My Marlin configs for Fabrikator Mini and CTC i3 Pro B
選択できるのは25トピックまでです。 トピックは、先頭が英数字で、英数字とダッシュ('-')を使用した35文字以内のものにしてください。

planner.cpp 45KB

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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.cpp
  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. * The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis.
  31. *
  32. *
  33. * Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
  34. *
  35. * s == speed, a == acceleration, t == time, d == distance
  36. *
  37. * Basic definitions:
  38. * Speed[s_, a_, t_] := s + (a*t)
  39. * Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
  40. *
  41. * Distance to reach a specific speed with a constant acceleration:
  42. * Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
  43. * d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
  44. *
  45. * Speed after a given distance of travel with constant acceleration:
  46. * Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
  47. * m -> Sqrt[2 a d + s^2]
  48. *
  49. * DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
  50. *
  51. * When to start braking (di) to reach a specified destination speed (s2) after accelerating
  52. * from initial speed s1 without ever stopping at a plateau:
  53. * Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
  54. * di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
  55. *
  56. * IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
  57. *
  58. */
  59. #include "planner.h"
  60. #include "stepper.h"
  61. #include "temperature.h"
  62. #include "ultralcd.h"
  63. #include "language.h"
  64. #include "Marlin.h"
  65. #if ENABLED(MESH_BED_LEVELING)
  66. #include "mesh_bed_leveling.h"
  67. #endif
  68. Planner planner;
  69. // public:
  70. /**
  71. * A ring buffer of moves described in steps
  72. */
  73. block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
  74. volatile uint8_t Planner::block_buffer_head = 0; // Index of the next block to be pushed
  75. volatile uint8_t Planner::block_buffer_tail = 0;
  76. float Planner::max_feedrate_mm_s[NUM_AXIS], // Max speeds in mm per second
  77. Planner::axis_steps_per_mm[NUM_AXIS],
  78. Planner::steps_to_mm[NUM_AXIS];
  79. unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS],
  80. Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
  81. millis_t Planner::min_segment_time;
  82. float Planner::min_feedrate_mm_s,
  83. Planner::acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
  84. Planner::retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
  85. Planner::travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
  86. Planner::max_xy_jerk, // The largest speed change requiring no acceleration
  87. Planner::max_z_jerk,
  88. Planner::max_e_jerk,
  89. Planner::min_travel_feedrate_mm_s;
  90. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  91. matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
  92. #endif
  93. #if ENABLED(AUTOTEMP)
  94. float Planner::autotemp_max = 250,
  95. Planner::autotemp_min = 210,
  96. Planner::autotemp_factor = 0.1;
  97. bool Planner::autotemp_enabled = false;
  98. #endif
  99. // private:
  100. long Planner::position[NUM_AXIS] = { 0 };
  101. float Planner::previous_speed[NUM_AXIS],
  102. Planner::previous_nominal_speed;
  103. #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
  104. uint8_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 };
  105. #endif // DISABLE_INACTIVE_EXTRUDER
  106. #ifdef XY_FREQUENCY_LIMIT
  107. // Old direction bits. Used for speed calculations
  108. unsigned char Planner::old_direction_bits = 0;
  109. // Segment times (in µs). Used for speed calculations
  110. long Planner::axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
  111. #endif
  112. /**
  113. * Class and Instance Methods
  114. */
  115. Planner::Planner() { init(); }
  116. void Planner::init() {
  117. block_buffer_head = block_buffer_tail = 0;
  118. memset(position, 0, sizeof(position)); // clear position
  119. LOOP_XYZE(i) previous_speed[i] = 0.0;
  120. previous_nominal_speed = 0.0;
  121. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  122. bed_level_matrix.set_to_identity();
  123. #endif
  124. }
  125. /**
  126. * Calculate trapezoid parameters, multiplying the entry- and exit-speeds
  127. * by the provided factors.
  128. */
  129. void Planner::calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor) {
  130. unsigned long initial_rate = ceil(block->nominal_rate * entry_factor),
  131. final_rate = ceil(block->nominal_rate * exit_factor); // (steps per second)
  132. // Limit minimal step rate (Otherwise the timer will overflow.)
  133. NOLESS(initial_rate, 120);
  134. NOLESS(final_rate, 120);
  135. long accel = block->acceleration_steps_per_s2;
  136. int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel));
  137. int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel));
  138. // Calculate the size of Plateau of Nominal Rate.
  139. int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
  140. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  141. // have to use intersection_distance() to calculate when to abort accel and start braking
  142. // in order to reach the final_rate exactly at the end of this block.
  143. if (plateau_steps < 0) {
  144. accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
  145. accelerate_steps = max(accelerate_steps, 0); // Check limits due to numerical round-off
  146. 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)
  147. plateau_steps = 0;
  148. }
  149. #if ENABLED(ADVANCE)
  150. volatile long initial_advance = block->advance * sq(entry_factor);
  151. volatile long final_advance = block->advance * sq(exit_factor);
  152. #endif // ADVANCE
  153. // block->accelerate_until = accelerate_steps;
  154. // block->decelerate_after = accelerate_steps+plateau_steps;
  155. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  156. if (!block->busy) { // Don't update variables if block is busy.
  157. block->accelerate_until = accelerate_steps;
  158. block->decelerate_after = accelerate_steps + plateau_steps;
  159. block->initial_rate = initial_rate;
  160. block->final_rate = final_rate;
  161. #if ENABLED(ADVANCE)
  162. block->initial_advance = initial_advance;
  163. block->final_advance = final_advance;
  164. #endif
  165. }
  166. CRITICAL_SECTION_END;
  167. }
  168. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
  169. // This method will calculate the junction jerk as the euclidean distance between the nominal
  170. // velocities of the respective blocks.
  171. //inline float junction_jerk(block_t *before, block_t *after) {
  172. // return sqrt(
  173. // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
  174. //}
  175. // The kernel called by recalculate() when scanning the plan from last to first entry.
  176. void Planner::reverse_pass_kernel(block_t* previous, block_t* current, block_t* next) {
  177. if (!current) return;
  178. UNUSED(previous);
  179. if (next) {
  180. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  181. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  182. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  183. float max_entry_speed = current->max_entry_speed;
  184. if (current->entry_speed != max_entry_speed) {
  185. // If nominal length true, max junction speed is guaranteed to be reached. Only compute
  186. // for max allowable speed if block is decelerating and nominal length is false.
  187. if (!current->nominal_length_flag && max_entry_speed > next->entry_speed) {
  188. current->entry_speed = min(max_entry_speed,
  189. max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
  190. }
  191. else {
  192. current->entry_speed = max_entry_speed;
  193. }
  194. current->recalculate_flag = true;
  195. }
  196. } // Skip last block. Already initialized and set for recalculation.
  197. }
  198. /**
  199. * recalculate() needs to go over the current plan twice.
  200. * Once in reverse and once forward. This implements the reverse pass.
  201. */
  202. void Planner::reverse_pass() {
  203. if (movesplanned() > 3) {
  204. block_t* block[3] = { NULL, NULL, NULL };
  205. // Make a local copy of block_buffer_tail, because the interrupt can alter it
  206. CRITICAL_SECTION_START;
  207. uint8_t tail = block_buffer_tail;
  208. CRITICAL_SECTION_END
  209. uint8_t b = BLOCK_MOD(block_buffer_head - 3);
  210. while (b != tail) {
  211. b = prev_block_index(b);
  212. block[2] = block[1];
  213. block[1] = block[0];
  214. block[0] = &block_buffer[b];
  215. reverse_pass_kernel(block[0], block[1], block[2]);
  216. }
  217. }
  218. }
  219. // The kernel called by recalculate() when scanning the plan from first to last entry.
  220. void Planner::forward_pass_kernel(block_t* previous, block_t* current, block_t* next) {
  221. if (!previous) return;
  222. UNUSED(next);
  223. // If the previous block is an acceleration block, but it is not long enough to complete the
  224. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  225. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  226. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  227. if (!previous->nominal_length_flag) {
  228. if (previous->entry_speed < current->entry_speed) {
  229. double entry_speed = min(current->entry_speed,
  230. max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
  231. // Check for junction speed change
  232. if (current->entry_speed != entry_speed) {
  233. current->entry_speed = entry_speed;
  234. current->recalculate_flag = true;
  235. }
  236. }
  237. }
  238. }
  239. /**
  240. * recalculate() needs to go over the current plan twice.
  241. * Once in reverse and once forward. This implements the forward pass.
  242. */
  243. void Planner::forward_pass() {
  244. block_t* block[3] = { NULL, NULL, NULL };
  245. for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
  246. block[0] = block[1];
  247. block[1] = block[2];
  248. block[2] = &block_buffer[b];
  249. forward_pass_kernel(block[0], block[1], block[2]);
  250. }
  251. forward_pass_kernel(block[1], block[2], NULL);
  252. }
  253. /**
  254. * Recalculate the trapezoid speed profiles for all blocks in the plan
  255. * according to the entry_factor for each junction. Must be called by
  256. * recalculate() after updating the blocks.
  257. */
  258. void Planner::recalculate_trapezoids() {
  259. int8_t block_index = block_buffer_tail;
  260. block_t* current;
  261. block_t* next = NULL;
  262. while (block_index != block_buffer_head) {
  263. current = next;
  264. next = &block_buffer[block_index];
  265. if (current) {
  266. // Recalculate if current block entry or exit junction speed has changed.
  267. if (current->recalculate_flag || next->recalculate_flag) {
  268. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
  269. float nom = current->nominal_speed;
  270. calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
  271. current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
  272. }
  273. }
  274. block_index = next_block_index(block_index);
  275. }
  276. // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
  277. if (next) {
  278. float nom = next->nominal_speed;
  279. calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
  280. next->recalculate_flag = false;
  281. }
  282. }
  283. /*
  284. * Recalculate the motion plan according to the following algorithm:
  285. *
  286. * 1. Go over every block in reverse order...
  287. *
  288. * Calculate a junction speed reduction (block_t.entry_factor) so:
  289. *
  290. * a. The junction jerk is within the set limit, and
  291. *
  292. * b. No speed reduction within one block requires faster
  293. * deceleration than the one, true constant acceleration.
  294. *
  295. * 2. Go over every block in chronological order...
  296. *
  297. * Dial down junction speed reduction values if:
  298. * a. The speed increase within one block would require faster
  299. * acceleration than the one, true constant acceleration.
  300. *
  301. * After that, all blocks will have an entry_factor allowing all speed changes to
  302. * be performed using only the one, true constant acceleration, and where no junction
  303. * jerk is jerkier than the set limit, Jerky. Finally it will:
  304. *
  305. * 3. Recalculate "trapezoids" for all blocks.
  306. */
  307. void Planner::recalculate() {
  308. reverse_pass();
  309. forward_pass();
  310. recalculate_trapezoids();
  311. }
  312. #if ENABLED(AUTOTEMP)
  313. void Planner::getHighESpeed() {
  314. static float oldt = 0;
  315. if (!autotemp_enabled) return;
  316. if (thermalManager.degTargetHotend(0) + 2 < autotemp_min) return; // probably temperature set to zero.
  317. float high = 0.0;
  318. for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
  319. block_t* block = &block_buffer[b];
  320. if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
  321. float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
  322. NOLESS(high, se);
  323. }
  324. }
  325. float t = autotemp_min + high * autotemp_factor;
  326. t = constrain(t, autotemp_min, autotemp_max);
  327. if (oldt > t) {
  328. t *= (1 - (AUTOTEMP_OLDWEIGHT));
  329. t += (AUTOTEMP_OLDWEIGHT) * oldt;
  330. }
  331. oldt = t;
  332. thermalManager.setTargetHotend(t, 0);
  333. }
  334. #endif //AUTOTEMP
  335. /**
  336. * Maintain fans, paste extruder pressure,
  337. */
  338. void Planner::check_axes_activity() {
  339. unsigned char axis_active[NUM_AXIS] = { 0 },
  340. tail_fan_speed[FAN_COUNT];
  341. #if FAN_COUNT > 0
  342. for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = fanSpeeds[i];
  343. #endif
  344. #if ENABLED(BARICUDA)
  345. #if HAS_HEATER_1
  346. unsigned char tail_valve_pressure = baricuda_valve_pressure;
  347. #endif
  348. #if HAS_HEATER_2
  349. unsigned char tail_e_to_p_pressure = baricuda_e_to_p_pressure;
  350. #endif
  351. #endif
  352. if (blocks_queued()) {
  353. #if FAN_COUNT > 0
  354. for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = block_buffer[block_buffer_tail].fan_speed[i];
  355. #endif
  356. block_t* block;
  357. #if ENABLED(BARICUDA)
  358. block = &block_buffer[block_buffer_tail];
  359. #if HAS_HEATER_1
  360. tail_valve_pressure = block->valve_pressure;
  361. #endif
  362. #if HAS_HEATER_2
  363. tail_e_to_p_pressure = block->e_to_p_pressure;
  364. #endif
  365. #endif
  366. for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
  367. block = &block_buffer[b];
  368. LOOP_XYZE(i) if (block->steps[i]) axis_active[i]++;
  369. }
  370. }
  371. #if ENABLED(DISABLE_X)
  372. if (!axis_active[X_AXIS]) disable_x();
  373. #endif
  374. #if ENABLED(DISABLE_Y)
  375. if (!axis_active[Y_AXIS]) disable_y();
  376. #endif
  377. #if ENABLED(DISABLE_Z)
  378. if (!axis_active[Z_AXIS]) disable_z();
  379. #endif
  380. #if ENABLED(DISABLE_E)
  381. if (!axis_active[E_AXIS]) {
  382. disable_e0();
  383. disable_e1();
  384. disable_e2();
  385. disable_e3();
  386. }
  387. #endif
  388. #if FAN_COUNT > 0
  389. #if defined(FAN_MIN_PWM)
  390. #define CALC_FAN_SPEED(f) (tail_fan_speed[f] ? ( FAN_MIN_PWM + (tail_fan_speed[f] * (255 - FAN_MIN_PWM)) / 255 ) : 0)
  391. #else
  392. #define CALC_FAN_SPEED(f) tail_fan_speed[f]
  393. #endif
  394. #ifdef FAN_KICKSTART_TIME
  395. static millis_t fan_kick_end[FAN_COUNT] = { 0 };
  396. #define KICKSTART_FAN(f) \
  397. if (tail_fan_speed[f]) { \
  398. millis_t ms = millis(); \
  399. if (fan_kick_end[f] == 0) { \
  400. fan_kick_end[f] = ms + FAN_KICKSTART_TIME; \
  401. tail_fan_speed[f] = 255; \
  402. } else { \
  403. if (PENDING(ms, fan_kick_end[f])) { \
  404. tail_fan_speed[f] = 255; \
  405. } \
  406. } \
  407. } else { \
  408. fan_kick_end[f] = 0; \
  409. }
  410. #if HAS_FAN0
  411. KICKSTART_FAN(0);
  412. #endif
  413. #if HAS_FAN1
  414. KICKSTART_FAN(1);
  415. #endif
  416. #if HAS_FAN2
  417. KICKSTART_FAN(2);
  418. #endif
  419. #endif //FAN_KICKSTART_TIME
  420. #if ENABLED(FAN_SOFT_PWM)
  421. #if HAS_FAN0
  422. thermalManager.fanSpeedSoftPwm[0] = CALC_FAN_SPEED(0);
  423. #endif
  424. #if HAS_FAN1
  425. thermalManager.fanSpeedSoftPwm[1] = CALC_FAN_SPEED(1);
  426. #endif
  427. #if HAS_FAN2
  428. thermalManager.fanSpeedSoftPwm[2] = CALC_FAN_SPEED(2);
  429. #endif
  430. #else
  431. #if HAS_FAN0
  432. analogWrite(FAN_PIN, CALC_FAN_SPEED(0));
  433. #endif
  434. #if HAS_FAN1
  435. analogWrite(FAN1_PIN, CALC_FAN_SPEED(1));
  436. #endif
  437. #if HAS_FAN2
  438. analogWrite(FAN2_PIN, CALC_FAN_SPEED(2));
  439. #endif
  440. #endif
  441. #endif // FAN_COUNT > 0
  442. #if ENABLED(AUTOTEMP)
  443. getHighESpeed();
  444. #endif
  445. #if ENABLED(BARICUDA)
  446. #if HAS_HEATER_1
  447. analogWrite(HEATER_1_PIN, tail_valve_pressure);
  448. #endif
  449. #if HAS_HEATER_2
  450. analogWrite(HEATER_2_PIN, tail_e_to_p_pressure);
  451. #endif
  452. #endif
  453. }
  454. /**
  455. * Planner::buffer_line
  456. *
  457. * Add a new linear movement to the buffer.
  458. *
  459. * x,y,z,e - target position in mm
  460. * fr_mm_s - (target) speed of the move
  461. * extruder - target extruder
  462. */
  463. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  464. void Planner::buffer_line(float x, float y, float z, const float& e, float fr_mm_s, const uint8_t extruder)
  465. #else
  466. void Planner::buffer_line(const float& x, const float& y, const float& z, const float& e, float fr_mm_s, const uint8_t extruder)
  467. #endif // AUTO_BED_LEVELING_FEATURE
  468. {
  469. // Calculate the buffer head after we push this byte
  470. int next_buffer_head = next_block_index(block_buffer_head);
  471. // If the buffer is full: good! That means we are well ahead of the robot.
  472. // Rest here until there is room in the buffer.
  473. while (block_buffer_tail == next_buffer_head) idle();
  474. #if ENABLED(MESH_BED_LEVELING)
  475. if (mbl.active())
  476. z += mbl.get_z(x - home_offset[X_AXIS], y - home_offset[Y_AXIS]);
  477. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  478. apply_rotation_xyz(bed_level_matrix, x, y, z);
  479. #endif
  480. // The target position of the tool in absolute steps
  481. // Calculate target position in absolute steps
  482. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  483. long target[NUM_AXIS] = {
  484. lround(x * axis_steps_per_mm[X_AXIS]),
  485. lround(y * axis_steps_per_mm[Y_AXIS]),
  486. lround(z * axis_steps_per_mm[Z_AXIS]),
  487. lround(e * axis_steps_per_mm[E_AXIS])
  488. };
  489. long dx = target[X_AXIS] - position[X_AXIS],
  490. dy = target[Y_AXIS] - position[Y_AXIS],
  491. dz = target[Z_AXIS] - position[Z_AXIS];
  492. // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
  493. if (DEBUGGING(DRYRUN))
  494. position[E_AXIS] = target[E_AXIS];
  495. long de = target[E_AXIS] - position[E_AXIS];
  496. #if ENABLED(PREVENT_COLD_EXTRUSION)
  497. if (de) {
  498. if (thermalManager.tooColdToExtrude(extruder)) {
  499. position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
  500. de = 0; // no difference
  501. SERIAL_ECHO_START;
  502. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  503. }
  504. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  505. if (labs(de) > axis_steps_per_mm[E_AXIS] * (EXTRUDE_MAXLENGTH)) {
  506. position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
  507. de = 0; // no difference
  508. SERIAL_ECHO_START;
  509. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  510. }
  511. #endif
  512. }
  513. #endif
  514. // Prepare to set up new block
  515. block_t* block = &block_buffer[block_buffer_head];
  516. // Mark block as not busy (Not executed by the stepper interrupt)
  517. block->busy = false;
  518. // Number of steps for each axis
  519. #if ENABLED(COREXY)
  520. // corexy planning
  521. // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
  522. block->steps[A_AXIS] = labs(dx + dy);
  523. block->steps[B_AXIS] = labs(dx - dy);
  524. block->steps[Z_AXIS] = labs(dz);
  525. #elif ENABLED(COREXZ)
  526. // corexz planning
  527. block->steps[A_AXIS] = labs(dx + dz);
  528. block->steps[Y_AXIS] = labs(dy);
  529. block->steps[C_AXIS] = labs(dx - dz);
  530. #elif ENABLED(COREYZ)
  531. // coreyz planning
  532. block->steps[X_AXIS] = labs(dx);
  533. block->steps[B_AXIS] = labs(dy + dz);
  534. block->steps[C_AXIS] = labs(dy - dz);
  535. #else
  536. // default non-h-bot planning
  537. block->steps[X_AXIS] = labs(dx);
  538. block->steps[Y_AXIS] = labs(dy);
  539. block->steps[Z_AXIS] = labs(dz);
  540. #endif
  541. block->steps[E_AXIS] = labs(de) * volumetric_multiplier[extruder] * flow_percentage[extruder] * 0.01 + 0.5;
  542. block->step_event_count = MAX4(block->steps[X_AXIS], block->steps[Y_AXIS], block->steps[Z_AXIS], block->steps[E_AXIS]);
  543. // Bail if this is a zero-length block
  544. if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
  545. // For a mixing extruder, get a magnified step_event_count for each
  546. #if ENABLED(MIXING_EXTRUDER)
  547. for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
  548. block->mix_event_count[i] = (mixing_factor[i] < 0.0001) ? 0 : block->step_event_count / mixing_factor[i];
  549. #endif
  550. #if FAN_COUNT > 0
  551. for (uint8_t i = 0; i < FAN_COUNT; i++) block->fan_speed[i] = fanSpeeds[i];
  552. #endif
  553. #if ENABLED(BARICUDA)
  554. block->valve_pressure = baricuda_valve_pressure;
  555. block->e_to_p_pressure = baricuda_e_to_p_pressure;
  556. #endif
  557. // Compute direction bits for this block
  558. uint8_t db = 0;
  559. #if ENABLED(COREXY)
  560. if (dx < 0) SBI(db, X_HEAD); // Save the real Extruder (head) direction in X Axis
  561. if (dy < 0) SBI(db, Y_HEAD); // ...and Y
  562. if (dz < 0) SBI(db, Z_AXIS);
  563. if (dx + dy < 0) SBI(db, A_AXIS); // Motor A direction
  564. if (dx - dy < 0) SBI(db, B_AXIS); // Motor B direction
  565. #elif ENABLED(COREXZ)
  566. if (dx < 0) SBI(db, X_HEAD); // Save the real Extruder (head) direction in X Axis
  567. if (dy < 0) SBI(db, Y_AXIS);
  568. if (dz < 0) SBI(db, Z_HEAD); // ...and Z
  569. if (dx + dz < 0) SBI(db, A_AXIS); // Motor A direction
  570. if (dx - dz < 0) SBI(db, C_AXIS); // Motor C direction
  571. #elif ENABLED(COREYZ)
  572. if (dx < 0) SBI(db, X_AXIS);
  573. if (dy < 0) SBI(db, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
  574. if (dz < 0) SBI(db, Z_HEAD); // ...and Z
  575. if (dy + dz < 0) SBI(db, B_AXIS); // Motor B direction
  576. if (dy - dz < 0) SBI(db, C_AXIS); // Motor C direction
  577. #else
  578. if (dx < 0) SBI(db, X_AXIS);
  579. if (dy < 0) SBI(db, Y_AXIS);
  580. if (dz < 0) SBI(db, Z_AXIS);
  581. #endif
  582. if (de < 0) SBI(db, E_AXIS);
  583. block->direction_bits = db;
  584. block->active_extruder = extruder;
  585. //enable active axes
  586. #if ENABLED(COREXY)
  587. if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
  588. enable_x();
  589. enable_y();
  590. }
  591. #if DISABLED(Z_LATE_ENABLE)
  592. if (block->steps[Z_AXIS]) enable_z();
  593. #endif
  594. #elif ENABLED(COREXZ)
  595. if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
  596. enable_x();
  597. enable_z();
  598. }
  599. if (block->steps[Y_AXIS]) enable_y();
  600. #else
  601. if (block->steps[X_AXIS]) enable_x();
  602. if (block->steps[Y_AXIS]) enable_y();
  603. #if DISABLED(Z_LATE_ENABLE)
  604. if (block->steps[Z_AXIS]) enable_z();
  605. #endif
  606. #endif
  607. // Enable extruder(s)
  608. if (block->steps[E_AXIS]) {
  609. #if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder
  610. for (int i = 0; i < EXTRUDERS; i++)
  611. if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
  612. switch(extruder) {
  613. case 0:
  614. enable_e0();
  615. #if ENABLED(DUAL_X_CARRIAGE)
  616. if (extruder_duplication_enabled) {
  617. enable_e1();
  618. g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
  619. }
  620. #endif
  621. g_uc_extruder_last_move[0] = (BLOCK_BUFFER_SIZE) * 2;
  622. #if EXTRUDERS > 1
  623. if (g_uc_extruder_last_move[1] == 0) disable_e1();
  624. #if EXTRUDERS > 2
  625. if (g_uc_extruder_last_move[2] == 0) disable_e2();
  626. #if EXTRUDERS > 3
  627. if (g_uc_extruder_last_move[3] == 0) disable_e3();
  628. #endif
  629. #endif
  630. #endif
  631. break;
  632. #if EXTRUDERS > 1
  633. case 1:
  634. enable_e1();
  635. g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
  636. if (g_uc_extruder_last_move[0] == 0) disable_e0();
  637. #if EXTRUDERS > 2
  638. if (g_uc_extruder_last_move[2] == 0) disable_e2();
  639. #if EXTRUDERS > 3
  640. if (g_uc_extruder_last_move[3] == 0) disable_e3();
  641. #endif
  642. #endif
  643. break;
  644. #if EXTRUDERS > 2
  645. case 2:
  646. enable_e2();
  647. g_uc_extruder_last_move[2] = (BLOCK_BUFFER_SIZE) * 2;
  648. if (g_uc_extruder_last_move[0] == 0) disable_e0();
  649. if (g_uc_extruder_last_move[1] == 0) disable_e1();
  650. #if EXTRUDERS > 3
  651. if (g_uc_extruder_last_move[3] == 0) disable_e3();
  652. #endif
  653. break;
  654. #if EXTRUDERS > 3
  655. case 3:
  656. enable_e3();
  657. g_uc_extruder_last_move[3] = (BLOCK_BUFFER_SIZE) * 2;
  658. if (g_uc_extruder_last_move[0] == 0) disable_e0();
  659. if (g_uc_extruder_last_move[1] == 0) disable_e1();
  660. if (g_uc_extruder_last_move[2] == 0) disable_e2();
  661. break;
  662. #endif // EXTRUDERS > 3
  663. #endif // EXTRUDERS > 2
  664. #endif // EXTRUDERS > 1
  665. }
  666. #else
  667. enable_e0();
  668. enable_e1();
  669. enable_e2();
  670. enable_e3();
  671. #endif
  672. }
  673. if (block->steps[E_AXIS])
  674. NOLESS(fr_mm_s, min_feedrate_mm_s);
  675. else
  676. NOLESS(fr_mm_s, min_travel_feedrate_mm_s);
  677. /**
  678. * This part of the code calculates the total length of the movement.
  679. * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
  680. * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
  681. * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
  682. * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
  683. * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
  684. */
  685. #if ENABLED(COREXY) || ENABLED(COREXZ) || ENABLED(COREYZ)
  686. float delta_mm[7];
  687. #if ENABLED(COREXY)
  688. delta_mm[X_HEAD] = dx * steps_to_mm[A_AXIS];
  689. delta_mm[Y_HEAD] = dy * steps_to_mm[B_AXIS];
  690. delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
  691. delta_mm[A_AXIS] = (dx + dy) * steps_to_mm[A_AXIS];
  692. delta_mm[B_AXIS] = (dx - dy) * steps_to_mm[B_AXIS];
  693. #elif ENABLED(COREXZ)
  694. delta_mm[X_HEAD] = dx * steps_to_mm[A_AXIS];
  695. delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
  696. delta_mm[Z_HEAD] = dz * steps_to_mm[C_AXIS];
  697. delta_mm[A_AXIS] = (dx + dz) * steps_to_mm[A_AXIS];
  698. delta_mm[C_AXIS] = (dx - dz) * steps_to_mm[C_AXIS];
  699. #elif ENABLED(COREYZ)
  700. delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
  701. delta_mm[Y_HEAD] = dy * steps_to_mm[B_AXIS];
  702. delta_mm[Z_HEAD] = dz * steps_to_mm[C_AXIS];
  703. delta_mm[B_AXIS] = (dy + dz) * steps_to_mm[B_AXIS];
  704. delta_mm[C_AXIS] = (dy - dz) * steps_to_mm[C_AXIS];
  705. #endif
  706. #else
  707. float delta_mm[4];
  708. delta_mm[X_AXIS] = dx * steps_to_mm[X_AXIS];
  709. delta_mm[Y_AXIS] = dy * steps_to_mm[Y_AXIS];
  710. delta_mm[Z_AXIS] = dz * steps_to_mm[Z_AXIS];
  711. #endif
  712. delta_mm[E_AXIS] = 0.01 * (de * steps_to_mm[E_AXIS]) * volumetric_multiplier[extruder] * flow_percentage[extruder];
  713. if (block->steps[X_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Y_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Z_AXIS] < MIN_STEPS_PER_SEGMENT) {
  714. block->millimeters = fabs(delta_mm[E_AXIS]);
  715. }
  716. else {
  717. block->millimeters = sqrt(
  718. #if ENABLED(COREXY)
  719. sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_AXIS])
  720. #elif ENABLED(COREXZ)
  721. sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
  722. #elif ENABLED(COREYZ)
  723. sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
  724. #else
  725. sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
  726. #endif
  727. );
  728. }
  729. float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
  730. // Calculate moves/second for this move. No divide by zero due to previous checks.
  731. float inverse_mm_s = fr_mm_s * inverse_millimeters;
  732. int moves_queued = movesplanned();
  733. // Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
  734. #if ENABLED(OLD_SLOWDOWN) || ENABLED(SLOWDOWN)
  735. bool mq = moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE) / 2;
  736. #if ENABLED(OLD_SLOWDOWN)
  737. if (mq) fr_mm_s *= 2.0 * moves_queued / (BLOCK_BUFFER_SIZE);
  738. #endif
  739. #if ENABLED(SLOWDOWN)
  740. // segment time im micro seconds
  741. unsigned long segment_time = lround(1000000.0/inverse_mm_s);
  742. if (mq) {
  743. if (segment_time < min_segment_time) {
  744. // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  745. inverse_mm_s = 1000000.0 / (segment_time + lround(2 * (min_segment_time - segment_time) / moves_queued));
  746. #ifdef XY_FREQUENCY_LIMIT
  747. segment_time = lround(1000000.0 / inverse_mm_s);
  748. #endif
  749. }
  750. }
  751. #endif
  752. #endif
  753. block->nominal_speed = block->millimeters * inverse_mm_s; // (mm/sec) Always > 0
  754. block->nominal_rate = ceil(block->step_event_count * inverse_mm_s); // (step/sec) Always > 0
  755. #if ENABLED(FILAMENT_WIDTH_SENSOR)
  756. static float filwidth_e_count = 0, filwidth_delay_dist = 0;
  757. //FMM update ring buffer used for delay with filament measurements
  758. if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && filwidth_delay_index2 >= 0) { //only for extruder with filament sensor and if ring buffer is initialized
  759. const int MMD_CM = MAX_MEASUREMENT_DELAY + 1, MMD_MM = MMD_CM * 10;
  760. // increment counters with next move in e axis
  761. filwidth_e_count += delta_mm[E_AXIS];
  762. filwidth_delay_dist += delta_mm[E_AXIS];
  763. // Only get new measurements on forward E movement
  764. if (filwidth_e_count > 0.0001) {
  765. // Loop the delay distance counter (modulus by the mm length)
  766. while (filwidth_delay_dist >= MMD_MM) filwidth_delay_dist -= MMD_MM;
  767. // Convert into an index into the measurement array
  768. filwidth_delay_index1 = (int)(filwidth_delay_dist * 0.1 + 0.0001);
  769. // If the index has changed (must have gone forward)...
  770. if (filwidth_delay_index1 != filwidth_delay_index2) {
  771. filwidth_e_count = 0; // Reset the E movement counter
  772. int8_t meas_sample = thermalManager.widthFil_to_size_ratio() - 100; // Subtract 100 to reduce magnitude - to store in a signed char
  773. do {
  774. filwidth_delay_index2 = (filwidth_delay_index2 + 1) % MMD_CM; // The next unused slot
  775. measurement_delay[filwidth_delay_index2] = meas_sample; // Store the measurement
  776. } while (filwidth_delay_index1 != filwidth_delay_index2); // More slots to fill?
  777. }
  778. }
  779. }
  780. #endif
  781. // Calculate and limit speed in mm/sec for each axis
  782. float current_speed[NUM_AXIS];
  783. float speed_factor = 1.0; //factor <=1 do decrease speed
  784. LOOP_XYZE(i) {
  785. current_speed[i] = delta_mm[i] * inverse_mm_s;
  786. float cs = fabs(current_speed[i]), mf = max_feedrate_mm_s[i];
  787. if (cs > mf) speed_factor = min(speed_factor, mf / cs);
  788. }
  789. // Max segement time in us.
  790. #ifdef XY_FREQUENCY_LIMIT
  791. // Check and limit the xy direction change frequency
  792. unsigned char direction_change = block->direction_bits ^ old_direction_bits;
  793. old_direction_bits = block->direction_bits;
  794. segment_time = lround((float)segment_time / speed_factor);
  795. long xs0 = axis_segment_time[X_AXIS][0],
  796. xs1 = axis_segment_time[X_AXIS][1],
  797. xs2 = axis_segment_time[X_AXIS][2],
  798. ys0 = axis_segment_time[Y_AXIS][0],
  799. ys1 = axis_segment_time[Y_AXIS][1],
  800. ys2 = axis_segment_time[Y_AXIS][2];
  801. if (TEST(direction_change, X_AXIS)) {
  802. xs2 = axis_segment_time[X_AXIS][2] = xs1;
  803. xs1 = axis_segment_time[X_AXIS][1] = xs0;
  804. xs0 = 0;
  805. }
  806. xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
  807. if (TEST(direction_change, Y_AXIS)) {
  808. ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
  809. ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
  810. ys0 = 0;
  811. }
  812. ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
  813. long max_x_segment_time = MAX3(xs0, xs1, xs2),
  814. max_y_segment_time = MAX3(ys0, ys1, ys2),
  815. min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
  816. if (min_xy_segment_time < MAX_FREQ_TIME) {
  817. float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME);
  818. speed_factor = min(speed_factor, low_sf);
  819. }
  820. #endif // XY_FREQUENCY_LIMIT
  821. // Correct the speed
  822. if (speed_factor < 1.0) {
  823. LOOP_XYZE(i) current_speed[i] *= speed_factor;
  824. block->nominal_speed *= speed_factor;
  825. block->nominal_rate *= speed_factor;
  826. }
  827. // Compute and limit the acceleration rate for the trapezoid generator.
  828. float steps_per_mm = block->step_event_count / block->millimeters;
  829. if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
  830. block->acceleration_steps_per_s2 = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  831. }
  832. else {
  833. // Limit acceleration per axis
  834. block->acceleration_steps_per_s2 = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
  835. if (max_acceleration_steps_per_s2[X_AXIS] < (block->acceleration_steps_per_s2 * block->steps[X_AXIS]) / block->step_event_count)
  836. block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[X_AXIS] * block->step_event_count) / block->steps[X_AXIS];
  837. if (max_acceleration_steps_per_s2[Y_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Y_AXIS]) / block->step_event_count)
  838. block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Y_AXIS] * block->step_event_count) / block->steps[Y_AXIS];
  839. if (max_acceleration_steps_per_s2[Z_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Z_AXIS]) / block->step_event_count)
  840. block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Z_AXIS] * block->step_event_count) / block->steps[Z_AXIS];
  841. if (max_acceleration_steps_per_s2[E_AXIS] < (block->acceleration_steps_per_s2 * block->steps[E_AXIS]) / block->step_event_count)
  842. block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
  843. }
  844. block->acceleration = block->acceleration_steps_per_s2 / steps_per_mm;
  845. block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) * 0.125));
  846. #if 0 // Use old jerk for now
  847. float junction_deviation = 0.1;
  848. // Compute path unit vector
  849. double unit_vec[XYZ];
  850. unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters;
  851. unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters;
  852. unit_vec[Z_AXIS] = delta_mm[Z_AXIS] * inverse_millimeters;
  853. // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
  854. // Let a circle be tangent to both previous and current path line segments, where the junction
  855. // deviation is defined as the distance from the junction to the closest edge of the circle,
  856. // collinear with the circle center. The circular segment joining the two paths represents the
  857. // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
  858. // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
  859. // path width or max_jerk in the previous grbl version. This approach does not actually deviate
  860. // from path, but used as a robust way to compute cornering speeds, as it takes into account the
  861. // nonlinearities of both the junction angle and junction velocity.
  862. double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
  863. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
  864. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  865. // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
  866. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
  867. double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
  868. - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
  869. - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
  870. // Skip and use default max junction speed for 0 degree acute junction.
  871. if (cos_theta < 0.95) {
  872. vmax_junction = min(previous_nominal_speed, block->nominal_speed);
  873. // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
  874. if (cos_theta > -0.95) {
  875. // Compute maximum junction velocity based on maximum acceleration and junction deviation
  876. double sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
  877. vmax_junction = min(vmax_junction,
  878. sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
  879. }
  880. }
  881. }
  882. #endif
  883. // Start with a safe speed
  884. float vmax_junction = max_xy_jerk * 0.5,
  885. vmax_junction_factor = 1.0,
  886. mz2 = max_z_jerk * 0.5,
  887. me2 = max_e_jerk * 0.5,
  888. csz = current_speed[Z_AXIS],
  889. cse = current_speed[E_AXIS];
  890. if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
  891. if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
  892. vmax_junction = min(vmax_junction, block->nominal_speed);
  893. float safe_speed = vmax_junction;
  894. if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
  895. float dsx = current_speed[X_AXIS] - previous_speed[X_AXIS],
  896. dsy = current_speed[Y_AXIS] - previous_speed[Y_AXIS],
  897. dsz = fabs(csz - previous_speed[Z_AXIS]),
  898. dse = fabs(cse - previous_speed[E_AXIS]),
  899. jerk = HYPOT(dsx, dsy);
  900. // if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
  901. vmax_junction = block->nominal_speed;
  902. // }
  903. if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
  904. if (dsz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dsz);
  905. if (dse > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / dse);
  906. vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
  907. }
  908. block->max_entry_speed = vmax_junction;
  909. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
  910. double v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
  911. block->entry_speed = min(vmax_junction, v_allowable);
  912. // Initialize planner efficiency flags
  913. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  914. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  915. // the current block and next block junction speeds are guaranteed to always be at their maximum
  916. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  917. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  918. // the reverse and forward planners, the corresponding block junction speed will always be at the
  919. // the maximum junction speed and may always be ignored for any speed reduction checks.
  920. block->nominal_length_flag = (block->nominal_speed <= v_allowable);
  921. block->recalculate_flag = true; // Always calculate trapezoid for new block
  922. // Update previous path unit_vector and nominal speed
  923. LOOP_XYZE(i) previous_speed[i] = current_speed[i];
  924. previous_nominal_speed = block->nominal_speed;
  925. #if ENABLED(LIN_ADVANCE)
  926. // block->steps[E_AXIS] == block->step_event_count: A problem occurs when there's a very tiny move before a retract.
  927. // In this case, the retract and the move will be executed together.
  928. // This leads to an enormous number of advance steps due to a huge e_acceleration.
  929. // The math is correct, but you don't want a retract move done with advance!
  930. // So this situation is filtered out here.
  931. if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) || stepper.get_advance_k() == 0 || (uint32_t) block->steps[E_AXIS] == block->step_event_count) {
  932. block->use_advance_lead = false;
  933. }
  934. else {
  935. block->use_advance_lead = true;
  936. block->e_speed_multiplier8 = (block->steps[E_AXIS] << 8) / block->step_event_count;
  937. }
  938. #elif ENABLED(ADVANCE)
  939. // Calculate advance rate
  940. if (!block->steps[E_AXIS] || (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS])) {
  941. block->advance_rate = 0;
  942. block->advance = 0;
  943. }
  944. else {
  945. long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_steps_per_s2);
  946. float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * HYPOT(cse, EXTRUSION_AREA) * 256;
  947. block->advance = advance;
  948. block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
  949. }
  950. /**
  951. SERIAL_ECHO_START;
  952. SERIAL_ECHOPGM("advance :");
  953. SERIAL_ECHO(block->advance/256.0);
  954. SERIAL_ECHOPGM("advance rate :");
  955. SERIAL_ECHOLN(block->advance_rate/256.0);
  956. */
  957. #endif // ADVANCE or LIN_ADVANCE
  958. calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
  959. // Move buffer head
  960. block_buffer_head = next_buffer_head;
  961. // Update position
  962. LOOP_XYZE(i) position[i] = target[i];
  963. recalculate();
  964. stepper.wake_up();
  965. } // buffer_line()
  966. #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
  967. /**
  968. * Get the XYZ position of the steppers as a vector_3.
  969. *
  970. * On CORE machines XYZ is derived from ABC.
  971. */
  972. vector_3 Planner::adjusted_position() {
  973. vector_3 pos = vector_3(stepper.get_axis_position_mm(X_AXIS), stepper.get_axis_position_mm(Y_AXIS), stepper.get_axis_position_mm(Z_AXIS));
  974. //pos.debug("in Planner::adjusted_position");
  975. //bed_level_matrix.debug("in Planner::adjusted_position");
  976. matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
  977. //inverse.debug("in Planner::inverse");
  978. pos.apply_rotation(inverse);
  979. //pos.debug("after rotation");
  980. return pos;
  981. }
  982. #endif // AUTO_BED_LEVELING_FEATURE && !DELTA
  983. /**
  984. * Directly set the planner XYZ position (hence the stepper positions).
  985. *
  986. * On CORE machines stepper ABC will be translated from the given XYZ.
  987. */
  988. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  989. void Planner::set_position_mm(float x, float y, float z, const float& e)
  990. #else
  991. void Planner::set_position_mm(const float& x, const float& y, const float& z, const float& e)
  992. #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
  993. {
  994. #if ENABLED(MESH_BED_LEVELING)
  995. if (mbl.active())
  996. z += mbl.get_z(RAW_X_POSITION(x), RAW_Y_POSITION(y));
  997. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  998. apply_rotation_xyz(bed_level_matrix, x, y, z);
  999. #endif
  1000. long nx = position[X_AXIS] = lround(x * axis_steps_per_mm[X_AXIS]),
  1001. ny = position[Y_AXIS] = lround(y * axis_steps_per_mm[Y_AXIS]),
  1002. nz = position[Z_AXIS] = lround(z * axis_steps_per_mm[Z_AXIS]),
  1003. ne = position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
  1004. stepper.set_position(nx, ny, nz, ne);
  1005. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  1006. LOOP_XYZE(i) previous_speed[i] = 0.0;
  1007. }
  1008. /**
  1009. * Directly set the planner E position (hence the stepper E position).
  1010. */
  1011. void Planner::set_e_position_mm(const float& e) {
  1012. position[E_AXIS] = lround(e * axis_steps_per_mm[E_AXIS]);
  1013. stepper.set_e_position(position[E_AXIS]);
  1014. previous_speed[E_AXIS] = 0.0;
  1015. }
  1016. // Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
  1017. void Planner::reset_acceleration_rates() {
  1018. LOOP_XYZE(i)
  1019. max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
  1020. }
  1021. // Recalculate position, steps_to_mm if axis_steps_per_mm changes!
  1022. void Planner::refresh_positioning() {
  1023. LOOP_XYZE(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
  1024. #if ENABLED(DELTA) || ENABLED(SCARA)
  1025. inverse_kinematics(current_position);
  1026. set_position_mm(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS], current_position[E_AXIS]);
  1027. #else
  1028. set_position_mm(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS]);
  1029. #endif
  1030. reset_acceleration_rates();
  1031. }
  1032. #if ENABLED(AUTOTEMP)
  1033. void Planner::autotemp_M109() {
  1034. autotemp_enabled = code_seen('F');
  1035. if (autotemp_enabled) autotemp_factor = code_value_temp_diff();
  1036. if (code_seen('S')) autotemp_min = code_value_temp_abs();
  1037. if (code_seen('B')) autotemp_max = code_value_temp_abs();
  1038. }
  1039. #endif