My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.h 16KB

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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 BlockFlagBit {
  39. // Recalculate trapezoids on entry junction. For optimization.
  40. BLOCK_BIT_RECALCULATE,
  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_BIT_NOMINAL_LENGTH,
  45. // Start from a halt at the start of this block, respecting the maximum allowed jerk.
  46. BLOCK_BIT_START_FROM_FULL_HALT,
  47. // The block is busy
  48. BLOCK_BIT_BUSY
  49. };
  50. enum BlockFlag {
  51. BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
  52. BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
  53. BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT),
  54. BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY)
  55. };
  56. /**
  57. * struct block_t
  58. *
  59. * A single entry in the planner buffer.
  60. * Tracks linear movement over multiple axes.
  61. *
  62. * The "nominal" values are as-specified by gcode, and
  63. * may never actually be reached due to acceleration limits.
  64. */
  65. typedef struct {
  66. uint8_t flag; // Block flags (See BlockFlag enum above)
  67. unsigned char active_extruder; // The extruder to move (if E move)
  68. // Fields used by the Bresenham algorithm for tracing the line
  69. int32_t steps[NUM_AXIS]; // Step count along each axis
  70. uint32_t step_event_count; // The number of step events required to complete this block
  71. #if ENABLED(MIXING_EXTRUDER)
  72. uint32_t mix_event_count[MIXING_STEPPERS]; // Scaled step_event_count for the mixing steppers
  73. #endif
  74. int32_t accelerate_until, // The index of the step event on which to stop acceleration
  75. decelerate_after, // The index of the step event on which to start decelerating
  76. acceleration_rate; // The acceleration rate used for acceleration calculation
  77. uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
  78. // Advance extrusion
  79. #if ENABLED(LIN_ADVANCE)
  80. bool use_advance_lead;
  81. uint32_t abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float
  82. #elif ENABLED(ADVANCE)
  83. int32_t advance_rate;
  84. volatile int32_t initial_advance;
  85. volatile int32_t final_advance;
  86. float advance;
  87. #endif
  88. // Fields used by the motion planner to manage acceleration
  89. float nominal_speed, // The nominal speed for this block in mm/sec
  90. entry_speed, // Entry speed at previous-current junction in mm/sec
  91. max_entry_speed, // Maximum allowable junction entry speed in mm/sec
  92. millimeters, // The total travel of this block in mm
  93. acceleration; // acceleration mm/sec^2
  94. // Settings for the trapezoid generator
  95. uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec
  96. initial_rate, // The jerk-adjusted step rate at start of block
  97. final_rate, // The minimal rate at exit
  98. acceleration_steps_per_s2; // acceleration steps/sec^2
  99. #if FAN_COUNT > 0
  100. uint16_t fan_speed[FAN_COUNT];
  101. #endif
  102. #if ENABLED(BARICUDA)
  103. uint32_t valve_pressure, e_to_p_pressure;
  104. #endif
  105. uint32_t segment_time;
  106. } block_t;
  107. #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
  108. class Planner {
  109. public:
  110. /**
  111. * A ring buffer of moves described in steps
  112. */
  113. static block_t block_buffer[BLOCK_BUFFER_SIZE];
  114. static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
  115. block_buffer_tail;
  116. #if ENABLED(DISTINCT_E_FACTORS)
  117. static uint8_t last_extruder; // Respond to extruder change
  118. #endif
  119. static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
  120. axis_steps_per_mm[XYZE_N],
  121. steps_to_mm[XYZE_N];
  122. static uint32_t max_acceleration_steps_per_s2[XYZE_N],
  123. max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
  124. static millis_t min_segment_time;
  125. static float min_feedrate_mm_s,
  126. acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
  127. retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
  128. travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
  129. max_jerk[XYZE], // The largest speed change requiring no acceleration
  130. min_travel_feedrate_mm_s;
  131. #if HAS_ABL
  132. static bool abl_enabled; // Flag that bed leveling is enabled
  133. #if ABL_PLANAR
  134. static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
  135. #endif
  136. #endif
  137. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  138. static float z_fade_height, inverse_z_fade_height;
  139. #endif
  140. #if ENABLED(LIN_ADVANCE)
  141. static float extruder_advance_k, advance_ed_ratio;
  142. #endif
  143. private:
  144. /**
  145. * The current position of the tool in absolute steps
  146. * Recalculated if any axis_steps_per_mm are changed by gcode
  147. */
  148. static long position[NUM_AXIS];
  149. /**
  150. * Speed of previous path line segment
  151. */
  152. static float previous_speed[NUM_AXIS];
  153. /**
  154. * Nominal speed of previous path line segment
  155. */
  156. static float previous_nominal_speed;
  157. /**
  158. * Limit where 64bit math is necessary for acceleration calculation
  159. */
  160. static uint32_t cutoff_long;
  161. #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
  162. /**
  163. * Counters to manage disabling inactive extruders
  164. */
  165. static uint8_t g_uc_extruder_last_move[EXTRUDERS];
  166. #endif // DISABLE_INACTIVE_EXTRUDER
  167. #ifdef XY_FREQUENCY_LIMIT
  168. // Used for the frequency limit
  169. #define MAX_FREQ_TIME long(1000000.0/XY_FREQUENCY_LIMIT)
  170. // Old direction bits. Used for speed calculations
  171. static unsigned char old_direction_bits;
  172. // Segment times (in µs). Used for speed calculations
  173. static long axis_segment_time[2][3];
  174. #endif
  175. #if ENABLED(LIN_ADVANCE)
  176. static float position_float[NUM_AXIS];
  177. #endif
  178. #if ENABLED(ULTRA_LCD)
  179. volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
  180. #endif
  181. public:
  182. /**
  183. * Instance Methods
  184. */
  185. Planner();
  186. void init();
  187. /**
  188. * Static (class) Methods
  189. */
  190. static void reset_acceleration_rates();
  191. static void refresh_positioning();
  192. // Manage fans, paste pressure, etc.
  193. static void check_axes_activity();
  194. /**
  195. * Number of moves currently in the planner
  196. */
  197. static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
  198. static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
  199. #if PLANNER_LEVELING
  200. #define ARG_X float lx
  201. #define ARG_Y float ly
  202. #define ARG_Z float lz
  203. /**
  204. * Apply leveling to transform a cartesian position
  205. * as it will be given to the planner and steppers.
  206. */
  207. static void apply_leveling(float &lx, float &ly, float &lz);
  208. static void apply_leveling(float logical[XYZ]) { apply_leveling(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS]); }
  209. static void unapply_leveling(float logical[XYZ]);
  210. #else
  211. #define ARG_X const float &lx
  212. #define ARG_Y const float &ly
  213. #define ARG_Z const float &lz
  214. #endif
  215. /**
  216. * Planner::_buffer_line
  217. *
  218. * Add a new direct linear movement to the buffer.
  219. *
  220. * Leveling and kinematics should be applied ahead of this.
  221. *
  222. * a,b,c,e - target position in mm or degrees
  223. * fr_mm_s - (target) speed of the move (mm/s)
  224. * extruder - target extruder
  225. */
  226. static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
  227. static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
  228. /**
  229. * Add a new linear movement to the buffer.
  230. * The target is NOT translated to delta/scara
  231. *
  232. * Leveling will be applied to input on cartesians.
  233. * Kinematic machines should call buffer_line_kinematic (for leveled moves).
  234. * (Cartesians may also call buffer_line_kinematic.)
  235. *
  236. * lx,ly,lz,e - target position in mm or degrees
  237. * fr_mm_s - (target) speed of the move (mm/s)
  238. * extruder - target extruder
  239. */
  240. static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
  241. #if PLANNER_LEVELING && IS_CARTESIAN
  242. apply_leveling(lx, ly, lz);
  243. #endif
  244. _buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
  245. }
  246. /**
  247. * Add a new linear movement to the buffer.
  248. * The target is cartesian, it's translated to delta/scara if
  249. * needed.
  250. *
  251. * ltarget - x,y,z,e CARTESIAN target in mm
  252. * fr_mm_s - (target) speed of the move (mm/s)
  253. * extruder - target extruder
  254. */
  255. static FORCE_INLINE void buffer_line_kinematic(const float ltarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
  256. #if PLANNER_LEVELING
  257. float lpos[XYZ] = { ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS] };
  258. apply_leveling(lpos);
  259. #else
  260. const float * const lpos = ltarget;
  261. #endif
  262. #if IS_KINEMATIC
  263. inverse_kinematics(lpos);
  264. _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
  265. #else
  266. _buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
  267. #endif
  268. }
  269. /**
  270. * Set the planner.position and individual stepper positions.
  271. * Used by G92, G28, G29, and other procedures.
  272. *
  273. * Multiplies by axis_steps_per_mm[] and does necessary conversion
  274. * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
  275. *
  276. * Clears previous speed values.
  277. */
  278. static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
  279. #if PLANNER_LEVELING && IS_CARTESIAN
  280. apply_leveling(lx, ly, lz);
  281. #endif
  282. _set_position_mm(lx, ly, lz, e);
  283. }
  284. static void set_position_mm_kinematic(const float position[NUM_AXIS]);
  285. static void set_position_mm(const AxisEnum axis, const float &v);
  286. static FORCE_INLINE void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
  287. static FORCE_INLINE void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }
  288. /**
  289. * Sync from the stepper positions. (e.g., after an interrupted move)
  290. */
  291. static void sync_from_steppers();
  292. /**
  293. * Does the buffer have any blocks queued?
  294. */
  295. static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
  296. /**
  297. * "Discards" the block and "releases" the memory.
  298. * Called when the current block is no longer needed.
  299. */
  300. static void discard_current_block() {
  301. if (blocks_queued())
  302. block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
  303. }
  304. /**
  305. * The current block. NULL if the buffer is empty.
  306. * This also marks the block as busy.
  307. */
  308. static block_t* get_current_block() {
  309. if (blocks_queued()) {
  310. block_t* block = &block_buffer[block_buffer_tail];
  311. #if ENABLED(ULTRA_LCD)
  312. block_buffer_runtime_us -= block->segment_time; //We can't be sure how long an active block will take, so don't count it.
  313. #endif
  314. SBI(block->flag, BLOCK_BIT_BUSY);
  315. return block;
  316. }
  317. else {
  318. #if ENABLED(ULTRA_LCD)
  319. clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
  320. #endif
  321. return NULL;
  322. }
  323. }
  324. #if ENABLED(ULTRA_LCD)
  325. static uint16_t block_buffer_runtime() {
  326. CRITICAL_SECTION_START
  327. millis_t bbru = block_buffer_runtime_us;
  328. CRITICAL_SECTION_END
  329. // To translate µs to ms a division by 1000 would be required.
  330. // We introduce 2.4% error here by dividing by 1024.
  331. // Doesn't matter because block_buffer_runtime_us is already too small an estimation.
  332. bbru >>= 10;
  333. // limit to about a minute.
  334. NOMORE(bbru, 0xFFFFul);
  335. return bbru;
  336. }
  337. static void clear_block_buffer_runtime(){
  338. CRITICAL_SECTION_START
  339. block_buffer_runtime_us = 0;
  340. CRITICAL_SECTION_END
  341. }
  342. #endif
  343. #if ENABLED(AUTOTEMP)
  344. static float autotemp_min, autotemp_max, autotemp_factor;
  345. static bool autotemp_enabled;
  346. static void getHighESpeed();
  347. static void autotemp_M104_M109();
  348. #endif
  349. private:
  350. /**
  351. * Get the index of the next / previous block in the ring buffer
  352. */
  353. static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
  354. static int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
  355. /**
  356. * Calculate the distance (not time) it takes to accelerate
  357. * from initial_rate to target_rate using the given acceleration:
  358. */
  359. static float estimate_acceleration_distance(const float &initial_rate, const float &target_rate, const float &accel) {
  360. if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
  361. return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
  362. }
  363. /**
  364. * Return the point at which you must start braking (at the rate of -'acceleration') if
  365. * you start at 'initial_rate', accelerate (until reaching the point), and want to end at
  366. * 'final_rate' after traveling 'distance'.
  367. *
  368. * This is used to compute the intersection point between acceleration and deceleration
  369. * in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
  370. */
  371. static float intersection_distance(const float &initial_rate, const float &final_rate, const float &accel, const float &distance) {
  372. if (accel == 0) return 0; // accel was 0, set intersection distance to 0
  373. return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
  374. }
  375. /**
  376. * Calculate the maximum allowable speed at this point, in order
  377. * to reach 'target_velocity' using 'acceleration' within a given
  378. * 'distance'.
  379. */
  380. static float max_allowable_speed(const float &accel, const float &target_velocity, const float &distance) {
  381. return sqrt(sq(target_velocity) - 2 * accel * distance);
  382. }
  383. static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
  384. static void reverse_pass_kernel(block_t* const current, const block_t *next);
  385. static void forward_pass_kernel(const block_t *previous, block_t* const current);
  386. static void reverse_pass();
  387. static void forward_pass();
  388. static void recalculate_trapezoids();
  389. static void recalculate();
  390. };
  391. #define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
  392. extern Planner planner;
  393. #endif // PLANNER_H