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. static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
  134. #endif
  135. #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
  136. static float z_fade_height, inverse_z_fade_height;
  137. #endif
  138. private:
  139. /**
  140. * The current position of the tool in absolute steps
  141. * Recalculated if any axis_steps_per_mm are changed by gcode
  142. */
  143. static long position[NUM_AXIS];
  144. /**
  145. * Speed of previous path line segment
  146. */
  147. static float previous_speed[NUM_AXIS];
  148. /**
  149. * Nominal speed of previous path line segment
  150. */
  151. static float previous_nominal_speed;
  152. /**
  153. * Limit where 64bit math is necessary for acceleration calculation
  154. */
  155. static uint32_t cutoff_long;
  156. #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
  157. /**
  158. * Counters to manage disabling inactive extruders
  159. */
  160. static uint8_t g_uc_extruder_last_move[EXTRUDERS];
  161. #endif // DISABLE_INACTIVE_EXTRUDER
  162. #ifdef XY_FREQUENCY_LIMIT
  163. // Used for the frequency limit
  164. #define MAX_FREQ_TIME long(1000000.0/XY_FREQUENCY_LIMIT)
  165. // Old direction bits. Used for speed calculations
  166. static unsigned char old_direction_bits;
  167. // Segment times (in µs). Used for speed calculations
  168. static long axis_segment_time[2][3];
  169. #endif
  170. #if ENABLED(LIN_ADVANCE)
  171. static float position_float[NUM_AXIS];
  172. static float extruder_advance_k;
  173. static float advance_ed_ratio;
  174. #endif
  175. #if ENABLED(ULTRA_LCD)
  176. volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
  177. #endif
  178. public:
  179. /**
  180. * Instance Methods
  181. */
  182. Planner();
  183. void init();
  184. /**
  185. * Static (class) Methods
  186. */
  187. static void reset_acceleration_rates();
  188. static void refresh_positioning();
  189. // Manage fans, paste pressure, etc.
  190. static void check_axes_activity();
  191. /**
  192. * Number of moves currently in the planner
  193. */
  194. static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
  195. static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
  196. #if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL)
  197. #define ARG_X float lx
  198. #define ARG_Y float ly
  199. #define ARG_Z float lz
  200. /**
  201. * Apply leveling to transform a cartesian position
  202. * as it will be given to the planner and steppers.
  203. */
  204. static void apply_leveling(float &lx, float &ly, float &lz);
  205. static void apply_leveling(float logical[XYZ]) { apply_leveling(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS]); }
  206. static void unapply_leveling(float logical[XYZ]);
  207. #else
  208. #define ARG_X const float &lx
  209. #define ARG_Y const float &ly
  210. #define ARG_Z const float &lz
  211. #endif
  212. #if ENABLED(LIN_ADVANCE)
  213. static void set_extruder_advance_k(const float &k) { extruder_advance_k = k; };
  214. static float get_extruder_advance_k() { return extruder_advance_k; };
  215. static void set_advance_ed_ratio(const float &ratio) { advance_ed_ratio = ratio; };
  216. #endif
  217. /**
  218. * Planner::_buffer_line
  219. *
  220. * Add a new direct linear movement to the buffer.
  221. *
  222. * Leveling and kinematics should be applied ahead of this.
  223. *
  224. * a,b,c,e - target position in mm or degrees
  225. * fr_mm_s - (target) speed of the move (mm/s)
  226. * extruder - target extruder
  227. */
  228. static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
  229. static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
  230. /**
  231. * Add a new linear movement to the buffer.
  232. * The target is NOT translated to delta/scara
  233. *
  234. * Leveling will be applied to input on cartesians.
  235. * Kinematic machines should call buffer_line_kinematic (for leveled moves).
  236. * (Cartesians may also call buffer_line_kinematic.)
  237. *
  238. * lx,ly,lz,e - target position in mm or degrees
  239. * fr_mm_s - (target) speed of the move (mm/s)
  240. * extruder - target extruder
  241. */
  242. static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
  243. #if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL) && IS_CARTESIAN
  244. apply_leveling(lx, ly, lz);
  245. #endif
  246. _buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
  247. }
  248. /**
  249. * Add a new linear movement to the buffer.
  250. * The target is cartesian, it's translated to delta/scara if
  251. * needed.
  252. *
  253. * ltarget - x,y,z,e CARTESIAN target in mm
  254. * fr_mm_s - (target) speed of the move (mm/s)
  255. * extruder - target extruder
  256. */
  257. static FORCE_INLINE void buffer_line_kinematic(const float ltarget[XYZE], const float &fr_mm_s, const uint8_t extruder) {
  258. #if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL)
  259. float lpos[XYZ] = { ltarget[X_AXIS], ltarget[Y_AXIS], ltarget[Z_AXIS] };
  260. apply_leveling(lpos);
  261. #else
  262. const float * const lpos = ltarget;
  263. #endif
  264. #if IS_KINEMATIC
  265. inverse_kinematics(lpos);
  266. _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
  267. #else
  268. _buffer_line(lpos[X_AXIS], lpos[Y_AXIS], lpos[Z_AXIS], ltarget[E_AXIS], fr_mm_s, extruder);
  269. #endif
  270. }
  271. /**
  272. * Set the planner.position and individual stepper positions.
  273. * Used by G92, G28, G29, and other procedures.
  274. *
  275. * Multiplies by axis_steps_per_mm[] and does necessary conversion
  276. * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
  277. *
  278. * Clears previous speed values.
  279. */
  280. static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
  281. #if PLANNER_LEVELING && DISABLED(AUTO_BED_LEVELING_UBL) && IS_CARTESIAN
  282. apply_leveling(lx, ly, lz);
  283. #endif
  284. _set_position_mm(lx, ly, lz, e);
  285. }
  286. static void set_position_mm_kinematic(const float position[NUM_AXIS]);
  287. static void set_position_mm(const AxisEnum axis, const float &v);
  288. static FORCE_INLINE void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
  289. static FORCE_INLINE void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }
  290. /**
  291. * Sync from the stepper positions. (e.g., after an interrupted move)
  292. */
  293. static void sync_from_steppers();
  294. /**
  295. * Does the buffer have any blocks queued?
  296. */
  297. static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
  298. /**
  299. * "Discards" the block and "releases" the memory.
  300. * Called when the current block is no longer needed.
  301. */
  302. static void discard_current_block() {
  303. if (blocks_queued())
  304. block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
  305. }
  306. /**
  307. * The current block. NULL if the buffer is empty.
  308. * This also marks the block as busy.
  309. */
  310. static block_t* get_current_block() {
  311. if (blocks_queued()) {
  312. block_t* block = &block_buffer[block_buffer_tail];
  313. #if ENABLED(ULTRA_LCD)
  314. block_buffer_runtime_us -= block->segment_time; //We can't be sure how long an active block will take, so don't count it.
  315. #endif
  316. SBI(block->flag, BLOCK_BIT_BUSY);
  317. return block;
  318. }
  319. else {
  320. #if ENABLED(ULTRA_LCD)
  321. clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
  322. #endif
  323. return NULL;
  324. }
  325. }
  326. #if ENABLED(ULTRA_LCD)
  327. static uint16_t block_buffer_runtime() {
  328. CRITICAL_SECTION_START
  329. millis_t bbru = block_buffer_runtime_us;
  330. CRITICAL_SECTION_END
  331. // To translate µs to ms a division by 1000 would be required.
  332. // We introduce 2.4% error here by dividing by 1024.
  333. // Doesn't matter because block_buffer_runtime_us is already too small an estimation.
  334. bbru >>= 10;
  335. // limit to about a minute.
  336. NOMORE(bbru, 0xfffful);
  337. return bbru;
  338. }
  339. static void clear_block_buffer_runtime(){
  340. CRITICAL_SECTION_START
  341. block_buffer_runtime_us = 0;
  342. CRITICAL_SECTION_END
  343. }
  344. #endif
  345. #if ENABLED(AUTOTEMP)
  346. static float autotemp_min, autotemp_max, autotemp_factor;
  347. static bool autotemp_enabled;
  348. static void getHighESpeed();
  349. static void autotemp_M104_M109();
  350. #endif
  351. private:
  352. /**
  353. * Get the index of the next / previous block in the ring buffer
  354. */
  355. static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
  356. static int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
  357. /**
  358. * Calculate the distance (not time) it takes to accelerate
  359. * from initial_rate to target_rate using the given acceleration:
  360. */
  361. static float estimate_acceleration_distance(const float &initial_rate, const float &target_rate, const float &accel) {
  362. if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
  363. return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
  364. }
  365. /**
  366. * Return the point at which you must start braking (at the rate of -'acceleration') if
  367. * you start at 'initial_rate', accelerate (until reaching the point), and want to end at
  368. * 'final_rate' after traveling 'distance'.
  369. *
  370. * This is used to compute the intersection point between acceleration and deceleration
  371. * in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
  372. */
  373. static float intersection_distance(const float &initial_rate, const float &final_rate, const float &accel, const float &distance) {
  374. if (accel == 0) return 0; // accel was 0, set intersection distance to 0
  375. return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
  376. }
  377. /**
  378. * Calculate the maximum allowable speed at this point, in order
  379. * to reach 'target_velocity' using 'acceleration' within a given
  380. * 'distance'.
  381. */
  382. static float max_allowable_speed(const float &accel, const float &target_velocity, const float &distance) {
  383. return sqrt(sq(target_velocity) - 2 * accel * distance);
  384. }
  385. static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
  386. static void reverse_pass_kernel(block_t* const current, const block_t *next);
  387. static void forward_pass_kernel(const block_t *previous, block_t* const current);
  388. static void reverse_pass();
  389. static void forward_pass();
  390. static void recalculate_trapezoids();
  391. static void recalculate();
  392. };
  393. extern Planner planner;
  394. #endif // PLANNER_H