diff --git a/Marlin/Marlin.h b/Marlin/Marlin.h
index 44a85f78df..7e426d9c7a 100644
--- a/Marlin/Marlin.h
+++ b/Marlin/Marlin.h
@@ -183,7 +183,7 @@ void manage_inactivity(bool ignore_stepper_queue=false);
#define disable_e3() /* nothing */
#endif
-enum AxisEnum {X_AXIS=0, Y_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
+enum AxisEnum {X_AXIS=0, Y_AXIS=1, A_AXIS=0, B_AXIS=1, Z_AXIS=2, E_AXIS=3, X_HEAD=4, Y_HEAD=5};
//X_HEAD and Y_HEAD is used for systems that don't have a 1:1 relationship between X_AXIS and X Head movement, like CoreXY bots.
void FlushSerialRequestResend();
@@ -270,7 +270,7 @@ extern unsigned char fanSpeedSoftPwm;
extern bool filament_sensor; //indicates that filament sensor readings should control extrusion
extern float filament_width_meas; //holds the filament diameter as accurately measured
extern signed char measurement_delay[]; //ring buffer to delay measurement
- extern int delay_index1, delay_index2; //index into ring buffer
+ extern int delay_index1, delay_index2; //ring buffer index. used by planner, temperature, and main code
extern float delay_dist; //delay distance counter
extern int meas_delay_cm; //delay distance
#endif
diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 316c0de2f9..a105548b47 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -77,12 +77,12 @@ float mintravelfeedrate;
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#ifdef ENABLE_AUTO_BED_LEVELING
-// this holds the required transform to compensate for bed level
-matrix_3x3 plan_bed_level_matrix = {
- 1.0, 0.0, 0.0,
- 0.0, 1.0, 0.0,
- 0.0, 0.0, 1.0
-};
+ // this holds the required transform to compensate for bed level
+ matrix_3x3 plan_bed_level_matrix = {
+ 1.0, 0.0, 0.0,
+ 0.0, 1.0, 0.0,
+ 0.0, 0.0, 1.0
+ };
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
// The current position of the tool in absolute steps
@@ -91,10 +91,10 @@ static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
static float previous_nominal_speed; // Nominal speed of previous path line segment
#ifdef AUTOTEMP
-float autotemp_max=250;
-float autotemp_min=210;
-float autotemp_factor=0.1;
-bool autotemp_enabled=false;
+ float autotemp_max = 250;
+ float autotemp_min = 210;
+ float autotemp_factor = 0.1;
+ bool autotemp_enabled = false;
#endif
unsigned char g_uc_extruder_last_move[4] = {0,0,0,0};
@@ -110,55 +110,35 @@ volatile unsigned char block_buffer_tail; // Index of the block to pro
//=============================private variables ============================
//===========================================================================
#ifdef PREVENT_DANGEROUS_EXTRUDE
-float extrude_min_temp=EXTRUDE_MINTEMP;
+ float extrude_min_temp = EXTRUDE_MINTEMP;
#endif
#ifdef XY_FREQUENCY_LIMIT
-#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
-// Used for the frequency limit
-static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
-static long x_segment_time[3]={MAX_FREQ_TIME + 1,0,0}; // Segment times (in us). Used for speed calculations
-static long y_segment_time[3]={MAX_FREQ_TIME + 1,0,0};
+ // Used for the frequency limit
+ #define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
+ // Old direction bits. Used for speed calculations
+ static unsigned char old_direction_bits = 0;
+ // Segment times (in µs). Used for speed calculations
+ static long axis_segment_time[2][3] = { {MAX_FREQ_TIME+1,0,0}, {MAX_FREQ_TIME+1,0,0} };
#endif
#ifdef FILAMENT_SENSOR
- static char meas_sample; //temporary variable to hold filament measurement sample
+ static char meas_sample; //temporary variable to hold filament measurement sample
#endif
-// Returns the index of the next block in the ring buffer
-// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
-static int8_t next_block_index(int8_t block_index) {
- block_index++;
- if (block_index == BLOCK_BUFFER_SIZE) {
- block_index = 0;
- }
- return(block_index);
-}
-
-
-// Returns the index of the previous block in the ring buffer
-static int8_t prev_block_index(int8_t block_index) {
- if (block_index == 0) {
- block_index = BLOCK_BUFFER_SIZE;
- }
- block_index--;
- return(block_index);
-}
+// Get the next / previous index of the next block in the ring buffer
+// NOTE: Using & here (not %) because BLOCK_BUFFER_SIZE is always a power of 2
+FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
+FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
//===========================================================================
-//=============================functions ============================
+//================================ Functions ================================
//===========================================================================
// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
// given acceleration:
-FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
-{
- if (acceleration!=0) {
- return((target_rate*target_rate-initial_rate*initial_rate)/
- (2.0*acceleration));
- }
- else {
- return 0.0; // acceleration was 0, set acceleration distance to 0
- }
+FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
+ if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
+ return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
}
// This function gives you the point at which you must start braking (at the rate of -acceleration) if
@@ -166,67 +146,55 @@ FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float targ
// a total travel of distance. This can be used to compute the intersection point between acceleration and
// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
-FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
-{
- if (acceleration!=0) {
- return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
- (4.0*acceleration) );
- }
- else {
- return 0.0; // acceleration was 0, set intersection distance to 0
- }
+FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
+ if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
+ return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4);
}
// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exit_factor) {
- unsigned long initial_rate = ceil(block->nominal_rate*entry_factor); // (step/min)
- unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
+ unsigned long initial_rate = ceil(block->nominal_rate * entry_factor); // (step/min)
+ unsigned long final_rate = ceil(block->nominal_rate * exit_factor); // (step/min)
// Limit minimal step rate (Otherwise the timer will overflow.)
- if(initial_rate <120) {
- initial_rate=120;
- }
- if(final_rate < 120) {
- final_rate=120;
- }
+ if (initial_rate < 120) initial_rate = 120;
+ if (final_rate < 120) final_rate = 120;
long acceleration = block->acceleration_st;
- int32_t accelerate_steps =
- ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
- int32_t decelerate_steps =
- floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
+ int32_t accelerate_steps = ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
+ int32_t decelerate_steps = floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
// Calculate the size of Plateau of Nominal Rate.
- int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
+ int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
// have to use intersection_distance() to calculate when to abort acceleration and start braking
// in order to reach the final_rate exactly at the end of this block.
if (plateau_steps < 0) {
accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
- accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
- 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)
+ accelerate_steps = max(accelerate_steps, 0); // Check limits due to numerical round-off
+ 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)
plateau_steps = 0;
}
#ifdef ADVANCE
- volatile long initial_advance = block->advance*entry_factor*entry_factor;
- volatile long final_advance = block->advance*exit_factor*exit_factor;
+ volatile long initial_advance = block->advance * entry_factor * entry_factor;
+ volatile long final_advance = block->advance * exit_factor * exit_factor;
#endif // ADVANCE
// block->accelerate_until = accelerate_steps;
// block->decelerate_after = accelerate_steps+plateau_steps;
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
- if(block->busy == false) { // Don't update variables if block is busy.
+ if (!block->busy) { // Don't update variables if block is busy.
block->accelerate_until = accelerate_steps;
block->decelerate_after = accelerate_steps+plateau_steps;
block->initial_rate = initial_rate;
block->final_rate = final_rate;
-#ifdef ADVANCE
- block->initial_advance = initial_advance;
- block->final_advance = final_advance;
-#endif //ADVANCE
+ #ifdef ADVANCE
+ block->initial_advance = initial_advance;
+ block->final_advance = final_advance;
+ #endif
}
CRITICAL_SECTION_END;
}
@@ -234,7 +202,7 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
// acceleration within the allotted distance.
FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
- return sqrt(target_velocity*target_velocity-2*acceleration*distance);
+ return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
}
// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
@@ -248,9 +216,7 @@ FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity
// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
- if(!current) {
- return;
- }
+ if (!current) return;
if (next) {
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
@@ -260,9 +226,9 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
// If nominal length true, max junction speed is guaranteed to be reached. Only compute
// for max allowable speed if block is decelerating and nominal length is false.
- if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
- current->entry_speed = min( current->max_entry_speed,
- max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
+ if (!current->nominal_length_flag && current->max_entry_speed > next->entry_speed) {
+ current->entry_speed = min(current->max_entry_speed,
+ max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
}
else {
current->entry_speed = current->max_entry_speed;
@@ -280,15 +246,14 @@ void planner_reverse_pass() {
//Make a local copy of block_buffer_tail, because the interrupt can alter it
CRITICAL_SECTION_START;
- unsigned char tail = block_buffer_tail;
+ unsigned char tail = block_buffer_tail;
CRITICAL_SECTION_END
- if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
- block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
- block_t *block[3] = {
- NULL, NULL, NULL };
- while(block_index != tail) {
- block_index = prev_block_index(block_index);
+ if (BLOCK_MOD(block_buffer_head - tail + BLOCK_BUFFER_SIZE) > 3) { // moves queued
+ block_index = BLOCK_MOD(block_buffer_head - 3);
+ block_t *block[3] = { NULL, NULL, NULL };
+ while (block_index != tail) {
+ block_index = prev_block_index(block_index);
block[2]= block[1];
block[1]= block[0];
block[0] = &block_buffer[block_index];
@@ -299,9 +264,7 @@ void planner_reverse_pass() {
// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
- if(!previous) {
- return;
- }
+ if (!previous) return;
// If the previous block is an acceleration block, but it is not long enough to complete the
// full speed change within the block, we need to adjust the entry speed accordingly. Entry
@@ -309,8 +272,8 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
if (!previous->nominal_length_flag) {
if (previous->entry_speed < current->entry_speed) {
- double entry_speed = min( current->entry_speed,
- max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
+ double entry_speed = min(current->entry_speed,
+ max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
// Check for junction speed change
if (current->entry_speed != entry_speed) {
@@ -321,18 +284,17 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
}
}
-// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
+// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
// implements the forward pass.
void planner_forward_pass() {
uint8_t block_index = block_buffer_tail;
- block_t *block[3] = {
- NULL, NULL, NULL };
+ block_t *block[3] = { NULL, NULL, NULL };
- while(block_index != block_buffer_head) {
+ while (block_index != block_buffer_head) {
block[0] = block[1];
block[1] = block[2];
block[2] = &block_buffer[block_index];
- planner_forward_pass_kernel(block[0],block[1],block[2]);
+ planner_forward_pass_kernel(block[0], block[1], block[2]);
block_index = next_block_index(block_index);
}
planner_forward_pass_kernel(block[1], block[2], NULL);
@@ -346,22 +308,23 @@ void planner_recalculate_trapezoids() {
block_t *current;
block_t *next = NULL;
- while(block_index != block_buffer_head) {
+ while (block_index != block_buffer_head) {
current = next;
next = &block_buffer[block_index];
if (current) {
// Recalculate if current block entry or exit junction speed has changed.
if (current->recalculate_flag || next->recalculate_flag) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
- calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
- next->entry_speed/current->nominal_speed);
+ calculate_trapezoid_for_block(current,
+ current->entry_speed / current->nominal_speed,
+ next->entry_speed / current->nominal_speed);
current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
}
}
block_index = next_block_index( block_index );
}
// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
- if(next != NULL) {
+ if (next) {
calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
MINIMUM_PLANNER_SPEED/next->nominal_speed);
next->recalculate_flag = false;
@@ -392,148 +355,120 @@ void planner_recalculate() {
}
void plan_init() {
- block_buffer_head = 0;
- block_buffer_tail = 0;
+ block_buffer_head = block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
- previous_speed[0] = 0.0;
- previous_speed[1] = 0.0;
- previous_speed[2] = 0.0;
- previous_speed[3] = 0.0;
+ for (int i=0; i<NUM_AXIS; i++) previous_speed[i] = 0.0;
previous_nominal_speed = 0.0;
}
-
-
#ifdef AUTOTEMP
-void getHighESpeed()
-{
- static float oldt=0;
- if(!autotemp_enabled){
- return;
- }
- if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
- return; //do nothing
- }
+ void getHighESpeed() {
+ static float oldt = 0;
- float high=0.0;
- uint8_t block_index = block_buffer_tail;
+ if (!autotemp_enabled) return;
+ if (degTargetHotend0() + 2 < autotemp_min) return; // probably temperature set to zero.
- while(block_index != block_buffer_head) {
- if((block_buffer[block_index].steps_x != 0) ||
- (block_buffer[block_index].steps_y != 0) ||
- (block_buffer[block_index].steps_z != 0)) {
- float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
- //se; mm/sec;
- if(se>high)
- {
- high=se;
+ float high = 0.0;
+ uint8_t block_index = block_buffer_tail;
+
+ while (block_index != block_buffer_head) {
+ if ((block_buffer[block_index].steps[X_AXIS] != 0) ||
+ (block_buffer[block_index].steps[Y_AXIS] != 0) ||
+ (block_buffer[block_index].steps[Z_AXIS] != 0)) {
+ float se=(float(block_buffer[block_index].steps[E_AXIS])/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
+ //se; mm/sec;
+ if (se > high) high = se;
}
+ block_index = next_block_index(block_index);
}
- block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
- }
- float g=autotemp_min+high*autotemp_factor;
- float t=g;
- if(t<autotemp_min)
- t=autotemp_min;
- if(t>autotemp_max)
- t=autotemp_max;
- if(oldt>t)
- {
- t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
+ float t = autotemp_min + high * autotemp_factor;
+ if (t < autotemp_min) t = autotemp_min;
+ if (t > autotemp_max) t = autotemp_max;
+ if (oldt > t) t = AUTOTEMP_OLDWEIGHT * oldt + (1 - AUTOTEMP_OLDWEIGHT) * t;
+ oldt = t;
+ setTargetHotend0(t);
}
- oldt=t;
- setTargetHotend0(t);
-}
#endif
-void check_axes_activity()
-{
- unsigned char x_active = 0;
- unsigned char y_active = 0;
- unsigned char z_active = 0;
- unsigned char e_active = 0;
- unsigned char tail_fan_speed = fanSpeed;
+void check_axes_activity() {
+ unsigned char axis_active[NUM_AXIS],
+ tail_fan_speed = fanSpeed;
#ifdef BARICUDA
- unsigned char tail_valve_pressure = ValvePressure;
- unsigned char tail_e_to_p_pressure = EtoPPressure;
+ unsigned char tail_valve_pressure = ValvePressure,
+ tail_e_to_p_pressure = EtoPPressure;
#endif
block_t *block;
- if(block_buffer_tail != block_buffer_head)
- {
+ if (blocks_queued()) {
uint8_t block_index = block_buffer_tail;
tail_fan_speed = block_buffer[block_index].fan_speed;
#ifdef BARICUDA
- tail_valve_pressure = block_buffer[block_index].valve_pressure;
- tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
+ tail_valve_pressure = block_buffer[block_index].valve_pressure;
+ tail_e_to_p_pressure = block_buffer[block_index].e_to_p_pressure;
#endif
- while(block_index != block_buffer_head)
- {
+ while (block_index != block_buffer_head) {
block = &block_buffer[block_index];
- if(block->steps_x != 0) x_active++;
- if(block->steps_y != 0) y_active++;
- if(block->steps_z != 0) z_active++;
- if(block->steps_e != 0) e_active++;
- block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
+ for (int i=0; i<NUM_AXIS; i++) if (block->steps[i]) axis_active[i]++;
+ block_index = next_block_index(block_index);
}
}
- if((DISABLE_X) && (x_active == 0)) disable_x();
- if((DISABLE_Y) && (y_active == 0)) disable_y();
- if((DISABLE_Z) && (z_active == 0)) disable_z();
- if((DISABLE_E) && (e_active == 0))
- {
+ if (DISABLE_X && !axis_active[X_AXIS]) disable_x();
+ if (DISABLE_Y && !axis_active[Y_AXIS]) disable_y();
+ if (DISABLE_Z && !axis_active[Z_AXIS]) disable_z();
+ if (DISABLE_E && !axis_active[E_AXIS]) {
disable_e0();
disable_e1();
- disable_e2();
+ disable_e2();
disable_e3();
}
-#if defined(FAN_PIN) && FAN_PIN > -1
- #ifdef FAN_KICKSTART_TIME
- static unsigned long fan_kick_end;
- if (tail_fan_speed) {
- if (fan_kick_end == 0) {
- // Just starting up fan - run at full power.
- fan_kick_end = millis() + FAN_KICKSTART_TIME;
- tail_fan_speed = 255;
- } else if (fan_kick_end > millis())
- // Fan still spinning up.
- tail_fan_speed = 255;
- } else {
- fan_kick_end = 0;
- }
- #endif//FAN_KICKSTART_TIME
- #ifdef FAN_SOFT_PWM
- fanSpeedSoftPwm = tail_fan_speed;
- #else
- analogWrite(FAN_PIN,tail_fan_speed);
- #endif//!FAN_SOFT_PWM
-#endif//FAN_PIN > -1
-#ifdef AUTOTEMP
- getHighESpeed();
-#endif
-#ifdef BARICUDA
- #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1
+ #if defined(FAN_PIN) && FAN_PIN > -1 // HAS_FAN
+ #ifdef FAN_KICKSTART_TIME
+ static unsigned long fan_kick_end;
+ if (tail_fan_speed) {
+ if (fan_kick_end == 0) {
+ // Just starting up fan - run at full power.
+ fan_kick_end = millis() + FAN_KICKSTART_TIME;
+ tail_fan_speed = 255;
+ } else if (fan_kick_end > millis())
+ // Fan still spinning up.
+ tail_fan_speed = 255;
+ } else {
+ fan_kick_end = 0;
+ }
+ #endif//FAN_KICKSTART_TIME
+ #ifdef FAN_SOFT_PWM
+ fanSpeedSoftPwm = tail_fan_speed;
+ #else
+ analogWrite(FAN_PIN, tail_fan_speed);
+ #endif //!FAN_SOFT_PWM
+ #endif //FAN_PIN > -1
+
+ #ifdef AUTOTEMP
+ getHighESpeed();
+ #endif
+
+ #ifdef BARICUDA
+ #if defined(HEATER_1_PIN) && HEATER_1_PIN > -1 // HAS_HEATER_1
analogWrite(HEATER_1_PIN,tail_valve_pressure);
- #endif
-
- #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1
+ #endif
+ #if defined(HEATER_2_PIN) && HEATER_2_PIN > -1 // HAS_HEATER_2
analogWrite(HEATER_2_PIN,tail_e_to_p_pressure);
+ #endif
#endif
-#endif
}
float junction_deviation = 0.1;
-// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
+// Add a new linear movement to the buffer. steps[X_AXIS], _y and _z is the absolute position in
// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
// calculation the caller must also provide the physical length of the line in millimeters.
#ifdef ENABLE_AUTO_BED_LEVELING
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
+ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
#else
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
+ void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder)
#endif //ENABLE_AUTO_BED_LEVELING
{
// Calculate the buffer head after we push this byte
@@ -541,45 +476,45 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
- while(block_buffer_tail == next_buffer_head)
- {
+ while(block_buffer_tail == next_buffer_head) {
manage_heater();
manage_inactivity();
lcd_update();
}
-#ifdef ENABLE_AUTO_BED_LEVELING
- apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
-#endif // ENABLE_AUTO_BED_LEVELING
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+ #endif
// The target position of the tool in absolute steps
// Calculate target position in absolute steps
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
- long target[4];
- target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
- target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
- target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
- target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
+ long target[NUM_AXIS];
+ target[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
+ target[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
+ target[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
+ target[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
+
+ float dx = target[X_AXIS] - position[X_AXIS],
+ dy = target[Y_AXIS] - position[Y_AXIS],
+ dz = target[Z_AXIS] - position[Z_AXIS],
+ de = target[E_AXIS] - position[E_AXIS];
#ifdef PREVENT_DANGEROUS_EXTRUDE
- if(target[E_AXIS]!=position[E_AXIS])
- {
- if(degHotend(active_extruder)<extrude_min_temp)
- {
- position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+ if (de) {
+ if (degHotend(active_extruder) < extrude_min_temp) {
+ position[E_AXIS] = target[E_AXIS]; //behave as if the move really took place, but ignore E part
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
+ }
+ #ifdef PREVENT_LENGTHY_EXTRUDE
+ if (labs(de) > axis_steps_per_unit[E_AXIS] * EXTRUDE_MAXLENGTH) {
+ position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
+ SERIAL_ECHO_START;
+ SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
+ }
+ #endif
}
-
- #ifdef PREVENT_LENGTHY_EXTRUDE
- if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
- {
- position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
- SERIAL_ECHO_START;
- SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
- }
- #endif
- }
#endif
// Prepare to set up new block
@@ -589,139 +524,122 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
block->busy = false;
// Number of steps for each axis
-#ifndef COREXY
-// default non-h-bot planning
-block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
-block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
-#else
-// corexy planning
-// these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
-block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
-block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
-#endif
- block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
- block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
- block->steps_e *= volumetric_multiplier[active_extruder];
- block->steps_e *= extrudemultiply;
- block->steps_e /= 100;
- block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
+ #ifdef COREXY
+ // corexy planning
+ // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
+ block->steps[A_AXIS] = labs(dx + dy);
+ block->steps[B_AXIS] = labs(dx - dy);
+ #else
+ // default non-h-bot planning
+ block->steps[X_AXIS] = labs(dx);
+ block->steps[Y_AXIS] = labs(dy);
+ #endif
+
+ block->steps[Z_AXIS] = labs(dz);
+ block->steps[E_AXIS] = labs(de);
+ block->steps[E_AXIS] *= volumetric_multiplier[active_extruder];
+ block->steps[E_AXIS] *= extrudemultiply;
+ block->steps[E_AXIS] /= 100;
+ block->step_event_count = max(block->steps[X_AXIS], max(block->steps[Y_AXIS], max(block->steps[Z_AXIS], block->steps[E_AXIS])));
// Bail if this is a zero-length block
- if (block->step_event_count <= dropsegments)
- {
- return;
- }
+ if (block->step_event_count <= dropsegments) return;
block->fan_speed = fanSpeed;
#ifdef BARICUDA
- block->valve_pressure = ValvePressure;
- block->e_to_p_pressure = EtoPPressure;
+ block->valve_pressure = ValvePressure;
+ block->e_to_p_pressure = EtoPPressure;
#endif
// Compute direction bits for this block
- block->direction_bits = 0;
-#ifndef COREXY
- if (target[X_AXIS] < position[X_AXIS])
- {
- block->direction_bits |= BIT(X_AXIS);
- }
- if (target[Y_AXIS] < position[Y_AXIS])
- {
- block->direction_bits |= BIT(Y_AXIS);
- }
-#else
- if (target[X_AXIS] < position[X_AXIS])
- {
- block->direction_bits |= BIT(X_HEAD); //AlexBorro: Save the real Extruder (head) direction in X Axis
- }
- if (target[Y_AXIS] < position[Y_AXIS])
- {
- block->direction_bits |= BIT(Y_HEAD); //AlexBorro: Save the real Extruder (head) direction in Y Axis
- }
- if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
- {
- block->direction_bits |= BIT(X_AXIS); //AlexBorro: Motor A direction (Incorrectly implemented as X_AXIS)
- }
- if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
- {
- block->direction_bits |= BIT(Y_AXIS); //AlexBorro: Motor B direction (Incorrectly implemented as Y_AXIS)
- }
-#endif
- if (target[Z_AXIS] < position[Z_AXIS])
- {
- block->direction_bits |= BIT(Z_AXIS);
- }
- if (target[E_AXIS] < position[E_AXIS])
- {
- block->direction_bits |= BIT(E_AXIS);
- }
+ uint8_t db = 0;
+ #ifdef COREXY
+ if (dx < 0) db |= BIT(X_HEAD); // Save the real Extruder (head) direction in X Axis
+ if (dy < 0) db |= BIT(Y_HEAD); // ...and Y
+ if (dx + dy < 0) db |= BIT(A_AXIS); // Motor A direction
+ if (dx - dy < 0) db |= BIT(B_AXIS); // Motor B direction
+ #else
+ if (dx < 0) db |= BIT(X_AXIS);
+ if (dy < 0) db |= BIT(Y_AXIS);
+ #endif
+ if (dz < 0) db |= BIT(Z_AXIS);
+ if (de < 0) db |= BIT(E_AXIS);
+ block->direction_bits = db;
block->active_extruder = extruder;
//enable active axes
#ifdef COREXY
- if((block->steps_x != 0) || (block->steps_y != 0))
- {
- enable_x();
- enable_y();
- }
+ if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
+ enable_x();
+ enable_y();
+ }
#else
- if(block->steps_x != 0) enable_x();
- if(block->steps_y != 0) enable_y();
+ if (block->steps[X_AXIS]) enable_x();
+ if (block->steps[Y_AXIS]) enable_y();
+ #endif
+
+ #ifndef Z_LATE_ENABLE
+ if (block->steps[Z_AXIS]) enable_z();
#endif
-#ifndef Z_LATE_ENABLE
- if(block->steps_z != 0) enable_z();
-#endif
// Enable extruder(s)
- if(block->steps_e != 0)
- {
- if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
- {
+ if (block->steps[E_AXIS]) {
+ if (DISABLE_INACTIVE_EXTRUDER) { //enable only selected extruder
- if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
- if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
- if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
- if(g_uc_extruder_last_move[3] > 0) g_uc_extruder_last_move[3]--;
+ for (int i=0; i<EXTRUDERS; i++)
+ if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
- switch(extruder)
- {
- case 0:
- enable_e0();
- g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
-
- if(g_uc_extruder_last_move[1] == 0) disable_e1();
- if(g_uc_extruder_last_move[2] == 0) disable_e2();
- if(g_uc_extruder_last_move[3] == 0) disable_e3();
+ switch(extruder) {
+ case 0:
+ enable_e0();
+ g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE * 2;
+ #if EXTRUDERS > 1
+ if (g_uc_extruder_last_move[1] == 0) disable_e1();
+ #if EXTRUDERS > 2
+ if (g_uc_extruder_last_move[2] == 0) disable_e2();
+ #if EXTRUDERS > 3
+ if (g_uc_extruder_last_move[3] == 0) disable_e3();
+ #endif
+ #endif
+ #endif
break;
- case 1:
- enable_e1();
- g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
-
- if(g_uc_extruder_last_move[0] == 0) disable_e0();
- if(g_uc_extruder_last_move[2] == 0) disable_e2();
- if(g_uc_extruder_last_move[3] == 0) disable_e3();
- break;
- case 2:
- enable_e2();
- g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
-
- if(g_uc_extruder_last_move[0] == 0) disable_e0();
- if(g_uc_extruder_last_move[1] == 0) disable_e1();
- if(g_uc_extruder_last_move[3] == 0) disable_e3();
- break;
- case 3:
- enable_e3();
- g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
-
- if(g_uc_extruder_last_move[0] == 0) disable_e0();
- if(g_uc_extruder_last_move[1] == 0) disable_e1();
- if(g_uc_extruder_last_move[2] == 0) disable_e2();
- break;
+ #if EXTRUDERS > 1
+ case 1:
+ enable_e1();
+ g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
+ if (g_uc_extruder_last_move[0] == 0) disable_e0();
+ #if EXTRUDERS > 2
+ if (g_uc_extruder_last_move[2] == 0) disable_e2();
+ #if EXTRUDERS > 3
+ if (g_uc_extruder_last_move[3] == 0) disable_e3();
+ #endif
+ #endif
+ break;
+ #if EXTRUDERS > 2
+ case 2:
+ enable_e2();
+ g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
+ if (g_uc_extruder_last_move[0] == 0) disable_e0();
+ if (g_uc_extruder_last_move[1] == 0) disable_e1();
+ #if EXTRUDERS > 3
+ if (g_uc_extruder_last_move[3] == 0) disable_e3();
+ #endif
+ break;
+ #if EXTRUDERS > 3
+ case 3:
+ enable_e3();
+ g_uc_extruder_last_move[3] = BLOCK_BUFFER_SIZE*2;
+ if (g_uc_extruder_last_move[0] == 0) disable_e0();
+ if (g_uc_extruder_last_move[1] == 0) disable_e1();
+ if (g_uc_extruder_last_move[2] == 0) disable_e2();
+ break;
+ #endif // EXTRUDERS > 3
+ #endif // EXTRUDERS > 2
+ #endif // EXTRUDERS > 1
}
}
- else //enable all
- {
+ else { // enable all
enable_e0();
enable_e1();
enable_e2();
@@ -729,276 +647,256 @@ block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-positi
}
}
- if (block->steps_e == 0)
- {
- if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
+ if (block->steps[E_AXIS]) {
+ if (feed_rate < minimumfeedrate) feed_rate = minimumfeedrate;
}
- else
- {
- if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
- }
+ else if (feed_rate < mintravelfeedrate) feed_rate = mintravelfeedrate;
-/* This part of the code calculates the total length of the movement.
-For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
-But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
-and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
-So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
-Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
-*/
- #ifndef COREXY
- float delta_mm[4];
- delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
- delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
- #else
+ /**
+ * This part of the code calculates the total length of the movement.
+ * For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
+ * But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
+ * and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
+ * So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
+ * Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
+ */
+ #ifdef COREXY
float delta_mm[6];
- delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
- delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
- delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
- delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
+ delta_mm[X_HEAD] = dx / axis_steps_per_unit[A_AXIS];
+ delta_mm[Y_HEAD] = dy / axis_steps_per_unit[B_AXIS];
+ delta_mm[A_AXIS] = (dx + dy) / axis_steps_per_unit[A_AXIS];
+ delta_mm[B_AXIS] = (dx - dy) / axis_steps_per_unit[B_AXIS];
+ #else
+ float delta_mm[4];
+ delta_mm[X_AXIS] = dx / axis_steps_per_unit[X_AXIS];
+ delta_mm[Y_AXIS] = dy / axis_steps_per_unit[Y_AXIS];
#endif
- delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
- delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*volumetric_multiplier[active_extruder]*extrudemultiply/100.0;
- if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
- {
+ delta_mm[Z_AXIS] = dz / axis_steps_per_unit[Z_AXIS];
+ delta_mm[E_AXIS] = (de / axis_steps_per_unit[E_AXIS]) * volumetric_multiplier[active_extruder] * extrudemultiply / 100.0;
+
+ if (block->steps[X_AXIS] <= dropsegments && block->steps[Y_AXIS] <= dropsegments && block->steps[Z_AXIS] <= dropsegments) {
block->millimeters = fabs(delta_mm[E_AXIS]);
}
- else
- {
- #ifndef COREXY
- block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
- #else
- block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
- #endif
+ else {
+ block->millimeters = sqrt(
+ #ifdef COREXY
+ square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD])
+ #else
+ square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS])
+ #endif
+ + square(delta_mm[Z_AXIS])
+ );
}
- float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
+ float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
- // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
+ // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
float inverse_second = feed_rate * inverse_millimeters;
- int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
+ int moves_queued = movesplanned();
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
-#ifdef OLD_SLOWDOWN
- if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1)
- feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
-#endif
+ bool mq = moves_queued > 1 && moves_queued < BLOCK_BUFFER_SIZE / 2;
+ #ifdef OLD_SLOWDOWN
+ if (mq) feed_rate *= 2.0 * moves_queued / BLOCK_BUFFER_SIZE;
+ #endif
-#ifdef SLOWDOWN
- // segment time im micro seconds
- unsigned long segment_time = lround(1000000.0/inverse_second);
- if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5)))
- {
- if (segment_time < minsegmenttime)
- { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
- inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
- #ifdef XY_FREQUENCY_LIMIT
- segment_time = lround(1000000.0/inverse_second);
- #endif
+ #ifdef SLOWDOWN
+ // segment time im micro seconds
+ unsigned long segment_time = lround(1000000.0/inverse_second);
+ if (mq) {
+ if (segment_time < minsegmenttime) {
+ // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
+ inverse_second = 1000000.0 / (segment_time + lround(2 * (minsegmenttime - segment_time) / moves_queued));
+ #ifdef XY_FREQUENCY_LIMIT
+ segment_time = lround(1000000.0 / inverse_second);
+ #endif
+ }
}
- }
-#endif
+ #endif
// END OF SLOW DOWN SECTION
-
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
-#ifdef FILAMENT_SENSOR
- //FMM update ring buffer used for delay with filament measurements
+ #ifdef FILAMENT_SENSOR
+ //FMM update ring buffer used for delay with filament measurements
-
- if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1)) //only for extruder with filament sensor and if ring buffer is initialized
- {
- delay_dist = delay_dist + delta_mm[E_AXIS]; //increment counter with next move in e axis
-
- while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1))) //check if counter is over max buffer size in mm
- delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
- while (delay_dist<0)
- delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
-
- delay_index1=delay_dist/10.0; //calculate index
-
- //ensure the number is within range of the array after converting from floating point
- if(delay_index1<0)
- delay_index1=0;
- else if (delay_index1>MAX_MEASUREMENT_DELAY)
- delay_index1=MAX_MEASUREMENT_DELAY;
-
- if(delay_index1 != delay_index2) //moved index
- {
- meas_sample=widthFil_to_size_ratio()-100; //subtract off 100 to reduce magnitude - to store in a signed char
- }
- while( delay_index1 != delay_index2)
- {
- delay_index2 = delay_index2 + 1;
- if(delay_index2>MAX_MEASUREMENT_DELAY)
- delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1); //loop around buffer when incrementing
- if(delay_index2<0)
- delay_index2=0;
- else if (delay_index2>MAX_MEASUREMENT_DELAY)
- delay_index2=MAX_MEASUREMENT_DELAY;
-
- measurement_delay[delay_index2]=meas_sample;
- }
-
-
- }
-#endif
+ if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && delay_index2 > -1) { //only for extruder with filament sensor and if ring buffer is initialized
+ const int MMD = MAX_MEASUREMENT_DELAY + 1, MMD10 = MMD * 10;
+
+ delay_dist += delta_mm[E_AXIS]; // increment counter with next move in e axis
+ while (delay_dist >= MMD10) delay_dist -= MMD10; // loop around the buffer
+ while (delay_dist < 0) delay_dist += MMD10;
+
+ delay_index1 = delay_dist / 10.0; // calculate index
+ delay_index1 = constrain(delay_index1, 0, MAX_MEASUREMENT_DELAY); // (already constrained above)
+
+ if (delay_index1 != delay_index2) { // moved index
+ meas_sample = widthFil_to_size_ratio() - 100; // Subtract 100 to reduce magnitude - to store in a signed char
+ while (delay_index1 != delay_index2) {
+ // Increment and loop around buffer
+ if (++delay_index2 >= MMD) delay_index2 -= MMD;
+ delay_index2 = constrain(delay_index2, 0, MAX_MEASUREMENT_DELAY);
+ measurement_delay[delay_index2] = meas_sample;
+ }
+ }
+ }
+ #endif
// Calculate and limit speed in mm/sec for each axis
- float current_speed[4];
+ float current_speed[NUM_AXIS];
float speed_factor = 1.0; //factor <=1 do decrease speed
- for(int i=0; i < 4; i++)
- {
+ for (int i = 0; i < NUM_AXIS; i++) {
current_speed[i] = delta_mm[i] * inverse_second;
- if(fabs(current_speed[i]) > max_feedrate[i])
- speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
+ float cs = fabs(current_speed[i]), mf = max_feedrate[i];
+ if (cs > mf) speed_factor = min(speed_factor, mf / cs);
}
// Max segement time in us.
-#ifdef XY_FREQUENCY_LIMIT
-#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
- // Check and limit the xy direction change frequency
- unsigned char direction_change = block->direction_bits ^ old_direction_bits;
- old_direction_bits = block->direction_bits;
- segment_time = lround((float)segment_time / speed_factor);
+ #ifdef XY_FREQUENCY_LIMIT
+ #define MAX_FREQ_TIME (1000000.0 / XY_FREQUENCY_LIMIT)
+
+ // Check and limit the xy direction change frequency
+ unsigned char direction_change = block->direction_bits ^ old_direction_bits;
+ old_direction_bits = block->direction_bits;
+ segment_time = lround((float)segment_time / speed_factor);
- if((direction_change & BIT(X_AXIS)) == 0)
- {
- x_segment_time[0] += segment_time;
- }
- else
- {
- x_segment_time[2] = x_segment_time[1];
- x_segment_time[1] = x_segment_time[0];
- x_segment_time[0] = segment_time;
- }
- if((direction_change & BIT(Y_AXIS)) == 0)
- {
- y_segment_time[0] += segment_time;
- }
- else
- {
- y_segment_time[2] = y_segment_time[1];
- y_segment_time[1] = y_segment_time[0];
- y_segment_time[0] = segment_time;
- }
- long max_x_segment_time = max(x_segment_time[0], max(x_segment_time[1], x_segment_time[2]));
- long max_y_segment_time = max(y_segment_time[0], max(y_segment_time[1], y_segment_time[2]));
- long min_xy_segment_time =min(max_x_segment_time, max_y_segment_time);
- if(min_xy_segment_time < MAX_FREQ_TIME)
- speed_factor = min(speed_factor, speed_factor * (float)min_xy_segment_time / (float)MAX_FREQ_TIME);
-#endif // XY_FREQUENCY_LIMIT
+ long xs0 = axis_segment_time[X_AXIS][0],
+ xs1 = axis_segment_time[X_AXIS][1],
+ xs2 = axis_segment_time[X_AXIS][2],
+ ys0 = axis_segment_time[Y_AXIS][0],
+ ys1 = axis_segment_time[Y_AXIS][1],
+ ys2 = axis_segment_time[Y_AXIS][2];
+
+ if ((direction_change & BIT(X_AXIS)) != 0) {
+ xs2 = axis_segment_time[X_AXIS][2] = xs1;
+ xs1 = axis_segment_time[X_AXIS][1] = xs0;
+ xs0 = 0;
+ }
+ xs0 = axis_segment_time[X_AXIS][0] = xs0 + segment_time;
+
+ if ((direction_change & BIT(Y_AXIS)) != 0) {
+ ys2 = axis_segment_time[Y_AXIS][2] = axis_segment_time[Y_AXIS][1];
+ ys1 = axis_segment_time[Y_AXIS][1] = axis_segment_time[Y_AXIS][0];
+ ys0 = 0;
+ }
+ ys0 = axis_segment_time[Y_AXIS][0] = ys0 + segment_time;
+
+ long max_x_segment_time = max(xs0, max(xs1, xs2)),
+ max_y_segment_time = max(ys0, max(ys1, ys2)),
+ min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
+ if (min_xy_segment_time < MAX_FREQ_TIME) {
+ float low_sf = speed_factor * min_xy_segment_time / MAX_FREQ_TIME;
+ speed_factor = min(speed_factor, low_sf);
+ }
+ #endif // XY_FREQUENCY_LIMIT
// Correct the speed
- if( speed_factor < 1.0)
- {
- for(unsigned char i=0; i < 4; i++)
- {
- current_speed[i] *= speed_factor;
- }
+ if (speed_factor < 1.0) {
+ for (unsigned char i = 0; i < NUM_AXIS; i++) current_speed[i] *= speed_factor;
block->nominal_speed *= speed_factor;
block->nominal_rate *= speed_factor;
}
// Compute and limit the acceleration rate for the trapezoid generator.
- float steps_per_mm = block->step_event_count/block->millimeters;
- if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
- {
+ float steps_per_mm = block->step_event_count / block->millimeters;
+ long bsx = block->steps[X_AXIS], bsy = block->steps[Y_AXIS], bsz = block->steps[Z_AXIS], bse = block->steps[E_AXIS];
+ if (bsx == 0 && bsy == 0 && bsz == 0) {
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
- else if(block->steps_e == 0)
- {
+ else if (bse == 0) {
block->acceleration_st = ceil(travel_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
- else
- {
+ else {
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
// Limit acceleration per axis
- if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
- if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
- block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
+ unsigned long acc_st = block->acceleration_st,
+ xsteps = axis_steps_per_sqr_second[X_AXIS],
+ ysteps = axis_steps_per_sqr_second[Y_AXIS],
+ zsteps = axis_steps_per_sqr_second[Z_AXIS],
+ esteps = axis_steps_per_sqr_second[E_AXIS];
+ if ((float)acc_st * bsx / block->step_event_count > xsteps) acc_st = xsteps;
+ if ((float)acc_st * bsy / block->step_event_count > ysteps) acc_st = ysteps;
+ if ((float)acc_st * bsz / block->step_event_count > zsteps) acc_st = zsteps;
+ if ((float)acc_st * bse / block->step_event_count > esteps) acc_st = esteps;
- block->acceleration = block->acceleration_st / steps_per_mm;
- block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
+ block->acceleration_st = acc_st;
+ block->acceleration = acc_st / steps_per_mm;
+ block->acceleration_rate = (long)(acc_st * 16777216.0 / (F_CPU / 8.0));
-#if 0 // Use old jerk for now
- // Compute path unit vector
- double unit_vec[3];
+ #if 0 // Use old jerk for now
+ // Compute path unit vector
+ double unit_vec[3];
- unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
- unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
- unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
+ unit_vec[X_AXIS] = delta_mm[X_AXIS]*inverse_millimeters;
+ unit_vec[Y_AXIS] = delta_mm[Y_AXIS]*inverse_millimeters;
+ unit_vec[Z_AXIS] = delta_mm[Z_AXIS]*inverse_millimeters;
- // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
- // Let a circle be tangent to both previous and current path line segments, where the junction
- // deviation is defined as the distance from the junction to the closest edge of the circle,
- // colinear with the circle center. The circular segment joining the two paths represents the
- // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
- // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
- // path width or max_jerk in the previous grbl version. This approach does not actually deviate
- // from path, but used as a robust way to compute cornering speeds, as it takes into account the
- // nonlinearities of both the junction angle and junction velocity.
- double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
+ // Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
+ // Let a circle be tangent to both previous and current path line segments, where the junction
+ // deviation is defined as the distance from the junction to the closest edge of the circle,
+ // colinear with the circle center. The circular segment joining the two paths represents the
+ // path of centripetal acceleration. Solve for max velocity based on max acceleration about the
+ // radius of the circle, defined indirectly by junction deviation. This may be also viewed as
+ // path width or max_jerk in the previous grbl version. This approach does not actually deviate
+ // from path, but used as a robust way to compute cornering speeds, as it takes into account the
+ // nonlinearities of both the junction angle and junction velocity.
+ double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
- // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
- if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
- // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
- // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
- double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
- - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
- - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
+ // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
+ if ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
+ // Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
+ // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
+ double cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
+ - previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
+ - previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS] ;
- // Skip and use default max junction speed for 0 degree acute junction.
- if (cos_theta < 0.95) {
- vmax_junction = min(previous_nominal_speed,block->nominal_speed);
- // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
- if (cos_theta > -0.95) {
- // Compute maximum junction velocity based on maximum acceleration and junction deviation
- double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
- vmax_junction = min(vmax_junction,
- sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
+ // Skip and use default max junction speed for 0 degree acute junction.
+ if (cos_theta < 0.95) {
+ vmax_junction = min(previous_nominal_speed,block->nominal_speed);
+ // Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
+ if (cos_theta > -0.95) {
+ // Compute maximum junction velocity based on maximum acceleration and junction deviation
+ double sin_theta_d2 = sqrt(0.5*(1.0-cos_theta)); // Trig half angle identity. Always positive.
+ vmax_junction = min(vmax_junction,
+ sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
+ }
}
}
- }
-#endif
+ #endif
+
// Start with a safe speed
- float vmax_junction = max_xy_jerk/2;
+ float vmax_junction = max_xy_jerk / 2;
float vmax_junction_factor = 1.0;
- if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
- vmax_junction = min(vmax_junction, max_z_jerk/2);
- if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
- vmax_junction = min(vmax_junction, max_e_jerk/2);
+ float mz2 = max_z_jerk / 2, me2 = max_e_jerk / 2;
+ float csz = current_speed[Z_AXIS], cse = current_speed[E_AXIS];
+ if (fabs(csz) > mz2) vmax_junction = min(vmax_junction, mz2);
+ if (fabs(cse) > me2) vmax_junction = min(vmax_junction, me2);
vmax_junction = min(vmax_junction, block->nominal_speed);
float safe_speed = vmax_junction;
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
- float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
- // if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
+ float dx = current_speed[X_AXIS] - previous_speed[X_AXIS],
+ dy = current_speed[Y_AXIS] - previous_speed[Y_AXIS],
+ dz = fabs(csz - previous_speed[Z_AXIS]),
+ de = fabs(cse - previous_speed[E_AXIS]),
+ jerk = sqrt(dx * dx + dy * dy);
+
+ // if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->nominal_speed;
// }
- if (jerk > max_xy_jerk) {
- vmax_junction_factor = (max_xy_jerk/jerk);
- }
- if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
- vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
- }
- if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
- vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
- }
+ if (jerk > max_xy_jerk) vmax_junction_factor = max_xy_jerk / jerk;
+ if (dz > max_z_jerk) vmax_junction_factor = min(vmax_junction_factor, max_z_jerk / dz);
+ if (de > max_e_jerk) vmax_junction_factor = min(vmax_junction_factor, max_e_jerk / de);
+
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
}
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
- double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
+ double v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
@@ -1009,119 +907,95 @@ Having the real displacement of the head, we can calculate the total movement le
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
// the reverse and forward planners, the corresponding block junction speed will always be at the
// the maximum junction speed and may always be ignored for any speed reduction checks.
- if (block->nominal_speed <= v_allowable) {
- block->nominal_length_flag = true;
- }
- else {
- block->nominal_length_flag = false;
- }
+ block->nominal_length_flag = (block->nominal_speed <= v_allowable);
block->recalculate_flag = true; // Always calculate trapezoid for new block
// Update previous path unit_vector and nominal speed
- memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
+ for (int i = 0; i < NUM_AXIS; i++) previous_speed[i] = current_speed[i];
previous_nominal_speed = block->nominal_speed;
-
-#ifdef ADVANCE
- // Calculate advance rate
- if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
- block->advance_rate = 0;
- block->advance = 0;
- }
- else {
- long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
- float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
- (current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUSION_AREA * EXTRUSION_AREA)*256;
- block->advance = advance;
- if(acc_dist == 0) {
+ #ifdef ADVANCE
+ // Calculate advance rate
+ if (!bse || (!bsx && !bsy && !bsz)) {
block->advance_rate = 0;
- }
- else {
- block->advance_rate = advance / (float)acc_dist;
+ block->advance = 0;
}
- }
- /*
- SERIAL_ECHO_START;
- SERIAL_ECHOPGM("advance :");
- SERIAL_ECHO(block->advance/256.0);
- SERIAL_ECHOPGM("advance rate :");
- SERIAL_ECHOLN(block->advance_rate/256.0);
- */
-#endif // ADVANCE
+ else {
+ long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
+ float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) * (cse * cse * EXTRUSION_AREA * EXTRUSION_AREA) * 256;
+ block->advance = advance;
+ block->advance_rate = acc_dist ? advance / (float)acc_dist : 0;
+ }
+ /*
+ SERIAL_ECHO_START;
+ SERIAL_ECHOPGM("advance :");
+ SERIAL_ECHO(block->advance/256.0);
+ SERIAL_ECHOPGM("advance rate :");
+ SERIAL_ECHOLN(block->advance_rate/256.0);
+ */
+ #endif // ADVANCE
- calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
- safe_speed/block->nominal_speed);
+ calculate_trapezoid_for_block(block, block->entry_speed / block->nominal_speed, safe_speed / block->nominal_speed);
// Move buffer head
block_buffer_head = next_buffer_head;
// Update position
- memcpy(position, target, sizeof(target)); // position[] = target[]
+ for (int i = 0; i < NUM_AXIS; i++) position[i] = target[i];
planner_recalculate();
st_wake_up();
-}
-#if defined(ENABLE_AUTO_BED_LEVELING) && not defined(DELTA)
-vector_3 plan_get_position() {
- vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
-
- //position.debug("in plan_get position");
- //plan_bed_level_matrix.debug("in plan_get bed_level");
- matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
- //inverse.debug("in plan_get inverse");
- position.apply_rotation(inverse);
- //position.debug("after rotation");
-
- return position;
-}
-#endif // ENABLE_AUTO_BED_LEVELING
+} // plan_buffer_line()
#ifdef ENABLE_AUTO_BED_LEVELING
-void plan_set_position(float x, float y, float z, const float &e)
-{
- apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+
+ #ifndef DELTA
+ vector_3 plan_get_position() {
+ vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
+
+ //position.debug("in plan_get position");
+ //plan_bed_level_matrix.debug("in plan_get bed_level");
+ matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
+ //inverse.debug("in plan_get inverse");
+ position.apply_rotation(inverse);
+ //position.debug("after rotation");
+
+ return position;
+ }
+ #endif //!DELTA
+
+ void plan_set_position(float x, float y, float z, const float &e)
#else
-void plan_set_position(const float &x, const float &y, const float &z, const float &e)
-{
+ void plan_set_position(const float &x, const float &y, const float &z, const float &e)
#endif // ENABLE_AUTO_BED_LEVELING
+ {
+ #ifdef ENABLE_AUTO_BED_LEVELING
+ apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
+ #endif
- position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
- position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
- position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
- position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
- st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
- previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
- previous_speed[0] = 0.0;
- previous_speed[1] = 0.0;
- previous_speed[2] = 0.0;
- previous_speed[3] = 0.0;
-}
+ float nx = position[X_AXIS] = lround(x * axis_steps_per_unit[X_AXIS]);
+ float ny = position[Y_AXIS] = lround(y * axis_steps_per_unit[Y_AXIS]);
+ float nz = position[Z_AXIS] = lround(z * axis_steps_per_unit[Z_AXIS]);
+ float ne = position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
+ st_set_position(nx, ny, nz, ne);
+ previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
-void plan_set_e_position(const float &e)
-{
- position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
+ for (int i=0; i<NUM_AXIS; i++) previous_speed[i] = 0.0;
+ }
+
+void plan_set_e_position(const float &e) {
+ position[E_AXIS] = lround(e * axis_steps_per_unit[E_AXIS]);
st_set_e_position(position[E_AXIS]);
}
-uint8_t movesplanned()
-{
- return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
-}
-
#ifdef PREVENT_DANGEROUS_EXTRUDE
-void set_extrude_min_temp(float temp)
-{
- extrude_min_temp=temp;
-}
+ void set_extrude_min_temp(float temp) { extrude_min_temp = temp; }
#endif
// Calculate the steps/s^2 acceleration rates, based on the mm/s^s
-void reset_acceleration_rates()
-{
- for(int8_t i=0; i < NUM_AXIS; i++)
- {
- axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
- }
+void reset_acceleration_rates() {
+ for (int i = 0; i < NUM_AXIS; i++)
+ axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
}
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 6b68d14cb1..9e0631e831 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -21,20 +21,16 @@
// This module is to be considered a sub-module of stepper.c. Please don't include
// this file from any other module.
-#ifndef planner_h
-#define planner_h
+#ifndef PLANNER_H
+#define PLANNER_H
#include "Marlin.h"
-#ifdef ENABLE_AUTO_BED_LEVELING
-#include "vector_3.h"
-#endif // ENABLE_AUTO_BED_LEVELING
-
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// the source g-code and may never actually be reached if acceleration management is active.
typedef struct {
// Fields used by the bresenham algorithm for tracing the line
- long steps_x, steps_y, steps_z, steps_e; // Step count along each axis
+ long steps[NUM_AXIS]; // Step count along each axis
unsigned long step_event_count; // The number of step events required to complete this block
long accelerate_until; // The index of the step event on which to stop acceleration
long decelerate_after; // The index of the step event on which to start decelerating
@@ -49,7 +45,7 @@ typedef struct {
#endif
// Fields used by the motion planner to manage acceleration
-// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
+ // float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
float nominal_speed; // The nominal speed for this block in mm/sec
float entry_speed; // Entry speed at previous-current junction in mm/sec
float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
@@ -65,48 +61,44 @@ typedef struct {
unsigned long acceleration_st; // acceleration steps/sec^2
unsigned long fan_speed;
#ifdef BARICUDA
- unsigned long valve_pressure;
- unsigned long e_to_p_pressure;
+ unsigned long valve_pressure;
+ unsigned long e_to_p_pressure;
#endif
volatile char busy;
} block_t;
-#ifdef ENABLE_AUTO_BED_LEVELING
-// this holds the required transform to compensate for bed level
-extern matrix_3x3 plan_bed_level_matrix;
-#endif // #ifdef ENABLE_AUTO_BED_LEVELING
+#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
// Initialize the motion plan subsystem
void plan_init();
-// Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
-// millimaters. Feed rate specifies the speed of the motion.
+void check_axes_activity();
+
+// Get the number of buffered moves
+extern volatile unsigned char block_buffer_head;
+extern volatile unsigned char block_buffer_tail;
+FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
#ifdef ENABLE_AUTO_BED_LEVELING
-void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
-
+ #include "vector_3.h"
+ // this holds the required transform to compensate for bed level
+ extern matrix_3x3 plan_bed_level_matrix;
+ // Add a new linear movement to the buffer. x, y and z is the signed, absolute target position in
+ // millimaters. Feed rate specifies the speed of the motion.
+ void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder);
+ // Set position. Used for G92 instructions.
+ void plan_set_position(float x, float y, float z, const float &e);
#ifndef DELTA
- // Get the position applying the bed level matrix if enabled
- vector_3 plan_get_position();
+ // Get the position applying the bed level matrix if enabled
+ vector_3 plan_get_position();
#endif
-#else
-void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
-#endif // ENABLE_AUTO_BED_LEVELING
-
-// Set position. Used for G92 instructions.
-#ifdef ENABLE_AUTO_BED_LEVELING
-void plan_set_position(float x, float y, float z, const float &e);
-#else
-void plan_set_position(const float &x, const float &y, const float &z, const float &e);
-#endif // ENABLE_AUTO_BED_LEVELING
+#else //!ENABLE_AUTO_BED_LEVELING
+ void plan_buffer_line(const float &x, const float &y, const float &z, const float &e, float feed_rate, const uint8_t &extruder);
+ void plan_set_position(const float &x, const float &y, const float &z, const float &e);
+#endif //!ENABLE_AUTO_BED_LEVELING
void plan_set_e_position(const float &e);
-
-
-void check_axes_activity();
-uint8_t movesplanned(); //return the nr of buffered moves
-
extern unsigned long minsegmenttime;
extern float max_feedrate[NUM_AXIS]; // set the max speeds
extern float axis_steps_per_unit[NUM_AXIS];
@@ -122,44 +114,41 @@ extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#ifdef AUTOTEMP
- extern bool autotemp_enabled;
- extern float autotemp_max;
- extern float autotemp_min;
- extern float autotemp_factor;
+ extern bool autotemp_enabled;
+ extern float autotemp_max;
+ extern float autotemp_min;
+ extern float autotemp_factor;
#endif
-
-
-
-extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
+extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
extern volatile unsigned char block_buffer_tail;
-// Called when the current block is no longer needed. Discards the block and makes the memory
-// availible for new blocks.
-FORCE_INLINE void plan_discard_current_block()
-{
- if (block_buffer_head != block_buffer_tail) {
- block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
- }
-}
-
-// Gets the current block. Returns NULL if buffer empty
-FORCE_INLINE block_t *plan_get_current_block()
-{
- if (block_buffer_head == block_buffer_tail) {
- return(NULL);
- }
- block_t *block = &block_buffer[block_buffer_tail];
- block->busy = true;
- return(block);
-}
// Returns true if the buffer has a queued block, false otherwise
FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
+// Called when the current block is no longer needed. Discards
+// the block and makes the memory available for new blocks.
+FORCE_INLINE void plan_discard_current_block() {
+ if (blocks_queued())
+ block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
+}
+
+// Gets the current block. Returns NULL if buffer empty
+FORCE_INLINE block_t *plan_get_current_block() {
+ if (blocks_queued()) {
+ block_t *block = &block_buffer[block_buffer_tail];
+ block->busy = true;
+ return block;
+ }
+ else
+ return NULL;
+}
+
#ifdef PREVENT_DANGEROUS_EXTRUDE
-void set_extrude_min_temp(float temp);
+ void set_extrude_min_temp(float temp);
#endif
void reset_acceleration_rates();
-#endif
+
+#endif //PLANNER_H
diff --git a/Marlin/stepper.cpp b/Marlin/stepper.cpp
index 9f09f727f0..2989ca9577 100644
--- a/Marlin/stepper.cpp
+++ b/Marlin/stepper.cpp
@@ -370,7 +370,7 @@ ISR(TIMER1_COMPA_vect) {
step_events_completed = 0;
#ifdef Z_LATE_ENABLE
- if (current_block->steps_z > 0) {
+ if (current_block->steps[Z_AXIS] > 0) {
enable_z();
OCR1A = 2000; //1ms wait
return;
@@ -411,7 +411,7 @@ ISR(TIMER1_COMPA_vect) {
#define UPDATE_ENDSTOP(axis,AXIS,minmax,MINMAX) \
bool axis ##_## minmax ##_endstop = (READ(AXIS ##_## MINMAX ##_PIN) != AXIS ##_## MINMAX ##_ENDSTOP_INVERTING); \
- if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps_## axis > 0)) { \
+ if (axis ##_## minmax ##_endstop && old_## axis ##_## minmax ##_endstop && (current_block->steps[AXIS ##_AXIS] > 0)) { \
endstops_trigsteps[AXIS ##_AXIS] = count_position[AXIS ##_AXIS]; \
endstop_## axis ##_hit = true; \
step_events_completed = current_block->step_event_count; \
@@ -420,54 +420,54 @@ ISR(TIMER1_COMPA_vect) {
// Check X and Y endstops
if (check_endstops) {
- #ifndef COREXY
- if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular cartesians bot)
- #else
+ #ifdef COREXY
// Head direction in -X axis for CoreXY bots.
// If DeltaX == -DeltaY, the movement is only in Y axis
- if (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) == TEST(out_bits, Y_AXIS)))
- if (TEST(out_bits, X_HEAD))
- #endif
- { // -direction
- #ifdef DUAL_X_CARRIAGE
- // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
- if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
- #endif
- {
- #if defined(X_MIN_PIN) && X_MIN_PIN >= 0
- UPDATE_ENDSTOP(x, X, min, MIN);
- #endif
- }
- }
- else { // +direction
- #ifdef DUAL_X_CARRIAGE
- // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
- if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
- #endif
- {
- #if defined(X_MAX_PIN) && X_MAX_PIN >= 0
- UPDATE_ENDSTOP(x, X, max, MAX);
- #endif
- }
- }
- #ifndef COREXY
- if (TEST(out_bits, Y_AXIS)) // -direction
+ if (current_block->steps[A_AXIS] != current_block->steps[B_AXIS] || (TEST(out_bits, A_AXIS) == TEST(out_bits, B_AXIS)))
+ if (TEST(out_bits, X_HEAD))
#else
+ if (TEST(out_bits, X_AXIS)) // stepping along -X axis (regular cartesians bot)
+ #endif
+ { // -direction
+ #ifdef DUAL_X_CARRIAGE
+ // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+ if ((current_block->active_extruder == 0 && X_HOME_DIR == -1) || (current_block->active_extruder != 0 && X2_HOME_DIR == -1))
+ #endif
+ {
+ #if defined(X_MIN_PIN) && X_MIN_PIN >= 0
+ UPDATE_ENDSTOP(x, X, min, MIN);
+ #endif
+ }
+ }
+ else { // +direction
+ #ifdef DUAL_X_CARRIAGE
+ // with 2 x-carriages, endstops are only checked in the homing direction for the active extruder
+ if ((current_block->active_extruder == 0 && X_HOME_DIR == 1) || (current_block->active_extruder != 0 && X2_HOME_DIR == 1))
+ #endif
+ {
+ #if defined(X_MAX_PIN) && X_MAX_PIN >= 0
+ UPDATE_ENDSTOP(x, X, max, MAX);
+ #endif
+ }
+ }
+ #ifdef COREXY
// Head direction in -Y axis for CoreXY bots.
// If DeltaX == DeltaY, the movement is only in X axis
- if (current_block->steps_x != current_block->steps_y || (TEST(out_bits, X_AXIS) != TEST(out_bits, Y_AXIS)))
- if (TEST(out_bits, Y_HEAD))
+ if (current_block->steps[A_AXIS] != current_block->steps[B_AXIS] || (TEST(out_bits, A_AXIS) != TEST(out_bits, B_AXIS)))
+ if (TEST(out_bits, Y_HEAD))
+ #else
+ if (TEST(out_bits, Y_AXIS)) // -direction
#endif
- { // -direction
- #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
- UPDATE_ENDSTOP(y, Y, min, MIN);
- #endif
- }
- else { // +direction
- #if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
- UPDATE_ENDSTOP(y, Y, max, MAX);
- #endif
- }
+ { // -direction
+ #if defined(Y_MIN_PIN) && Y_MIN_PIN >= 0
+ UPDATE_ENDSTOP(y, Y, min, MIN);
+ #endif
+ }
+ else { // +direction
+ #if defined(Y_MAX_PIN) && Y_MAX_PIN >= 0
+ UPDATE_ENDSTOP(y, Y, max, MAX);
+ #endif
+ }
}
if (TEST(out_bits, Z_AXIS)) { // -direction
@@ -515,7 +515,7 @@ ISR(TIMER1_COMPA_vect) {
#endif
#ifdef ADVANCE
- counter_e += current_block->steps_e;
+ counter_e += current_block->steps[E_AXIS];
if (counter_e > 0) {
counter_e -= current_block->step_event_count;
e_steps[current_block->active_extruder] += TEST(out_bits, E_AXIS) ? -1 : 1;
@@ -529,15 +529,14 @@ ISR(TIMER1_COMPA_vect) {
* instead of doing each in turn. The extra tests add enough
* lag to allow it work with without needing NOPs
*/
- counter_x += current_block->steps_x;
- if (counter_x > 0) X_STEP_WRITE(HIGH);
- counter_y += current_block->steps_y;
- if (counter_y > 0) Y_STEP_WRITE(HIGH);
- counter_z += current_block->steps_z;
- if (counter_z > 0) Z_STEP_WRITE(HIGH);
+ #define STEP_ADD(axis, AXIS) \
+ counter_## axis += current_block->steps[AXIS ##_AXIS]; \
+ if (counter_## axis > 0) { AXIS ##_STEP_WRITE(HIGH); }
+ STEP_ADD(x,X);
+ STEP_ADD(y,Y);
+ STEP_ADD(z,Z);
#ifndef ADVANCE
- counter_e += current_block->steps_e;
- if (counter_e > 0) E_STEP_WRITE(HIGH);
+ STEP_ADD(e,E);
#endif
#define STEP_IF_COUNTER(axis, AXIS) \
@@ -557,7 +556,7 @@ ISR(TIMER1_COMPA_vect) {
#else // !CONFIG_STEPPERS_TOSHIBA
#define APPLY_MOVEMENT(axis, AXIS) \
- counter_## axis += current_block->steps_## axis; \
+ counter_## axis += current_block->steps[AXIS ##_AXIS]; \
if (counter_## axis > 0) { \
AXIS ##_APPLY_STEP(!INVERT_## AXIS ##_STEP_PIN,0); \
counter_## axis -= current_block->step_event_count; \