My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.cpp 43KB

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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. #include "language.h"
  42. #if defined(MESH_BED_LEVELING)
  43. #include "mesh_bed_leveling.h"
  44. #endif // MESH_BED_LEVELING
  45. //===========================================================================
  46. //============================= public variables ============================
  47. //===========================================================================
  48. unsigned long minsegmenttime;
  49. float max_feedrate[NUM_AXIS]; // set the max speeds
  50. float axis_steps_per_unit[NUM_AXIS];
  51. unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
  52. float minimumfeedrate;
  53. float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all printing moves. M204 SXXXX
  54. float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  55. float travel_acceleration; // Travel acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
  56. float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
  57. float max_z_jerk;
  58. float max_e_jerk;
  59. float mintravelfeedrate;
  60. unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  61. #ifdef ENABLE_AUTO_BED_LEVELING
  62. // this holds the required transform to compensate for bed level
  63. matrix_3x3 plan_bed_level_matrix = {
  64. 1.0, 0.0, 0.0,
  65. 0.0, 1.0, 0.0,
  66. 0.0, 0.0, 1.0
  67. };
  68. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  69. // The current position of the tool in absolute steps
  70. long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
  71. static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
  72. static float previous_nominal_speed; // Nominal speed of previous path line segment
  73. #ifdef AUTOTEMP
  74. float autotemp_max=250;
  75. float autotemp_min=210;
  76. float autotemp_factor=0.1;
  77. bool autotemp_enabled=false;
  78. #endif
  79. unsigned char g_uc_extruder_last_move[4] = {0,0,0,0};
  80. //===========================================================================
  81. //=================semi-private variables, used in inline functions =====
  82. //===========================================================================
  83. block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  84. volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  85. volatile unsigned char block_buffer_tail; // Index of the block to process now
  86. //===========================================================================
  87. //=============================private variables ============================
  88. //===========================================================================
  89. #ifdef PREVENT_DANGEROUS_EXTRUDE
  90. float extrude_min_temp=EXTRUDE_MINTEMP;
  91. #endif
  92. #ifdef XY_FREQUENCY_LIMIT
  93. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  94. // Used for the frequency limit
  95. static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
  96. static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0}; // Segment times (in us). Used for speed calculations
  97. static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
  98. #endif
  99. #ifdef FILAMENT_SENSOR
  100. static char meas_sample; //temporary variable to hold filament measurement sample
  101. #endif
  102. // Returns the index of the next block in the ring buffer
  103. // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
  104. static int8_t next_block_index(int8_t block_index) {
  105. block_index++;
  106. if (block_index == BLOCK_BUFFER_SIZE) {
  107. block_index = 0;
  108. }
  109. return(block_index);
  110. }
  111. // Returns the index of the previous block in the ring buffer
  112. static int8_t prev_block_index(int8_t block_index) {
  113. if (block_index == 0) {
  114. block_index = BLOCK_BUFFER_SIZE;
  115. }
  116. block_index--;
  117. return(block_index);
  118. }
  119. //===========================================================================
  120. //=============================functions ============================
  121. //===========================================================================
  122. // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
  123. // given acceleration:
  124. FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  125. {
  126. if (acceleration!=0) {
  127. return((target_rate*target_rate-initial_rate*initial_rate)/
  128. (2.0*acceleration));
  129. }
  130. else {
  131. return 0.0; // acceleration was 0, set acceleration distance to 0
  132. }
  133. }
  134. // This function gives you the point at which you must start braking (at the rate of -acceleration) if
  135. // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
  136. // a total travel of distance. This can be used to compute the intersection point between acceleration and
  137. // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
  138. FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  139. {
  140. if (acceleration!=0) {
  141. return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
  142. (4.0*acceleration) );
  143. }
  144. else {
  145. return 0.0; // acceleration was 0, set intersection distance to 0
  146. }
  147. }
  148. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
  149. void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
  150. unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
  151. unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
  152. // Limit minimal step rate (Otherwise the timer will overflow.)
  153. if(initial_rate <120) {
  154. initial_rate=120;
  155. }
  156. if(final_rate < 120) {
  157. final_rate=120;
  158. }
  159. long acceleration = block->acceleration_st;
  160. int32_t accelerate_steps =
  161. ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
  162. int32_t decelerate_steps =
  163. floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
  164. // Calculate the size of Plateau of Nominal Rate.
  165. int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
  166. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  167. // have to use intersection_distance() to calculate when to abort acceleration and start braking
  168. // in order to reach the final_rate exactly at the end of this block.
  169. if (plateau_steps < 0) {
  170. accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
  171. accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
  172. 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)
  173. plateau_steps = 0;
  174. }
  175. #ifdef ADVANCE
  176. volatile long initial_advance = block->advance*entry_factor*entry_factor;
  177. volatile long final_advance = block->advance*exit_factor*exit_factor;
  178. #endif // ADVANCE
  179. // block->accelerate_until = accelerate_steps;
  180. // block->decelerate_after = accelerate_steps+plateau_steps;
  181. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  182. if(block->busy == false) { // Don't update variables if block is busy.
  183. block->accelerate_until = accelerate_steps;
  184. block->decelerate_after = accelerate_steps+plateau_steps;
  185. block->initial_rate = initial_rate;
  186. block->final_rate = final_rate;
  187. #ifdef ADVANCE
  188. block->initial_advance = initial_advance;
  189. block->final_advance = final_advance;
  190. #endif //ADVANCE
  191. }
  192. CRITICAL_SECTION_END;
  193. }
  194. // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
  195. // acceleration within the allotted distance.
  196. FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
  197. return sqrt(target_velocity*target_velocity-2*acceleration*distance);
  198. }
  199. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
  200. // This method will calculate the junction jerk as the euclidean distance between the nominal
  201. // velocities of the respective blocks.
  202. //inline float junction_jerk(block_t *before, block_t *after) {
  203. // return sqrt(
  204. // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
  205. //}
  206. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
  207. void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  208. if(!current) {
  209. return;
  210. }
  211. if (next) {
  212. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  213. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  214. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  215. if (current->entry_speed != current->max_entry_speed) {
  216. // If nominal length true, max junction speed is guaranteed to be reached. Only compute
  217. // for max allowable speed if block is decelerating and nominal length is false.
  218. if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
  219. current->entry_speed = min( current->max_entry_speed,
  220. max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
  221. }
  222. else {
  223. current->entry_speed = current->max_entry_speed;
  224. }
  225. current->recalculate_flag = true;
  226. }
  227. } // Skip last block. Already initialized and set for recalculation.
  228. }
  229. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  230. // implements the reverse pass.
  231. void planner_reverse_pass() {
  232. uint8_t block_index = block_buffer_head;
  233. //Make a local copy of block_buffer_tail, because the interrupt can alter it
  234. CRITICAL_SECTION_START;
  235. unsigned char tail = block_buffer_tail;
  236. CRITICAL_SECTION_END
  237. if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
  238. block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
  239. block_t *block[3] = {
  240. NULL, NULL, NULL };
  241. while(block_index != tail) {
  242. block_index = prev_block_index(block_index);
  243. block[2]= block[1];
  244. block[1]= block[0];
  245. block[0] = &block_buffer[block_index];
  246. planner_reverse_pass_kernel(block[0], block[1], block[2]);
  247. }
  248. }
  249. }
  250. // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
  251. void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  252. if(!previous) {
  253. return;
  254. }
  255. // If the previous block is an acceleration block, but it is not long enough to complete the
  256. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  257. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  258. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  259. if (!previous->nominal_length_flag) {
  260. if (previous->entry_speed < current->entry_speed) {
  261. double entry_speed = min( current->entry_speed,
  262. max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
  263. // Check for junction speed change
  264. if (current->entry_speed != entry_speed) {
  265. current->entry_speed = entry_speed;
  266. current->recalculate_flag = true;
  267. }
  268. }
  269. }
  270. }
  271. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  272. // implements the forward pass.
  273. void planner_forward_pass() {
  274. uint8_t block_index = block_buffer_tail;
  275. block_t *block[3] = {
  276. NULL, NULL, NULL };
  277. while(block_index != block_buffer_head) {
  278. block[0] = block[1];
  279. block[1] = block[2];
  280. block[2] = &block_buffer[block_index];
  281. planner_forward_pass_kernel(block[0],block[1],block[2]);
  282. block_index = next_block_index(block_index);
  283. }
  284. planner_forward_pass_kernel(block[1], block[2], NULL);
  285. }
  286. // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
  287. // entry_factor for each junction. Must be called by planner_recalculate() after
  288. // updating the blocks.
  289. void planner_recalculate_trapezoids() {
  290. int8_t block_index = block_buffer_tail;
  291. block_t *current;
  292. block_t *next = NULL;
  293. while(block_index != block_buffer_head) {
  294. current = next;
  295. next = &block_buffer[block_index];
  296. if (current) {
  297. // Recalculate if current block entry or exit junction speed has changed.
  298. if (current->recalculate_flag || next->recalculate_flag) {
  299. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
  300. calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
  301. next->entry_speed/current->nominal_speed);
  302. current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
  303. }
  304. }
  305. block_index = next_block_index( block_index );
  306. }
  307. // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
  308. if(next != NULL) {
  309. calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
  310. MINIMUM_PLANNER_SPEED/next->nominal_speed);
  311. next->recalculate_flag = false;
  312. }
  313. }
  314. // Recalculates the motion plan according to the following algorithm:
  315. //
  316. // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
  317. // so that:
  318. // a. The junction jerk is within the set limit
  319. // b. No speed reduction within one block requires faster deceleration than the one, true constant
  320. // acceleration.
  321. // 2. Go over every block in chronological order and dial down junction speed reduction values if
  322. // a. The speed increase within one block would require faster accelleration than the one, true
  323. // constant acceleration.
  324. //
  325. // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
  326. // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
  327. // the set limit. Finally it will:
  328. //
  329. // 3. Recalculate trapezoids for all blocks.
  330. void planner_recalculate() {
  331. planner_reverse_pass();
  332. planner_forward_pass();
  333. planner_recalculate_trapezoids();
  334. }
  335. void plan_init() {
  336. block_buffer_head = 0;
  337. block_buffer_tail = 0;
  338. memset(position, 0, sizeof(position)); // clear position
  339. previous_speed[0] = 0.0;
  340. previous_speed[1] = 0.0;
  341. previous_speed[2] = 0.0;
  342. previous_speed[3] = 0.0;
  343. previous_nominal_speed = 0.0;
  344. }
  345. #ifdef AUTOTEMP
  346. void getHighESpeed()
  347. {
  348. static float oldt=0;
  349. if(!autotemp_enabled){
  350. return;
  351. }
  352. if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
  353. return; //do nothing
  354. }
  355. float high=0.0;
  356. uint8_t block_index = block_buffer_tail;
  357. while(block_index != block_buffer_head) {
  358. if((block_buffer[block_index].steps_x != 0) ||
  359. (block_buffer[block_index].steps_y != 0) ||
  360. (block_buffer[block_index].steps_z != 0)) {
  361. float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
  362. //se; mm/sec;
  363. if(se>high)
  364. {
  365. high=se;
  366. }
  367. }
  368. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  369. }
  370. float g=autotemp_min+high*autotemp_factor;
  371. float t=g;
  372. if(t<autotemp_min)
  373. t=autotemp_min;
  374. if(t>autotemp_max)
  375. t=autotemp_max;
  376. if(oldt>t)
  377. {
  378. t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
  379. }
  380. oldt=t;
  381. setTargetHotend0(t);
  382. }
  383. #endif
  384. void check_axes_activity()
  385. {
  386. unsigned char x_active = 0;
  387. unsigned char y_active = 0;
  388. unsigned char z_active = 0;
  389. unsigned char e_active = 0;
  390. unsigned char tail_fan_speed = fanSpeed;
  391. #ifdef BARICUDA
  392. unsigned char tail_valve_pressure = ValvePressure;
  393. unsigned char tail_e_to_p_pressure = EtoPPressure;
  394. #endif
  395. block_t *block;
  396. if(block_buffer_tail != block_buffer_head)
  397. {
  398. uint8_t block_index = block_buffer_tail;
  399. tail_fan_speed = block_buffer[block_index].fan_speed;
  400. #ifdef BARICUDA
  401. tail_valve_pressure = block_buffer[block_index].valve_pressure;
  402. tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
  403. #endif
  404. while(block_index != block_buffer_head)
  405. {
  406. block = &block_buffer[block_index];
  407. if(block->steps_x != 0) x_active++;
  408. if(block->steps_y != 0) y_active++;
  409. if(block->steps_z != 0) z_active++;
  410. if(block->steps_e != 0) e_active++;
  411. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  412. }
  413. }
  414. if((DISABLE_X) && (x_active == 0)) disable_x();
  415. if((DISABLE_Y) && (y_active == 0)) disable_y();
  416. if((DISABLE_Z) && (z_active == 0)) disable_z();
  417. if((DISABLE_E) && (e_active == 0))
  418. {
  419. disable_e0();
  420. disable_e1();
  421. disable_e2();
  422. disable_e3();
  423. }
  424. #if defined(FAN_PIN) && FAN_PIN > -1
  425. #ifdef FAN_KICKSTART_TIME
  426. static unsigned long fan_kick_end;
  427. if (tail_fan_speed) {
  428. if (fan_kick_end == 0) {
  429. // Just starting up fan - run at full power.
  430. fan_kick_end = millis() + FAN_KICKSTART_TIME;
  431. tail_fan_speed = 255;
  432. } else if (fan_kick_end > millis())
  433. // Fan still spinning up.
  434. tail_fan_speed = 255;
  435. } else {
  436. fan_kick_end = 0;
  437. }
  438. #endif//FAN_KICKSTART_TIME
  439. #ifdef FAN_SOFT_PWM
  440. fanSpeedSoftPwm = tail_fan_speed;
  441. #else
  442. analogWrite(FAN_PIN,tail_fan_speed);
  443. #endif//!FAN_SOFT_PWM
  444. #endif//FAN_PIN > -1
  445. #ifdef AUTOTEMP
  446. getHighESpeed();
  447. #endif
  448. #ifdef BARICUDA
  449. #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
  450. analogWrite(HEATER_1_PIN,tail_valve_pressure);
  451. #endif
  452. #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
  453. analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
  454. #endif
  455. #endif
  456. }
  457. float junction_deviation = 0.1;
  458. // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
  459. // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
  460. // calculation the caller must also provide the physical length of the line in millimeters.
  461. #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
  462. void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
  463. #else
  464. void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
  465. #endif //ENABLE_AUTO_BED_LEVELING
  466. {
  467. // Calculate the buffer head after we push this byte
  468. int next_buffer_head = next_block_index(block_buffer_head);
  469. // If the buffer is full: good! That means we are well ahead of the robot.
  470. // Rest here until there is room in the buffer.
  471. while(block_buffer_tail == next_buffer_head)
  472. {
  473. manage_heater();
  474. manage_inactivity();
  475. lcd_update();
  476. }
  477. #if defined(MESH_BED_LEVELING)
  478. if (mbl.active) {
  479. z += mbl.get_z(x, y);
  480. }
  481. #endif // MESH_BED_LEVELING
  482. #ifdef ENABLE_AUTO_BED_LEVELING
  483. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  484. #endif // ENABLE_AUTO_BED_LEVELING
  485. // The target position of the tool in absolute steps
  486. // Calculate target position in absolute steps
  487. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  488. long target[4];
  489. target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  490. target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  491. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  492. target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  493. #ifdef PREVENT_DANGEROUS_EXTRUDE
  494. if(target[E_AXIS]!=position[E_AXIS])
  495. {
  496. if(degHotend(active_extruder)<extrude_min_temp)
  497. {
  498. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  499. SERIAL_ECHO_START;
  500. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  501. }
  502. #ifdef PREVENT_LENGTHY_EXTRUDE
  503. if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
  504. {
  505. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  506. SERIAL_ECHO_START;
  507. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  508. }
  509. #endif
  510. }
  511. #endif
  512. // Prepare to set up new block
  513. block_t *block = &block_buffer[block_buffer_head];
  514. // Mark block as not busy (Not executed by the stepper interrupt)
  515. block->busy = false;
  516. // Number of steps for each axis
  517. #ifndef COREXY
  518. // default non-h-bot planning
  519. block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
  520. block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
  521. #else
  522. // corexy planning
  523. // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
  524. block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
  525. block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
  526. #endif
  527. block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
  528. block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
  529. block->steps_e *= volumetric_multiplier[active_extruder];
  530. block->steps_e *= extrudemultiply;
  531. block->steps_e /= 100;
  532. block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
  533. // Bail if this is a zero-length block
  534. if (block->step_event_count <= dropsegments)
  535. {
  536. return;
  537. }
  538. block->fan_speed = fanSpeed;
  539. #ifdef BARICUDA
  540. block->valve_pressure = ValvePressure;
  541. block->e_to_p_pressure = EtoPPressure;
  542. #endif
  543. // Compute direction bits for this block
  544. block->direction_bits = 0;
  545. #ifndef COREXY
  546. if (target[X_AXIS] < position[X_AXIS])
  547. {
  548. block->direction_bits |= BIT(X_AXIS);
  549. }
  550. if (target[Y_AXIS] < position[Y_AXIS])
  551. {
  552. block->direction_bits |= BIT(Y_AXIS);
  553. }
  554. #else
  555. if (target[X_AXIS] < position[X_AXIS])
  556. {
  557. block->direction_bits |= BIT(X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
  558. }
  559. if (target[Y_AXIS] < position[Y_AXIS])
  560. {
  561. block->direction_bits |= BIT(Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
  562. }
  563. if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
  564. {
  565. block->direction_bits |= BIT(X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
  566. }
  567. if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
  568. {
  569. block->direction_bits |= BIT(Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
  570. }
  571. #endif
  572. if (target[Z_AXIS] < position[Z_AXIS])
  573. {
  574. block->direction_bits |= BIT(Z_AXIS);
  575. }
  576. if (target[E_AXIS] < position[E_AXIS])
  577. {
  578. block->direction_bits |= BIT(E_AXIS);
  579. }
  580. block->active_extruder = extruder;
  581. //enable active axes
  582. #ifdef COREXY
  583. if((block->steps_x != 0) || (block->steps_y != 0))
  584. {
  585. enable_x();
  586. enable_y();
  587. }
  588. #else
  589. if(block->steps_x != 0) enable_x();
  590. if(block->steps_y != 0) enable_y();
  591. #endif
  592. #ifndef Z_LATE_ENABLE
  593. if(block->steps_z != 0) enable_z();
  594. #endif
  595. // Enable extruder(s)
  596. if(block->steps_e != 0)
  597. {
  598. if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
  599. {
  600. if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
  601. if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
  602. if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
  603. if(g_uc_extruder_last_move[3] > 0) g_uc_extruder_last_move[3]--;
  604. switch(extruder)
  605. {
  606. case 0:
  607. enable_e0();
  608. g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
  609. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  610. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  611. if(g_uc_extruder_last_move[3] == 0) disable_e3();
  612. break;
  613. case 1:
  614. enable_e1();
  615. g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
  616. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  617. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  618. if(g_uc_extruder_last_move[3] == 0) disable_e3();
  619. break;
  620. case 2:
  621. enable_e2();
  622. g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
  623. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  624. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  625. if(g_uc_extruder_last_move[3] == 0) disable_e3();
  626. break;
  627. case 3:
  628. enable_e3();
  629. g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
  630. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  631. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  632. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  633. break;
  634. }
  635. }
  636. else //enable all
  637. {
  638. enable_e0();
  639. enable_e1();
  640. enable_e2();
  641. enable_e3();
  642. }
  643. }
  644. if (block->steps_e == 0)
  645. {
  646. if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
  647. }
  648. else
  649. {
  650. if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
  651. }
  652. /* This part of the code calculates the total length of the movement.
  653. For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
  654. But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
  655. and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
  656. So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
  657. Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
  658. */
  659. #ifndef COREXY
  660. float delta_mm[4];
  661. delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  662. delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  663. #else
  664. float delta_mm[6];
  665. delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  666. delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  667. delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
  668. delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
  669. #endif
  670. delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
  671. delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*volumetric_multiplier[active_extruder]*extrudemultiply/100.0;
  672. if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
  673. {
  674. block->millimeters = fabs(delta_mm[E_AXIS]);
  675. }
  676. else
  677. {
  678. #ifndef COREXY
  679. block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
  680. #else
  681. block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
  682. #endif
  683. }
  684. float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
  685. // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
  686. float inverse_second = feed_rate * inverse_millimeters;
  687. int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  688. // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
  689. #ifdef OLD_SLOWDOWN
  690. if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
  691. feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
  692. #endif
  693. #ifdef SLOWDOWN
  694. // segment time im micro seconds
  695. unsigned long segment_time = lround(1000000.0/inverse_second);
  696. if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
  697. {
  698. if (segment_time < minsegmenttime)
  699. { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  700. inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
  701. #ifdef XY_FREQUENCY_LIMIT
  702. segment_time = lround(1000000.0/inverse_second);
  703. #endif
  704. }
  705. }
  706. #endif
  707. // END OF SLOW DOWN SECTION
  708. block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
  709. block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
  710. #ifdef FILAMENT_SENSOR
  711. //FMM update ring buffer used for delay with filament measurements
  712. if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1)) //only for extruder with filament sensor and if ring buffer is initialized
  713. {
  714. delay_dist = delay_dist + delta_mm[E_AXIS]; //increment counter with next move in e axis
  715. while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1))) //check if counter is over max buffer size in mm
  716. delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
  717. while (delay_dist<0)
  718. delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
  719. delay_index1=delay_dist/10.0; //calculate index
  720. //ensure the number is within range of the array after converting from floating point
  721. if(delay_index1<0)
  722. delay_index1=0;
  723. else if (delay_index1>MAX_MEASUREMENT_DELAY)
  724. delay_index1=MAX_MEASUREMENT_DELAY;
  725. if(delay_index1 != delay_index2) //moved index
  726. {
  727. meas_sample=widthFil_to_size_ratio()-100; //subtract off 100 to reduce magnitude - to store in a signed char
  728. }
  729. while( delay_index1 != delay_index2)
  730. {
  731. delay_index2 = delay_index2 + 1;
  732. if(delay_index2>MAX_MEASUREMENT_DELAY)
  733. delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1); //loop around buffer when incrementing
  734. if(delay_index2<0)
  735. delay_index2=0;
  736. else if (delay_index2>MAX_MEASUREMENT_DELAY)
  737. delay_index2=MAX_MEASUREMENT_DELAY;
  738. measurement_delay[delay_index2]=meas_sample;
  739. }
  740. }
  741. #endif
  742. // Calculate and limit speed in mm/sec for each axis
  743. float current_speed[4];
  744. float speed_factor = 1.0; //factor <=1 do decrease speed
  745. for(int i=0; i < 4; i++)
  746. {
  747. current_speed[i] = delta_mm[i] * inverse_second;
  748. if(fabs(current_speed[i]) > max_feedrate[i])
  749. speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
  750. }
  751. // Max segement time in us.
  752. #ifdef XY_FREQUENCY_LIMIT
  753. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  754. // Check and limit the xy direction change frequency
  755. unsigned char direction_change = block->direction_bits ^ old_direction_bits;
  756. old_direction_bits = block->direction_bits;
  757. segment_time = lround((float)segment_time / speed_factor);
  758. if((direction_change & BIT(X_AXIS)) == 0)
  759. {
  760. x_segment_time[0] += segment_time;
  761. }
  762. else
  763. {
  764. x_segment_time[2] = x_segment_time[1];
  765. x_segment_time[1] = x_segment_time[0];
  766. x_segment_time[0] = segment_time;
  767. }
  768. if((direction_change & BIT(Y_AXIS)) == 0)
  769. {
  770. y_segment_time[0] += segment_time;
  771. }
  772. else
  773. {
  774. y_segment_time[2] = y_segment_time[1];
  775. y_segment_time[1] = y_segment_time[0];
  776. y_segment_time[0] = segment_time;
  777. }
  778. long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
  779. long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
  780. long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
  781. if(min_xy_segment_time < MAX_FREQ_TIME)
  782. speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
  783. #endif // XY_FREQUENCY_LIMIT
  784. // Correct the speed
  785. if( speed_factor < 1.0)
  786. {
  787. for(unsigned char i=0; i < 4; i++)
  788. {
  789. current_speed[i] *= speed_factor;
  790. }
  791. block->nominal_speed *= speed_factor;
  792. block->nominal_rate *= speed_factor;
  793. }
  794. // Compute and limit the acceleration rate for the trapezoid generator.
  795. float steps_per_mm = block->step_event_count/block->millimeters;
  796. if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
  797. {
  798. block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  799. }
  800. else if(block->steps_e == 0)
  801. {
  802. block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  803. }
  804. else
  805. {
  806. block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  807. }
  808. // Limit acceleration per axis
  809. if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
  810. block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
  811. if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
  812. block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
  813. if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
  814. block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
  815. if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
  816. block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  817. block->acceleration = block->acceleration_st / steps_per_mm;
  818. block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
  819. #if 0 // Use old jerk for now
  820. // Compute path unit vector
  821. double unit_vec[3];
  822. unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
  823. unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
  824. unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
  825. // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
  826. // Let a circle be tangent to both previous and current path line segments, where the junction
  827. // deviation is defined as the distance from the junction to the closest edge of the circle,
  828. // colinear with the circle center. The circular segment joining the two paths represents the
  829. // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
  830. // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
  831. // path width or max_jerk in the previous grbl version. This approach does not actually deviate
  832. // from path, but used as a robust way to compute cornering speeds, as it takes into account the
  833. // nonlinearities of both the junction angle and junction velocity.
  834. double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
  835. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
  836. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  837. // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
  838. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
  839. double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
  840. - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
  841. - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
  842. // Skip and use default max junction speed for 0 degree acute junction.
  843. if (cos_theta < 0.95) {
  844. vmax_junction = min(previous_nominal_speed,block->nominal_speed);
  845. // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
  846. if (cos_theta > -0.95) {
  847. // Compute maximum junction velocity based on maximum acceleration and junction deviation
  848. double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
  849. vmax_junction = min(vmax_junction,
  850. sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
  851. }
  852. }
  853. }
  854. #endif
  855. // Start with a safe speed
  856. float vmax_junction = max_xy_jerk/2;
  857. float vmax_junction_factor = 1.0;
  858. if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
  859. vmax_junction = min(vmax_junction, max_z_jerk/2);
  860. if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
  861. vmax_junction = min(vmax_junction, max_e_jerk/2);
  862. vmax_junction = min(vmax_junction, block->nominal_speed);
  863. float safe_speed = vmax_junction;
  864. if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
  865. float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
  866. // if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
  867. vmax_junction = block->nominal_speed;
  868. // }
  869. if (jerk > max_xy_jerk) {
  870. vmax_junction_factor = (max_xy_jerk/jerk);
  871. }
  872. if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
  873. vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
  874. }
  875. if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
  876. vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
  877. }
  878. vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
  879. }
  880. block->max_entry_speed = vmax_junction;
  881. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
  882. double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
  883. block->entry_speed = min(vmax_junction, v_allowable);
  884. // Initialize planner efficiency flags
  885. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  886. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  887. // the current block and next block junction speeds are guaranteed to always be at their maximum
  888. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  889. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  890. // the reverse and forward planners, the corresponding block junction speed will always be at the
  891. // the maximum junction speed and may always be ignored for any speed reduction checks.
  892. if (block->nominal_speed <= v_allowable) {
  893. block->nominal_length_flag = true;
  894. }
  895. else {
  896. block->nominal_length_flag = false;
  897. }
  898. block->recalculate_flag = true; // Always calculate trapezoid for new block
  899. // Update previous path unit_vector and nominal speed
  900. memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
  901. previous_nominal_speed = block->nominal_speed;
  902. #ifdef ADVANCE
  903. // Calculate advance rate
  904. if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
  905. block->advance_rate = 0;
  906. block->advance = 0;
  907. }
  908. else {
  909. long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
  910. float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
  911. (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
  912. block->advance = advance;
  913. if(acc_dist == 0) {
  914. block->advance_rate = 0;
  915. }
  916. else {
  917. block->advance_rate = advance / (float)acc_dist;
  918. }
  919. }
  920. /*
  921. SERIAL_ECHO_START;
  922. SERIAL_ECHOPGM("advance :");
  923. SERIAL_ECHO(block->advance/256.0);
  924. SERIAL_ECHOPGM("advance rate :");
  925. SERIAL_ECHOLN(block->advance_rate/256.0);
  926. */
  927. #endif // ADVANCE
  928. calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
  929. safe_speed/block->nominal_speed);
  930. // Move buffer head
  931. block_buffer_head = next_buffer_head;
  932. // Update position
  933. memcpy(position, target, sizeof(target)); // position[] = target[]
  934. planner_recalculate();
  935. st_wake_up();
  936. }
  937. #if defined(ENABLE_AUTO_BED_LEVELING) && not defined(DELTA)
  938. vector_3 plan_get_position() {
  939. vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
  940. //position.debug("in plan_get position");
  941. //plan_bed_level_matrix.debug("in plan_get bed_level");
  942. matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
  943. //inverse.debug("in plan_get inverse");
  944. position.apply_rotation(inverse);
  945. //position.debug("after rotation");
  946. return position;
  947. }
  948. #endif // ENABLE_AUTO_BED_LEVELING
  949. #if defined(ENABLE_AUTO_BED_LEVELING) || defined(MESH_BED_LEVELING)
  950. void plan_set_position(float x, float y, float z, const float &e)
  951. #else
  952. void plan_set_position(const float &x, const float &y, const float &z, const float &e)
  953. #endif // ENABLE_AUTO_BED_LEVELING || MESH_BED_LEVELING
  954. {
  955. #if defined(ENABLE_AUTO_BED_LEVELING)
  956. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  957. #elif defined(MESH_BED_LEVELING)
  958. if (mbl.active) {
  959. z += mbl.get_z(x, y);
  960. }
  961. #endif // ENABLE_AUTO_BED_LEVELING
  962. position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  963. position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  964. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  965. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  966. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  967. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  968. previous_speed[0] = 0.0;
  969. previous_speed[1] = 0.0;
  970. previous_speed[2] = 0.0;
  971. previous_speed[3] = 0.0;
  972. }
  973. void plan_set_e_position(const float &e)
  974. {
  975. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  976. st_set_e_position(position[E_AXIS]);
  977. }
  978. uint8_t movesplanned()
  979. {
  980. return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  981. }
  982. #ifdef PREVENT_DANGEROUS_EXTRUDE
  983. void set_extrude_min_temp(float temp)
  984. {
  985. extrude_min_temp=temp;
  986. }
  987. #endif
  988. // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
  989. void reset_acceleration_rates()
  990. {
  991. for(int8_t i=0; i < NUM_AXIS; i++)
  992. {
  993. axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
  994. }
  995. }