My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.cpp 42KB

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  1. /*
  2. planner.c - buffers movement commands and manages the acceleration profile plan
  3. Part of Grbl
  4. Copyright (c) 2009-2011 Simen Svale Skogsrud
  5. Grbl is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. Grbl is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
  17. /*
  18. Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
  19. s == speed, a == acceleration, t == time, d == distance
  20. Basic definitions:
  21. Speed[s_, a_, t_] := s + (a*t)
  22. Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
  23. Distance to reach a specific speed with a constant acceleration:
  24. Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
  25. d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
  26. Speed after a given distance of travel with constant acceleration:
  27. Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
  28. m -> Sqrt[2 a d + s^2]
  29. DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
  30. When to start braking (di) to reach a specified destionation speed (s2) after accelerating
  31. from initial speed s1 without ever stopping at a plateau:
  32. Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
  33. di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
  34. IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
  35. */
  36. #include "Marlin.h"
  37. #include "planner.h"
  38. #include "stepper.h"
  39. #include "temperature.h"
  40. #include "ultralcd.h"
  41. #include "language.h"
  42. //===========================================================================
  43. //=============================public variables ============================
  44. //===========================================================================
  45. unsigned long minsegmenttime;
  46. float max_feedrate[NUM_AXIS]; // set the max speeds
  47. float axis_steps_per_unit[NUM_AXIS];
  48. unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
  49. float minimumfeedrate;
  50. float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
  51. float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  52. float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
  53. float max_z_jerk;
  54. float max_e_jerk;
  55. float mintravelfeedrate;
  56. unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  57. #ifdef ENABLE_AUTO_BED_LEVELING
  58. // this holds the required transform to compensate for bed level
  59. matrix_3x3 plan_bed_level_matrix = {
  60. 1.0, 0.0, 0.0,
  61. 0.0, 1.0, 0.0,
  62. 0.0, 0.0, 1.0
  63. };
  64. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  65. // The current position of the tool in absolute steps
  66. long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
  67. static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
  68. static float previous_nominal_speed; // Nominal speed of previous path line segment
  69. #ifdef AUTOTEMP
  70. float autotemp_max=250;
  71. float autotemp_min=210;
  72. float autotemp_factor=0.1;
  73. bool autotemp_enabled=false;
  74. #endif
  75. unsigned char g_uc_extruder_last_move[4] = {0,0,0,0};
  76. //===========================================================================
  77. //=================semi-private variables, used in inline functions =====
  78. //===========================================================================
  79. block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  80. volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  81. volatile unsigned char block_buffer_tail; // Index of the block to process now
  82. //===========================================================================
  83. //=============================private variables ============================
  84. //===========================================================================
  85. #ifdef PREVENT_DANGEROUS_EXTRUDE
  86. float extrude_min_temp=EXTRUDE_MINTEMP;
  87. #endif
  88. #ifdef XY_FREQUENCY_LIMIT
  89. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  90. // Used for the frequency limit
  91. static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
  92. static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0}; // Segment times (in us). Used for speed calculations
  93. static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
  94. #endif
  95. #ifdef FILAMENT_SENSOR
  96. static char meas_sample; //temporary variable to hold filament measurement sample
  97. #endif
  98. // Returns the index of the next block in the ring buffer
  99. // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
  100. static int8_t next_block_index(int8_t block_index) {
  101. block_index++;
  102. if (block_index == BLOCK_BUFFER_SIZE) {
  103. block_index = 0;
  104. }
  105. return(block_index);
  106. }
  107. // Returns the index of the previous block in the ring buffer
  108. static int8_t prev_block_index(int8_t block_index) {
  109. if (block_index == 0) {
  110. block_index = BLOCK_BUFFER_SIZE;
  111. }
  112. block_index--;
  113. return(block_index);
  114. }
  115. //===========================================================================
  116. //=============================functions ============================
  117. //===========================================================================
  118. // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
  119. // given acceleration:
  120. FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  121. {
  122. if (acceleration!=0) {
  123. return((target_rate*target_rate-initial_rate*initial_rate)/
  124. (2.0*acceleration));
  125. }
  126. else {
  127. return 0.0; // acceleration was 0, set acceleration distance to 0
  128. }
  129. }
  130. // This function gives you the point at which you must start braking (at the rate of -acceleration) if
  131. // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
  132. // a total travel of distance. This can be used to compute the intersection point between acceleration and
  133. // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
  134. FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  135. {
  136. if (acceleration!=0) {
  137. return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
  138. (4.0*acceleration) );
  139. }
  140. else {
  141. return 0.0; // acceleration was 0, set intersection distance to 0
  142. }
  143. }
  144. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
  145. void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
  146. unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
  147. unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
  148. // Limit minimal step rate (Otherwise the timer will overflow.)
  149. if(initial_rate <120) {
  150. initial_rate=120;
  151. }
  152. if(final_rate < 120) {
  153. final_rate=120;
  154. }
  155. long acceleration = block->acceleration_st;
  156. int32_t accelerate_steps =
  157. ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
  158. int32_t decelerate_steps =
  159. floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
  160. // Calculate the size of Plateau of Nominal Rate.
  161. int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
  162. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  163. // have to use intersection_distance() to calculate when to abort acceleration and start braking
  164. // in order to reach the final_rate exactly at the end of this block.
  165. if (plateau_steps < 0) {
  166. accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
  167. accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
  168. 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)
  169. plateau_steps = 0;
  170. }
  171. #ifdef ADVANCE
  172. volatile long initial_advance = block->advance*entry_factor*entry_factor;
  173. volatile long final_advance = block->advance*exit_factor*exit_factor;
  174. #endif // ADVANCE
  175. // block->accelerate_until = accelerate_steps;
  176. // block->decelerate_after = accelerate_steps+plateau_steps;
  177. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  178. if(block->busy == false) { // Don't update variables if block is busy.
  179. block->accelerate_until = accelerate_steps;
  180. block->decelerate_after = accelerate_steps+plateau_steps;
  181. block->initial_rate = initial_rate;
  182. block->final_rate = final_rate;
  183. #ifdef ADVANCE
  184. block->initial_advance = initial_advance;
  185. block->final_advance = final_advance;
  186. #endif //ADVANCE
  187. }
  188. CRITICAL_SECTION_END;
  189. }
  190. // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
  191. // acceleration within the allotted distance.
  192. FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
  193. return sqrt(target_velocity*target_velocity-2*acceleration*distance);
  194. }
  195. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
  196. // This method will calculate the junction jerk as the euclidean distance between the nominal
  197. // velocities of the respective blocks.
  198. //inline float junction_jerk(block_t *before, block_t *after) {
  199. // return sqrt(
  200. // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
  201. //}
  202. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
  203. void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  204. if(!current) {
  205. return;
  206. }
  207. if (next) {
  208. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  209. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  210. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  211. if (current->entry_speed != current->max_entry_speed) {
  212. // If nominal length true, max junction speed is guaranteed to be reached. Only compute
  213. // for max allowable speed if block is decelerating and nominal length is false.
  214. if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
  215. current->entry_speed = min( current->max_entry_speed,
  216. max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
  217. }
  218. else {
  219. current->entry_speed = current->max_entry_speed;
  220. }
  221. current->recalculate_flag = true;
  222. }
  223. } // Skip last block. Already initialized and set for recalculation.
  224. }
  225. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  226. // implements the reverse pass.
  227. void planner_reverse_pass() {
  228. uint8_t block_index = block_buffer_head;
  229. //Make a local copy of block_buffer_tail, because the interrupt can alter it
  230. CRITICAL_SECTION_START;
  231. unsigned char tail = block_buffer_tail;
  232. CRITICAL_SECTION_END
  233. if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
  234. block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
  235. block_t *block[3] = {
  236. NULL, NULL, NULL };
  237. while(block_index != tail) {
  238. block_index = prev_block_index(block_index);
  239. block[2]= block[1];
  240. block[1]= block[0];
  241. block[0] = &block_buffer[block_index];
  242. planner_reverse_pass_kernel(block[0], block[1], block[2]);
  243. }
  244. }
  245. }
  246. // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
  247. void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  248. if(!previous) {
  249. return;
  250. }
  251. // If the previous block is an acceleration block, but it is not long enough to complete the
  252. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  253. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  254. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  255. if (!previous->nominal_length_flag) {
  256. if (previous->entry_speed < current->entry_speed) {
  257. double entry_speed = min( current->entry_speed,
  258. max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
  259. // Check for junction speed change
  260. if (current->entry_speed != entry_speed) {
  261. current->entry_speed = entry_speed;
  262. current->recalculate_flag = true;
  263. }
  264. }
  265. }
  266. }
  267. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  268. // implements the forward pass.
  269. void planner_forward_pass() {
  270. uint8_t block_index = block_buffer_tail;
  271. block_t *block[3] = {
  272. NULL, NULL, NULL };
  273. while(block_index != block_buffer_head) {
  274. block[0] = block[1];
  275. block[1] = block[2];
  276. block[2] = &block_buffer[block_index];
  277. planner_forward_pass_kernel(block[0],block[1],block[2]);
  278. block_index = next_block_index(block_index);
  279. }
  280. planner_forward_pass_kernel(block[1], block[2], NULL);
  281. }
  282. // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
  283. // entry_factor for each junction. Must be called by planner_recalculate() after
  284. // updating the blocks.
  285. void planner_recalculate_trapezoids() {
  286. int8_t block_index = block_buffer_tail;
  287. block_t *current;
  288. block_t *next = NULL;
  289. while(block_index != block_buffer_head) {
  290. current = next;
  291. next = &block_buffer[block_index];
  292. if (current) {
  293. // Recalculate if current block entry or exit junction speed has changed.
  294. if (current->recalculate_flag || next->recalculate_flag) {
  295. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
  296. calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
  297. next->entry_speed/current->nominal_speed);
  298. current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
  299. }
  300. }
  301. block_index = next_block_index( block_index );
  302. }
  303. // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
  304. if(next != NULL) {
  305. calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
  306. MINIMUM_PLANNER_SPEED/next->nominal_speed);
  307. next->recalculate_flag = false;
  308. }
  309. }
  310. // Recalculates the motion plan according to the following algorithm:
  311. //
  312. // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
  313. // so that:
  314. // a. The junction jerk is within the set limit
  315. // b. No speed reduction within one block requires faster deceleration than the one, true constant
  316. // acceleration.
  317. // 2. Go over every block in chronological order and dial down junction speed reduction values if
  318. // a. The speed increase within one block would require faster accelleration than the one, true
  319. // constant acceleration.
  320. //
  321. // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
  322. // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
  323. // the set limit. Finally it will:
  324. //
  325. // 3. Recalculate trapezoids for all blocks.
  326. void planner_recalculate() {
  327. planner_reverse_pass();
  328. planner_forward_pass();
  329. planner_recalculate_trapezoids();
  330. }
  331. void plan_init() {
  332. block_buffer_head = 0;
  333. block_buffer_tail = 0;
  334. memset(position, 0, sizeof(position)); // clear position
  335. previous_speed[0] = 0.0;
  336. previous_speed[1] = 0.0;
  337. previous_speed[2] = 0.0;
  338. previous_speed[3] = 0.0;
  339. previous_nominal_speed = 0.0;
  340. }
  341. #ifdef AUTOTEMP
  342. void getHighESpeed()
  343. {
  344. static float oldt=0;
  345. if(!autotemp_enabled){
  346. return;
  347. }
  348. if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
  349. return; //do nothing
  350. }
  351. float high=0.0;
  352. uint8_t block_index = block_buffer_tail;
  353. while(block_index != block_buffer_head) {
  354. if((block_buffer[block_index].steps_x != 0) ||
  355. (block_buffer[block_index].steps_y != 0) ||
  356. (block_buffer[block_index].steps_z != 0)) {
  357. float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
  358. //se; mm/sec;
  359. if(se>high)
  360. {
  361. high=se;
  362. }
  363. }
  364. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  365. }
  366. float g=autotemp_min+high*autotemp_factor;
  367. float t=g;
  368. if(t<autotemp_min)
  369. t=autotemp_min;
  370. if(t>autotemp_max)
  371. t=autotemp_max;
  372. if(oldt>t)
  373. {
  374. t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
  375. }
  376. oldt=t;
  377. setTargetHotend0(t);
  378. }
  379. #endif
  380. void check_axes_activity()
  381. {
  382. unsigned char x_active = 0;
  383. unsigned char y_active = 0;
  384. unsigned char z_active = 0;
  385. unsigned char e_active = 0;
  386. unsigned char tail_fan_speed = fanSpeed;
  387. #ifdef BARICUDA
  388. unsigned char tail_valve_pressure = ValvePressure;
  389. unsigned char tail_e_to_p_pressure = EtoPPressure;
  390. #endif
  391. block_t *block;
  392. if(block_buffer_tail != block_buffer_head)
  393. {
  394. uint8_t block_index = block_buffer_tail;
  395. tail_fan_speed = block_buffer[block_index].fan_speed;
  396. #ifdef BARICUDA
  397. tail_valve_pressure = block_buffer[block_index].valve_pressure;
  398. tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
  399. #endif
  400. while(block_index != block_buffer_head)
  401. {
  402. block = &block_buffer[block_index];
  403. if(block->steps_x != 0) x_active++;
  404. if(block->steps_y != 0) y_active++;
  405. if(block->steps_z != 0) z_active++;
  406. if(block->steps_e != 0) e_active++;
  407. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  408. }
  409. }
  410. if((DISABLE_X) && (x_active == 0)) disable_x();
  411. if((DISABLE_Y) && (y_active == 0)) disable_y();
  412. if((DISABLE_Z) && (z_active == 0)) disable_z();
  413. if((DISABLE_E) && (e_active == 0))
  414. {
  415. disable_e0();
  416. disable_e1();
  417. disable_e2();
  418. disable_e3();
  419. }
  420. #if defined(FAN_PIN) && FAN_PIN > -1
  421. #ifdef FAN_KICKSTART_TIME
  422. static unsigned long fan_kick_end;
  423. if (tail_fan_speed) {
  424. if (fan_kick_end == 0) {
  425. // Just starting up fan - run at full power.
  426. fan_kick_end = millis() + FAN_KICKSTART_TIME;
  427. tail_fan_speed = 255;
  428. } else if (fan_kick_end > millis())
  429. // Fan still spinning up.
  430. tail_fan_speed = 255;
  431. } else {
  432. fan_kick_end = 0;
  433. }
  434. #endif//FAN_KICKSTART_TIME
  435. #ifdef FAN_SOFT_PWM
  436. fanSpeedSoftPwm = tail_fan_speed;
  437. #else
  438. analogWrite(FAN_PIN,tail_fan_speed);
  439. #endif//!FAN_SOFT_PWM
  440. #endif//FAN_PIN > -1
  441. #ifdef AUTOTEMP
  442. getHighESpeed();
  443. #endif
  444. #ifdef BARICUDA
  445. #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
  446. analogWrite(HEATER_1_PIN,tail_valve_pressure);
  447. #endif
  448. #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
  449. analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
  450. #endif
  451. #endif
  452. }
  453. float junction_deviation = 0.1;
  454. // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
  455. // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
  456. // calculation the caller must also provide the physical length of the line in millimeters.
  457. #ifdef ENABLE_AUTO_BED_LEVELING
  458. void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
  459. #else
  460. void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
  461. #endif //ENABLE_AUTO_BED_LEVELING
  462. {
  463. // Calculate the buffer head after we push this byte
  464. int next_buffer_head = next_block_index(block_buffer_head);
  465. // If the buffer is full: good! That means we are well ahead of the robot.
  466. // Rest here until there is room in the buffer.
  467. while(block_buffer_tail == next_buffer_head)
  468. {
  469. manage_heater();
  470. manage_inactivity();
  471. lcd_update();
  472. }
  473. #ifdef ENABLE_AUTO_BED_LEVELING
  474. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  475. #endif // ENABLE_AUTO_BED_LEVELING
  476. // The target position of the tool in absolute steps
  477. // Calculate target position in absolute steps
  478. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  479. long target[4];
  480. target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  481. target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  482. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  483. target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  484. #ifdef PREVENT_DANGEROUS_EXTRUDE
  485. if(target[E_AXIS]!=position[E_AXIS])
  486. {
  487. if(degHotend(active_extruder)<extrude_min_temp)
  488. {
  489. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  490. SERIAL_ECHO_START;
  491. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  492. }
  493. #ifdef PREVENT_LENGTHY_EXTRUDE
  494. if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
  495. {
  496. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  497. SERIAL_ECHO_START;
  498. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  499. }
  500. #endif
  501. }
  502. #endif
  503. // Prepare to set up new block
  504. block_t *block = &block_buffer[block_buffer_head];
  505. // Mark block as not busy (Not executed by the stepper interrupt)
  506. block->busy = false;
  507. // Number of steps for each axis
  508. #ifndef COREXY
  509. // default non-h-bot planning
  510. block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
  511. block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
  512. #else
  513. // corexy planning
  514. // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
  515. block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
  516. block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
  517. #endif
  518. block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
  519. block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
  520. block->steps_e *= volumetric_multiplier[active_extruder];
  521. block->steps_e *= extrudemultiply;
  522. block->steps_e /= 100;
  523. block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
  524. // Bail if this is a zero-length block
  525. if (block->step_event_count <= dropsegments)
  526. {
  527. return;
  528. }
  529. block->fan_speed = fanSpeed;
  530. #ifdef BARICUDA
  531. block->valve_pressure = ValvePressure;
  532. block->e_to_p_pressure = EtoPPressure;
  533. #endif
  534. // Compute direction bits for this block
  535. block->direction_bits = 0;
  536. #ifndef COREXY
  537. if (target[X_AXIS] < position[X_AXIS])
  538. {
  539. block->direction_bits |= (1<<X_AXIS);
  540. }
  541. if (target[Y_AXIS] < position[Y_AXIS])
  542. {
  543. block->direction_bits |= (1<<Y_AXIS);
  544. }
  545. #else
  546. if (target[X_AXIS] < position[X_AXIS])
  547. {
  548. block->direction_bits |= (1<<X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
  549. }
  550. if (target[Y_AXIS] < position[Y_AXIS])
  551. {
  552. block->direction_bits |= (1<<Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
  553. }
  554. if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
  555. {
  556. block->direction_bits |= (1<<X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
  557. }
  558. if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
  559. {
  560. block->direction_bits |= (1<<Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
  561. }
  562. #endif
  563. if (target[Z_AXIS] < position[Z_AXIS])
  564. {
  565. block->direction_bits |= (1<<Z_AXIS);
  566. }
  567. if (target[E_AXIS] < position[E_AXIS])
  568. {
  569. block->direction_bits |= (1<<E_AXIS);
  570. }
  571. block->active_extruder = extruder;
  572. //enable active axes
  573. #ifdef COREXY
  574. if((block->steps_x != 0) || (block->steps_y != 0))
  575. {
  576. enable_x();
  577. enable_y();
  578. }
  579. #else
  580. if(block->steps_x != 0) enable_x();
  581. if(block->steps_y != 0) enable_y();
  582. #endif
  583. #ifndef Z_LATE_ENABLE
  584. if(block->steps_z != 0) enable_z();
  585. #endif
  586. // Enable extruder(s)
  587. if(block->steps_e != 0)
  588. {
  589. if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
  590. {
  591. if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
  592. if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
  593. if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
  594. if(g_uc_extruder_last_move[3] > 0) g_uc_extruder_last_move[3]--;
  595. switch(extruder)
  596. {
  597. case 0:
  598. enable_e0();
  599. g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
  600. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  601. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  602. if(g_uc_extruder_last_move[3] == 0) disable_e3();
  603. break;
  604. case 1:
  605. enable_e1();
  606. g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
  607. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  608. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  609. if(g_uc_extruder_last_move[3] == 0) disable_e3();
  610. break;
  611. case 2:
  612. enable_e2();
  613. g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
  614. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  615. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  616. if(g_uc_extruder_last_move[3] == 0) disable_e3();
  617. break;
  618. case 3:
  619. enable_e3();
  620. g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
  621. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  622. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  623. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  624. break;
  625. }
  626. }
  627. else //enable all
  628. {
  629. enable_e0();
  630. enable_e1();
  631. enable_e2();
  632. enable_e3();
  633. }
  634. }
  635. if (block->steps_e == 0)
  636. {
  637. if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
  638. }
  639. else
  640. {
  641. if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
  642. }
  643. /* This part of the code calculates the total length of the movement.
  644. For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
  645. But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
  646. and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
  647. So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
  648. Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
  649. */
  650. #ifndef COREXY
  651. float delta_mm[4];
  652. delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  653. delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  654. #else
  655. float delta_mm[6];
  656. delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  657. delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  658. delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
  659. delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
  660. #endif
  661. delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
  662. delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*volumetric_multiplier[active_extruder]*extrudemultiply/100.0;
  663. if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
  664. {
  665. block->millimeters = fabs(delta_mm[E_AXIS]);
  666. }
  667. else
  668. {
  669. #ifndef COREXY
  670. block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
  671. #else
  672. block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
  673. #endif
  674. }
  675. float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
  676. // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
  677. float inverse_second = feed_rate * inverse_millimeters;
  678. int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  679. // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
  680. #ifdef OLD_SLOWDOWN
  681. if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
  682. feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
  683. #endif
  684. #ifdef SLOWDOWN
  685. // segment time im micro seconds
  686. unsigned long segment_time = lround(1000000.0/inverse_second);
  687. if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
  688. {
  689. if (segment_time < minsegmenttime)
  690. { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  691. inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
  692. #ifdef XY_FREQUENCY_LIMIT
  693. segment_time = lround(1000000.0/inverse_second);
  694. #endif
  695. }
  696. }
  697. #endif
  698. // END OF SLOW DOWN SECTION
  699. block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
  700. block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
  701. #ifdef FILAMENT_SENSOR
  702. //FMM update ring buffer used for delay with filament measurements
  703. if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1)) //only for extruder with filament sensor and if ring buffer is initialized
  704. {
  705. delay_dist = delay_dist + delta_mm[E_AXIS]; //increment counter with next move in e axis
  706. while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1))) //check if counter is over max buffer size in mm
  707. delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
  708. while (delay_dist<0)
  709. delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
  710. delay_index1=delay_dist/10.0; //calculate index
  711. //ensure the number is within range of the array after converting from floating point
  712. if(delay_index1<0)
  713. delay_index1=0;
  714. else if (delay_index1>MAX_MEASUREMENT_DELAY)
  715. delay_index1=MAX_MEASUREMENT_DELAY;
  716. if(delay_index1 != delay_index2) //moved index
  717. {
  718. meas_sample=widthFil_to_size_ratio()-100; //subtract off 100 to reduce magnitude - to store in a signed char
  719. }
  720. while( delay_index1 != delay_index2)
  721. {
  722. delay_index2 = delay_index2 + 1;
  723. if(delay_index2>MAX_MEASUREMENT_DELAY)
  724. delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1); //loop around buffer when incrementing
  725. if(delay_index2<0)
  726. delay_index2=0;
  727. else if (delay_index2>MAX_MEASUREMENT_DELAY)
  728. delay_index2=MAX_MEASUREMENT_DELAY;
  729. measurement_delay[delay_index2]=meas_sample;
  730. }
  731. }
  732. #endif
  733. // Calculate and limit speed in mm/sec for each axis
  734. float current_speed[4];
  735. float speed_factor = 1.0; //factor <=1 do decrease speed
  736. for(int i=0; i < 4; i++)
  737. {
  738. current_speed[i] = delta_mm[i] * inverse_second;
  739. if(fabs(current_speed[i]) > max_feedrate[i])
  740. speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
  741. }
  742. // Max segement time in us.
  743. #ifdef XY_FREQUENCY_LIMIT
  744. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  745. // Check and limit the xy direction change frequency
  746. unsigned char direction_change = block->direction_bits ^ old_direction_bits;
  747. old_direction_bits = block->direction_bits;
  748. segment_time = lround((float)segment_time / speed_factor);
  749. if((direction_change & (1<<X_AXIS)) == 0)
  750. {
  751. x_segment_time[0] += segment_time;
  752. }
  753. else
  754. {
  755. x_segment_time[2] = x_segment_time[1];
  756. x_segment_time[1] = x_segment_time[0];
  757. x_segment_time[0] = segment_time;
  758. }
  759. if((direction_change & (1<<Y_AXIS)) == 0)
  760. {
  761. y_segment_time[0] += segment_time;
  762. }
  763. else
  764. {
  765. y_segment_time[2] = y_segment_time[1];
  766. y_segment_time[1] = y_segment_time[0];
  767. y_segment_time[0] = segment_time;
  768. }
  769. long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
  770. long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
  771. long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
  772. if(min_xy_segment_time < MAX_FREQ_TIME)
  773. speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
  774. #endif // XY_FREQUENCY_LIMIT
  775. // Correct the speed
  776. if( speed_factor < 1.0)
  777. {
  778. for(unsigned char i=0; i < 4; i++)
  779. {
  780. current_speed[i] *= speed_factor;
  781. }
  782. block->nominal_speed *= speed_factor;
  783. block->nominal_rate *= speed_factor;
  784. }
  785. // Compute and limit the acceleration rate for the trapezoid generator.
  786. float steps_per_mm = block->step_event_count/block->millimeters;
  787. if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
  788. {
  789. block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  790. }
  791. else
  792. {
  793. block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  794. // Limit acceleration per axis
  795. if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
  796. block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
  797. if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
  798. block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
  799. if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
  800. block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
  801. if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
  802. block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  803. }
  804. block->acceleration = block->acceleration_st / steps_per_mm;
  805. block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
  806. #if 0 // Use old jerk for now
  807. // Compute path unit vector
  808. double unit_vec[3];
  809. unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
  810. unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
  811. unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
  812. // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
  813. // Let a circle be tangent to both previous and current path line segments, where the junction
  814. // deviation is defined as the distance from the junction to the closest edge of the circle,
  815. // colinear with the circle center. The circular segment joining the two paths represents the
  816. // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
  817. // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
  818. // path width or max_jerk in the previous grbl version. This approach does not actually deviate
  819. // from path, but used as a robust way to compute cornering speeds, as it takes into account the
  820. // nonlinearities of both the junction angle and junction velocity.
  821. double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
  822. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
  823. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  824. // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
  825. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
  826. double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
  827. - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
  828. - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
  829. // Skip and use default max junction speed for 0 degree acute junction.
  830. if (cos_theta < 0.95) {
  831. vmax_junction = min(previous_nominal_speed,block->nominal_speed);
  832. // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
  833. if (cos_theta > -0.95) {
  834. // Compute maximum junction velocity based on maximum acceleration and junction deviation
  835. double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
  836. vmax_junction = min(vmax_junction,
  837. sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
  838. }
  839. }
  840. }
  841. #endif
  842. // Start with a safe speed
  843. float vmax_junction = max_xy_jerk/2;
  844. float vmax_junction_factor = 1.0;
  845. if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
  846. vmax_junction = min(vmax_junction, max_z_jerk/2);
  847. if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
  848. vmax_junction = min(vmax_junction, max_e_jerk/2);
  849. vmax_junction = min(vmax_junction, block->nominal_speed);
  850. float safe_speed = vmax_junction;
  851. if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
  852. float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
  853. // if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
  854. vmax_junction = block->nominal_speed;
  855. // }
  856. if (jerk > max_xy_jerk) {
  857. vmax_junction_factor = (max_xy_jerk/jerk);
  858. }
  859. if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
  860. vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
  861. }
  862. if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
  863. vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
  864. }
  865. vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
  866. }
  867. block->max_entry_speed = vmax_junction;
  868. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
  869. double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
  870. block->entry_speed = min(vmax_junction, v_allowable);
  871. // Initialize planner efficiency flags
  872. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  873. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  874. // the current block and next block junction speeds are guaranteed to always be at their maximum
  875. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  876. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  877. // the reverse and forward planners, the corresponding block junction speed will always be at the
  878. // the maximum junction speed and may always be ignored for any speed reduction checks.
  879. if (block->nominal_speed <= v_allowable) {
  880. block->nominal_length_flag = true;
  881. }
  882. else {
  883. block->nominal_length_flag = false;
  884. }
  885. block->recalculate_flag = true; // Always calculate trapezoid for new block
  886. // Update previous path unit_vector and nominal speed
  887. memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
  888. previous_nominal_speed = block->nominal_speed;
  889. #ifdef ADVANCE
  890. // Calculate advance rate
  891. if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
  892. block->advance_rate = 0;
  893. block->advance = 0;
  894. }
  895. else {
  896. long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
  897. float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
  898. (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
  899. block->advance = advance;
  900. if(acc_dist == 0) {
  901. block->advance_rate = 0;
  902. }
  903. else {
  904. block->advance_rate = advance / (float)acc_dist;
  905. }
  906. }
  907. /*
  908. SERIAL_ECHO_START;
  909. SERIAL_ECHOPGM("advance :");
  910. SERIAL_ECHO(block->advance/256.0);
  911. SERIAL_ECHOPGM("advance rate :");
  912. SERIAL_ECHOLN(block->advance_rate/256.0);
  913. */
  914. #endif // ADVANCE
  915. calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
  916. safe_speed/block->nominal_speed);
  917. // Move buffer head
  918. block_buffer_head = next_buffer_head;
  919. // Update position
  920. memcpy(position, target, sizeof(target)); // position[] = target[]
  921. planner_recalculate();
  922. st_wake_up();
  923. }
  924. #ifdef ENABLE_AUTO_BED_LEVELING
  925. vector_3 plan_get_position() {
  926. vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
  927. //position.debug("in plan_get position");
  928. //plan_bed_level_matrix.debug("in plan_get bed_level");
  929. matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
  930. //inverse.debug("in plan_get inverse");
  931. position.apply_rotation(inverse);
  932. //position.debug("after rotation");
  933. return position;
  934. }
  935. #endif // ENABLE_AUTO_BED_LEVELING
  936. #ifdef ENABLE_AUTO_BED_LEVELING
  937. void plan_set_position(float x, float y, float z, const float &e)
  938. {
  939. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  940. #else
  941. void plan_set_position(const float &x, const float &y, const float &z, const float &e)
  942. {
  943. #endif // ENABLE_AUTO_BED_LEVELING
  944. position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  945. position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  946. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  947. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  948. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  949. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  950. previous_speed[0] = 0.0;
  951. previous_speed[1] = 0.0;
  952. previous_speed[2] = 0.0;
  953. previous_speed[3] = 0.0;
  954. }
  955. void plan_set_e_position(const float &e)
  956. {
  957. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  958. st_set_e_position(position[E_AXIS]);
  959. }
  960. uint8_t movesplanned()
  961. {
  962. return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  963. }
  964. #ifdef PREVENT_DANGEROUS_EXTRUDE
  965. void set_extrude_min_temp(float temp)
  966. {
  967. extrude_min_temp=temp;
  968. }
  969. #endif
  970. // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
  971. void reset_acceleration_rates()
  972. {
  973. for(int8_t i=0; i < NUM_AXIS; i++)
  974. {
  975. axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
  976. }
  977. }