My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.cpp 33KB

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