My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.cpp 32KB

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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 <inttypes.h>
  37. //#include <math.h>
  38. //#include <stdlib.h>
  39. #include "Marlin.h"
  40. #include "Configuration.h"
  41. #include "pins.h"
  42. #include "fastio.h"
  43. #include "planner.h"
  44. #include "stepper.h"
  45. #include "temperature.h"
  46. #include "ultralcd.h"
  47. //===========================================================================
  48. //=============================public variables ============================
  49. //===========================================================================
  50. unsigned long minsegmenttime;
  51. float max_feedrate[4]; // set the max speeds
  52. float axis_steps_per_unit[4];
  53. unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
  54. float minimumfeedrate;
  55. float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
  56. float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  57. float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
  58. float max_z_jerk;
  59. float mintravelfeedrate;
  60. unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  61. uint8_t active_extruder = 0;
  62. // The current position of the tool in absolute steps
  63. long position[4]; //rescaled from extern when axis_steps_per_unit are changed by gcode
  64. static float previous_speed[4]; // Speed of previous path line segment
  65. static float previous_nominal_speed; // Nominal speed of previous path line segment
  66. #ifdef AUTOTEMP
  67. float autotemp_max=250;
  68. float autotemp_min=210;
  69. float autotemp_factor=1;
  70. bool autotemp_enabled=false;
  71. #endif
  72. //===========================================================================
  73. //=================semi-private variables, used in inline functions =====
  74. //===========================================================================
  75. block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  76. volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  77. volatile unsigned char block_buffer_tail; // Index of the block to process now
  78. //===========================================================================
  79. //=============================private variables ============================
  80. //===========================================================================
  81. // Used for the frequency limit
  82. static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
  83. static long x_segment_time[3]={0,0,0}; // Segment times (in us). Used for speed calculations
  84. static long y_segment_time[3]={0,0,0};
  85. // Returns the index of the next block in the ring buffer
  86. // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
  87. static int8_t next_block_index(int8_t block_index) {
  88. block_index++;
  89. if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
  90. return(block_index);
  91. }
  92. // Returns the index of the previous block in the ring buffer
  93. static int8_t prev_block_index(int8_t block_index) {
  94. if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
  95. block_index--;
  96. return(block_index);
  97. }
  98. //===========================================================================
  99. //=============================functions ============================
  100. //===========================================================================
  101. // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
  102. // given acceleration:
  103. FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  104. {
  105. if (acceleration!=0) {
  106. return((target_rate*target_rate-initial_rate*initial_rate)/
  107. (2.0*acceleration));
  108. }
  109. else {
  110. return 0.0; // acceleration was 0, set acceleration distance to 0
  111. }
  112. }
  113. // This function gives you the point at which you must start braking (at the rate of -acceleration) if
  114. // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
  115. // a total travel of distance. This can be used to compute the intersection point between acceleration and
  116. // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
  117. FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  118. {
  119. if (acceleration!=0) {
  120. return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
  121. (4.0*acceleration) );
  122. }
  123. else {
  124. return 0.0; // acceleration was 0, set intersection distance to 0
  125. }
  126. }
  127. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
  128. void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
  129. unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
  130. unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
  131. // Limit minimal step rate (Otherwise the timer will overflow.)
  132. if(initial_rate <120) {initial_rate=120; }
  133. if(final_rate < 120) {final_rate=120; }
  134. long acceleration = block->acceleration_st;
  135. int32_t accelerate_steps =
  136. ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration));
  137. int32_t decelerate_steps =
  138. floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration));
  139. // Calculate the size of Plateau of Nominal Rate.
  140. int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
  141. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  142. // have to use intersection_distance() to calculate when to abort acceleration and start braking
  143. // in order to reach the final_rate exactly at the end of this block.
  144. if (plateau_steps < 0) {
  145. accelerate_steps = ceil(
  146. intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
  147. accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
  148. accelerate_steps = min(accelerate_steps,block->step_event_count);
  149. plateau_steps = 0;
  150. }
  151. #ifdef ADVANCE
  152. long initial_advance = block->advance*entry_factor*entry_factor;
  153. long final_advance = block->advance*exit_factor*exit_factor;
  154. #endif // ADVANCE
  155. // block->accelerate_until = accelerate_steps;
  156. // block->decelerate_after = accelerate_steps+plateau_steps;
  157. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  158. if(block->busy == false) { // Don't update variables if block is busy.
  159. block->accelerate_until = accelerate_steps;
  160. block->decelerate_after = accelerate_steps+plateau_steps;
  161. block->initial_rate = initial_rate;
  162. block->final_rate = final_rate;
  163. #ifdef ADVANCE
  164. block->initial_advance = initial_advance;
  165. block->final_advance = final_advance;
  166. #endif //ADVANCE
  167. }
  168. CRITICAL_SECTION_END;
  169. }
  170. // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
  171. // acceleration within the allotted distance.
  172. FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
  173. return sqrt(target_velocity*target_velocity-2*acceleration*distance);
  174. }
  175. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
  176. // This method will calculate the junction jerk as the euclidean distance between the nominal
  177. // velocities of the respective blocks.
  178. //inline float junction_jerk(block_t *before, block_t *after) {
  179. // return sqrt(
  180. // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
  181. //}
  182. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
  183. void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  184. if(!current) { return; }
  185. if (next) {
  186. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  187. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  188. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  189. if (current->entry_speed != current->max_entry_speed) {
  190. // If nominal length true, max junction speed is guaranteed to be reached. Only compute
  191. // for max allowable speed if block is decelerating and nominal length is false.
  192. if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
  193. current->entry_speed = min( current->max_entry_speed,
  194. max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
  195. } else {
  196. current->entry_speed = current->max_entry_speed;
  197. }
  198. current->recalculate_flag = true;
  199. }
  200. } // Skip last block. Already initialized and set for recalculation.
  201. }
  202. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  203. // implements the reverse pass.
  204. void planner_reverse_pass() {
  205. char block_index = block_buffer_head;
  206. if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
  207. block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
  208. block_t *block[3] = { NULL, NULL, NULL };
  209. while(block_index != block_buffer_tail) {
  210. block_index = prev_block_index(block_index);
  211. block[2]= block[1];
  212. block[1]= block[0];
  213. block[0] = &block_buffer[block_index];
  214. planner_reverse_pass_kernel(block[0], block[1], block[2]);
  215. }
  216. }
  217. }
  218. // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
  219. void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  220. if(!previous) { return; }
  221. // If the previous block is an acceleration block, but it is not long enough to complete the
  222. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  223. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  224. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  225. if (!previous->nominal_length_flag) {
  226. if (previous->entry_speed < current->entry_speed) {
  227. double entry_speed = min( current->entry_speed,
  228. max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
  229. // Check for junction speed change
  230. if (current->entry_speed != entry_speed) {
  231. current->entry_speed = entry_speed;
  232. current->recalculate_flag = true;
  233. }
  234. }
  235. }
  236. }
  237. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  238. // implements the forward pass.
  239. void planner_forward_pass() {
  240. char block_index = block_buffer_tail;
  241. block_t *block[3] = { NULL, NULL, NULL };
  242. while(block_index != block_buffer_head) {
  243. block[0] = block[1];
  244. block[1] = block[2];
  245. block[2] = &block_buffer[block_index];
  246. planner_forward_pass_kernel(block[0],block[1],block[2]);
  247. block_index = next_block_index(block_index);
  248. }
  249. planner_forward_pass_kernel(block[1], block[2], NULL);
  250. }
  251. // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
  252. // entry_factor for each junction. Must be called by planner_recalculate() after
  253. // updating the blocks.
  254. void planner_recalculate_trapezoids() {
  255. int8_t block_index = block_buffer_tail;
  256. block_t *current;
  257. block_t *next = NULL;
  258. while(block_index != block_buffer_head) {
  259. current = next;
  260. next = &block_buffer[block_index];
  261. if (current) {
  262. // Recalculate if current block entry or exit junction speed has changed.
  263. if (current->recalculate_flag || next->recalculate_flag) {
  264. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
  265. calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
  266. next->entry_speed/current->nominal_speed);
  267. current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
  268. }
  269. }
  270. block_index = next_block_index( block_index );
  271. }
  272. // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
  273. if(next != NULL) {
  274. calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
  275. MINIMUM_PLANNER_SPEED/next->nominal_speed);
  276. next->recalculate_flag = false;
  277. }
  278. }
  279. // Recalculates the motion plan according to the following algorithm:
  280. //
  281. // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
  282. // so that:
  283. // a. The junction jerk is within the set limit
  284. // b. No speed reduction within one block requires faster deceleration than the one, true constant
  285. // acceleration.
  286. // 2. Go over every block in chronological order and dial down junction speed reduction values if
  287. // a. The speed increase within one block would require faster accelleration than the one, true
  288. // constant acceleration.
  289. //
  290. // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
  291. // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
  292. // the set limit. Finally it will:
  293. //
  294. // 3. Recalculate trapezoids for all blocks.
  295. void planner_recalculate() {
  296. planner_reverse_pass();
  297. planner_forward_pass();
  298. planner_recalculate_trapezoids();
  299. }
  300. void plan_init() {
  301. block_buffer_head = 0;
  302. block_buffer_tail = 0;
  303. memset(position, 0, sizeof(position)); // clear position
  304. previous_speed[0] = 0.0;
  305. previous_speed[1] = 0.0;
  306. previous_speed[2] = 0.0;
  307. previous_speed[3] = 0.0;
  308. previous_nominal_speed = 0.0;
  309. }
  310. #ifdef AUTOTEMP
  311. void getHighESpeed()
  312. {
  313. static float oldt=0;
  314. if(!autotemp_enabled)
  315. return;
  316. if(degTargetHotend0()+2<autotemp_min) //probably temperature set to zero.
  317. return; //do nothing
  318. float high=0;
  319. char block_index = block_buffer_tail;
  320. while(block_index != block_buffer_head) {
  321. float se=block_buffer[block_index].steps_e/float(block_buffer[block_index].step_event_count)*block_buffer[block_index].nominal_rate;
  322. //se; units steps/sec;
  323. if(se>high)
  324. {
  325. high=se;
  326. }
  327. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  328. }
  329. float g=autotemp_min+high*autotemp_factor;
  330. float t=g;
  331. if(t<autotemp_min)
  332. t=autotemp_min;
  333. if(t>autotemp_max)
  334. t=autotemp_max;
  335. if(oldt>t)
  336. {
  337. t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
  338. }
  339. oldt=t;
  340. setTargetHotend0(t);
  341. // SERIAL_ECHO_START;
  342. // SERIAL_ECHOPAIR("highe",high);
  343. // SERIAL_ECHOPAIR(" t",t);
  344. // SERIAL_ECHOLN("");
  345. }
  346. #endif
  347. void check_axes_activity() {
  348. unsigned char x_active = 0;
  349. unsigned char y_active = 0;
  350. unsigned char z_active = 0;
  351. unsigned char e_active = 0;
  352. block_t *block;
  353. if(block_buffer_tail != block_buffer_head) {
  354. char block_index = block_buffer_tail;
  355. while(block_index != block_buffer_head) {
  356. block = &block_buffer[block_index];
  357. if(block->steps_x != 0) x_active++;
  358. if(block->steps_y != 0) y_active++;
  359. if(block->steps_z != 0) z_active++;
  360. if(block->steps_e != 0) e_active++;
  361. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  362. }
  363. }
  364. if((DISABLE_X) && (x_active == 0)) disable_x();
  365. if((DISABLE_Y) && (y_active == 0)) disable_y();
  366. if((DISABLE_Z) && (z_active == 0)) disable_z();
  367. if((DISABLE_E) && (e_active == 0)) disable_e();
  368. }
  369. float junction_deviation = 0.1;
  370. // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
  371. // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
  372. // calculation the caller must also provide the physical length of the line in millimeters.
  373. void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
  374. {
  375. // Calculate the buffer head after we push this byte
  376. int next_buffer_head = next_block_index(block_buffer_head);
  377. // If the buffer is full: good! That means we are well ahead of the robot.
  378. // Rest here until there is room in the buffer.
  379. while(block_buffer_tail == next_buffer_head) {
  380. manage_heater();
  381. manage_inactivity(1);
  382. LCD_STATUS;
  383. }
  384. // The target position of the tool in absolute steps
  385. // Calculate target position in absolute steps
  386. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  387. long target[4];
  388. target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  389. target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  390. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  391. target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  392. // Prepare to set up new block
  393. block_t *block = &block_buffer[block_buffer_head];
  394. // Mark block as not busy (Not executed by the stepper interrupt)
  395. block->busy = false;
  396. // Number of steps for each axis
  397. block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
  398. block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
  399. block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
  400. block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
  401. block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
  402. // Bail if this is a zero-length block
  403. if (block->step_event_count <=dropsegments) { return; };
  404. // Compute direction bits for this block
  405. block->direction_bits = 0;
  406. if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
  407. if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
  408. if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); }
  409. if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); }
  410. //enable active axes
  411. if(block->steps_x != 0) enable_x();
  412. if(block->steps_y != 0) enable_y();
  413. if(block->steps_z != 0) enable_z();
  414. if(block->steps_e != 0) enable_e();
  415. float delta_mm[4];
  416. delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  417. delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  418. delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
  419. delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
  420. block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) +
  421. square(delta_mm[Z_AXIS]) + square(delta_mm[E_AXIS]));
  422. float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
  423. // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
  424. float inverse_second = feed_rate * inverse_millimeters;
  425. block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
  426. block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
  427. // segment time im micro seconds
  428. long segment_time = lround(1000000.0/inverse_second);
  429. if (block->steps_e == 0) {
  430. if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
  431. }
  432. else {
  433. if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
  434. }
  435. #ifdef SLOWDOWN
  436. // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
  437. int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  438. if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
  439. #endif
  440. /*
  441. if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
  442. if (segment_time<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  443. segment_time=segment_time+lround(2*(minsegmenttime-segment_time)/blockcount);
  444. }
  445. }
  446. else {
  447. if (segment_time<minsegmenttime) segment_time=minsegmenttime;
  448. }
  449. // END OF SLOW DOWN SECTION
  450. */
  451. // Calculate speed in mm/sec for each axis
  452. float current_speed[4];
  453. for(int i=0; i < 4; i++) {
  454. current_speed[i] = delta_mm[i] * inverse_second;
  455. }
  456. // Limit speed per axis
  457. float speed_factor = 1.0; //factor <=1 do decrease speed
  458. for(int i=0; i < 4; i++) {
  459. if(abs(current_speed[i]) > max_feedrate[i])
  460. speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
  461. }
  462. // Max segement time in us.
  463. #ifdef XY_FREQUENCY_LIMIT
  464. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  465. // Check and limit the xy direction change frequency
  466. unsigned char direction_change = block->direction_bits ^ old_direction_bits;
  467. old_direction_bits = block->direction_bits;
  468. if((direction_change & (1<<X_AXIS)) == 0) {
  469. x_segment_time[0] += segment_time;
  470. }
  471. else {
  472. x_segment_time[2] = x_segment_time[1];
  473. x_segment_time[1] = x_segment_time[0];
  474. x_segment_time[0] = segment_time;
  475. }
  476. if((direction_change & (1<<Y_AXIS)) == 0) {
  477. y_segment_time[0] += segment_time;
  478. }
  479. else {
  480. y_segment_time[2] = y_segment_time[1];
  481. y_segment_time[1] = y_segment_time[0];
  482. y_segment_time[0] = segment_time;
  483. }
  484. long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
  485. long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
  486. long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
  487. if(min_xy_segment_time < MAX_FREQ_TIME) speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
  488. #endif
  489. // Correct the speed
  490. if( speed_factor < 1.0) {
  491. // Serial.print("speed factor : "); Serial.println(speed_factor);
  492. for(int i=0; i < 4; i++) {
  493. if(abs(current_speed[i]) > max_feedrate[i])
  494. speed_factor = min(speed_factor, max_feedrate[i] / abs(current_speed[i]));
  495. /*
  496. if(speed_factor < 0.1) {
  497. Serial.print("speed factor : "); Serial.println(speed_factor);
  498. Serial.print("current_speed"); Serial.print(i); Serial.print(" : "); Serial.println(current_speed[i]);
  499. }
  500. */
  501. }
  502. for(unsigned char i=0; i < 4; i++) {
  503. current_speed[i] *= speed_factor;
  504. }
  505. block->nominal_speed *= speed_factor;
  506. block->nominal_rate *= speed_factor;
  507. }
  508. // Compute and limit the acceleration rate for the trapezoid generator.
  509. float steps_per_mm = block->step_event_count/block->millimeters;
  510. if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
  511. block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  512. }
  513. else {
  514. block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  515. // Limit acceleration per axis
  516. if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
  517. block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
  518. if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
  519. block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
  520. if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
  521. block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
  522. if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
  523. block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  524. }
  525. block->acceleration = block->acceleration_st / steps_per_mm;
  526. block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
  527. #if 0 // Use old jerk for now
  528. // Compute path unit vector
  529. double unit_vec[3];
  530. unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
  531. unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
  532. unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
  533. // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
  534. // Let a circle be tangent to both previous and current path line segments, where the junction
  535. // deviation is defined as the distance from the junction to the closest edge of the circle,
  536. // colinear with the circle center. The circular segment joining the two paths represents the
  537. // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
  538. // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
  539. // path width or max_jerk in the previous grbl version. This approach does not actually deviate
  540. // from path, but used as a robust way to compute cornering speeds, as it takes into account the
  541. // nonlinearities of both the junction angle and junction velocity.
  542. double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
  543. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
  544. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  545. // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
  546. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
  547. double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
  548. - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
  549. - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
  550. // Skip and use default max junction speed for 0 degree acute junction.
  551. if (cos_theta < 0.95) {
  552. vmax_junction = min(previous_nominal_speed,block->nominal_speed);
  553. // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
  554. if (cos_theta > -0.95) {
  555. // Compute maximum junction velocity based on maximum acceleration and junction deviation
  556. double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
  557. vmax_junction = min(vmax_junction,
  558. sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
  559. }
  560. }
  561. }
  562. #endif
  563. // Start with a safe speed
  564. float vmax_junction = max_xy_jerk/2;
  565. if(abs(current_speed[Z_AXIS]) > max_z_jerk/2)
  566. vmax_junction = max_z_jerk/2;
  567. vmax_junction = min(vmax_junction, block->nominal_speed);
  568. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  569. float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
  570. if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
  571. vmax_junction = block->nominal_speed;
  572. }
  573. if (jerk > max_xy_jerk) {
  574. vmax_junction *= (max_xy_jerk/jerk);
  575. }
  576. if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
  577. vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
  578. }
  579. }
  580. block->max_entry_speed = vmax_junction;
  581. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
  582. double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
  583. block->entry_speed = min(vmax_junction, v_allowable);
  584. // Initialize planner efficiency flags
  585. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  586. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  587. // the current block and next block junction speeds are guaranteed to always be at their maximum
  588. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  589. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  590. // the reverse and forward planners, the corresponding block junction speed will always be at the
  591. // the maximum junction speed and may always be ignored for any speed reduction checks.
  592. if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
  593. else { block->nominal_length_flag = false; }
  594. block->recalculate_flag = true; // Always calculate trapezoid for new block
  595. // Update previous path unit_vector and nominal speed
  596. memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
  597. previous_nominal_speed = block->nominal_speed;
  598. #ifdef ADVANCE
  599. // Calculate advance rate
  600. if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
  601. block->advance_rate = 0;
  602. block->advance = 0;
  603. }
  604. else {
  605. long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
  606. float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
  607. (block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
  608. block->advance = advance;
  609. if(acc_dist == 0) {
  610. block->advance_rate = 0;
  611. }
  612. else {
  613. block->advance_rate = advance / (float)acc_dist;
  614. }
  615. }
  616. #endif // ADVANCE
  617. calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
  618. MINIMUM_PLANNER_SPEED/block->nominal_speed);
  619. // Move buffer head
  620. block_buffer_head = next_buffer_head;
  621. // Update position
  622. memcpy(position, target, sizeof(target)); // position[] = target[]
  623. planner_recalculate();
  624. #ifdef AUTOTEMP
  625. getHighESpeed();
  626. #endif
  627. st_wake_up();
  628. }
  629. void plan_set_position(const float &x, const float &y, const float &z, const float &e)
  630. {
  631. position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  632. position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  633. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  634. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  635. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  636. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  637. previous_speed[0] = 0.0;
  638. previous_speed[1] = 0.0;
  639. previous_speed[2] = 0.0;
  640. previous_speed[3] = 0.0;
  641. }
  642. void plan_set_e_position(const float &e)
  643. {
  644. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  645. st_set_e_position(position[E_AXIS]);
  646. }
  647. uint8_t movesplanned()
  648. {
  649. return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  650. }