOCK_FIELD; // Normalized color for the mixing steppers
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#endif
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// Settings for the trapezoid generator
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uint32_t accelerate_until, // The index of the step event on which to stop acceleration
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decelerate_after; // The index of the step event on which to start decelerating
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#if ENABLED(S_CURVE_ACCELERATION)
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uint32_t cruise_rate, // The actual cruise rate to use, between end of the acceleration phase and start of deceleration phase
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acceleration_time, // Acceleration time and deceleration time in STEP timer counts
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deceleration_time,
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acceleration_time_inverse, // Inverse of acceleration and deceleration periods, expressed as integer. Scale depends on CPU being used
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deceleration_time_inverse;
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#else
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uint32_t acceleration_rate; // The acceleration rate used for acceleration calculation
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#endif
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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// Advance extrusion
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#if ENABLED(LIN_ADVANCE)
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bool use_advance_lead;
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uint16_t advance_speed, // STEP timer value for extruder speed offset ISR
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max_adv_steps, // max. advance steps to get cruising speed pressure (not always nominal_speed!)
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final_adv_steps; // advance steps due to exit speed
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float e_D_ratio;
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#endif
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uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec
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initial_rate, // The jerk-adjusted step rate at start of block
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final_rate, // The minimal rate at exit
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acceleration_steps_per_s2; // acceleration steps/sec^2
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#if FAN_COUNT > 0
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uint8_t fan_speed[FAN_COUNT];
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#endif
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#if ENABLED(BARICUDA)
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uint8_t valve_pressure, e_to_p_pressure;
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#endif
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#if HAS_SPI_LCD
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uint32_t segment_time_us;
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#endif
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#if ENABLED(POWER_LOSS_RECOVERY)
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uint32_t sdpos;
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#endif
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} block_t;
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#define HAS_POSITION_FLOAT ANY(LIN_ADVANCE, SCARA_FEEDRATE_SCALING, GRADIENT_MIX)
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#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
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typedef struct {
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uint32_t max_acceleration_mm_per_s2[XYZE_N], // (mm/s^2) M201 XYZE
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min_segment_time_us; // (µs) M205 B
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float axis_steps_per_mm[XYZE_N]; // (steps) M92 XYZE - Steps per millimeter
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feedRate_t max_feedrate_mm_s[XYZE_N]; // (mm/s) M203 XYZE - Max speeds
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float acceleration, // (mm/s^2) M204 S - Normal acceleration. DEFAULT ACCELERATION for all printing moves.
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retract_acceleration, // (mm/s^2) M204 R - Retract acceleration. Filament pull-back and push-forward while standing still in the other axes
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travel_acceleration; // (mm/s^2) M204 T - Travel acceleration. DEFAULT ACCELERATION for all NON printing moves.
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feedRate_t min_feedrate_mm_s, // (mm/s) M205 S - Minimum linear feedrate
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min_travel_feedrate_mm_s; // (mm/s) M205 T - Minimum travel feedrate
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} planner_settings_t;
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#if DISABLED(SKEW_CORRECTION)
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#define XY_SKEW_FACTOR 0
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#define XZ_SKEW_FACTOR 0
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#define YZ_SKEW_FACTOR 0
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#endif
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typedef struct {
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#if ENABLED(SKEW_CORRECTION_GCODE)
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float xy;
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#if ENABLED(SKEW_CORRECTION_FOR_Z)
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float xz, yz;
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#else
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const float xz = XZ_SKEW_FACTOR, yz = YZ_SKEW_FACTOR;
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#endif
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#else
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const float xy = XY_SKEW_FACTOR,
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xz = XZ_SKEW_FACTOR, yz = YZ_SKEW_FACTOR;
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#endif
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} skew_factor_t;
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class Planner {
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public:
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/**
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* The move buffer, calculated in stepper steps
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*
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* block_buffer is a ring buffer...
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*
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* head,tail : indexes for write,read
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* head==tail : the buffer is empty
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* head!=tail : blocks are in the buffer
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* head==(tail-1)%size : the buffer is full
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*
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* Writer of head is Planner::buffer_segment().
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* Reader of tail is Stepper::isr(). Always consider tail busy / read-only
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*/
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static block_t block_buffer[BLOCK_BUFFER_SIZE];
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static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
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block_buffer_nonbusy, // Index of the first non busy block
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block_buffer_planned, // Index of the optimally planned block
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block_buffer_tail; // Index of the busy block, if any
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static uint16_t cleaning_buffer_counter; // A counter to disable queuing of blocks
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static uint8_t delay_before_delivering; // This counter delays delivery of blocks when queue becomes empty to allow the opportunity of merging blocks
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#if ENABLED(DISTINCT_E_FACTORS)
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static uint8_t last_extruder; // Respond to extruder change
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#endif
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#if EXTRUDERS
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static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
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static float e_factor[EXTRUDERS]; // The flow percentage and volumetric multiplier combine to scale E movement
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#endif
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#if DISABLED(NO_VOLUMETRICS)
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static float filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
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volumetric_area_nominal, // Nominal cross-sectional area
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volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
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// May be auto-adjusted by a filament width sensor
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#endif
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static planner_settings_t settings;
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static uint32_t max_acceleration_steps_per_s2[XYZE_N]; // (steps/s^2) Derived from mm_per_s2
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static float steps_to_mm[XYZE_N]; // Millimeters per step
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#if ENABLED(JUNCTION_DEVIATION)
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static float junction_deviation_mm; // (mm) M205 J
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#if ENABLED(LIN_ADVANCE)
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static float max_e_jerk // Calculated from junction_deviation_mm
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#if ENABLED(DISTINCT_E_FACTORS)
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[EXTRUDERS]
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#endif
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;
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#endif
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#endif
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#if HAS_CLASSIC_JERK
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#if BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
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static xyz_pos_t max_jerk; // (mm/s^2) M205 XYZ - The largest speed change requiring no acceleration.
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#else
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static xyze_pos_t max_jerk; // (mm/s^2) M205 XYZE - The largest speed change requiring no acceleration.
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#endif
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#endif
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#if HAS_LEVELING
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static bool leveling_active; // Flag that bed leveling is enabled
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#if ABL_PLANAR
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static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
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static constexpr xy_pos_t level_fulcrum = { X_TILT_FULCRUM, Y_TILT_FULCRUM };
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#endif
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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static float z_fade_height, inverse_z_fade_height;
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#endif
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#else
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static constexpr bool leveling_active = false;
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#endif
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#if ENABLED(LIN_ADVANCE)
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static float extruder_advance_K[EXTRUDERS];
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#endif
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#if HAS_POSITION_FLOAT
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static xyze_pos_t position_float;
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#endif
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#if IS_KINEMATIC
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static xyze_pos_t position_cart;
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#endif
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static skew_factor_t skew_factor;
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#if ENABLED(SD_ABORT_ON_ENDSTOP_HIT)
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static bool abort_on_endstop_hit;
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#endif
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private:
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/**
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* The current position of the tool in absolute steps
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* Recalculated if any axis_steps_per_mm are changed by gcode
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*/
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static xyze_long_t position;
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/**
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* Speed of previous path line segment
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*/
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static xyze_float_t previous_speed;
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/**
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* Nominal speed of previous path line segment (mm/s)^2
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*/
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static float previous_nominal_speed_sqr;
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/**
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* Limit where 64bit math is necessary for acceleration calculation
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*/
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static uint32_t cutoff_long;
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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static float last_fade_z;
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#endif
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#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
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/**
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* Counters to manage disabling inactive extruders
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*/
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static uint8_t g_uc_extruder_last_move[EXTRUDERS];
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#endif // DISABLE_INACTIVE_EXTRUDER
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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_US (uint32_t)(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;
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// Segment times (in µs). Used for speed calculations
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static xy_ulong_t axis_segment_time_us[3];
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#endif
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#if HAS_SPI_LCD
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volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
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#endif
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public:
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/**
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* Instance Methods
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*/
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Planner();
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void init();
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/**
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* Static (class) Methods
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*/
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static void reset_acceleration_rates();
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static void refresh_positioning();
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static void set_max_acceleration(const uint8_t axis, float targetValue);
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static void set_max_feedrate(const uint8_t axis, float targetValue);
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static void set_max_jerk(const AxisEnum axis, float targetValue);
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#if EXTRUDERS
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FORCE_INLINE static void refresh_e_factor(const uint8_t e) {
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e_factor[e] = (flow_percentage[e] * 0.01f
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#if DISABLED(NO_VOLUMETRICS)
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* volumetric_multiplier[e]
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#endif
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);
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}
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#endif
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// Manage fans, paste pressure, etc.
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static void check_axes_activity();
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// Update multipliers based on new diameter measurements
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static void calculate_volumetric_multipliers();
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#if ENABLED(FILAMENT_WIDTH_SENSOR)
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void apply_filament_width_sensor(const int8_t encoded_ratio);
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static inline float volumetric_percent(const bool vol) {
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return 100.0f * (vol
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? volumetric_area_nominal / volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]
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: volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM]
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);
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}
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#endif
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#if DISABLED(NO_VOLUMETRICS)
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FORCE_INLINE static void set_filament_size(const uint8_t e, const float &v) {
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filament_size[e] = v;
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// make sure all extruders have some sane value for the filament size
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for (uint8_t i = 0; i < COUNT(filament_size); i++)
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if (!filament_size[i]) filament_size[i] = DEFAULT_NOMINAL_FILAMENT_DIA;
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}
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#endif
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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/**
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* Get the Z leveling fade factor based on the given Z height,
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* re-calculating only when needed.
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*
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* Returns 1.0 if planner.z_fade_height is 0.0.
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* Returns 0.0 if Z is past the specified 'Fade Height'.
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*/
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static inline float fade_scaling_factor_for_z(const float &rz) {
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static float z_fade_factor = 1;
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if (!z_fade_height) return 1;
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if (rz >= z_fade_height) return 0;
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if (last_fade_z != rz) {
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last_fade_z = rz;
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z_fade_factor = 1 - rz * inverse_z_fade_height;
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}
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return z_fade_factor;
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}
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FORCE_INLINE static void force_fade_recalc() { last_fade_z = -999.999f; }
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FORCE_INLINE static void set_z_fade_height(const float &zfh) {
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z_fade_height = zfh > 0 ? zfh : 0;
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inverse_z_fade_height = RECIPROCAL(z_fade_height);
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force_fade_recalc();
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}
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FORCE_INLINE static bool leveling_active_at_z(const float &rz) {
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return !z_fade_height || rz < z_fade_height;
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}
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#else
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FORCE_INLINE static float fade_scaling_factor_for_z(const float&) { return 1; }
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FORCE_INLINE static bool leveling_active_at_z(const float&) { return true; }
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#endif
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#if ENABLED(SKEW_CORRECTION)
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FORCE_INLINE static void skew(float &cx, float &cy, const float &cz) {
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if (WITHIN(cx, X_MIN_POS + 1, X_MAX_POS) && WITHIN(cy, Y_MIN_POS + 1, Y_MAX_POS)) {
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const float sx = cx - cy * skew_factor.xy - cz * (skew_factor.xz - (skew_factor.xy * skew_factor.yz)),
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sy = cy - cz * skew_factor.yz;
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if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
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cx = sx; cy = sy;
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}
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}
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}
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FORCE_INLINE static void skew(xyz_pos_t &raw) { skew(raw.x, raw.y, raw.z); }
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FORCE_INLINE static void unskew(float &cx, float &cy, const float &cz) {
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if (WITHIN(cx, X_MIN_POS, X_MAX_POS) && WITHIN(cy, Y_MIN_POS, Y_MAX_POS)) {
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const float sx = cx + cy * skew_factor.xy + cz * skew_factor.xz,
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sy = cy + cz * skew_factor.yz;
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if (WITHIN(sx, X_MIN_POS, X_MAX_POS) && WITHIN(sy, Y_MIN_POS, Y_MAX_POS)) {
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cx = sx; cy = sy;
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}
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}
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}
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FORCE_INLINE static void unskew(xyz_pos_t &raw) { unskew(raw.x, raw.y, raw.z); }
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#endif // SKEW_CORRECTION
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#if HAS_LEVELING
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/**
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* Apply leveling to transform a cartesian position
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* as it will be given to the planner and steppers.
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*/
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static void apply_leveling(xyz_pos_t &raw);
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|
static void unapply_leveling(xyz_pos_t &raw);
|
|
FORCE_INLINE static void force_unapply_leveling(xyz_pos_t &raw) {
|
|
leveling_active = true;
|
|
unapply_leveling(raw);
|
|
leveling_active = false;
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(FWRETRACT)
|
|
static void apply_retract(float &rz, float &e);
|
|
FORCE_INLINE static void apply_retract(xyze_pos_t &raw) { apply_retract(raw.z, raw.e); }
|
|
static void unapply_retract(float &rz, float &e);
|
|
FORCE_INLINE static void unapply_retract(xyze_pos_t &raw) { unapply_retract(raw.z, raw.e); }
|
|
#endif
|
|
|
|
#if HAS_POSITION_MODIFIERS
|
|
FORCE_INLINE static void apply_modifiers(xyze_pos_t &pos
|
|
#if HAS_LEVELING
|
|
, bool leveling =
|
|
#if PLANNER_LEVELING
|
|
true
|
|
#else
|
|
false
|
|
#endif
|
|
#endif
|
|
) {
|
|
#if ENABLED(SKEW_CORRECTION)
|
|
skew(pos);
|
|
#endif
|
|
#if HAS_LEVELING
|
|
if (leveling) apply_leveling(pos);
|
|
#endif
|
|
#if ENABLED(FWRETRACT)
|
|
apply_retract(pos);
|
|
#endif
|
|
}
|
|
|
|
FORCE_INLINE static void unapply_modifiers(xyze_pos_t &pos
|
|
#if HAS_LEVELING
|
|
, bool leveling =
|
|
#if PLANNER_LEVELING
|
|
true
|
|
#else
|
|
false
|
|
#endif
|
|
#endif
|
|
) {
|
|
#if ENABLED(FWRETRACT)
|
|
unapply_retract(pos);
|
|
#endif
|
|
#if HAS_LEVELING
|
|
if (leveling) unapply_leveling(pos);
|
|
#endif
|
|
#if ENABLED(SKEW_CORRECTION)
|
|
unskew(pos);
|
|
#endif
|
|
}
|
|
#endif // HAS_POSITION_MODIFIERS
|
|
|
|
// Number of moves currently in the planner including the busy block, if any
|
|
FORCE_INLINE static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail); }
|
|
|
|
// Number of nonbusy moves currently in the planner
|
|
FORCE_INLINE static uint8_t nonbusy_movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_nonbusy); }
|
|
|
|
// Remove all blocks from the buffer
|
|
FORCE_INLINE static void clear_block_buffer() { block_buffer_nonbusy = block_buffer_planned = block_buffer_head = block_buffer_tail = 0; }
|
|
|
|
// Check if movement queue is full
|
|
FORCE_INLINE static bool is_full() { return block_buffer_tail == next_block_index(block_buffer_head); }
|
|
|
|
// Get count of movement slots free
|
|
FORCE_INLINE static uint8_t moves_free() { return BLOCK_BUFFER_SIZE - 1 - movesplanned(); }
|
|
|
|
/**
|
|
* Planner::get_next_free_block
|
|
*
|
|
* - Get the next head indices (passed by reference)
|
|
* - Wait for the number of spaces to open up in the planner
|
|
* - Return the first head block
|
|
*/
|
|
FORCE_INLINE static block_t* get_next_free_block(uint8_t &next_buffer_head, const uint8_t count=1) {
|
|
|
|
// Wait until there are enough slots free
|
|
while (moves_free() < count) { idle(); }
|
|
|
|
// Return the first available block
|
|
next_buffer_head = next_block_index(block_buffer_head);
|
|
return &block_buffer[block_buffer_head];
|
|
}
|
|
|
|
/**
|
|
* Planner::_buffer_steps
|
|
*
|
|
* Add a new linear movement to the buffer (in terms of steps).
|
|
*
|
|
* target - target position in steps units
|
|
* fr_mm_s - (target) speed of the move
|
|
* extruder - target extruder
|
|
* millimeters - the length of the movement, if known
|
|
*
|
|
* Returns true if movement was buffered, false otherwise
|
|
*/
|
|
static bool _buffer_steps(const xyze_long_t &target
|
|
#if HAS_POSITION_FLOAT
|
|
, const xyze_pos_t &target_float
|
|
#endif
|
|
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
|
|
, const xyze_float_t &delta_mm_cart
|
|
#endif
|
|
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
|
|
);
|
|
|
|
/**
|
|
* 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
|
|
* millimeters - the length of the movement, if known
|
|
*
|
|
* Returns true is movement is acceptable, false otherwise
|
|
*/
|
|
static bool _populate_block(block_t * const block, bool split_move,
|
|
const xyze_long_t &target
|
|
#if HAS_POSITION_FLOAT
|
|
, const xyze_pos_t &target_float
|
|
#endif
|
|
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
|
|
, const xyze_float_t &delta_mm_cart
|
|
#endif
|
|
, feedRate_t fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
|
|
);
|
|
|
|
/**
|
|
* Planner::buffer_sync_block
|
|
* Add a block to the buffer that just updates the position
|
|
*/
|
|
static void buffer_sync_block();
|
|
|
|
#if IS_KINEMATIC
|
|
private:
|
|
|
|
// Allow do_homing_move to access internal functions, such as buffer_segment.
|
|
friend void do_homing_move(const AxisEnum, const float, const feedRate_t);
|
|
#endif
|
|
|
|
/**
|
|
* 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
|
|
*/
|
|
static bool buffer_segment(const float &a, const float &b, const float &c, const float &e
|
|
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
|
|
, const xyze_float_t &delta_mm_cart
|
|
#endif
|
|
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
|
|
);
|
|
|
|
FORCE_INLINE static bool buffer_segment(abce_pos_t &abce
|
|
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
|
|
, const xyze_float_t &delta_mm_cart
|
|
#endif
|
|
, const feedRate_t &fr_mm_s, const uint8_t extruder, const float &millimeters=0.0
|
|
) {
|
|
return buffer_segment(abce.a, abce.b, abce.c, abce.e
|
|
#if IS_KINEMATIC && ENABLED(JUNCTION_DEVIATION)
|
|
, delta_mm_cart
|
|
#endif
|
|
, fr_mm_s, extruder, millimeters);
|
|
}
|
|
|
|
public:
|
|
|
|
/**
|
|
* Add a new linear movement to the buffer.
|
|
* The target is cartesian. It's translated to
|
|
* delta/scara if needed.
|
|
*
|
|
* rx,ry,rz,e - 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)
|
|
*/
|
|
static bool buffer_line(const float &rx, const float &ry, const float &rz, const float &e, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
|
|
#if ENABLED(SCARA_FEEDRATE_SCALING)
|
|
, const float &inv_duration=0.0
|
|
#endif
|
|
);
|
|
|
|
FORCE_INLINE static bool buffer_line(const xyze_pos_t &cart, const feedRate_t &fr_mm_s, const uint8_t extruder, const float millimeters=0.0
|
|
#if ENABLED(SCARA_FEEDRATE_SCALING)
|
|
, const float &inv_duration=0.0
|
|
#endif
|
|
) {
|
|
return buffer_line(cart.x, cart.y, cart.z, cart.e, fr_mm_s, extruder, millimeters
|
|
#if ENABLED(SCARA_FEEDRATE_SCALING)
|
|
, inv_duration
|
|
#endif
|
|
);
|
|
}
|
|
|
|
/**
|
|
* Set the planner.position and individual stepper positions.
|
|
* Used by G92, G28, G29, and other procedures.
|
|
*
|
|
* The supplied position is in the cartesian coordinate space and is
|
|
* translated in to machine space as needed. Modifiers such as leveling
|
|
* and skew are also applied.
|
|
*
|
|
* Multiplies by axis_steps_per_mm[] and does necessary conversion
|
|
* for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
|
|
*
|
|
* Clears previous speed values.
|
|
*/
|
|
static void set_position_mm(const float &rx, const float &ry, const float &rz, const float &e);
|
|
FORCE_INLINE static void set_position_mm(const xyze_pos_t &cart) { set_position_mm(cart.x, cart.y, cart.z, cart.e); }
|
|
static void set_e_position_mm(const float &e);
|
|
|
|
/**
|
|
* Set the planner.position and individual stepper positions.
|
|
*
|
|
* The supplied position is in machine space, and no additional
|
|
* conversions are applied.
|
|
*/
|
|
static void set_machine_position_mm(const float &a, const float &b, const float &c, const float &e);
|
|
FORCE_INLINE static void set_machine_position_mm(const abce_pos_t &abce) { set_machine_position_mm(abce.a, abce.b, abce.c, abce.e); }
|
|
|
|
/**
|
|
* Get an axis position according to stepper position(s)
|
|
* For CORE machines apply translation from ABC to XYZ.
|
|
*/
|
|
static float get_axis_position_mm(const AxisEnum axis);
|
|
|
|
// SCARA AB axes are in degrees, not mm
|
|
#if IS_SCARA
|
|
FORCE_INLINE static float get_axis_position_degrees(const AxisEnum axis) { return get_axis_position_mm(axis); }
|
|
#endif
|
|
|
|
// Called to force a quick stop of the machine (for example, when
|
|
// a Full Shutdown is required, or when endstops are hit)
|
|
static void quick_stop();
|
|
|
|
// Called when an endstop is triggered. Causes the machine to stop inmediately
|
|
static void endstop_triggered(const AxisEnum axis);
|
|
|
|
// Triggered position of an axis in mm (not core-savvy)
|
|
static float triggered_position_mm(const AxisEnum axis);
|
|
|
|
// Block until all buffered steps are executed / cleaned
|
|
static void synchronize();
|
|
|
|
// Wait for moves to finish and disable all steppers
|
|
static void finish_and_disable();
|
|
|
|
// Periodic tick to handle cleaning timeouts
|
|
// Called from the Temperature ISR at ~1kHz
|
|
static void tick() {
|
|
if (cleaning_buffer_counter) {
|
|
--cleaning_buffer_counter;
|
|
#if ENABLED(SD_FINISHED_STEPPERRELEASE) && defined(SD_FINISHED_RELEASECOMMAND)
|
|
if (!cleaning_buffer_counter) queue.inject_P(PSTR(SD_FINISHED_RELEASECOMMAND));
|
|
#endif
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Does the buffer have any blocks queued?
|
|
*/
|
|
FORCE_INLINE static bool has_blocks_queued() { return (block_buffer_head != block_buffer_tail); }
|
|
|
|
/**
|
|
* The current block. nullptr if the buffer is empty.
|
|
* This also marks the block as busy.
|
|
* WARNING: Called from Stepper ISR context!
|
|
*/
|
|
static block_t* 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;
|
|
|
|
#if HAS_SPI_LCD
|
|
block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
|
|
#endif
|
|
|
|
// 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
|
|
#if HAS_SPI_LCD
|
|
clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
|
|
#endif
|
|
|
|
return nullptr;
|
|
}
|
|
|
|
/**
|
|
* "Discard" the block and "release" the memory.
|
|
* Called when the current block is no longer needed.
|
|
* NB: There MUST be a current block to call this function!!
|
|
*/
|
|
FORCE_INLINE static void discard_current_block() {
|
|
if (has_blocks_queued())
|
|
block_buffer_tail = next_block_index(block_buffer_tail);
|
|
}
|
|
|
|
#if HAS_SPI_LCD
|
|
|
|
static uint16_t 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
|
|
bool was_enabled = STEPPER_ISR_ENABLED();
|
|
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
#endif
|
|
|
|
millis_t bbru = block_buffer_runtime_us;
|
|
|
|
#ifdef __AVR__
|
|
// Reenable Stepper ISR
|
|
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
#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, 0xFFFFul);
|
|
return bbru;
|
|
}
|
|
|
|
static void 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
|
|
bool was_enabled = STEPPER_ISR_ENABLED();
|
|
if (was_enabled) DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
#endif
|
|
|
|
block_buffer_runtime_us = 0;
|
|
|
|
#ifdef __AVR__
|
|
// Reenable Stepper ISR
|
|
if (was_enabled) ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
#endif
|
|
}
|
|
|
|
#endif
|
|
|
|
#if ENABLED(AUTOTEMP)
|
|
static float autotemp_min, autotemp_max, autotemp_factor;
|
|
static bool autotemp_enabled;
|
|
static void getHighESpeed();
|
|
static void autotemp_M104_M109();
|
|
#endif
|
|
|
|
#if BOTH(JUNCTION_DEVIATION, LIN_ADVANCE)
|
|
FORCE_INLINE static void recalculate_max_e_jerk() {
|
|
#define GET_MAX_E_JERK(N) SQRT(SQRT(0.5) * junction_deviation_mm * (N) * RECIPROCAL(1.0 - SQRT(0.5)))
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
for (uint8_t i = 0; i < EXTRUDERS; i++)
|
|
max_e_jerk[i] = GET_MAX_E_JERK(settings.max_acceleration_mm_per_s2[E_AXIS_N(i)]);
|
|
#else
|
|
max_e_jerk = GET_MAX_E_JERK(settings.max_acceleration_mm_per_s2[E_AXIS]);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
private:
|
|
|
|
/**
|
|
* Get the index of the next / previous block in the ring buffer
|
|
*/
|
|
static constexpr uint8_t next_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index + 1); }
|
|
static constexpr uint8_t prev_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index - 1); }
|
|
|
|
/**
|
|
* Calculate the distance (not time) it takes to accelerate
|
|
* from initial_rate to target_rate using the given acceleration:
|
|
*/
|
|
static float estimate_acceleration_distance(const float &initial_rate, const float &target_rate, const float &accel) {
|
|
if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
|
|
return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
|
|
}
|
|
|
|
/**
|
|
* Return the point at which you must start braking (at the rate of -'accel') if
|
|
* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
|
|
* 'final_rate' after traveling 'distance'.
|
|
*
|
|
* This is used to compute the intersection point between acceleration and deceleration
|
|
* in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
|
|
*/
|
|
static float intersection_distance(const float &initial_rate, const float &final_rate, const float &accel, const float &distance) {
|
|
if (accel == 0) return 0; // accel was 0, set intersection distance to 0
|
|
return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
|
|
}
|
|
|
|
/**
|
|
* Calculate the maximum allowable speed squared at this point, in order
|
|
* to reach 'target_velocity_sqr' using 'acceleration' within a given
|
|
* 'distance'.
|
|
*/
|
|
static float max_allowable_speed_sqr(const float &accel, const float &target_velocity_sqr, const float &distance) {
|
|
return target_velocity_sqr - 2 * accel * distance;
|
|
}
|
|
|
|
#if ENABLED(S_CURVE_ACCELERATION)
|
|
/**
|
|
* Calculate the speed reached given initial speed, acceleration and distance
|
|
*/
|
|
static float final_speed(const float &initial_velocity, const float &accel, const float &distance) {
|
|
return SQRT(sq(initial_velocity) + 2 * accel * distance);
|
|
}
|
|
#endif
|
|
|
|
static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
|
|
|
|
static void reverse_pass_kernel(block_t* const current, const block_t * const next);
|
|
static void forward_pass_kernel(const block_t * const previous, block_t* const current, uint8_t block_index);
|
|
|
|
static void reverse_pass();
|
|
static void forward_pass();
|
|
|
|
static void recalculate_trapezoids();
|
|
|
|
static void recalculate();
|
|
|
|
#if ENABLED(JUNCTION_DEVIATION)
|
|
|
|
FORCE_INLINE static void normalize_junction_vector(xyze_float_t &vector) {
|
|
float magnitude_sq = 0;
|
|
LOOP_XYZE(idx) if (vector[idx]) magnitude_sq += sq(vector[idx]);
|
|
vector *= RSQRT(magnitude_sq);
|
|
}
|
|
|
|
FORCE_INLINE static float limit_value_by_axis_maximum(const float &max_value, xyze_float_t &unit_vec) {
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float limit_value = max_value;
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LOOP_XYZE(idx) if (unit_vec[idx]) // Avoid divide by zero
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NOMORE(limit_value, ABS(settings.max_acceleration_mm_per_s2[idx] / unit_vec[idx]));
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return limit_value;
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}
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#endif // JUNCTION_DEVIATION
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};
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#define PLANNER_XY_FEEDRATE() (_MIN(planner.settings.max_feedrate_mm_s[X_AXIS], planner.settings.max_feedrate_mm_s[Y_AXIS]))
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extern Planner planner;
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