My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.h 14KB

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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * planner.h
  24. *
  25. * Buffer movement commands and manage the acceleration profile plan
  26. *
  27. * Derived from Grbl
  28. * Copyright (c) 2009-2011 Simen Svale Skogsrud
  29. */
  30. #ifndef PLANNER_H
  31. #define PLANNER_H
  32. #include "types.h"
  33. #include "enum.h"
  34. #include "Marlin.h"
  35. #if HAS_ABL
  36. #include "vector_3.h"
  37. #endif
  38. enum BlockFlag {
  39. // Recalculate trapezoids on entry junction. For optimization.
  40. BLOCK_FLAG_RECALCULATE = _BV(0),
  41. // Nominal speed always reached.
  42. // i.e., The segment is long enough, so the nominal speed is reachable if accelerating
  43. // from a safe speed (in consideration of jerking from zero speed).
  44. BLOCK_FLAG_NOMINAL_LENGTH = _BV(1),
  45. // Start from a halt at the start of this block, respecting the maximum allowed jerk.
  46. BLOCK_FLAG_START_FROM_FULL_HALT = _BV(2)
  47. };
  48. /**
  49. * struct block_t
  50. *
  51. * A single entry in the planner buffer.
  52. * Tracks linear movement over multiple axes.
  53. *
  54. * The "nominal" values are as-specified by gcode, and
  55. * may never actually be reached due to acceleration limits.
  56. */
  57. typedef struct {
  58. unsigned char active_extruder; // The extruder to move (if E move)
  59. // Fields used by the bresenham algorithm for tracing the line
  60. long steps[NUM_AXIS]; // Step count along each axis
  61. unsigned long step_event_count; // The number of step events required to complete this block
  62. #if ENABLED(MIXING_EXTRUDER)
  63. unsigned long mix_event_count[MIXING_STEPPERS]; // Scaled step_event_count for the mixing steppers
  64. #endif
  65. long accelerate_until, // The index of the step event on which to stop acceleration
  66. decelerate_after, // The index of the step event on which to start decelerating
  67. acceleration_rate; // The acceleration rate used for acceleration calculation
  68. unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
  69. // Advance extrusion
  70. #if ENABLED(LIN_ADVANCE)
  71. bool use_advance_lead;
  72. int e_speed_multiplier8; // Factorised by 2^8 to avoid float
  73. #elif ENABLED(ADVANCE)
  74. long advance_rate;
  75. volatile long initial_advance;
  76. volatile long final_advance;
  77. float advance;
  78. #endif
  79. // Fields used by the motion planner to manage acceleration
  80. float nominal_speed, // The nominal speed for this block in mm/sec
  81. entry_speed, // Entry speed at previous-current junction in mm/sec
  82. max_entry_speed, // Maximum allowable junction entry speed in mm/sec
  83. millimeters, // The total travel of this block in mm
  84. acceleration; // acceleration mm/sec^2
  85. uint8_t flag; // Block flags (See BlockFlag enum above)
  86. // Settings for the trapezoid generator
  87. uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec
  88. initial_rate, // The jerk-adjusted step rate at start of block
  89. final_rate, // The minimal rate at exit
  90. acceleration_steps_per_s2; // acceleration steps/sec^2
  91. #if FAN_COUNT > 0
  92. unsigned long fan_speed[FAN_COUNT];
  93. #endif
  94. #if ENABLED(BARICUDA)
  95. unsigned long valve_pressure, e_to_p_pressure;
  96. #endif
  97. volatile char busy;
  98. } block_t;
  99. #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
  100. class Planner {
  101. public:
  102. /**
  103. * A ring buffer of moves described in steps
  104. */
  105. static block_t block_buffer[BLOCK_BUFFER_SIZE];
  106. static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
  107. static volatile uint8_t block_buffer_tail;
  108. static float max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second
  109. static float axis_steps_per_mm[NUM_AXIS];
  110. static float steps_to_mm[NUM_AXIS];
  111. static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
  112. static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
  113. static millis_t min_segment_time;
  114. static float min_feedrate_mm_s;
  115. static float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
  116. static float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
  117. static float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
  118. static float max_jerk[XYZE]; // The largest speed change requiring no acceleration
  119. static float min_travel_feedrate_mm_s;
  120. #if HAS_ABL
  121. static bool abl_enabled; // Flag that bed leveling is enabled
  122. static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
  123. #endif
  124. private:
  125. /**
  126. * The current position of the tool in absolute steps
  127. * Recalculated if any axis_steps_per_mm are changed by gcode
  128. */
  129. static long position[NUM_AXIS];
  130. /**
  131. * Speed of previous path line segment
  132. */
  133. static float previous_speed[NUM_AXIS];
  134. /**
  135. * Nominal speed of previous path line segment
  136. */
  137. static float previous_nominal_speed;
  138. #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
  139. /**
  140. * Counters to manage disabling inactive extruders
  141. */
  142. static uint8_t g_uc_extruder_last_move[EXTRUDERS];
  143. #endif // DISABLE_INACTIVE_EXTRUDER
  144. #ifdef XY_FREQUENCY_LIMIT
  145. // Used for the frequency limit
  146. #define MAX_FREQ_TIME long(1000000.0/XY_FREQUENCY_LIMIT)
  147. // Old direction bits. Used for speed calculations
  148. static unsigned char old_direction_bits;
  149. // Segment times (in µs). Used for speed calculations
  150. static long axis_segment_time[2][3];
  151. #endif
  152. public:
  153. /**
  154. * Instance Methods
  155. */
  156. Planner();
  157. void init();
  158. /**
  159. * Static (class) Methods
  160. */
  161. static void reset_acceleration_rates();
  162. static void refresh_positioning();
  163. // Manage fans, paste pressure, etc.
  164. static void check_axes_activity();
  165. /**
  166. * Number of moves currently in the planner
  167. */
  168. static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
  169. static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
  170. #if PLANNER_LEVELING
  171. #define ARG_X float lx
  172. #define ARG_Y float ly
  173. #define ARG_Z float lz
  174. /**
  175. * Apply leveling to transform a cartesian position
  176. * as it will be given to the planner and steppers.
  177. */
  178. static void apply_leveling(float &lx, float &ly, float &lz);
  179. static void apply_leveling(float logical[XYZ]) { apply_leveling(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS]); }
  180. static void unapply_leveling(float logical[XYZ]);
  181. #else
  182. #define ARG_X const float &lx
  183. #define ARG_Y const float &ly
  184. #define ARG_Z const float &lz
  185. #endif
  186. /**
  187. * Planner::_buffer_line
  188. *
  189. * Add a new direct linear movement to the buffer.
  190. *
  191. * Leveling and kinematics should be applied ahead of this.
  192. *
  193. * a,b,c,e - target position in mm or degrees
  194. * fr_mm_s - (target) speed of the move (mm/s)
  195. * extruder - target extruder
  196. */
  197. static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
  198. static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
  199. /**
  200. * Add a new linear movement to the buffer.
  201. * The target is NOT translated to delta/scara
  202. *
  203. * Leveling will be applied to input on cartesians.
  204. * Kinematic machines should call buffer_line_kinematic (for leveled moves).
  205. * (Cartesians may also call buffer_line_kinematic.)
  206. *
  207. * lx,ly,lz,e - target position in mm or degrees
  208. * fr_mm_s - (target) speed of the move (mm/s)
  209. * extruder - target extruder
  210. */
  211. static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, float fr_mm_s, const uint8_t extruder) {
  212. #if PLANNER_LEVELING && IS_CARTESIAN
  213. apply_leveling(lx, ly, lz);
  214. #endif
  215. _buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
  216. }
  217. /**
  218. * Add a new linear movement to the buffer.
  219. * The target is cartesian, it's translated to delta/scara if
  220. * needed.
  221. *
  222. * target - x,y,z,e CARTESIAN target in mm
  223. * fr_mm_s - (target) speed of the move (mm/s)
  224. * extruder - target extruder
  225. */
  226. static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], float fr_mm_s, const uint8_t extruder) {
  227. #if PLANNER_LEVELING
  228. float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] };
  229. apply_leveling(pos);
  230. #else
  231. const float * const pos = target;
  232. #endif
  233. #if IS_KINEMATIC
  234. inverse_kinematics(pos);
  235. _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], target[E_AXIS], fr_mm_s, extruder);
  236. #else
  237. _buffer_line(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], target[E_AXIS], fr_mm_s, extruder);
  238. #endif
  239. }
  240. /**
  241. * Set the planner.position and individual stepper positions.
  242. * Used by G92, G28, G29, and other procedures.
  243. *
  244. * Multiplies by axis_steps_per_mm[] and does necessary conversion
  245. * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
  246. *
  247. * Clears previous speed values.
  248. */
  249. static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
  250. #if PLANNER_LEVELING && IS_CARTESIAN
  251. apply_leveling(lx, ly, lz);
  252. #endif
  253. _set_position_mm(lx, ly, lz, e);
  254. }
  255. static void set_position_mm_kinematic(const float position[NUM_AXIS]);
  256. static void set_position_mm(const AxisEnum axis, const float& v);
  257. static FORCE_INLINE void set_z_position_mm(const float& z) { set_position_mm(Z_AXIS, z); }
  258. static FORCE_INLINE void set_e_position_mm(const float& e) { set_position_mm(E_AXIS, e); }
  259. /**
  260. * Sync from the stepper positions. (e.g., after an interrupted move)
  261. */
  262. static void sync_from_steppers();
  263. /**
  264. * Does the buffer have any blocks queued?
  265. */
  266. static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
  267. /**
  268. * "Discards" the block and "releases" the memory.
  269. * Called when the current block is no longer needed.
  270. */
  271. static void discard_current_block() {
  272. if (blocks_queued())
  273. block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
  274. }
  275. /**
  276. * The current block. NULL if the buffer is empty.
  277. * This also marks the block as busy.
  278. */
  279. static block_t* get_current_block() {
  280. if (blocks_queued()) {
  281. block_t* block = &block_buffer[block_buffer_tail];
  282. block->busy = true;
  283. return block;
  284. }
  285. else
  286. return NULL;
  287. }
  288. #if ENABLED(AUTOTEMP)
  289. static float autotemp_max;
  290. static float autotemp_min;
  291. static float autotemp_factor;
  292. static bool autotemp_enabled;
  293. static void getHighESpeed();
  294. static void autotemp_M109();
  295. #endif
  296. private:
  297. /**
  298. * Get the index of the next / previous block in the ring buffer
  299. */
  300. static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
  301. static int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
  302. /**
  303. * Calculate the distance (not time) it takes to accelerate
  304. * from initial_rate to target_rate using the given acceleration:
  305. */
  306. static float estimate_acceleration_distance(float initial_rate, float target_rate, float accel) {
  307. if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
  308. return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
  309. }
  310. /**
  311. * Return the point at which you must start braking (at the rate of -'acceleration') if
  312. * you start at 'initial_rate', accelerate (until reaching the point), and want to end at
  313. * 'final_rate' after traveling 'distance'.
  314. *
  315. * This is used to compute the intersection point between acceleration and deceleration
  316. * in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
  317. */
  318. static float intersection_distance(float initial_rate, float final_rate, float accel, float distance) {
  319. if (accel == 0) return 0; // accel was 0, set intersection distance to 0
  320. return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
  321. }
  322. /**
  323. * Calculate the maximum allowable speed at this point, in order
  324. * to reach 'target_velocity' using 'acceleration' within a given
  325. * 'distance'.
  326. */
  327. static float max_allowable_speed(float accel, float target_velocity, float distance) {
  328. return sqrt(sq(target_velocity) - 2 * accel * distance);
  329. }
  330. static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
  331. static void reverse_pass_kernel(block_t* const current, const block_t *next);
  332. static void forward_pass_kernel(const block_t *previous, block_t* const current);
  333. static void reverse_pass();
  334. static void forward_pass();
  335. static void recalculate_trapezoids();
  336. static void recalculate();
  337. };
  338. extern Planner planner;
  339. #endif // PLANNER_H