My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.cpp 34KB

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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. //===========================================================================
  43. //=============================public variables ============================
  44. //===========================================================================
  45. unsigned long minsegmenttime;
  46. float max_feedrate[4]; // set the max speeds
  47. float axis_steps_per_unit[4];
  48. unsigned long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
  49. float minimumfeedrate;
  50. float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
  51. float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  52. float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
  53. float max_z_jerk;
  54. float max_e_jerk;
  55. float mintravelfeedrate;
  56. unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  57. // The current position of the tool in absolute steps
  58. long position[4]; //rescaled from extern when axis_steps_per_unit are changed by gcode
  59. static float previous_speed[4]; // Speed of previous path line segment
  60. static float previous_nominal_speed; // Nominal speed of previous path line segment
  61. #ifdef AUTOTEMP
  62. float autotemp_max=250;
  63. float autotemp_min=210;
  64. float autotemp_factor=0.1;
  65. bool autotemp_enabled=false;
  66. #endif
  67. //===========================================================================
  68. //=================semi-private variables, used in inline functions =====
  69. //===========================================================================
  70. block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  71. volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  72. volatile unsigned char block_buffer_tail; // Index of the block to process now
  73. //===========================================================================
  74. //=============================private variables ============================
  75. //===========================================================================
  76. #ifdef PREVENT_DANGEROUS_EXTRUDE
  77. bool allow_cold_extrude=false;
  78. #endif
  79. #ifdef XY_FREQUENCY_LIMIT
  80. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  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]={MAX_FREQ_TIME + 1,0,0}; // Segment times (in us). Used for speed calculations
  84. static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
  85. #endif
  86. // Returns the index of the next block in the ring buffer
  87. // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
  88. static int8_t next_block_index(int8_t block_index) {
  89. block_index++;
  90. if (block_index == BLOCK_BUFFER_SIZE) {
  91. block_index = 0;
  92. }
  93. return(block_index);
  94. }
  95. // Returns the index of the previous block in the ring buffer
  96. static int8_t prev_block_index(int8_t block_index) {
  97. if (block_index == 0) {
  98. block_index = BLOCK_BUFFER_SIZE;
  99. }
  100. block_index--;
  101. return(block_index);
  102. }
  103. //===========================================================================
  104. //=============================functions ============================
  105. //===========================================================================
  106. // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
  107. // given acceleration:
  108. FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  109. {
  110. if (acceleration!=0) {
  111. return((target_rate*target_rate-initial_rate*initial_rate)/
  112. (2.0*acceleration));
  113. }
  114. else {
  115. return 0.0; // acceleration was 0, set acceleration distance to 0
  116. }
  117. }
  118. // This function gives you the point at which you must start braking (at the rate of -acceleration) if
  119. // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
  120. // a total travel of distance. This can be used to compute the intersection point between acceleration and
  121. // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
  122. FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  123. {
  124. if (acceleration!=0) {
  125. return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
  126. (4.0*acceleration) );
  127. }
  128. else {
  129. return 0.0; // acceleration was 0, set intersection distance to 0
  130. }
  131. }
  132. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
  133. void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
  134. unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
  135. unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
  136. // Limit minimal step rate (Otherwise the timer will overflow.)
  137. if(initial_rate <120) {
  138. initial_rate=120;
  139. }
  140. if(final_rate < 120) {
  141. final_rate=120;
  142. }
  143. long acceleration = block->acceleration_st;
  144. int32_t accelerate_steps =
  145. ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration));
  146. int32_t decelerate_steps =
  147. floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration));
  148. // Calculate the size of Plateau of Nominal Rate.
  149. int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
  150. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  151. // have to use intersection_distance() to calculate when to abort acceleration and start braking
  152. // in order to reach the final_rate exactly at the end of this block.
  153. if (plateau_steps < 0) {
  154. accelerate_steps = ceil(intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
  155. accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
  156. 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)
  157. plateau_steps = 0;
  158. }
  159. #ifdef ADVANCE
  160. volatile long initial_advance = block->advance*entry_factor*entry_factor;
  161. volatile long final_advance = block->advance*exit_factor*exit_factor;
  162. #endif // ADVANCE
  163. // block->accelerate_until = accelerate_steps;
  164. // block->decelerate_after = accelerate_steps+plateau_steps;
  165. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  166. if(block->busy == false) { // Don't update variables if block is busy.
  167. block->accelerate_until = accelerate_steps;
  168. block->decelerate_after = accelerate_steps+plateau_steps;
  169. block->initial_rate = initial_rate;
  170. block->final_rate = final_rate;
  171. #ifdef ADVANCE
  172. block->initial_advance = initial_advance;
  173. block->final_advance = final_advance;
  174. #endif //ADVANCE
  175. }
  176. CRITICAL_SECTION_END;
  177. }
  178. // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
  179. // acceleration within the allotted distance.
  180. FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
  181. return sqrt(target_velocity*target_velocity-2*acceleration*distance);
  182. }
  183. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
  184. // This method will calculate the junction jerk as the euclidean distance between the nominal
  185. // velocities of the respective blocks.
  186. //inline float junction_jerk(block_t *before, block_t *after) {
  187. // return sqrt(
  188. // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
  189. //}
  190. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
  191. void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  192. if(!current) {
  193. return;
  194. }
  195. if (next) {
  196. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  197. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  198. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  199. if (current->entry_speed != current->max_entry_speed) {
  200. // If nominal length true, max junction speed is guaranteed to be reached. Only compute
  201. // for max allowable speed if block is decelerating and nominal length is false.
  202. if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
  203. current->entry_speed = min( current->max_entry_speed,
  204. max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
  205. }
  206. else {
  207. current->entry_speed = current->max_entry_speed;
  208. }
  209. current->recalculate_flag = true;
  210. }
  211. } // Skip last block. Already initialized and set for recalculation.
  212. }
  213. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  214. // implements the reverse pass.
  215. void planner_reverse_pass() {
  216. uint8_t block_index = block_buffer_head;
  217. //Make a local copy of block_buffer_tail, because the interrupt can alter it
  218. CRITICAL_SECTION_START;
  219. unsigned char tail = block_buffer_tail;
  220. CRITICAL_SECTION_END
  221. if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
  222. block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
  223. block_t *block[3] = {
  224. NULL, NULL, NULL };
  225. while(block_index != tail) {
  226. block_index = prev_block_index(block_index);
  227. block[2]= block[1];
  228. block[1]= block[0];
  229. block[0] = &block_buffer[block_index];
  230. planner_reverse_pass_kernel(block[0], block[1], block[2]);
  231. }
  232. }
  233. }
  234. // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
  235. void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
  236. if(!previous) {
  237. return;
  238. }
  239. // If the previous block is an acceleration block, but it is not long enough to complete the
  240. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  241. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  242. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  243. if (!previous->nominal_length_flag) {
  244. if (previous->entry_speed < current->entry_speed) {
  245. double entry_speed = min( current->entry_speed,
  246. max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
  247. // Check for junction speed change
  248. if (current->entry_speed != entry_speed) {
  249. current->entry_speed = entry_speed;
  250. current->recalculate_flag = true;
  251. }
  252. }
  253. }
  254. }
  255. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  256. // implements the forward pass.
  257. void planner_forward_pass() {
  258. uint8_t block_index = block_buffer_tail;
  259. block_t *block[3] = {
  260. NULL, NULL, NULL };
  261. while(block_index != block_buffer_head) {
  262. block[0] = block[1];
  263. block[1] = block[2];
  264. block[2] = &block_buffer[block_index];
  265. planner_forward_pass_kernel(block[0],block[1],block[2]);
  266. block_index = next_block_index(block_index);
  267. }
  268. planner_forward_pass_kernel(block[1], block[2], NULL);
  269. }
  270. // Recalculates the trapezoid speed profiles for all blocks in the plan according to the
  271. // entry_factor for each junction. Must be called by planner_recalculate() after
  272. // updating the blocks.
  273. void planner_recalculate_trapezoids() {
  274. int8_t block_index = block_buffer_tail;
  275. block_t *current;
  276. block_t *next = NULL;
  277. while(block_index != block_buffer_head) {
  278. current = next;
  279. next = &block_buffer[block_index];
  280. if (current) {
  281. // Recalculate if current block entry or exit junction speed has changed.
  282. if (current->recalculate_flag || next->recalculate_flag) {
  283. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
  284. calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
  285. next->entry_speed/current->nominal_speed);
  286. current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
  287. }
  288. }
  289. block_index = next_block_index( block_index );
  290. }
  291. // Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
  292. if(next != NULL) {
  293. calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
  294. MINIMUM_PLANNER_SPEED/next->nominal_speed);
  295. next->recalculate_flag = false;
  296. }
  297. }
  298. // Recalculates the motion plan according to the following algorithm:
  299. //
  300. // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
  301. // so that:
  302. // a. The junction jerk is within the set limit
  303. // b. No speed reduction within one block requires faster deceleration than the one, true constant
  304. // acceleration.
  305. // 2. Go over every block in chronological order and dial down junction speed reduction values if
  306. // a. The speed increase within one block would require faster accelleration than the one, true
  307. // constant acceleration.
  308. //
  309. // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
  310. // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
  311. // the set limit. Finally it will:
  312. //
  313. // 3. Recalculate trapezoids for all blocks.
  314. void planner_recalculate() {
  315. planner_reverse_pass();
  316. planner_forward_pass();
  317. planner_recalculate_trapezoids();
  318. }
  319. void plan_init() {
  320. block_buffer_head = 0;
  321. block_buffer_tail = 0;
  322. memset(position, 0, sizeof(position)); // clear position
  323. previous_speed[0] = 0.0;
  324. previous_speed[1] = 0.0;
  325. previous_speed[2] = 0.0;
  326. previous_speed[3] = 0.0;
  327. previous_nominal_speed = 0.0;
  328. }
  329. #ifdef AUTOTEMP
  330. void getHighESpeed()
  331. {
  332. static float oldt=0;
  333. if(!autotemp_enabled){
  334. return;
  335. }
  336. if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
  337. return; //do nothing
  338. }
  339. float high=0.0;
  340. uint8_t block_index = block_buffer_tail;
  341. while(block_index != block_buffer_head) {
  342. if((block_buffer[block_index].steps_x != 0) ||
  343. (block_buffer[block_index].steps_y != 0) ||
  344. (block_buffer[block_index].steps_z != 0)) {
  345. float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
  346. //se; mm/sec;
  347. if(se>high)
  348. {
  349. high=se;
  350. }
  351. }
  352. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  353. }
  354. float g=autotemp_min+high*autotemp_factor;
  355. float t=g;
  356. if(t<autotemp_min)
  357. t=autotemp_min;
  358. if(t>autotemp_max)
  359. t=autotemp_max;
  360. if(oldt>t)
  361. {
  362. t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
  363. }
  364. oldt=t;
  365. setTargetHotend0(t);
  366. }
  367. #endif
  368. void check_axes_activity()
  369. {
  370. unsigned char x_active = 0;
  371. unsigned char y_active = 0;
  372. unsigned char z_active = 0;
  373. unsigned char e_active = 0;
  374. unsigned char fan_speed = 0;
  375. unsigned char tail_fan_speed = 0;
  376. block_t *block;
  377. if(block_buffer_tail != block_buffer_head)
  378. {
  379. uint8_t block_index = block_buffer_tail;
  380. tail_fan_speed = block_buffer[block_index].fan_speed;
  381. while(block_index != block_buffer_head)
  382. {
  383. block = &block_buffer[block_index];
  384. if(block->steps_x != 0) x_active++;
  385. if(block->steps_y != 0) y_active++;
  386. if(block->steps_z != 0) z_active++;
  387. if(block->steps_e != 0) e_active++;
  388. if(block->fan_speed != 0) fan_speed++;
  389. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  390. }
  391. }
  392. else
  393. {
  394. #if FAN_PIN > -1
  395. if (fanSpeed != 0){
  396. analogWrite(FAN_PIN,fanSpeed); // If buffer is empty use current fan speed
  397. }
  398. #endif
  399. }
  400. if((DISABLE_X) && (x_active == 0)) disable_x();
  401. if((DISABLE_Y) && (y_active == 0)) disable_y();
  402. if((DISABLE_Z) && (z_active == 0)) disable_z();
  403. if((DISABLE_E) && (e_active == 0))
  404. {
  405. disable_e0();
  406. disable_e1();
  407. disable_e2();
  408. }
  409. #if FAN_PIN > -1
  410. if((fanSpeed == 0) && (fan_speed ==0))
  411. {
  412. analogWrite(FAN_PIN, 0);
  413. }
  414. if (fanSpeed != 0 && tail_fan_speed !=0)
  415. {
  416. analogWrite(FAN_PIN,tail_fan_speed);
  417. }
  418. #endif
  419. #ifdef AUTOTEMP
  420. getHighESpeed();
  421. #endif
  422. }
  423. float junction_deviation = 0.1;
  424. // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
  425. // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
  426. // calculation the caller must also provide the physical length of the line in millimeters.
  427. void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
  428. {
  429. // Calculate the buffer head after we push this byte
  430. int next_buffer_head = next_block_index(block_buffer_head);
  431. // If the buffer is full: good! That means we are well ahead of the robot.
  432. // Rest here until there is room in the buffer.
  433. while(block_buffer_tail == next_buffer_head)
  434. {
  435. manage_heater();
  436. manage_inactivity();
  437. lcd_update();
  438. }
  439. // The target position of the tool in absolute steps
  440. // Calculate target position in absolute steps
  441. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  442. long target[4];
  443. target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  444. target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  445. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  446. target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  447. #ifdef PREVENT_DANGEROUS_EXTRUDE
  448. if(target[E_AXIS]!=position[E_AXIS])
  449. {
  450. if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
  451. {
  452. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  453. SERIAL_ECHO_START;
  454. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  455. }
  456. #ifdef PREVENT_LENGTHY_EXTRUDE
  457. if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
  458. {
  459. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  460. SERIAL_ECHO_START;
  461. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  462. }
  463. #endif
  464. }
  465. #endif
  466. // Prepare to set up new block
  467. block_t *block = &block_buffer[block_buffer_head];
  468. // Mark block as not busy (Not executed by the stepper interrupt)
  469. block->busy = false;
  470. // Number of steps for each axis
  471. block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
  472. block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
  473. block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
  474. block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
  475. block->steps_e *= extrudemultiply;
  476. block->steps_e /= 100;
  477. block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
  478. // Bail if this is a zero-length block
  479. if (block->step_event_count <= dropsegments)
  480. {
  481. return;
  482. }
  483. block->fan_speed = fanSpeed;
  484. // Compute direction bits for this block
  485. block->direction_bits = 0;
  486. if (target[X_AXIS] < position[X_AXIS])
  487. {
  488. block->direction_bits |= (1<<X_AXIS);
  489. }
  490. if (target[Y_AXIS] < position[Y_AXIS])
  491. {
  492. block->direction_bits |= (1<<Y_AXIS);
  493. }
  494. if (target[Z_AXIS] < position[Z_AXIS])
  495. {
  496. block->direction_bits |= (1<<Z_AXIS);
  497. }
  498. if (target[E_AXIS] < position[E_AXIS])
  499. {
  500. block->direction_bits |= (1<<E_AXIS);
  501. }
  502. block->active_extruder = extruder;
  503. //enable active axes
  504. if(block->steps_x != 0) enable_x();
  505. if(block->steps_y != 0) enable_y();
  506. #ifndef Z_LATE_ENABLE
  507. if(block->steps_z != 0) enable_z();
  508. #endif
  509. // Enable all
  510. if(block->steps_e != 0)
  511. {
  512. enable_e0();
  513. enable_e1();
  514. enable_e2();
  515. }
  516. if (block->steps_e == 0)
  517. {
  518. if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
  519. }
  520. else
  521. {
  522. if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
  523. }
  524. float delta_mm[4];
  525. delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  526. delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  527. delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
  528. delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
  529. if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
  530. {
  531. block->millimeters = fabs(delta_mm[E_AXIS]);
  532. }
  533. else
  534. {
  535. block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
  536. }
  537. float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
  538. // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
  539. float inverse_second = feed_rate * inverse_millimeters;
  540. int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  541. // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
  542. #ifdef OLD_SLOWDOWN
  543. if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
  544. feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
  545. #endif
  546. #ifdef SLOWDOWN
  547. // segment time im micro seconds
  548. unsigned long segment_time = lround(1000000.0/inverse_second);
  549. if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
  550. {
  551. if (segment_time < minsegmenttime)
  552. { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  553. inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
  554. #ifdef XY_FREQUENCY_LIMIT
  555. segment_time = lround(1000000.0/inverse_second);
  556. #endif
  557. }
  558. }
  559. #endif
  560. // END OF SLOW DOWN SECTION
  561. block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
  562. block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
  563. // Calculate and limit speed in mm/sec for each axis
  564. float current_speed[4];
  565. float speed_factor = 1.0; //factor <=1 do decrease speed
  566. for(int i=0; i < 4; i++)
  567. {
  568. current_speed[i] = delta_mm[i] * inverse_second;
  569. if(fabs(current_speed[i]) > max_feedrate[i])
  570. speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
  571. }
  572. // Max segement time in us.
  573. #ifdef XY_FREQUENCY_LIMIT
  574. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  575. // Check and limit the xy direction change frequency
  576. unsigned char direction_change = block->direction_bits ^ old_direction_bits;
  577. old_direction_bits = block->direction_bits;
  578. segment_time = lround((float)segment_time / speed_factor);
  579. if((direction_change & (1<<X_AXIS)) == 0)
  580. {
  581. x_segment_time[0] += segment_time;
  582. }
  583. else
  584. {
  585. x_segment_time[2] = x_segment_time[1];
  586. x_segment_time[1] = x_segment_time[0];
  587. x_segment_time[0] = segment_time;
  588. }
  589. if((direction_change & (1<<Y_AXIS)) == 0)
  590. {
  591. y_segment_time[0] += segment_time;
  592. }
  593. else
  594. {
  595. y_segment_time[2] = y_segment_time[1];
  596. y_segment_time[1] = y_segment_time[0];
  597. y_segment_time[0] = segment_time;
  598. }
  599. long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
  600. long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
  601. long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
  602. if(min_xy_segment_time < MAX_FREQ_TIME)
  603. speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
  604. #endif
  605. // Correct the speed
  606. if( speed_factor < 1.0)
  607. {
  608. for(unsigned char i=0; i < 4; i++)
  609. {
  610. current_speed[i] *= speed_factor;
  611. }
  612. block->nominal_speed *= speed_factor;
  613. block->nominal_rate *= speed_factor;
  614. }
  615. // Compute and limit the acceleration rate for the trapezoid generator.
  616. float steps_per_mm = block->step_event_count/block->millimeters;
  617. if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
  618. {
  619. block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  620. }
  621. else
  622. {
  623. block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  624. // Limit acceleration per axis
  625. if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
  626. block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
  627. if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
  628. block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
  629. if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
  630. block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
  631. if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
  632. block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  633. }
  634. block->acceleration = block->acceleration_st / steps_per_mm;
  635. block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
  636. #if 0 // Use old jerk for now
  637. // Compute path unit vector
  638. double unit_vec[3];
  639. unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
  640. unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
  641. unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
  642. // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
  643. // Let a circle be tangent to both previous and current path line segments, where the junction
  644. // deviation is defined as the distance from the junction to the closest edge of the circle,
  645. // colinear with the circle center. The circular segment joining the two paths represents the
  646. // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
  647. // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
  648. // path width or max_jerk in the previous grbl version. This approach does not actually deviate
  649. // from path, but used as a robust way to compute cornering speeds, as it takes into account the
  650. // nonlinearities of both the junction angle and junction velocity.
  651. double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
  652. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
  653. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  654. // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
  655. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
  656. double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
  657. - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
  658. - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
  659. // Skip and use default max junction speed for 0 degree acute junction.
  660. if (cos_theta < 0.95) {
  661. vmax_junction = min(previous_nominal_speed,block->nominal_speed);
  662. // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
  663. if (cos_theta > -0.95) {
  664. // Compute maximum junction velocity based on maximum acceleration and junction deviation
  665. double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
  666. vmax_junction = min(vmax_junction,
  667. sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
  668. }
  669. }
  670. }
  671. #endif
  672. // Start with a safe speed
  673. float vmax_junction = max_xy_jerk/2;
  674. float vmax_junction_factor = 1.0;
  675. if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
  676. vmax_junction = min(vmax_junction, max_z_jerk/2);
  677. if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
  678. vmax_junction = min(vmax_junction, max_e_jerk/2);
  679. vmax_junction = min(vmax_junction, block->nominal_speed);
  680. float safe_speed = vmax_junction;
  681. if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
  682. float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
  683. // if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
  684. vmax_junction = block->nominal_speed;
  685. // }
  686. if (jerk > max_xy_jerk) {
  687. vmax_junction_factor = (max_xy_jerk/jerk);
  688. }
  689. if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
  690. vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
  691. }
  692. if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
  693. vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
  694. }
  695. vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
  696. }
  697. block->max_entry_speed = vmax_junction;
  698. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
  699. double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
  700. block->entry_speed = min(vmax_junction, v_allowable);
  701. // Initialize planner efficiency flags
  702. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  703. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  704. // the current block and next block junction speeds are guaranteed to always be at their maximum
  705. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  706. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  707. // the reverse and forward planners, the corresponding block junction speed will always be at the
  708. // the maximum junction speed and may always be ignored for any speed reduction checks.
  709. if (block->nominal_speed <= v_allowable) {
  710. block->nominal_length_flag = true;
  711. }
  712. else {
  713. block->nominal_length_flag = false;
  714. }
  715. block->recalculate_flag = true; // Always calculate trapezoid for new block
  716. // Update previous path unit_vector and nominal speed
  717. memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
  718. previous_nominal_speed = block->nominal_speed;
  719. #ifdef ADVANCE
  720. // Calculate advance rate
  721. if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
  722. block->advance_rate = 0;
  723. block->advance = 0;
  724. }
  725. else {
  726. long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
  727. float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
  728. (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
  729. block->advance = advance;
  730. if(acc_dist == 0) {
  731. block->advance_rate = 0;
  732. }
  733. else {
  734. block->advance_rate = advance / (float)acc_dist;
  735. }
  736. }
  737. /*
  738. SERIAL_ECHO_START;
  739. SERIAL_ECHOPGM("advance :");
  740. SERIAL_ECHO(block->advance/256.0);
  741. SERIAL_ECHOPGM("advance rate :");
  742. SERIAL_ECHOLN(block->advance_rate/256.0);
  743. */
  744. #endif // ADVANCE
  745. calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
  746. safe_speed/block->nominal_speed);
  747. // Move buffer head
  748. block_buffer_head = next_buffer_head;
  749. // Update position
  750. memcpy(position, target, sizeof(target)); // position[] = target[]
  751. planner_recalculate();
  752. st_wake_up();
  753. }
  754. void plan_set_position(const float &x, const float &y, const float &z, const float &e)
  755. {
  756. position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  757. position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  758. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  759. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  760. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  761. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  762. previous_speed[0] = 0.0;
  763. previous_speed[1] = 0.0;
  764. previous_speed[2] = 0.0;
  765. previous_speed[3] = 0.0;
  766. }
  767. void plan_set_e_position(const float &e)
  768. {
  769. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  770. st_set_e_position(position[E_AXIS]);
  771. }
  772. uint8_t movesplanned()
  773. {
  774. return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
  775. }
  776. void allow_cold_extrudes(bool allow)
  777. {
  778. #ifdef PREVENT_DANGEROUS_EXTRUDE
  779. allow_cold_extrude=allow;
  780. #endif
  781. }