My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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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 <inttypes.h>
  37. //#include <math.h>
  38. //#include <stdlib.h>
  39. #include "Configuration.h"
  40. #include "pins.h"
  41. #include "Marlin.h"
  42. #include "fastio.h"
  43. #include "planner.h"
  44. #include "stepper.h"
  45. #include "temperature.h"
  46. #include "ultralcd.h"
  47. //===========================================================================
  48. //=============================public variables ============================
  49. //===========================================================================
  50. unsigned long minsegmenttime;
  51. float max_feedrate[4]; // set the max speeds
  52. float axis_steps_per_unit[4];
  53. unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
  54. float minimumfeedrate;
  55. float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
  56. float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  57. float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
  58. float max_z_jerk;
  59. float mintravelfeedrate;
  60. unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  61. // The current position of the tool in absolute steps
  62. long position[4]; //rescaled from extern when axis_steps_per_unit are changed by gcode
  63. static float previous_speed[4]; // Speed of previous path line segment
  64. static float previous_nominal_speed; // Nominal speed of previous path line segment
  65. #ifdef AUTOTEMP
  66. float autotemp_max=250;
  67. float autotemp_min=210;
  68. float autotemp_factor=0.1;
  69. bool autotemp_enabled=false;
  70. #endif
  71. //===========================================================================
  72. //=================semi-private variables, used in inline functions =====
  73. //===========================================================================
  74. block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  75. volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  76. volatile unsigned char block_buffer_tail; // Index of the block to process now
  77. //===========================================================================
  78. //=============================private variables ============================
  79. //===========================================================================
  80. #ifdef PREVENT_DANGEROUS_EXTRUDE
  81. bool allow_cold_extrude=false;
  82. #endif
  83. #ifdef XY_FREQUENCY_LIMIT
  84. // Used for the frequency limit
  85. static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
  86. static long x_segment_time[3]={0,0,0}; // Segment times (in us). Used for speed calculations
  87. static long y_segment_time[3]={0,0,0};
  88. #endif
  89. // Returns the index of the next block in the ring buffer
  90. // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
  91. static int8_t next_block_index(int8_t block_index) {
  92. block_index++;
  93. if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
  94. return(block_index);
  95. }
  96. // Returns the index of the previous block in the ring buffer
  97. static int8_t prev_block_index(int8_t block_index) {
  98. if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
  99. block_index--;
  100. return(block_index);
  101. }
  102. //===========================================================================
  103. //=============================functions ============================
  104. //===========================================================================
  105. // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
  106. // given acceleration:
  107. FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  108. {
  109. if (acceleration!=0) {
  110. return((target_rate*target_rate-initial_rate*initial_rate)/
  111. (2.0*acceleration));
  112. }
  113. else {
  114. return 0.0; // acceleration was 0, set acceleration distance to 0
  115. }
  116. }
  117. // This function gives you the point at which you must start braking (at the rate of -acceleration) if
  118. // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
  119. // a total travel of distance. This can be used to compute the intersection point between acceleration and
  120. // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
  121. FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  122. {
  123. if (acceleration!=0) {
  124. return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
  125. (4.0*acceleration) );
  126. }
  127. else {
  128. return 0.0; // acceleration was 0, set intersection distance to 0
  129. }
  130. }
  131. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
  132. void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
  133. unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
  134. unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
  135. // Limit minimal step rate (Otherwise the timer will overflow.)
  136. if(initial_rate <120) {initial_rate=120; }
  137. if(final_rate < 120) {final_rate=120; }
  138. long acceleration = block->acceleration_st;
  139. int32_t accelerate_steps =
  140. ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration));
  141. int32_t decelerate_steps =
  142. floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration));
  143. // Calculate the size of Plateau of Nominal Rate.
  144. int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
  145. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  146. // have to use intersection_distance() to calculate when to abort acceleration and start braking
  147. // in order to reach the final_rate exactly at the end of this block.
  148. if (plateau_steps < 0) {
  149. accelerate_steps = ceil(
  150. intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
  151. accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
  152. accelerate_steps = min(accelerate_steps,block->step_event_count);
  153. plateau_steps = 0;
  154. }
  155. #ifdef ADVANCE
  156. volatile long initial_advance = block->advance*entry_factor*entry_factor;
  157. volatile long final_advance = block->advance*exit_factor*exit_factor;
  158. #endif // ADVANCE
  159. // block->accelerate_until = accelerate_steps;
  160. // block->decelerate_after = accelerate_steps+plateau_steps;
  161. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  162. if(block->busy == false) { // Don't update variables if block is busy.
  163. block->accelerate_until = accelerate_steps;
  164. block->decelerate_after = accelerate_steps+plateau_steps;
  165. block->initial_rate = initial_rate;
  166. block->final_rate = final_rate;
  167. #ifdef ADVANCE
  168. block->initial_advance = initial_advance;
  169. block->final_advance = final_advance;
  170. #endif //ADVANCE
  171. }
  172. CRITICAL_SECTION_END;
  173. }
  174. // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
  175. // acceleration within the allotted distance.
  176. FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
  177. return sqrt(target_velocity*target_velocity-2*acceleration*distance);
  178. }
  179. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
  180. // This method will calculate the junction jerk as the euclidean distance between the nominal
  181. // velocities of the respective blocks.
  182. //inline float junction_jerk(block_t *before, block_t *after) {
  183. // return sqrt(
  184. // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
  185. //}
  186. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
  187. void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  188. if(!current) { return; }
  189. if (next) {
  190. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  191. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  192. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  193. if (current->entry_speed != current->max_entry_speed) {
  194. // If nominal length true, max junction speed is guaranteed to be reached. Only compute
  195. // for max allowable speed if block is decelerating and nominal length is false.
  196. if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
  197. current->entry_speed = min( current->max_entry_speed,
  198. max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
  199. } else {
  200. current->entry_speed = current->max_entry_speed;
  201. }
  202. current->recalculate_flag = true;
  203. }
  204. } // Skip last block. Already initialized and set for recalculation.
  205. }
  206. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  207. // implements the reverse pass.
  208. void planner_reverse_pass() {
  209. uint8_t block_index = block_buffer_head;
  210. if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
  211. block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
  212. block_t *block[3] = { NULL, NULL, NULL };
  213. while(block_index != block_buffer_tail) {
  214. block_index = prev_block_index(block_index);
  215. block[2]= block[1];
  216. block[1]= block[0];
  217. block[0] = &block_buffer[block_index];
  218. planner_reverse_pass_kernel(block[0], block[1], block[2]);
  219. }
  220. }
  221. }
  222. // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
  223. void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  224. if(!previous) { return; }
  225. // If the previous block is an acceleration block, but it is not long enough to complete the
  226. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  227. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  228. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  229. if (!previous->nominal_length_flag) {
  230. if (previous->entry_speed < current->entry_speed) {
  231. double entry_speed = min( current->entry_speed,
  232. max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
  233. // Check for junction speed change
  234. if (current->entry_speed != entry_speed) {
  235. current->entry_speed = entry_speed;
  236. current->recalculate_flag = true;
  237. }
  238. }
  239. }
  240. }
  241. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  242. // implements the forward pass.
  243. void planner_forward_pass() {
  244. uint8_t block_index = block_buffer_tail;
  245. block_t *block[3] = { NULL, NULL, NULL };
  246. while(block_index != block_buffer_head) {
  247. block[0] = block[1];
  248. block[1] = block[2];
  249. block[2] = &block_buffer[block_index];
  250. planner_forward_pass_kernel(block[0],block[1],block[2]);
  251. block_index = next_block_index(block_index);
  252. }
  253. planner_forward_pass_kernel(block[1], block[2], NULL);
  254. }
  255. // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
  256. // entry_factor for each junction. Must be called by planner_recalculate() after
  257. // updating the blocks.
  258. void planner_recalculate_trapezoids() {
  259. int8_t block_index = block_buffer_tail;
  260. block_t *current;
  261. block_t *next = NULL;
  262. while(block_index != block_buffer_head) {
  263. current = next;
  264. next = &block_buffer[block_index];
  265. if (current) {
  266. // Recalculate if current block entry or exit junction speed has changed.
  267. if (current->recalculate_flag || next->recalculate_flag) {
  268. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
  269. calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
  270. next->entry_speed/current->nominal_speed);
  271. current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
  272. }
  273. }
  274. block_index = next_block_index( block_index );
  275. }
  276. // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
  277. if(next != NULL) {
  278. calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
  279. MINIMUM_PLANNER_SPEED/next->nominal_speed);
  280. next->recalculate_flag = false;
  281. }
  282. }
  283. // Recalculates the motion plan according to the following algorithm:
  284. //
  285. // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
  286. // so that:
  287. // a. The junction jerk is within the set limit
  288. // b. No speed reduction within one block requires faster deceleration than the one, true constant
  289. // acceleration.
  290. // 2. Go over every block in chronological order and dial down junction speed reduction values if
  291. // a. The speed increase within one block would require faster accelleration than the one, true
  292. // constant acceleration.
  293. //
  294. // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
  295. // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
  296. // the set limit. Finally it will:
  297. //
  298. // 3. Recalculate trapezoids for all blocks.
  299. void planner_recalculate() {
  300. planner_reverse_pass();
  301. planner_forward_pass();
  302. planner_recalculate_trapezoids();
  303. }
  304. void plan_init() {
  305. block_buffer_head = 0;
  306. block_buffer_tail = 0;
  307. memset(position, 0, sizeof(position)); // clear position
  308. previous_speed[0] = 0.0;
  309. previous_speed[1] = 0.0;
  310. previous_speed[2] = 0.0;
  311. previous_speed[3] = 0.0;
  312. previous_nominal_speed = 0.0;
  313. }
  314. #ifdef AUTOTEMP
  315. void getHighESpeed()
  316. {
  317. static float oldt=0;
  318. if(!autotemp_enabled)
  319. return;
  320. if(degTargetHotend0()+2<autotemp_min) //probably temperature set to zero.
  321. return; //do nothing
  322. float high=0;
  323. uint8_t block_index = block_buffer_tail;
  324. while(block_index != block_buffer_head) {
  325. float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
  326. //se; units steps/sec;
  327. if(se>high)
  328. {
  329. high=se;
  330. }
  331. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  332. }
  333. float g=autotemp_min+high*autotemp_factor;
  334. float t=g;
  335. if(t<autotemp_min)
  336. t=autotemp_min;
  337. if(t>autotemp_max)
  338. t=autotemp_max;
  339. if(oldt>t)
  340. {
  341. t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
  342. }
  343. oldt=t;
  344. setTargetHotend0(t);
  345. // SERIAL_ECHO_START;
  346. // SERIAL_ECHOPAIR("highe",high);
  347. // SERIAL_ECHOPAIR(" t",t);
  348. // SERIAL_ECHOLN("");
  349. }
  350. #endif
  351. void check_axes_activity() {
  352. unsigned char x_active = 0;
  353. unsigned char y_active = 0;
  354. unsigned char z_active = 0;
  355. unsigned char e_active = 0;
  356. block_t *block;
  357. if(block_buffer_tail != block_buffer_head) {
  358. uint8_t block_index = block_buffer_tail;
  359. while(block_index != block_buffer_head) {
  360. block = &block_buffer[block_index];
  361. if(block->steps_x != 0) x_active++;
  362. if(block->steps_y != 0) y_active++;
  363. if(block->steps_z != 0) z_active++;
  364. if(block->steps_e != 0) e_active++;
  365. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  366. }
  367. }
  368. if((DISABLE_X) && (x_active == 0)) disable_x();
  369. if((DISABLE_Y) && (y_active == 0)) disable_y();
  370. if((DISABLE_Z) && (z_active == 0)) disable_z();
  371. if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
  372. }
  373. float junction_deviation = 0.1;
  374. // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
  375. // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
  376. // calculation the caller must also provide the physical length of the line in millimeters.
  377. void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
  378. {
  379. // Calculate the buffer head after we push this byte
  380. int next_buffer_head = next_block_index(block_buffer_head);
  381. // If the buffer is full: good! That means we are well ahead of the robot.
  382. // Rest here until there is room in the buffer.
  383. while(block_buffer_tail == next_buffer_head) {
  384. manage_heater();
  385. manage_inactivity(1);
  386. LCD_STATUS;
  387. }
  388. // The target position of the tool in absolute steps
  389. // Calculate target position in absolute steps
  390. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  391. long target[4];
  392. target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  393. target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  394. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  395. target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  396. #ifdef PREVENT_DANGEROUS_EXTRUDE
  397. if(target[E_AXIS]!=position[E_AXIS])
  398. if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
  399. {
  400. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  401. SERIAL_ECHO_START;
  402. SERIAL_ECHOLNPGM(" cold extrusion prevented");
  403. }
  404. if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
  405. {
  406. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  407. SERIAL_ECHO_START;
  408. SERIAL_ECHOLNPGM(" too long extrusion prevented");
  409. }
  410. #endif
  411. // Prepare to set up new block
  412. block_t *block = &block_buffer[block_buffer_head];
  413. // Mark block as not busy (Not executed by the stepper interrupt)
  414. block->busy = false;
  415. // Number of steps for each axis
  416. block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
  417. block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
  418. block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
  419. block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
  420. block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
  421. // Bail if this is a zero-length block
  422. if (block->step_event_count <=dropsegments) { return; };
  423. // Compute direction bits for this block
  424. block->direction_bits = 0;
  425. if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
  426. if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
  427. if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); }
  428. if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); }
  429. block->active_extruder = extruder;
  430. //enable active axes
  431. if(block->steps_x != 0) enable_x();
  432. if(block->steps_y != 0) enable_y();
  433. if(block->steps_z != 0) enable_z();
  434. // Enable all
  435. if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
  436. float delta_mm[4];
  437. delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  438. delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  439. delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
  440. delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
  441. block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
  442. square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
  443. float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
  444. // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
  445. float inverse_second = feed_rate * inverse_millimeters;
  446. block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
  447. block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
  448. if (block->steps_e == 0) {
  449. if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
  450. }
  451. else {
  452. if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
  453. }
  454. #ifdef SLOWDOWN
  455. // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
  456. int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  457. if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
  458. #endif
  459. /*
  460. // segment time im micro seconds
  461. long segment_time = lround(1000000.0/inverse_second);
  462. if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
  463. if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  464. segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
  465. }
  466. }
  467. else {
  468. if (segment_time<minsegmenttime) segment_time=minsegmenttime;
  469. }
  470. // END OF SLOW DOWN SECTION
  471. */
  472. // Calculate speed in mm/sec for each axis
  473. float current_speed[4];
  474. for(int i=0; i < 4; i++) {
  475. current_speed[i] = delta_mm[i] * inverse_second;
  476. }
  477. // Limit speed per axis
  478. float speed_factor = 1.0; //factor <=1 do decrease speed
  479. for(int i=0; i < 4; i++) {
  480. if(abs(current_speed[i]) > max_feedrate[i])
  481. speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
  482. }
  483. // Max segement time in us.
  484. #ifdef XY_FREQUENCY_LIMIT
  485. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  486. // Check and limit the xy direction change frequency
  487. unsigned char direction_change = block->direction_bits ^ old_direction_bits;
  488. old_direction_bits = block->direction_bits;
  489. if((direction_change & (1<<X_AXIS)) == 0) {
  490. x_segment_time[0] += segment_time;
  491. }
  492. else {
  493. x_segment_time[2] = x_segment_time[1];
  494. x_segment_time[1] = x_segment_time[0];
  495. x_segment_time[0] = segment_time;
  496. }
  497. if((direction_change & (1<<Y_AXIS)) == 0) {
  498. y_segment_time[0] += segment_time;
  499. }
  500. else {
  501. y_segment_time[2] = y_segment_time[1];
  502. y_segment_time[1] = y_segment_time[0];
  503. y_segment_time[0] = segment_time;
  504. }
  505. long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
  506. long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
  507. long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
  508. if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
  509. #endif
  510. // Correct the speed
  511. if( speed_factor < 1.0) {
  512. // Serial.print("speed factor : "); Serial.println(speed_factor);
  513. for(int i=0; i < 4; i++) {
  514. if(abs(current_speed[i]) > max_feedrate[i])
  515. speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
  516. /*
  517. if(speed_factor < 0.1) {
  518. Serial.print("speed factor : "); Serial.println(speed_factor);
  519. Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
  520. }
  521. */
  522. }
  523. for(unsigned char i=0; i < 4; i++) {
  524. current_speed[i] *= speed_factor;
  525. }
  526. block->nominal_speed *= speed_factor;
  527. block->nominal_rate *= speed_factor;
  528. }
  529. // Compute and limit the acceleration rate for the trapezoid generator.
  530. float steps_per_mm = block->step_event_count/block->millimeters;
  531. if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
  532. block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  533. }
  534. else {
  535. block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  536. // Limit acceleration per axis
  537. if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
  538. block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
  539. if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
  540. block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
  541. if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
  542. block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
  543. if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
  544. block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  545. }
  546. block->acceleration = block->acceleration_st / steps_per_mm;
  547. block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
  548. #if 0 // Use old jerk for now
  549. // Compute path unit vector
  550. double unit_vec[3];
  551. unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
  552. unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
  553. unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
  554. // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
  555. // Let a circle be tangent to both previous and current path line segments, where the junction
  556. // deviation is defined as the distance from the junction to the closest edge of the circle,
  557. // colinear with the circle center. The circular segment joining the two paths represents the
  558. // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
  559. // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
  560. // path width or max_jerk in the previous grbl version. This approach does not actually deviate
  561. // from path, but used as a robust way to compute cornering speeds, as it takes into account the
  562. // nonlinearities of both the junction angle and junction velocity.
  563. double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
  564. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
  565. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  566. // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
  567. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
  568. double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
  569. - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
  570. - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
  571. // Skip and use default max junction speed for 0 degree acute junction.
  572. if (cos_theta < 0.95) {
  573. vmax_junction = min(previous_nominal_speed,block->nominal_speed);
  574. // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
  575. if (cos_theta > -0.95) {
  576. // Compute maximum junction velocity based on maximum acceleration and junction deviation
  577. double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
  578. vmax_junction = min(vmax_junction,
  579. sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
  580. }
  581. }
  582. }
  583. #endif
  584. // Start with a safe speed
  585. float vmax_junction = max_xy_jerk/2;
  586. if(abs(current_speed[Z_AXIS]) > max_z_jerk/2)
  587. vmax_junction = max_z_jerk/2;
  588. vmax_junction = min(vmax_junction, block->nominal_speed);
  589. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  590. float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
  591. if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
  592. vmax_junction = block->nominal_speed;
  593. }
  594. if (jerk > max_xy_jerk) {
  595. vmax_junction *= (max_xy_jerk/jerk);
  596. }
  597. if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
  598. vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
  599. }
  600. }
  601. block->max_entry_speed = vmax_junction;
  602. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
  603. double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
  604. block->entry_speed = min(vmax_junction, v_allowable);
  605. // Initialize planner efficiency flags
  606. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  607. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  608. // the current block and next block junction speeds are guaranteed to always be at their maximum
  609. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  610. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  611. // the reverse and forward planners, the corresponding block junction speed will always be at the
  612. // the maximum junction speed and may always be ignored for any speed reduction checks.
  613. if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
  614. else { block->nominal_length_flag = false; }
  615. block->recalculate_flag = true; // Always calculate trapezoid for new block
  616. // Update previous path unit_vector and nominal speed
  617. memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
  618. previous_nominal_speed = block->nominal_speed;
  619. #ifdef ADVANCE
  620. // Calculate advance rate
  621. if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
  622. block->advance_rate = 0;
  623. block->advance = 0;
  624. }
  625. else {
  626. long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
  627. float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
  628. (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
  629. block->advance = advance;
  630. if(acc_dist == 0) {
  631. block->advance_rate = 0;
  632. }
  633. else {
  634. block->advance_rate = advance / (float)acc_dist;
  635. }
  636. }
  637. /*
  638. SERIAL_ECHO_START;
  639. SERIAL_ECHOPGM("advance :");
  640. SERIAL_ECHO(block->advance/256.0);
  641. SERIAL_ECHOPGM("advance rate :");
  642. SERIAL_ECHOLN(block->advance_rate/256.0);
  643. */
  644. #endif // ADVANCE
  645. calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
  646. MINIMUM_PLANNER_SPEED/block->nominal_speed);
  647. // Move buffer head
  648. block_buffer_head = next_buffer_head;
  649. // Update position
  650. memcpy(position, target, sizeof(target)); // position[] = target[]
  651. planner_recalculate();
  652. #ifdef AUTOTEMP
  653. getHighESpeed();
  654. #endif
  655. st_wake_up();
  656. }
  657. void plan_set_position(const float &x, const float &y, const float &z, const float &e)
  658. {
  659. position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  660. position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  661. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  662. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  663. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  664. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  665. previous_speed[0] = 0.0;
  666. previous_speed[1] = 0.0;
  667. previous_speed[2] = 0.0;
  668. previous_speed[3] = 0.0;
  669. }
  670. void plan_set_e_position(const float &e)
  671. {
  672. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  673. st_set_e_position(position[E_AXIS]);
  674. }
  675. uint8_t movesplanned()
  676. {
  677. return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  678. }
  679. void allow_cold_extrudes(bool allow)
  680. {
  681. #ifdef PREVENT_DANGEROUS_EXTRUDE
  682. allow_cold_extrude=allow;
  683. #endif
  684. }