My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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planner.cpp 44KB

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  1. /**
  2. * planner.cpp - Buffer movement commands and manage the acceleration profile plan
  3. * Part of Grbl
  4. *
  5. * Copyright (c) 2009-2011 Simen Svale Skogsrud
  6. *
  7. * Grbl is free software: you can redistribute it and/or modify
  8. * it under the terms of the GNU General Public License as published by
  9. * the Free Software Foundation, either version 3 of the License, or
  10. * (at your option) any later version.
  11. *
  12. * Grbl is distributed in the hope that it will be useful,
  13. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  14. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  15. * GNU General Public License for more details.
  16. *
  17. * You should have received a copy of the GNU General Public License
  18. * along with Grbl. If not, see <http://www.gnu.org/licenses/>.
  19. *
  20. *
  21. * The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis.
  22. *
  23. *
  24. * Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
  25. *
  26. * s == speed, a == acceleration, t == time, d == distance
  27. *
  28. * Basic definitions:
  29. * Speed[s_, a_, t_] := s + (a*t)
  30. * Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
  31. *
  32. * Distance to reach a specific speed with a constant acceleration:
  33. * Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
  34. * d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
  35. *
  36. * Speed after a given distance of travel with constant acceleration:
  37. * Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
  38. * m -> Sqrt[2 a d + s^2]
  39. *
  40. * DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
  41. *
  42. * When to start braking (di) to reach a specified destination speed (s2) after accelerating
  43. * from initial speed s1 without ever stopping at a plateau:
  44. * Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
  45. * di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
  46. *
  47. * IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
  48. *
  49. */
  50. #include "Marlin.h"
  51. #include "planner.h"
  52. #include "stepper.h"
  53. #include "temperature.h"
  54. #include "ultralcd.h"
  55. #include "language.h"
  56. #if ENABLED(MESH_BED_LEVELING)
  57. #include "mesh_bed_leveling.h"
  58. #endif
  59. //===========================================================================
  60. //============================= public variables ============================
  61. //===========================================================================
  62. millis_t minsegmenttime;
  63. float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
  64. float axis_steps_per_unit[NUM_AXIS];
  65. unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
  66. float minimumfeedrate;
  67. float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
  68. float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
  69. float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
  70. float max_xy_jerk; // The largest speed change requiring no acceleration
  71. float max_z_jerk;
  72. float max_e_jerk;
  73. float mintravelfeedrate;
  74. unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  75. #if ENABLED(AUTO_BED_LEVELING_FEATURE)
  76. // Transform required to compensate for bed level
  77. matrix_3x3 plan_bed_level_matrix = {
  78. 1.0, 0.0, 0.0,
  79. 0.0, 1.0, 0.0,
  80. 0.0, 0.0, 1.0
  81. };
  82. #endif // AUTO_BED_LEVELING_FEATURE
  83. #if ENABLED(AUTOTEMP)
  84. float autotemp_max = 250;
  85. float autotemp_min = 210;
  86. float autotemp_factor = 0.1;
  87. bool autotemp_enabled = false;
  88. #endif
  89. #if ENABLED(FAN_SOFT_PWM)
  90. extern unsigned char fanSpeedSoftPwm[FAN_COUNT];
  91. #endif
  92. //===========================================================================
  93. //============ semi-private variables, used in inline functions =============
  94. //===========================================================================
  95. block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  96. volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  97. volatile unsigned char block_buffer_tail; // Index of the block to process now
  98. //===========================================================================
  99. //============================ private variables ============================
  100. //===========================================================================
  101. // The current position of the tool in absolute steps
  102. long position[NUM_AXIS]; // Rescaled from extern when axis_steps_per_unit are changed by gcode
  103. static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
  104. static float previous_nominal_speed; // Nominal speed of previous path line segment
  105. uint8_t g_uc_extruder_last_move[EXTRUDERS] = { 0 };
  106. #ifdef XY_FREQUENCY_LIMIT
  107. // Used for the frequency limit
  108. #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
  109. // Old direction bits. Used for speed calculations
  110. static unsigned char old_direction_bits = 0;
  111. // Segment times (in µs). Used for speed calculations
  112. static long axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
  113. #endif
  114. #if ENABLED(FILAMENT_SENSOR)
  115. static char meas_sample; //temporary variable to hold filament measurement sample
  116. #endif
  117. #if ENABLED(DUAL_X_CARRIAGE)
  118. extern bool extruder_duplication_enabled;
  119. #endif
  120. //===========================================================================
  121. //================================ functions ================================
  122. //===========================================================================
  123. // Get the next / previous index of the next block in the ring buffer
  124. // NOTE: Using & here (not %) because BLOCK_BUFFER_SIZE is always a power of 2
  125. FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
  126. FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
  127. // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
  128. // given acceleration:
  129. FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
  130. if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
  131. return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
  132. }
  133. // This function gives you the point at which you must start braking (at the rate of -acceleration) if
  134. // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
  135. // a total travel of distance. This can be used to compute the intersection point between acceleration and
  136. // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
  137. FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
  138. if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
  139. return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4);
  140. }
  141. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
  142. void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor) {
  143. unsigned long initial_rate = ceil(block->nominal_rate * entry_factor); // (step/min)
  144. unsigned long final_rate = ceil(block->nominal_rate * exit_factor); // (step/min)
  145. // Limit minimal step rate (Otherwise the timer will overflow.)
  146. NOLESS(initial_rate, 120);
  147. NOLESS(final_rate, 120);
  148. long acceleration = block->acceleration_st;
  149. int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
  150. int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
  151. // Calculate the size of Plateau of Nominal Rate.
  152. int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
  153. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  154. // have to use intersection_distance() to calculate when to abort acceleration and start braking
  155. // in order to reach the final_rate exactly at the end of this block.
  156. if (plateau_steps < 0) {
  157. accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
  158. accelerate_steps = max(accelerate_steps, 0); // Check limits due to numerical round-off
  159. 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)
  160. plateau_steps = 0;
  161. }
  162. #if ENABLED(ADVANCE)
  163. volatile long initial_advance = block->advance * entry_factor * entry_factor;
  164. volatile long final_advance = block->advance * exit_factor * exit_factor;
  165. #endif // ADVANCE
  166. // block->accelerate_until = accelerate_steps;
  167. // block->decelerate_after = accelerate_steps+plateau_steps;
  168. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  169. if (!block->busy) { // Don't update variables if block is busy.
  170. block->accelerate_until = accelerate_steps;
  171. block->decelerate_after = accelerate_steps + plateau_steps;
  172. block->initial_rate = initial_rate;
  173. block->final_rate = final_rate;
  174. #if ENABLED(ADVANCE)
  175. block->initial_advance = initial_advance;
  176. block->final_advance = final_advance;
  177. #endif
  178. }
  179. CRITICAL_SECTION_END;
  180. }
  181. // Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
  182. // acceleration within the allotted distance.
  183. FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
  184. return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
  185. }
  186. // "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
  187. // This method will calculate the junction jerk as the euclidean distance between the nominal
  188. // velocities of the respective blocks.
  189. //inline float junction_jerk(block_t *before, block_t *after) {
  190. // return sqrt(
  191. // pow((before->speed_x-after->speed_x), 2)+pow((before->speed_y-after->speed_y), 2));
  192. //}
  193. // The kernel called by planner_recalculate() when scanning the plan from last to first entry.
  194. void planner_reverse_pass_kernel(block_t* previous, block_t* current, block_t* next) {
  195. if (!current) return;
  196. UNUSED(previous);
  197. if (next) {
  198. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  199. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  200. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  201. float max_entry_speed = current->max_entry_speed;
  202. if (current->entry_speed != max_entry_speed) {
  203. // If nominal length true, max junction speed is guaranteed to be reached. Only compute
  204. // for max allowable speed if block is decelerating and nominal length is false.
  205. if (!current->nominal_length_flag && max_entry_speed > next->entry_speed) {
  206. current->entry_speed = min(max_entry_speed,
  207. max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
  208. }
  209. else {
  210. current->entry_speed = max_entry_speed;
  211. }
  212. current->recalculate_flag = true;
  213. }
  214. } // Skip last block. Already initialized and set for recalculation.
  215. }
  216. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  217. // implements the reverse pass.
  218. void planner_reverse_pass() {
  219. uint8_t block_index = block_buffer_head;
  220. //Make a local copy of block_buffer_tail, because the interrupt can alter it
  221. CRITICAL_SECTION_START;
  222. unsigned char tail = block_buffer_tail;
  223. CRITICAL_SECTION_END
  224. if (BLOCK_MOD(block_buffer_head - tail + BLOCK_BUFFER_SIZE) > 3) { // moves queued
  225. block_index = BLOCK_MOD(block_buffer_head - 3);
  226. block_t* block[3] = { NULL, NULL, NULL };
  227. while (block_index != tail) {
  228. block_index = prev_block_index(block_index);
  229. block[2] = block[1];
  230. block[1] = block[0];
  231. block[0] = &block_buffer[block_index];
  232. planner_reverse_pass_kernel(block[0], block[1], block[2]);
  233. }
  234. }
  235. }
  236. // The kernel called by planner_recalculate() when scanning the plan from first to last entry.
  237. void planner_forward_pass_kernel(block_t* previous, block_t* current, block_t* next) {
  238. if (!previous) return;
  239. UNUSED(next);
  240. // If the previous block is an acceleration block, but it is not long enough to complete the
  241. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  242. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  243. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  244. if (!previous->nominal_length_flag) {
  245. if (previous->entry_speed < current->entry_speed) {
  246. double entry_speed = min(current->entry_speed,
  247. max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
  248. // Check for junction speed change
  249. if (current->entry_speed != entry_speed) {
  250. current->entry_speed = entry_speed;
  251. current->recalculate_flag = true;
  252. }
  253. }
  254. }
  255. }
  256. // planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
  257. // implements the forward pass.
  258. void planner_forward_pass() {
  259. uint8_t block_index = block_buffer_tail;
  260. block_t* block[3] = { 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. float nom = current->nominal_speed;
  285. calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
  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) {
  293. float nom = next->nominal_speed;
  294. calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
  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 acceleration 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 = block_buffer_tail = 0;
  321. memset(position, 0, sizeof(position)); // clear position
  322. for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
  323. previous_nominal_speed = 0.0;
  324. }
  325. #if ENABLED(AUTOTEMP)
  326. void getHighESpeed() {
  327. static float oldt = 0;
  328. if (!autotemp_enabled) return;
  329. if (degTargetHotend0() + 2 < autotemp_min) return; // probably temperature set to zero.
  330. float high = 0.0;
  331. uint8_t block_index = block_buffer_tail;
  332. while (block_index != block_buffer_head) {
  333. block_t* block = &block_buffer[block_index];
  334. if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
  335. float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
  336. NOLESS(high, se);
  337. }
  338. block_index = next_block_index(block_index);
  339. }
  340. float t = autotemp_min + high * autotemp_factor;
  341. t = constrain(t, autotemp_min, autotemp_max);
  342. if (oldt > t) {
  343. t *= (1 - (AUTOTEMP_OLDWEIGHT));
  344. t += (AUTOTEMP_OLDWEIGHT) * oldt;
  345. }
  346. oldt = t;
  347. setTargetHotend0(t);
  348. }
  349. #endif //AUTOTEMP
  350. void check_axes_activity() {
  351. unsigned char axis_active[NUM_AXIS] = { 0 },
  352. tail_fan_speed[FAN_COUNT];
  353. #if FAN_COUNT > 0
  354. for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = fanSpeeds[i];
  355. #endif
  356. #if ENABLED(BARICUDA)
  357. unsigned char tail_valve_pressure = ValvePressure,
  358. tail_e_to_p_pressure = EtoPPressure;
  359. #endif
  360. block_t* block;
  361. if (blocks_queued()) {
  362. uint8_t block_index = block_buffer_tail;
  363. #if FAN_COUNT > 0
  364. for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = block_buffer[block_index].fan_speed[i];
  365. #endif
  366. #if ENABLED(BARICUDA)
  367. block = &block_buffer[block_index];
  368. tail_valve_pressure = block->valve_pressure;
  369. tail_e_to_p_pressure = block->e_to_p_pressure;
  370. #endif
  371. while (block_index != block_buffer_head) {
  372. block = &block_buffer[block_index];
  373. for (int i = 0; i < NUM_AXIS; i++) if (block->steps[i]) axis_active[i]++;
  374. block_index = next_block_index(block_index);
  375. }
  376. }
  377. #if ENABLED(DISABLE_X)
  378. if (!axis_active[X_AXIS]) disable_x();
  379. #endif
  380. #if ENABLED(DISABLE_Y)
  381. if (!axis_active[Y_AXIS]) disable_y();
  382. #endif
  383. #if ENABLED(DISABLE_Z)
  384. if (!axis_active[Z_AXIS]) disable_z();
  385. #endif
  386. #if ENABLED(DISABLE_E)
  387. if (!axis_active[E_AXIS]) {
  388. disable_e0();
  389. disable_e1();
  390. disable_e2();
  391. disable_e3();
  392. }
  393. #endif
  394. #if FAN_COUNT > 0
  395. #if defined(FAN_MIN_PWM)
  396. #define CALC_FAN_SPEED(f) (tail_fan_speed[f] ? ( FAN_MIN_PWM + (tail_fan_speed[f] * (255 - FAN_MIN_PWM)) / 255 ) : 0)
  397. #else
  398. #define CALC_FAN_SPEED(f) tail_fan_speed[f]
  399. #endif
  400. #ifdef FAN_KICKSTART_TIME
  401. static millis_t fan_kick_end[FAN_COUNT] = { 0 }, ms = millis();
  402. #define KICKSTART_FAN(f) \
  403. if (tail_fan_speed[f]) { \
  404. if (fan_kick_end[f] == 0) { \
  405. fan_kick_end[f] = ms + FAN_KICKSTART_TIME; \
  406. tail_fan_speed[f] = 255; \
  407. } \
  408. else if (fan_kick_end[f] > ms) \
  409. tail_fan_speed[f] = 255; \
  410. else \
  411. fan_kick_end[f] = 0; \
  412. }
  413. #if HAS_FAN0
  414. KICKSTART_FAN(0);
  415. #endif
  416. #if HAS_FAN1
  417. KICKSTART_FAN(1);
  418. #endif
  419. #if HAS_FAN2
  420. KICKSTART_FAN(2);
  421. #endif
  422. #endif //FAN_KICKSTART_TIME
  423. #if ENABLED(FAN_SOFT_PWM)
  424. #if HAS_FAN0
  425. fanSpeedSoftPwm[0] = CALC_FAN_SPEED(0);
  426. #endif
  427. #if HAS_FAN1
  428. fanSpeedSoftPwm[1] = CALC_FAN_SPEED(1);
  429. #endif
  430. #if HAS_FAN2
  431. fanSpeedSoftPwm[2] = CALC_FAN_SPEED(2);
  432. #endif
  433. #else
  434. #if HAS_FAN0
  435. analogWrite(FAN_PIN, CALC_FAN_SPEED(0));
  436. #endif
  437. #if HAS_FAN1
  438. analogWrite(FAN1_PIN, CALC_FAN_SPEED(1));
  439. #endif
  440. #if HAS_FAN2
  441. analogWrite(FAN2_PIN, CALC_FAN_SPEED(2));
  442. #endif
  443. #endif
  444. #endif // FAN_COUNT > 0
  445. #if ENABLED(AUTOTEMP)
  446. getHighESpeed();
  447. #endif
  448. #if ENABLED(BARICUDA)
  449. #if HAS_HEATER_1
  450. analogWrite(HEATER_1_PIN, tail_valve_pressure);
  451. #endif
  452. #if HAS_HEATER_2
  453. analogWrite(HEATER_2_PIN, tail_e_to_p_pressure);
  454. #endif
  455. #endif
  456. }
  457. float junction_deviation = 0.1;
  458. // Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in
  459. // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
  460. // calculation the caller must also provide the physical length of the line in millimeters.
  461. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  462. void plan_buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder)
  463. #else
  464. void plan_buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder)
  465. #endif // AUTO_BED_LEVELING_FEATURE
  466. {
  467. // Calculate the buffer head after we push this byte
  468. int next_buffer_head = next_block_index(block_buffer_head);
  469. // If the buffer is full: good! That means we are well ahead of the robot.
  470. // Rest here until there is room in the buffer.
  471. while (block_buffer_tail == next_buffer_head) idle();
  472. #if ENABLED(MESH_BED_LEVELING)
  473. if (mbl.active) z += mbl.get_z(x, y);
  474. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  475. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  476. #endif
  477. // The target position of the tool in absolute steps
  478. // Calculate target position in absolute steps
  479. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  480. long target[NUM_AXIS];
  481. target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
  482. target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
  483. target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
  484. target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
  485. long dx = target[X_AXIS] - position[X_AXIS],
  486. dy = target[Y_AXIS] - position[Y_AXIS],
  487. dz = target[Z_AXIS] - position[Z_AXIS];
  488. // DRYRUN ignores all temperature constraints and assures that the extruder is instantly satisfied
  489. if (marlin_debug_flags & DEBUG_DRYRUN)
  490. position[E_AXIS] = target[E_AXIS];
  491. long de = target[E_AXIS] - position[E_AXIS];
  492. #if ENABLED(PREVENT_DANGEROUS_EXTRUDE)
  493. if (de) {
  494. if (degHotend(extruder) < extrude_min_temp) {
  495. position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
  496. de = 0; // no difference
  497. SERIAL_ECHO_START;
  498. SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  499. }
  500. #if ENABLED(PREVENT_LENGTHY_EXTRUDE)
  501. if (labs(de) > axis_steps_per_unit[E_AXIS] * (EXTRUDE_MAXLENGTH)) {
  502. position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
  503. de = 0; // no difference
  504. SERIAL_ECHO_START;
  505. SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  506. }
  507. #endif
  508. }
  509. #endif
  510. // Prepare to set up new block
  511. block_t* block = &block_buffer[block_buffer_head];
  512. // Mark block as not busy (Not executed by the stepper interrupt)
  513. block->busy = false;
  514. // Number of steps for each axis
  515. #if ENABLED(COREXY)
  516. // corexy planning
  517. // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
  518. block->steps[A_AXIS] = labs(dx + dy);
  519. block->steps[B_AXIS] = labs(dx - dy);
  520. block->steps[Z_AXIS] = labs(dz);
  521. #elif ENABLED(COREXZ)
  522. // corexz planning
  523. block->steps[A_AXIS] = labs(dx + dz);
  524. block->steps[Y_AXIS] = labs(dy);
  525. block->steps[C_AXIS] = labs(dx - dz);
  526. #else
  527. // default non-h-bot planning
  528. block->steps[X_AXIS] = labs(dx);
  529. block->steps[Y_AXIS] = labs(dy);
  530. block->steps[Z_AXIS] = labs(dz);
  531. #endif
  532. block->steps[E_AXIS] = labs(de);
  533. block->steps[E_AXIS] *= volumetric_multiplier[extruder];
  534. block->steps[E_AXIS] *= extruder_multiplier[extruder];
  535. block->steps[E_AXIS] /= 100;
  536. block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
  537. // Bail if this is a zero-length block
  538. if (block->step_event_count <= dropsegments) return;
  539. #if FAN_COUNT > 0
  540. for (uint8_t i = 0; i < FAN_COUNT; i++) block->fan_speed[i] = fanSpeeds[i];
  541. #endif
  542. #if ENABLED(BARICUDA)
  543. block->valve_pressure = ValvePressure;
  544. block->e_to_p_pressure = EtoPPressure;
  545. #endif
  546. // Compute direction bits for this block
  547. uint8_t db = 0;
  548. #if ENABLED(COREXY)
  549. if (dx < 0) SBI(db, X_HEAD); // Save the real Extruder (head) direction in X Axis
  550. if (dy < 0) SBI(db, Y_HEAD); // ...and Y
  551. if (dz < 0) SBI(db, Z_AXIS);
  552. if (dx + dy < 0) SBI(db, A_AXIS); // Motor A direction
  553. if (dx - dy < 0) SBI(db, B_AXIS); // Motor B direction
  554. #elif ENABLED(COREXZ)
  555. if (dx < 0) SBI(db, X_HEAD); // Save the real Extruder (head) direction in X Axis
  556. if (dy < 0) SBI(db, Y_AXIS);
  557. if (dz < 0) SBI(db, Z_HEAD); // ...and Z
  558. if (dx + dz < 0) SBI(db, A_AXIS); // Motor A direction
  559. if (dx - dz < 0) SBI(db, C_AXIS); // Motor B direction
  560. #else
  561. if (dx < 0) SBI(db, X_AXIS);
  562. if (dy < 0) SBI(db, Y_AXIS);
  563. if (dz < 0) SBI(db, Z_AXIS);
  564. #endif
  565. if (de < 0) SBI(db, E_AXIS);
  566. block->direction_bits = db;
  567. block->active_extruder = extruder;
  568. //enable active axes
  569. #if ENABLED(COREXY)
  570. if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
  571. enable_x();
  572. enable_y();
  573. }
  574. #if DISABLED(Z_LATE_ENABLE)
  575. if (block->steps[Z_AXIS]) enable_z();
  576. #endif
  577. #elif ENABLED(COREXZ)
  578. if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
  579. enable_x();
  580. enable_z();
  581. }
  582. if (block->steps[Y_AXIS]) enable_y();
  583. #else
  584. if (block->steps[X_AXIS]) enable_x();
  585. if (block->steps[Y_AXIS]) enable_y();
  586. #if DISABLED(Z_LATE_ENABLE)
  587. if (block->steps[Z_AXIS]) enable_z();
  588. #endif
  589. #endif
  590. // Enable extruder(s)
  591. if (block->steps[E_AXIS]) {
  592. if (DISABLE_INACTIVE_EXTRUDER) { //enable only selected extruder
  593. for (int i = 0; i < EXTRUDERS; i++)
  594. if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
  595. switch(extruder) {
  596. case 0:
  597. enable_e0();
  598. #if ENABLED(DUAL_X_CARRIAGE)
  599. if (extruder_duplication_enabled) {
  600. enable_e1();
  601. g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
  602. }
  603. #endif
  604. g_uc_extruder_last_move[0] = (BLOCK_BUFFER_SIZE) * 2;
  605. #if EXTRUDERS > 1
  606. if (g_uc_extruder_last_move[1] == 0) disable_e1();
  607. #if EXTRUDERS > 2
  608. if (g_uc_extruder_last_move[2] == 0) disable_e2();
  609. #if EXTRUDERS > 3
  610. if (g_uc_extruder_last_move[3] == 0) disable_e3();
  611. #endif
  612. #endif
  613. #endif
  614. break;
  615. #if EXTRUDERS > 1
  616. case 1:
  617. enable_e1();
  618. g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
  619. if (g_uc_extruder_last_move[0] == 0) disable_e0();
  620. #if EXTRUDERS > 2
  621. if (g_uc_extruder_last_move[2] == 0) disable_e2();
  622. #if EXTRUDERS > 3
  623. if (g_uc_extruder_last_move[3] == 0) disable_e3();
  624. #endif
  625. #endif
  626. break;
  627. #if EXTRUDERS > 2
  628. case 2:
  629. enable_e2();
  630. g_uc_extruder_last_move[2] = (BLOCK_BUFFER_SIZE) * 2;
  631. if (g_uc_extruder_last_move[0] == 0) disable_e0();
  632. if (g_uc_extruder_last_move[1] == 0) disable_e1();
  633. #if EXTRUDERS > 3
  634. if (g_uc_extruder_last_move[3] == 0) disable_e3();
  635. #endif
  636. break;
  637. #if EXTRUDERS > 3
  638. case 3:
  639. enable_e3();
  640. g_uc_extruder_last_move[3] = (BLOCK_BUFFER_SIZE) * 2;
  641. if (g_uc_extruder_last_move[0] == 0) disable_e0();
  642. if (g_uc_extruder_last_move[1] == 0) disable_e1();
  643. if (g_uc_extruder_last_move[2] == 0) disable_e2();
  644. break;
  645. #endif // EXTRUDERS > 3
  646. #endif // EXTRUDERS > 2
  647. #endif // EXTRUDERS > 1
  648. }
  649. }
  650. else { // enable all
  651. enable_e0();
  652. enable_e1();
  653. enable_e2();
  654. enable_e3();
  655. }
  656. }
  657. if (block->steps[E_AXIS])
  658. NOLESS(feed_rate, minimumfeedrate);
  659. else
  660. NOLESS(feed_rate, mintravelfeedrate);
  661. /**
  662. * This part of the code calculates the total length of the movement.
  663. * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
  664. * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
  665. * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
  666. * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
  667. * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
  668. */
  669. #if ENABLED(COREXY)
  670. float delta_mm[6];
  671. delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
  672. delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
  673. delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
  674. delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
  675. delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
  676. #elif ENABLED(COREXZ)
  677. float delta_mm[6];
  678. delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
  679. delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
  680. delta_mm[Z_HEAD] = dz / axis_steps_per_unit[C_AXIS];
  681. delta_mm[A_AXIS] = (dx + dz) / axis_steps_per_unit[A_AXIS];
  682. delta_mm[C_AXIS] = (dx - dz) / axis_steps_per_unit[C_AXIS];
  683. #else
  684. float delta_mm[4];
  685. delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
  686. delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
  687. delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
  688. #endif
  689. delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[extruder] * extruder_multiplier[extruder] / 100.0;
  690. if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
  691. block->millimeters = fabs(delta_mm[E_AXIS]);
  692. }
  693. else {
  694. block->millimeters = sqrt(
  695. #if ENABLED(COREXY)
  696. square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS])
  697. #elif ENABLED(COREXZ)
  698. square(delta_mm[X_HEAD]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_HEAD])
  699. #else
  700. square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS])
  701. #endif
  702. );
  703. }
  704. float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
  705. // Calculate moves/second for this move. No divide by zero due to previous checks.
  706. float inverse_second = feed_rate * inverse_millimeters;
  707. int moves_queued = movesplanned();
  708. // Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
  709. #if ENABLED(OLD_SLOWDOWN) || ENABLED(SLOWDOWN)
  710. bool mq = moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE) / 2;
  711. #if ENABLED(OLD_SLOWDOWN)
  712. if (mq) feed_rate *= 2.0 * moves_queued / (BLOCK_BUFFER_SIZE);
  713. #endif
  714. #if ENABLED(SLOWDOWN)
  715. // segment time im micro seconds
  716. unsigned long segment_time = lround(1000000.0/inverse_second);
  717. if (mq) {
  718. if (segment_time < minsegmenttime) {
  719. // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  720. inverse_second = 1000000.0 / (segment_time + lround(2 * (minsegmenttime - segment_time) / moves_queued));
  721. #ifdef XY_FREQUENCY_LIMIT
  722. segment_time = lround(1000000.0 / inverse_second);
  723. #endif
  724. }
  725. }
  726. #endif
  727. #endif
  728. block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
  729. block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
  730. #if ENABLED(FILAMENT_SENSOR)
  731. //FMM update ring buffer used for delay with filament measurements
  732. if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && delay_index2 > -1) { //only for extruder with filament sensor and if ring buffer is initialized
  733. const int MMD = MAX_MEASUREMENT_DELAY + 1, MMD10 = MMD * 10;
  734. delay_dist += delta_mm[E_AXIS]; // increment counter with next move in e axis
  735. while (delay_dist >= MMD10) delay_dist -= MMD10; // loop around the buffer
  736. while (delay_dist < 0) delay_dist += MMD10;
  737. delay_index1 = delay_dist / 10.0; // calculate index
  738. delay_index1 = constrain(delay_index1, 0, MAX_MEASUREMENT_DELAY); // (already constrained above)
  739. if (delay_index1 != delay_index2) { // moved index
  740. meas_sample = widthFil_to_size_ratio() - 100; // Subtract 100 to reduce magnitude - to store in a signed char
  741. while (delay_index1 != delay_index2) {
  742. // Increment and loop around buffer
  743. if (++delay_index2 >= MMD) delay_index2 -= MMD;
  744. delay_index2 = constrain(delay_index2, 0, MAX_MEASUREMENT_DELAY);
  745. measurement_delay[delay_index2] = meas_sample;
  746. }
  747. }
  748. }
  749. #endif
  750. // Calculate and limit speed in mm/sec for each axis
  751. float current_speed[NUM_AXIS];
  752. float speed_factor = 1.0; //factor <=1 do decrease speed
  753. for (int i = 0; i < NUM_AXIS; i++) {
  754. current_speed[i] = delta_mm[i] * inverse_second;
  755. float cs = fabs(current_speed[i]), mf = max_feedrate[i];
  756. if (cs > mf) speed_factor = min(speed_factor, mf / cs);
  757. }
  758. // Max segement time in us.
  759. #ifdef XY_FREQUENCY_LIMIT
  760. // Check and limit the xy direction change frequency
  761. unsigned char direction_change = block->direction_bits ^ old_direction_bits;
  762. old_direction_bits = block->direction_bits;
  763. segment_time = lround((float)segment_time / speed_factor);
  764. long xs0 = axis_segment_time[X_AXIS][0],
  765. xs1 = axis_segment_time[X_AXIS][1],
  766. xs2 = axis_segment_time[X_AXIS][2],
  767. ys0 = axis_segment_time[Y_AXIS][0],
  768. ys1 = axis_segment_time[Y_AXIS][1],
  769. ys2 = axis_segment_time[Y_AXIS][2];
  770. if (TEST(direction_change, X_AXIS)) {
  771. xs2 = axis_segment_time[X_AXIS][2] = xs1;
  772. xs1 = axis_segment_time[X_AXIS][1] = xs0;
  773. xs0 = 0;
  774. }
  775. xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
  776. if (TEST(direction_change, Y_AXIS)) {
  777. ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
  778. ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
  779. ys0 = 0;
  780. }
  781. ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
  782. long max_x_segment_time = max(xs0, max(xs1, xs2)),
  783. max_y_segment_time = max(ys0, max(ys1, ys2)),
  784. min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
  785. if (min_xy_segment_time < MAX_FREQ_TIME) {
  786. float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME);
  787. speed_factor = min(speed_factor, low_sf);
  788. }
  789. #endif // XY_FREQUENCY_LIMIT
  790. // Correct the speed
  791. if (speed_factor < 1.0) {
  792. for (unsigned char i = 0; i < NUM_AXIS; i++) current_speed[i] *= speed_factor;
  793. block->nominal_speed *= speed_factor;
  794. block->nominal_rate *= speed_factor;
  795. }
  796. // Compute and limit the acceleration rate for the trapezoid generator.
  797. float steps_per_mm = block->step_event_count / block->millimeters;
  798. unsigned long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
  799. if (bsx == 0 && bsy == 0 && bsz == 0) {
  800. block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  801. }
  802. else if (bse == 0) {
  803. block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  804. }
  805. else {
  806. block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  807. }
  808. // Limit acceleration per axis
  809. unsigned long acc_st = block->acceleration_st,
  810. xsteps = axis_steps_per_sqr_second[X_AXIS],
  811. ysteps = axis_steps_per_sqr_second[Y_AXIS],
  812. zsteps = axis_steps_per_sqr_second[Z_AXIS],
  813. esteps = axis_steps_per_sqr_second[E_AXIS],
  814. allsteps = block->step_event_count;
  815. if (xsteps < (acc_st * bsx) / allsteps) acc_st = (xsteps * allsteps) / bsx;
  816. if (ysteps < (acc_st * bsy) / allsteps) acc_st = (ysteps * allsteps) / bsy;
  817. if (zsteps < (acc_st * bsz) / allsteps) acc_st = (zsteps * allsteps) / bsz;
  818. if (esteps < (acc_st * bse) / allsteps) acc_st = (esteps * allsteps) / bse;
  819. block->acceleration_st = acc_st;
  820. block->acceleration = acc_st / steps_per_mm;
  821. block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
  822. #if 0 // Use old jerk for now
  823. // Compute path unit vector
  824. double unit_vec[3];
  825. unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters;
  826. unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters;
  827. unit_vec[Z_AXIS] = delta_mm[Z_AXIS] * inverse_millimeters;
  828. // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
  829. // Let a circle be tangent to both previous and current path line segments, where the junction
  830. // deviation is defined as the distance from the junction to the closest edge of the circle,
  831. // collinear with the circle center. The circular segment joining the two paths represents the
  832. // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
  833. // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
  834. // path width or max_jerk in the previous grbl version. This approach does not actually deviate
  835. // from path, but used as a robust way to compute cornering speeds, as it takes into account the
  836. // nonlinearities of both the junction angle and junction velocity.
  837. double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
  838. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
  839. if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
  840. // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
  841. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
  842. double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
  843. - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
  844. - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
  845. // Skip and use default max junction speed for 0 degree acute junction.
  846. if (cos_theta < 0.95) {
  847. vmax_junction = min(previous_nominal_speed, block->nominal_speed);
  848. // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
  849. if (cos_theta > -0.95) {
  850. // Compute maximum junction velocity based on maximum acceleration and junction deviation
  851. double sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
  852. vmax_junction = min(vmax_junction,
  853. sqrt(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
  854. }
  855. }
  856. }
  857. #endif
  858. // Start with a safe speed
  859. float vmax_junction = max_xy_jerk / 2;
  860. float vmax_junction_factor = 1.0;
  861. float mz2 = max_z_jerk / 2, me2 = max_e_jerk / 2;
  862. float csz = current_speed[Z_AXIS], cse = current_speed[E_AXIS];
  863. if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
  864. if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
  865. vmax_junction = min(vmax_junction, block->nominal_speed);
  866. float safe_speed = vmax_junction;
  867. if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
  868. float dsx = current_speed[X_AXIS] - previous_speed[X_AXIS],
  869. dsy = current_speed[Y_AXIS] - previous_speed[Y_AXIS],
  870. dsz = fabs(csz - previous_speed[Z_AXIS]),
  871. dse = fabs(cse - previous_speed[E_AXIS]),
  872. jerk = sqrt(dsx * dsx + dsy * dsy);
  873. // if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
  874. vmax_junction = block->nominal_speed;
  875. // }
  876. if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
  877. if (dsz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dsz);
  878. if (dse > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / dse);
  879. vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
  880. }
  881. block->max_entry_speed = vmax_junction;
  882. // Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
  883. double v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
  884. block->entry_speed = min(vmax_junction, v_allowable);
  885. // Initialize planner efficiency flags
  886. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  887. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  888. // the current block and next block junction speeds are guaranteed to always be at their maximum
  889. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  890. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  891. // the reverse and forward planners, the corresponding block junction speed will always be at the
  892. // the maximum junction speed and may always be ignored for any speed reduction checks.
  893. block->nominal_length_flag = (block->nominal_speed <= v_allowable);
  894. block->recalculate_flag = true; // Always calculate trapezoid for new block
  895. // Update previous path unit_vector and nominal speed
  896. for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
  897. previous_nominal_speed = block->nominal_speed;
  898. #if ENABLED(ADVANCE)
  899. // Calculate advance rate
  900. if (!bse || (!bsx && !bsy && !bsz)) {
  901. block->advance_rate = 0;
  902. block->advance = 0;
  903. }
  904. else {
  905. long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
  906. float advance = ((STEPS_PER_CUBIC_MM_E) * (EXTRUDER_ADVANCE_K)) * (cse * cse * (EXTRUSION_AREA) * (EXTRUSION_AREA)) * 256;
  907. block->advance = advance;
  908. block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
  909. }
  910. /*
  911. SERIAL_ECHO_START;
  912. SERIAL_ECHOPGM("advance :");
  913. SERIAL_ECHO(block->advance/256.0);
  914. SERIAL_ECHOPGM("advance rate :");
  915. SERIAL_ECHOLN(block->advance_rate/256.0);
  916. */
  917. #endif // ADVANCE
  918. calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
  919. // Move buffer head
  920. block_buffer_head = next_buffer_head;
  921. // Update position
  922. for (int i = 0; i < NUM_AXIS; i++) position[i] = target[i];
  923. planner_recalculate();
  924. st_wake_up();
  925. } // plan_buffer_line()
  926. #if ENABLED(AUTO_BED_LEVELING_FEATURE) && DISABLED(DELTA)
  927. vector_3 plan_get_position() {
  928. vector_3 position = vector_3(st_get_axis_position_mm(X_AXIS), st_get_axis_position_mm(Y_AXIS), st_get_axis_position_mm(Z_AXIS));
  929. //position.debug("in plan_get position");
  930. //plan_bed_level_matrix.debug("in plan_get_position");
  931. matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
  932. //inverse.debug("in plan_get inverse");
  933. position.apply_rotation(inverse);
  934. //position.debug("after rotation");
  935. return position;
  936. }
  937. #endif // AUTO_BED_LEVELING_FEATURE && !DELTA
  938. #if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
  939. void plan_set_position(float x, float y, float z, const float& e)
  940. #else
  941. void plan_set_position(const float& x, const float& y, const float& z, const float& e)
  942. #endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
  943. {
  944. #if ENABLED(MESH_BED_LEVELING)
  945. if (mbl.active) z += mbl.get_z(x, y);
  946. #elif ENABLED(AUTO_BED_LEVELING_FEATURE)
  947. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  948. #endif
  949. long nx = position[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]),
  950. ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]),
  951. nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]),
  952. ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
  953. st_set_position(nx, ny, nz, ne);
  954. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  955. for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = 0.0;
  956. }
  957. void plan_set_e_position(const float& e) {
  958. position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
  959. st_set_e_position(position[E_AXIS]);
  960. }
  961. // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
  962. void reset_acceleration_rates() {
  963. for (int i = 0; i < NUM_AXIS; i++)
  964. axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
  965. }