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- /*
- planner.c - buffers movement commands and manages the acceleration profile plan
- Part of Grbl
-
- Copyright (c) 2009-2011 Simen Svale Skogsrud
-
- Grbl is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- Grbl is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with Grbl. If not, see <http://www.gnu.org/licenses/>.
- */
-
- /* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
-
- /*
- Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
-
- s == speed, a == acceleration, t == time, d == distance
-
- Basic definitions:
-
- Speed[s_, a_, t_] := s + (a*t)
- Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
-
- Distance to reach a specific speed with a constant acceleration:
-
- Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
- d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
-
- Speed after a given distance of travel with constant acceleration:
-
- Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
- m -> Sqrt[2 a d + s^2]
-
- DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
-
- When to start braking (di) to reach a specified destionation speed (s2) after accelerating
- from initial speed s1 without ever stopping at a plateau:
-
- Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
- di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
-
- IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
- */
-
- #include "Marlin.h"
- #include "planner.h"
- #include "stepper.h"
- #include "temperature.h"
- #include "ultralcd.h"
- #include "language.h"
-
- //===========================================================================
- //=============================public variables ============================
- //===========================================================================
-
- unsigned long minsegmenttime;
- float max_feedrate[4]; // set the max speeds
- float axis_steps_per_unit[4];
- unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
- float minimumfeedrate;
- float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
- float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
- float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
- float max_z_jerk;
- float max_e_jerk;
- float mintravelfeedrate;
- unsigned long axis_steps_per_sqr_second[NUM_AXIS];
-
- // The current position of the tool in absolute steps
- long position[4]; //rescaled from extern when axis_steps_per_unit are changed by gcode
- static float previous_speed[4]; // Speed of previous path line segment
- static float previous_nominal_speed; // Nominal speed of previous path line segment
-
- #ifdef AUTOTEMP
- float autotemp_max=250;
- float autotemp_min=210;
- float autotemp_factor=0.1;
- bool autotemp_enabled=false;
- #endif
-
- //===========================================================================
- //=================semi-private variables, used in inline functions =====
- //===========================================================================
- block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
- volatile unsigned char block_buffer_head; // Index of the next block to be pushed
- volatile unsigned char block_buffer_tail; // Index of the block to process now
-
- //===========================================================================
- //=============================private variables ============================
- //===========================================================================
- #ifdef PREVENT_DANGEROUS_EXTRUDE
- bool allow_cold_extrude=false;
- #endif
- #ifdef XY_FREQUENCY_LIMIT
- #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
- // Used for the frequency limit
- static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
- static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0}; // Segment times (in us). Used for speed calculations
- static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
- #endif
-
- // Returns the index of the next block in the ring buffer
- // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
- static int8_t next_block_index(int8_t block_index) {
- block_index++;
- if (block_index == BLOCK_BUFFER_SIZE) {
- block_index = 0;
- }
- return(block_index);
- }
-
-
- // Returns the index of the previous block in the ring buffer
- static int8_t prev_block_index(int8_t block_index) {
- if (block_index == 0) {
- block_index = BLOCK_BUFFER_SIZE;
- }
- block_index--;
- return(block_index);
- }
-
- //===========================================================================
- //=============================functions ============================
- //===========================================================================
-
- // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
- // given acceleration:
- FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
- {
- if (acceleration!=0) {
- return((target_rate*target_rate-initial_rate*initial_rate)/
- (2.0*acceleration));
- }
- else {
- return 0.0; // acceleration was 0, set acceleration distance to 0
- }
- }
-
- // This function gives you the point at which you must start braking (at the rate of -acceleration) if
- // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
- // a total travel of distance. This can be used to compute the intersection point between acceleration and
- // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
-
- FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
- {
- if (acceleration!=0) {
- return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
- (4.0*acceleration) );
- }
- else {
- return 0.0; // acceleration was 0, set intersection distance to 0
- }
- }
-
- // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
-
- void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
- unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
- unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
-
- // Limit minimal step rate (Otherwise the timer will overflow.)
- if(initial_rate <120) {
- initial_rate=120;
- }
- if(final_rate < 120) {
- final_rate=120;
- }
-
- long acceleration = block->acceleration_st;
- int32_t accelerate_steps =
- ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration));
- int32_t decelerate_steps =
- floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration));
-
- // Calculate the size of Plateau of Nominal Rate.
- int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
-
- // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
- // have to use intersection_distance() to calculate when to abort acceleration and start braking
- // in order to reach the final_rate exactly at the end of this block.
- if (plateau_steps < 0) {
- accelerate_steps = ceil(intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
- accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
- 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)
- plateau_steps = 0;
- }
-
- #ifdef ADVANCE
- volatile long initial_advance = block->advance*entry_factor*entry_factor;
- volatile long final_advance = block->advance*exit_factor*exit_factor;
- #endif // ADVANCE
-
- // block->accelerate_until = accelerate_steps;
- // block->decelerate_after = accelerate_steps+plateau_steps;
- CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
- if(block->busy == false) { // Don't update variables if block is busy.
- block->accelerate_until = accelerate_steps;
- block->decelerate_after = accelerate_steps+plateau_steps;
- block->initial_rate = initial_rate;
- block->final_rate = final_rate;
- #ifdef ADVANCE
- block->initial_advance = initial_advance;
- block->final_advance = final_advance;
- #endif //ADVANCE
- }
- CRITICAL_SECTION_END;
- }
-
- // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
- // acceleration within the allotted distance.
- FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
- return sqrt(target_velocity*target_velocity-2*acceleration*distance);
- }
-
- // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
- // This method will calculate the junction jerk as the euclidean distance between the nominal
- // velocities of the respective blocks.
- //inline float junction_jerk(block_t *before, block_t *after) {
- // return sqrt(
- // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
- //}
-
-
- // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
- void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
- if(!current) {
- return;
- }
-
- if (next) {
- // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
- // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
- // check for maximum allowable speed reductions to ensure maximum possible planned speed.
- if (current->entry_speed != current->max_entry_speed) {
-
- // If nominal length true, max junction speed is guaranteed to be reached. Only compute
- // for max allowable speed if block is decelerating and nominal length is false.
- if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
- current->entry_speed = min( current->max_entry_speed,
- max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
- }
- else {
- current->entry_speed = current->max_entry_speed;
- }
- current->recalculate_flag = true;
-
- }
- } // Skip last block. Already initialized and set for recalculation.
- }
-
- // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
- // implements the reverse pass.
- void planner_reverse_pass() {
- uint8_t block_index = block_buffer_head;
-
- //Make a local copy of block_buffer_tail, because the interrupt can alter it
- CRITICAL_SECTION_START;
- unsigned char tail = block_buffer_tail;
- CRITICAL_SECTION_END
-
- if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
- block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
- block_t *block[3] = {
- NULL, NULL, NULL };
- while(block_index != tail) {
- block_index = prev_block_index(block_index);
- block[2]= block[1];
- block[1]= block[0];
- block[0] = &block_buffer[block_index];
- planner_reverse_pass_kernel(block[0], block[1], block[2]);
- }
- }
- }
-
- // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
- void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
- if(!previous) {
- return;
- }
-
- // If the previous block is an acceleration block, but it is not long enough to complete the
- // full speed change within the block, we need to adjust the entry speed accordingly. Entry
- // speeds have already been reset, maximized, and reverse planned by reverse planner.
- // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
- if (!previous->nominal_length_flag) {
- if (previous->entry_speed < current->entry_speed) {
- double entry_speed = min( current->entry_speed,
- max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
-
- // Check for junction speed change
- if (current->entry_speed != entry_speed) {
- current->entry_speed = entry_speed;
- current->recalculate_flag = true;
- }
- }
- }
- }
-
- // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
- // implements the forward pass.
- void planner_forward_pass() {
- uint8_t block_index = block_buffer_tail;
- block_t *block[3] = {
- NULL, NULL, NULL };
-
- while(block_index != block_buffer_head) {
- block[0] = block[1];
- block[1] = block[2];
- block[2] = &block_buffer[block_index];
- planner_forward_pass_kernel(block[0],block[1],block[2]);
- block_index = next_block_index(block_index);
- }
- planner_forward_pass_kernel(block[1], block[2], NULL);
- }
-
- // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
- // entry_factor for each junction. Must be called by planner_recalculate() after
- // updating the blocks.
- void planner_recalculate_trapezoids() {
- int8_t block_index = block_buffer_tail;
- block_t *current;
- block_t *next = NULL;
-
- while(block_index != block_buffer_head) {
- current = next;
- next = &block_buffer[block_index];
- if (current) {
- // Recalculate if current block entry or exit junction speed has changed.
- if (current->recalculate_flag || next->recalculate_flag) {
- // NOTE: Entry and exit factors always > 0 by all previous logic operations.
- calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
- next->entry_speed/current->nominal_speed);
- current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
- }
- }
- block_index = next_block_index( block_index );
- }
- // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
- if(next != NULL) {
- calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
- MINIMUM_PLANNER_SPEED/next->nominal_speed);
- next->recalculate_flag = false;
- }
- }
-
- // Recalculates the motion plan according to the following algorithm:
- //
- // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
- // so that:
- // a. The junction jerk is within the set limit
- // b. No speed reduction within one block requires faster deceleration than the one, true constant
- // acceleration.
- // 2. Go over every block in chronological order and dial down junction speed reduction values if
- // a. The speed increase within one block would require faster accelleration than the one, true
- // constant acceleration.
- //
- // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
- // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
- // the set limit. Finally it will:
- //
- // 3. Recalculate trapezoids for all blocks.
-
- void planner_recalculate() {
- planner_reverse_pass();
- planner_forward_pass();
- planner_recalculate_trapezoids();
- }
-
- void plan_init() {
- block_buffer_head = 0;
- block_buffer_tail = 0;
- memset(position, 0, sizeof(position)); // clear position
- previous_speed[0] = 0.0;
- previous_speed[1] = 0.0;
- previous_speed[2] = 0.0;
- previous_speed[3] = 0.0;
- previous_nominal_speed = 0.0;
- }
-
-
-
-
- #ifdef AUTOTEMP
- void getHighESpeed()
- {
- static float oldt=0;
- if(!autotemp_enabled){
- return;
- }
- if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
- return; //do nothing
- }
-
- float high=0.0;
- uint8_t block_index = block_buffer_tail;
-
- while(block_index != block_buffer_head) {
- if((block_buffer[block_index].steps_x != 0) ||
- (block_buffer[block_index].steps_y != 0) ||
- (block_buffer[block_index].steps_z != 0)) {
- float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
- //se; mm/sec;
- if(se>high)
- {
- high=se;
- }
- }
- block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
- }
-
- float g=autotemp_min+high*autotemp_factor;
- float t=g;
- if(t<autotemp_min)
- t=autotemp_min;
- if(t>autotemp_max)
- t=autotemp_max;
- if(oldt>t)
- {
- t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
- }
- oldt=t;
- setTargetHotend0(t);
- }
- #endif
-
- void check_axes_activity()
- {
- unsigned char x_active = 0;
- unsigned char y_active = 0;
- unsigned char z_active = 0;
- unsigned char e_active = 0;
- unsigned char fan_speed = 0;
- unsigned char tail_fan_speed = 0;
- block_t *block;
-
- if(block_buffer_tail != block_buffer_head)
- {
- uint8_t block_index = block_buffer_tail;
- tail_fan_speed = block_buffer[block_index].fan_speed;
- while(block_index != block_buffer_head)
- {
- block = &block_buffer[block_index];
- if(block->steps_x != 0) x_active++;
- if(block->steps_y != 0) y_active++;
- if(block->steps_z != 0) z_active++;
- if(block->steps_e != 0) e_active++;
- if(block->fan_speed != 0) fan_speed++;
- block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
- }
- }
- else
- {
- #if FAN_PIN > -1
- #ifndef FAN_SOFT_PWM
- if (fanSpeed != 0){
- analogWrite(FAN_PIN,fanSpeed); // If buffer is empty use current fan speed
- }
- #endif
- #endif
- }
- if((DISABLE_X) && (x_active == 0)) disable_x();
- if((DISABLE_Y) && (y_active == 0)) disable_y();
- if((DISABLE_Z) && (z_active == 0)) disable_z();
- if((DISABLE_E) && (e_active == 0))
- {
- disable_e0();
- disable_e1();
- disable_e2();
- }
- #if FAN_PIN > -1
- #ifndef FAN_SOFT_PWM
- if((fanSpeed == 0) && (fan_speed ==0))
- {
- analogWrite(FAN_PIN, 0);
- }
-
- if (fanSpeed != 0 && tail_fan_speed !=0)
- {
- analogWrite(FAN_PIN,tail_fan_speed);
- }
- #endif
- #endif
- #ifdef AUTOTEMP
- getHighESpeed();
- #endif
- }
-
-
- float junction_deviation = 0.1;
- // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
- // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
- // calculation the caller must also provide the physical length of the line in millimeters.
- void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
- {
- // Calculate the buffer head after we push this byte
- int next_buffer_head = next_block_index(block_buffer_head);
-
- // If the buffer is full: good! That means we are well ahead of the robot.
- // Rest here until there is room in the buffer.
- while(block_buffer_tail == next_buffer_head)
- {
- manage_heater();
- manage_inactivity();
- lcd_update();
- }
-
- // The target position of the tool in absolute steps
- // Calculate target position in absolute steps
- //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
- long target[4];
- target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
- target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
- target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
- target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
-
- #ifdef PREVENT_DANGEROUS_EXTRUDE
- if(target[E_AXIS]!=position[E_AXIS])
- {
- if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
- {
- position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
- }
-
- #ifdef PREVENT_LENGTHY_EXTRUDE
- if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
- {
- position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
- }
- #endif
- }
- #endif
-
- // Prepare to set up new block
- block_t *block = &block_buffer[block_buffer_head];
-
- // Mark block as not busy (Not executed by the stepper interrupt)
- block->busy = false;
-
- // Number of steps for each axis
- block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
- block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
- block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
- block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
- block->steps_e *= extrudemultiply;
- block->steps_e /= 100;
- block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
-
- // Bail if this is a zero-length block
- if (block->step_event_count <= dropsegments)
- {
- return;
- }
-
- block->fan_speed = fanSpeed;
-
- // Compute direction bits for this block
- block->direction_bits = 0;
- if (target[X_AXIS] < position[X_AXIS])
- {
- block->direction_bits |= (1<<X_AXIS);
- }
- if (target[Y_AXIS] < position[Y_AXIS])
- {
- block->direction_bits |= (1<<Y_AXIS);
- }
- if (target[Z_AXIS] < position[Z_AXIS])
- {
- block->direction_bits |= (1<<Z_AXIS);
- }
- if (target[E_AXIS] < position[E_AXIS])
- {
- block->direction_bits |= (1<<E_AXIS);
- }
-
- block->active_extruder = extruder;
-
- //enable active axes
- if(block->steps_x != 0) enable_x();
- if(block->steps_y != 0) enable_y();
- #ifndef Z_LATE_ENABLE
- if(block->steps_z != 0) enable_z();
- #endif
-
- // Enable all
- if(block->steps_e != 0)
- {
- enable_e0();
- enable_e1();
- enable_e2();
- }
-
- if (block->steps_e == 0)
- {
- if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
- }
- else
- {
- if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
- }
-
- float delta_mm[4];
- delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
- delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
- delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
- delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
- if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
- {
- block->millimeters = fabs(delta_mm[E_AXIS]);
- }
- else
- {
- block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
- }
- float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
-
- // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
- float inverse_second = feed_rate * inverse_millimeters;
-
- int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
-
- // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
- #ifdef OLD_SLOWDOWN
- if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
- feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
- #endif
-
- #ifdef SLOWDOWN
- // segment time im micro seconds
- unsigned long segment_time = lround(1000000.0/inverse_second);
- if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
- {
- if (segment_time < minsegmenttime)
- { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
- inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
- #ifdef XY_FREQUENCY_LIMIT
- segment_time = lround(1000000.0/inverse_second);
- #endif
- }
- }
- #endif
- // END OF SLOW DOWN SECTION
-
-
- block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
- block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
-
- // Calculate and limit speed in mm/sec for each axis
- float current_speed[4];
- float speed_factor = 1.0; //factor <=1 do decrease speed
- for(int i=0; i < 4; i++)
- {
- current_speed[i] = delta_mm[i] * inverse_second;
- if(fabs(current_speed[i]) > max_feedrate[i])
- speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
- }
-
- // Max segement time in us.
- #ifdef XY_FREQUENCY_LIMIT
- #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
- // Check and limit the xy direction change frequency
- unsigned char direction_change = block->direction_bits ^ old_direction_bits;
- old_direction_bits = block->direction_bits;
- segment_time = lround((float)segment_time / speed_factor);
-
- if((direction_change & (1<<X_AXIS)) == 0)
- {
- x_segment_time[0] += segment_time;
- }
- else
- {
- x_segment_time[2] = x_segment_time[1];
- x_segment_time[1] = x_segment_time[0];
- x_segment_time[0] = segment_time;
- }
- if((direction_change & (1<<Y_AXIS)) == 0)
- {
- y_segment_time[0] += segment_time;
- }
- else
- {
- y_segment_time[2] = y_segment_time[1];
- y_segment_time[1] = y_segment_time[0];
- y_segment_time[0] = segment_time;
- }
- long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
- long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
- long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
- if(min_xy_segment_time < MAX_FREQ_TIME)
- speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
- #endif
-
- // Correct the speed
- if( speed_factor < 1.0)
- {
- for(unsigned char i=0; i < 4; i++)
- {
- current_speed[i] *= speed_factor;
- }
- block->nominal_speed *= speed_factor;
- block->nominal_rate *= speed_factor;
- }
-
- // Compute and limit the acceleration rate for the trapezoid generator.
- float steps_per_mm = block->step_event_count/block->millimeters;
- if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
- {
- block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
- }
- else
- {
- block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
- // Limit acceleration per axis
- if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
- }
- block->acceleration = block->acceleration_st / steps_per_mm;
- block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
-
- #if 0 // Use old jerk for now
- // Compute path unit vector
- double unit_vec[3];
-
- unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
- unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
- unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
-
- // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
- // Let a circle be tangent to both previous and current path line segments, where the junction
- // deviation is defined as the distance from the junction to the closest edge of the circle,
- // colinear with the circle center. The circular segment joining the two paths represents the
- // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
- // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
- // path width or max_jerk in the previous grbl version. This approach does not actually deviate
- // from path, but used as a robust way to compute cornering speeds, as it takes into account the
- // nonlinearities of both the junction angle and junction velocity.
- double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
-
- // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
- if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
- // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
- // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
- double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
-
- // Skip and use default max junction speed for 0 degree acute junction.
- if (cos_theta < 0.95) {
- vmax_junction = min(previous_nominal_speed,block->nominal_speed);
- // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
- if (cos_theta > -0.95) {
- // Compute maximum junction velocity based on maximum acceleration and junction deviation
- double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
- vmax_junction = min(vmax_junction,
- sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
- }
- }
- }
- #endif
- // Start with a safe speed
- float vmax_junction = max_xy_jerk/2;
- float vmax_junction_factor = 1.0;
- if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
- vmax_junction = min(vmax_junction, max_z_jerk/2);
- if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
- vmax_junction = min(vmax_junction, max_e_jerk/2);
- vmax_junction = min(vmax_junction, block->nominal_speed);
- float safe_speed = vmax_junction;
-
- if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
- float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
- // if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
- vmax_junction = block->nominal_speed;
- // }
- if (jerk > max_xy_jerk) {
- vmax_junction_factor = (max_xy_jerk/jerk);
- }
- if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
- vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
- }
- if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
- vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
- }
- vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
- }
- block->max_entry_speed = vmax_junction;
-
- // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
- double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
- block->entry_speed = min(vmax_junction, v_allowable);
-
- // Initialize planner efficiency flags
- // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
- // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
- // the current block and next block junction speeds are guaranteed to always be at their maximum
- // junction speeds in deceleration and acceleration, respectively. This is due to how the current
- // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
- // the reverse and forward planners, the corresponding block junction speed will always be at the
- // the maximum junction speed and may always be ignored for any speed reduction checks.
- if (block->nominal_speed <= v_allowable) {
- block->nominal_length_flag = true;
- }
- else {
- block->nominal_length_flag = false;
- }
- block->recalculate_flag = true; // Always calculate trapezoid for new block
-
- // Update previous path unit_vector and nominal speed
- memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
- previous_nominal_speed = block->nominal_speed;
-
-
- #ifdef ADVANCE
- // Calculate advance rate
- if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
- block->advance_rate = 0;
- block->advance = 0;
- }
- else {
- long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
- float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
- (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
- block->advance = advance;
- if(acc_dist == 0) {
- block->advance_rate = 0;
- }
- else {
- block->advance_rate = advance / (float)acc_dist;
- }
- }
- /*
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("advance :");
- SERIAL_ECHO(block->advance/256.0);
- SERIAL_ECHOPGM("advance rate :");
- SERIAL_ECHOLN(block->advance_rate/256.0);
- */
- #endif // ADVANCE
-
- calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
- safe_speed/block->nominal_speed);
-
- // Move buffer head
- block_buffer_head = next_buffer_head;
-
- // Update position
- memcpy(position, target, sizeof(target)); // position[] = target[]
-
- planner_recalculate();
-
- st_wake_up();
- }
-
- void plan_set_position(const float &x, const float &y, const float &z, const float &e)
- {
- position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
- position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
- position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
- position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
- st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
- previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
- previous_speed[0] = 0.0;
- previous_speed[1] = 0.0;
- previous_speed[2] = 0.0;
- previous_speed[3] = 0.0;
- }
-
- void plan_set_e_position(const float &e)
- {
- position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
- st_set_e_position(position[E_AXIS]);
- }
-
- uint8_t movesplanned()
- {
- return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
- }
-
- void allow_cold_extrudes(bool allow)
- {
- #ifdef PREVENT_DANGEROUS_EXTRUDE
- allow_cold_extrude=allow;
- #endif
- }
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