My Marlin configs for Fabrikator Mini and CTC i3 Pro B
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  1. /**
  2. * Marlin 3D Printer Firmware
  3. * Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
  4. *
  5. * Based on Sprinter and grbl.
  6. * Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
  7. *
  8. * This program is free software: you can redistribute it and/or modify
  9. * it under the terms of the GNU General Public License as published by
  10. * the Free Software Foundation, either version 3 of the License, or
  11. * (at your option) any later version.
  12. *
  13. * This program is distributed in the hope that it will be useful,
  14. * but WITHOUT ANY WARRANTY; without even the implied warranty of
  15. * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  16. * GNU General Public License for more details.
  17. *
  18. * You should have received a copy of the GNU General Public License
  19. * along with this program. If not, see <http://www.gnu.org/licenses/>.
  20. *
  21. */
  22. /**
  23. * planner.h
  24. *
  25. * Buffer movement commands and manage the acceleration profile plan
  26. *
  27. * Derived from Grbl
  28. * Copyright (c) 2009-2011 Simen Svale Skogsrud
  29. */
  30. #ifndef PLANNER_H
  31. #define PLANNER_H
  32. #include "types.h"
  33. #include "enum.h"
  34. #include "Marlin.h"
  35. #if HAS_ABL
  36. #include "vector_3.h"
  37. #endif
  38. enum BlockFlagBit {
  39. // Recalculate trapezoids on entry junction. For optimization.
  40. BLOCK_BIT_RECALCULATE,
  41. // Nominal speed always reached.
  42. // i.e., The segment is long enough, so the nominal speed is reachable if accelerating
  43. // from a safe speed (in consideration of jerking from zero speed).
  44. BLOCK_BIT_NOMINAL_LENGTH,
  45. // Start from a halt at the start of this block, respecting the maximum allowed jerk.
  46. BLOCK_BIT_START_FROM_FULL_HALT,
  47. // The block is busy
  48. BLOCK_BIT_BUSY
  49. };
  50. enum BlockFlag {
  51. BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
  52. BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
  53. BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT),
  54. BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY)
  55. };
  56. /**
  57. * struct block_t
  58. *
  59. * A single entry in the planner buffer.
  60. * Tracks linear movement over multiple axes.
  61. *
  62. * The "nominal" values are as-specified by gcode, and
  63. * may never actually be reached due to acceleration limits.
  64. */
  65. typedef struct {
  66. uint8_t flag; // Block flags (See BlockFlag enum above)
  67. unsigned char active_extruder; // The extruder to move (if E move)
  68. // Fields used by the Bresenham algorithm for tracing the line
  69. int32_t steps[NUM_AXIS]; // Step count along each axis
  70. uint32_t step_event_count; // The number of step events required to complete this block
  71. #if ENABLED(MIXING_EXTRUDER)
  72. uint32_t mix_event_count[MIXING_STEPPERS]; // Scaled step_event_count for the mixing steppers
  73. #endif
  74. int32_t accelerate_until, // The index of the step event on which to stop acceleration
  75. decelerate_after, // The index of the step event on which to start decelerating
  76. acceleration_rate; // The acceleration rate used for acceleration calculation
  77. uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
  78. // Advance extrusion
  79. #if ENABLED(LIN_ADVANCE)
  80. bool use_advance_lead;
  81. int16_t e_speed_multiplier8; // Factorised by 2^8 to avoid float
  82. #elif ENABLED(ADVANCE)
  83. int32_t advance_rate;
  84. volatile int32_t initial_advance;
  85. volatile int32_t final_advance;
  86. float advance;
  87. #endif
  88. // Fields used by the motion planner to manage acceleration
  89. float nominal_speed, // The nominal speed for this block in mm/sec
  90. entry_speed, // Entry speed at previous-current junction in mm/sec
  91. max_entry_speed, // Maximum allowable junction entry speed in mm/sec
  92. millimeters, // The total travel of this block in mm
  93. acceleration; // acceleration mm/sec^2
  94. // Settings for the trapezoid generator
  95. uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec
  96. initial_rate, // The jerk-adjusted step rate at start of block
  97. final_rate, // The minimal rate at exit
  98. acceleration_steps_per_s2; // acceleration steps/sec^2
  99. #if FAN_COUNT > 0
  100. uint32_t fan_speed[FAN_COUNT];
  101. #endif
  102. #if ENABLED(BARICUDA)
  103. uint32_t valve_pressure, e_to_p_pressure;
  104. #endif
  105. } block_t;
  106. #define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
  107. class Planner {
  108. public:
  109. /**
  110. * A ring buffer of moves described in steps
  111. */
  112. static block_t block_buffer[BLOCK_BUFFER_SIZE];
  113. static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
  114. static volatile uint8_t block_buffer_tail;
  115. static float max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second
  116. static float axis_steps_per_mm[NUM_AXIS];
  117. static float steps_to_mm[NUM_AXIS];
  118. static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
  119. static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
  120. static millis_t min_segment_time;
  121. static float min_feedrate_mm_s;
  122. static float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
  123. static float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
  124. static float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
  125. static float max_jerk[XYZE]; // The largest speed change requiring no acceleration
  126. static float min_travel_feedrate_mm_s;
  127. #if HAS_ABL
  128. static bool abl_enabled; // Flag that bed leveling is enabled
  129. static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
  130. #endif
  131. private:
  132. /**
  133. * The current position of the tool in absolute steps
  134. * Recalculated if any axis_steps_per_mm are changed by gcode
  135. */
  136. static long position[NUM_AXIS];
  137. /**
  138. * Speed of previous path line segment
  139. */
  140. static float previous_speed[NUM_AXIS];
  141. /**
  142. * Nominal speed of previous path line segment
  143. */
  144. static float previous_nominal_speed;
  145. /**
  146. * Limit where 64bit math is necessary for acceleration calculation
  147. */
  148. static uint32_t cutoff_long;
  149. #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
  150. /**
  151. * Counters to manage disabling inactive extruders
  152. */
  153. static uint8_t g_uc_extruder_last_move[EXTRUDERS];
  154. #endif // DISABLE_INACTIVE_EXTRUDER
  155. #ifdef XY_FREQUENCY_LIMIT
  156. // Used for the frequency limit
  157. #define MAX_FREQ_TIME long(1000000.0/XY_FREQUENCY_LIMIT)
  158. // Old direction bits. Used for speed calculations
  159. static unsigned char old_direction_bits;
  160. // Segment times (in µs). Used for speed calculations
  161. static long axis_segment_time[2][3];
  162. #endif
  163. public:
  164. /**
  165. * Instance Methods
  166. */
  167. Planner();
  168. void init();
  169. /**
  170. * Static (class) Methods
  171. */
  172. static void reset_acceleration_rates();
  173. static void refresh_positioning();
  174. // Manage fans, paste pressure, etc.
  175. static void check_axes_activity();
  176. /**
  177. * Number of moves currently in the planner
  178. */
  179. static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
  180. static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
  181. #if PLANNER_LEVELING
  182. #define ARG_X float lx
  183. #define ARG_Y float ly
  184. #define ARG_Z float lz
  185. /**
  186. * Apply leveling to transform a cartesian position
  187. * as it will be given to the planner and steppers.
  188. */
  189. static void apply_leveling(float &lx, float &ly, float &lz);
  190. static void apply_leveling(float logical[XYZ]) { apply_leveling(logical[X_AXIS], logical[Y_AXIS], logical[Z_AXIS]); }
  191. static void unapply_leveling(float logical[XYZ]);
  192. #else
  193. #define ARG_X const float &lx
  194. #define ARG_Y const float &ly
  195. #define ARG_Z const float &lz
  196. #endif
  197. /**
  198. * Planner::_buffer_line
  199. *
  200. * Add a new direct linear movement to the buffer.
  201. *
  202. * Leveling and kinematics should be applied ahead of this.
  203. *
  204. * a,b,c,e - target position in mm or degrees
  205. * fr_mm_s - (target) speed of the move (mm/s)
  206. * extruder - target extruder
  207. */
  208. static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
  209. static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
  210. /**
  211. * Add a new linear movement to the buffer.
  212. * The target is NOT translated to delta/scara
  213. *
  214. * Leveling will be applied to input on cartesians.
  215. * Kinematic machines should call buffer_line_kinematic (for leveled moves).
  216. * (Cartesians may also call buffer_line_kinematic.)
  217. *
  218. * lx,ly,lz,e - target position in mm or degrees
  219. * fr_mm_s - (target) speed of the move (mm/s)
  220. * extruder - target extruder
  221. */
  222. static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
  223. #if PLANNER_LEVELING && IS_CARTESIAN
  224. apply_leveling(lx, ly, lz);
  225. #endif
  226. _buffer_line(lx, ly, lz, e, fr_mm_s, extruder);
  227. }
  228. /**
  229. * Add a new linear movement to the buffer.
  230. * The target is cartesian, it's translated to delta/scara if
  231. * needed.
  232. *
  233. * target - x,y,z,e CARTESIAN target in mm
  234. * fr_mm_s - (target) speed of the move (mm/s)
  235. * extruder - target extruder
  236. */
  237. static FORCE_INLINE void buffer_line_kinematic(const float target[XYZE], const float &fr_mm_s, const uint8_t extruder) {
  238. #if PLANNER_LEVELING
  239. float pos[XYZ] = { target[X_AXIS], target[Y_AXIS], target[Z_AXIS] };
  240. apply_leveling(pos);
  241. #else
  242. const float * const pos = target;
  243. #endif
  244. #if IS_KINEMATIC
  245. inverse_kinematics(pos);
  246. _buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], target[E_AXIS], fr_mm_s, extruder);
  247. #else
  248. _buffer_line(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], target[E_AXIS], fr_mm_s, extruder);
  249. #endif
  250. }
  251. /**
  252. * Set the planner.position and individual stepper positions.
  253. * Used by G92, G28, G29, and other procedures.
  254. *
  255. * Multiplies by axis_steps_per_mm[] and does necessary conversion
  256. * for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
  257. *
  258. * Clears previous speed values.
  259. */
  260. static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
  261. #if PLANNER_LEVELING && IS_CARTESIAN
  262. apply_leveling(lx, ly, lz);
  263. #endif
  264. _set_position_mm(lx, ly, lz, e);
  265. }
  266. static void set_position_mm_kinematic(const float position[NUM_AXIS]);
  267. static void set_position_mm(const AxisEnum axis, const float &v);
  268. static FORCE_INLINE void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
  269. static FORCE_INLINE void set_e_position_mm(const float &e) { set_position_mm(E_AXIS, e); }
  270. /**
  271. * Sync from the stepper positions. (e.g., after an interrupted move)
  272. */
  273. static void sync_from_steppers();
  274. /**
  275. * Does the buffer have any blocks queued?
  276. */
  277. static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
  278. /**
  279. * "Discards" the block and "releases" the memory.
  280. * Called when the current block is no longer needed.
  281. */
  282. static void discard_current_block() {
  283. if (blocks_queued())
  284. block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
  285. }
  286. /**
  287. * The current block. NULL if the buffer is empty.
  288. * This also marks the block as busy.
  289. */
  290. static block_t* get_current_block() {
  291. if (blocks_queued()) {
  292. block_t* block = &block_buffer[block_buffer_tail];
  293. SBI(block->flag, BLOCK_BIT_BUSY);
  294. return block;
  295. }
  296. else
  297. return NULL;
  298. }
  299. #if ENABLED(AUTOTEMP)
  300. static float autotemp_max;
  301. static float autotemp_min;
  302. static float autotemp_factor;
  303. static bool autotemp_enabled;
  304. static void getHighESpeed();
  305. static void autotemp_M109();
  306. #endif
  307. private:
  308. /**
  309. * Get the index of the next / previous block in the ring buffer
  310. */
  311. static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
  312. static int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
  313. /**
  314. * Calculate the distance (not time) it takes to accelerate
  315. * from initial_rate to target_rate using the given acceleration:
  316. */
  317. static float estimate_acceleration_distance(const float &initial_rate, const float &target_rate, const float &accel) {
  318. if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
  319. return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
  320. }
  321. /**
  322. * Return the point at which you must start braking (at the rate of -'acceleration') if
  323. * you start at 'initial_rate', accelerate (until reaching the point), and want to end at
  324. * 'final_rate' after traveling 'distance'.
  325. *
  326. * This is used to compute the intersection point between acceleration and deceleration
  327. * in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
  328. */
  329. static float intersection_distance(const float &initial_rate, const float &final_rate, const float &accel, const float &distance) {
  330. if (accel == 0) return 0; // accel was 0, set intersection distance to 0
  331. return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
  332. }
  333. /**
  334. * Calculate the maximum allowable speed at this point, in order
  335. * to reach 'target_velocity' using 'acceleration' within a given
  336. * 'distance'.
  337. */
  338. static float max_allowable_speed(const float &accel, const float &target_velocity, const float &distance) {
  339. return sqrt(sq(target_velocity) - 2 * accel * distance);
  340. }
  341. static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
  342. static void reverse_pass_kernel(block_t* const current, const block_t *next);
  343. static void forward_pass_kernel(const block_t *previous, block_t* const current);
  344. static void reverse_pass();
  345. static void forward_pass();
  346. static void recalculate_trapezoids();
  347. static void recalculate();
  348. };
  349. extern Planner planner;
  350. #endif // PLANNER_H