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Code Issues Releases Wiki Activity

⚡️ Optimize Planner calculations (#24484, #24509)

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tombrazier 2022-07-16 00:15:51 +01:00 committed by Scott Lahteine
parent 5c46ae4f00
commit 752f3d440d
2 changed files with 115 additions and 137 deletions
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226
Marlin/src/module/planner.cpp
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@ -28,12 +28,14 @@
* Derived from Grbl * Derived from Grbl
* Copyright (c) 2009-2011 Simen Svale Skogsrud * Copyright (c) 2009-2011 Simen Svale Skogsrud
* *
* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. * Ring buffer gleaned from wiring_serial library by David A. Mellis.
* *
* Fast inverse function needed for Bézier interpolation for AVR
* was designed, written and tested by Eduardo José Tagle, April 2018.
* *
* Reasoning behind the mathematics in this module (in the key of 'Mathematica'): * Planner mathematics (Mathematica-style):
* *
* s == speed, a == acceleration, t == time, d == distance * Where: s == speed, a == acceleration, t == time, d == distance
* *
* Basic definitions: * Basic definitions:
* Speed[s_, a_, t_] := s + (a*t) * Speed[s_, a_, t_] := s + (a*t)
@ -41,7 +43,7 @@
* *
* Distance to reach a specific speed with a constant acceleration: * Distance to reach a specific speed with a constant acceleration:
* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t] * Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
* d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance() * d -> (m^2 - s^2) / (2 a)
* *
* Speed after a given distance of travel with constant acceleration: * Speed after a given distance of travel with constant acceleration:
* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t] * Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
@ -49,17 +51,18 @@
* *
* DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2] * DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
* *
* When to start braking (di) to reach a specified destination speed (s2) after accelerating * When to start braking (di) to reach a specified destination speed (s2) after
* from initial speed s1 without ever stopping at a plateau: * acceleration from initial speed s1 without ever reaching a plateau:
* Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di] * Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
* di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance() * di -> (2 a d - s1^2 + s2^2)/(4 a)
* *
* IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a) * We note, as an optimization, that if we have already calculated an
* acceleration distance d1 from s1 to m and a deceration distance d2
* from m to s2 then
* *
* -- * d1 -> (m^2 - s1^2) / (2 a)
* * d2 -> (m^2 - s2^2) / (2 a)
* The fast inverse function needed for Bézier interpolation for AVR * di -> (d + d1 - d2) / 2
* was designed, written and tested by Eduardo José Tagle on April/2018
*/ */
#include "planner.h" #include "planner.h"
@ -211,7 +214,7 @@ xyze_long_t Planner::position{0};
uint32_t Planner::acceleration_long_cutoff; uint32_t Planner::acceleration_long_cutoff;
xyze_float_t Planner::previous_speed; xyze_float_t Planner::previous_speed;
float Planner::previous_nominal_speed_sqr; float Planner::previous_nominal_speed;
#if ENABLED(DISABLE_INACTIVE_EXTRUDER) #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
last_move_t Planner::g_uc_extruder_last_move[E_STEPPERS] = { 0 }; last_move_t Planner::g_uc_extruder_last_move[E_STEPPERS] = { 0 };
@ -220,7 +223,7 @@ float Planner::previous_nominal_speed_sqr;
#ifdef XY_FREQUENCY_LIMIT #ifdef XY_FREQUENCY_LIMIT
int8_t Planner::xy_freq_limit_hz = XY_FREQUENCY_LIMIT; int8_t Planner::xy_freq_limit_hz = XY_FREQUENCY_LIMIT;
float Planner::xy_freq_min_speed_factor = (XY_FREQUENCY_MIN_PERCENT) * 0.01f; float Planner::xy_freq_min_speed_factor = (XY_FREQUENCY_MIN_PERCENT) * 0.01f;
int32_t Planner::xy_freq_min_interval_us = LROUND(1000000.0 / (XY_FREQUENCY_LIMIT)); int32_t Planner::xy_freq_min_interval_us = LROUND(1000000.0f / (XY_FREQUENCY_LIMIT));
#endif #endif
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
@ -250,7 +253,7 @@ void Planner::init() {
TERN_(HAS_POSITION_FLOAT, position_float.reset()); TERN_(HAS_POSITION_FLOAT, position_float.reset());
TERN_(IS_KINEMATIC, position_cart.reset()); TERN_(IS_KINEMATIC, position_cart.reset());
previous_speed.reset(); previous_speed.reset();
previous_nominal_speed_sqr = 0; previous_nominal_speed = 0;
TERN_(ABL_PLANAR, bed_level_matrix.set_to_identity()); TERN_(ABL_PLANAR, bed_level_matrix.set_to_identity());
clear_block_buffer(); clear_block_buffer();
delay_before_delivering = 0; delay_before_delivering = 0;
@ -786,41 +789,48 @@ void Planner::calculate_trapezoid_for_block(block_t * const block, const_float_t
NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE)); NOLESS(final_rate, uint32_t(MINIMAL_STEP_RATE));
#if ENABLED(S_CURVE_ACCELERATION) #if ENABLED(S_CURVE_ACCELERATION)
uint32_t cruise_rate = initial_rate; // If we have some plateau time, the cruise rate will be the nominal rate
uint32_t cruise_rate = block->nominal_rate;
#endif #endif
const int32_t accel = block->acceleration_steps_per_s2; const int32_t accel = block->acceleration_steps_per_s2;
// Steps required for acceleration, deceleration to/from nominal rate // Steps for acceleration, plateau and deceleration
uint32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)), int32_t plateau_steps = block->step_event_count;
decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)); uint32_t accelerate_steps = 0,
// Steps between acceleration and deceleration, if any decelerate_steps = 0;
int32_t plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
// Does accelerate_steps + decelerate_steps exceed step_event_count? if (accel != 0) {
// Then we can't possibly reach the nominal rate, there will be no cruising. // Steps required for acceleration, deceleration to/from nominal rate
// Use intersection_distance() to calculate accel / braking time in order to const float nominal_rate_sq = sq(float(block->nominal_rate));
// reach the final_rate exactly at the end of this block. float accelerate_steps_float = (nominal_rate_sq - sq(float(initial_rate))) * (0.5f / accel);
if (plateau_steps < 0) { accelerate_steps = CEIL(accelerate_steps_float);
const float accelerate_steps_float = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count)); const float decelerate_steps_float = (nominal_rate_sq - sq(float(final_rate))) * (0.5f / accel);
accelerate_steps = _MIN(uint32_t(_MAX(accelerate_steps_float, 0)), block->step_event_count); decelerate_steps = FLOOR(decelerate_steps_float);
decelerate_steps = block->step_event_count - accelerate_steps;
plateau_steps = 0;
#if ENABLED(S_CURVE_ACCELERATION) // Steps between acceleration and deceleration, if any
// We won't reach the cruising rate. Let's calculate the speed we will reach plateau_steps -= accelerate_steps + decelerate_steps;
cruise_rate = final_speed(initial_rate, accel, accelerate_steps);
#endif // Does accelerate_steps + decelerate_steps exceed step_event_count?
// Then we can't possibly reach the nominal rate, there will be no cruising.
// Calculate accel / braking time in order to reach the final_rate exactly
// at the end of this block.
if (plateau_steps < 0) {
accelerate_steps_float = CEIL((block->step_event_count + accelerate_steps_float - decelerate_steps_float) * 0.5f);
accelerate_steps = _MIN(uint32_t(_MAX(accelerate_steps_float, 0)), block->step_event_count);
decelerate_steps = block->step_event_count - accelerate_steps;
#if ENABLED(S_CURVE_ACCELERATION)
// We won't reach the cruising rate. Let's calculate the speed we will reach
cruise_rate = final_speed(initial_rate, accel, accelerate_steps);
#endif
}
} }
#if ENABLED(S_CURVE_ACCELERATION)
else // We have some plateau time, so the cruise rate will be the nominal rate
cruise_rate = block->nominal_rate;
#endif
#if ENABLED(S_CURVE_ACCELERATION) #if ENABLED(S_CURVE_ACCELERATION)
// Jerk controlled speed requires to express speed versus time, NOT steps // Jerk controlled speed requires to express speed versus time, NOT steps
uint32_t acceleration_time = ((float)(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE), uint32_t acceleration_time = (float(cruise_rate - initial_rate) / accel) * (STEPPER_TIMER_RATE),
deceleration_time = ((float)(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE), deceleration_time = (float(cruise_rate - final_rate) / accel) * (STEPPER_TIMER_RATE),
// And to offload calculations from the ISR, we also calculate the inverse of those times here // And to offload calculations from the ISR, we also calculate the inverse of those times here
acceleration_time_inverse = get_period_inverse(acceleration_time), acceleration_time_inverse = get_period_inverse(acceleration_time),
deceleration_time_inverse = get_period_inverse(deceleration_time); deceleration_time_inverse = get_period_inverse(deceleration_time);
@ -1175,7 +1185,7 @@ void Planner::recalculate_trapezoids(TERN_(HINTS_SAFE_EXIT_SPEED, const_float_t
// Go from the tail (currently executed block) to the first block, without including it) // Go from the tail (currently executed block) to the first block, without including it)
block_t *block = nullptr, *next = nullptr; block_t *block = nullptr, *next = nullptr;
float current_entry_speed = 0.0, next_entry_speed = 0.0; float current_entry_speed = 0.0f, next_entry_speed = 0.0f;
while (block_index != head_block_index) { while (block_index != head_block_index) {
next = &block_buffer[block_index]; next = &block_buffer[block_index];
@ -1199,13 +1209,12 @@ void Planner::recalculate_trapezoids(TERN_(HINTS_SAFE_EXIT_SPEED, const_float_t
// Block is not BUSY, we won the race against the Stepper ISR: // Block is not BUSY, we won the race against the Stepper ISR:
// NOTE: Entry and exit factors always > 0 by all previous logic operations. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
const float current_nominal_speed = SQRT(block->nominal_speed_sqr), const float nomr = 1.0f / block->nominal_speed;
nomr = 1.0f / current_nominal_speed;
calculate_trapezoid_for_block(block, current_entry_speed * nomr, next_entry_speed * nomr); calculate_trapezoid_for_block(block, current_entry_speed * nomr, next_entry_speed * nomr);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) { if (block->use_advance_lead) {
const float comp = block->e_D_ratio * extruder_advance_K[active_extruder] * settings.axis_steps_per_mm[E_AXIS]; const float comp = block->e_D_ratio * extruder_advance_K[active_extruder] * settings.axis_steps_per_mm[E_AXIS];
block->max_adv_steps = current_nominal_speed * comp; block->max_adv_steps = block->nominal_speed * comp;
block->final_adv_steps = next_entry_speed * comp; block->final_adv_steps = next_entry_speed * comp;
} }
#endif #endif
@ -1240,13 +1249,12 @@ void Planner::recalculate_trapezoids(TERN_(HINTS_SAFE_EXIT_SPEED, const_float_t
if (!stepper.is_block_busy(block)) { if (!stepper.is_block_busy(block)) {
// Block is not BUSY, we won the race against the Stepper ISR: // Block is not BUSY, we won the race against the Stepper ISR:
const float current_nominal_speed = SQRT(block->nominal_speed_sqr), const float nomr = 1.0f / block->nominal_speed;
nomr = 1.0f / current_nominal_speed;
calculate_trapezoid_for_block(block, current_entry_speed * nomr, next_entry_speed * nomr); calculate_trapezoid_for_block(block, current_entry_speed * nomr, next_entry_speed * nomr);
#if ENABLED(LIN_ADVANCE) #if ENABLED(LIN_ADVANCE)
if (block->use_advance_lead) { if (block->use_advance_lead) {
const float comp = block->e_D_ratio * extruder_advance_K[active_extruder] * settings.axis_steps_per_mm[E_AXIS]; const float comp = block->e_D_ratio * extruder_advance_K[active_extruder] * settings.axis_steps_per_mm[E_AXIS];
block->max_adv_steps = current_nominal_speed * comp; block->max_adv_steps = block->nominal_speed * comp;
block->final_adv_steps = next_entry_speed * comp; block->final_adv_steps = next_entry_speed * comp;
} }
#endif #endif
@ -1290,14 +1298,10 @@ void Planner::recalculate(TERN_(HINTS_SAFE_EXIT_SPEED, const_float_t safe_exit_s
#define FAN_SET(F) do{ kickstart_fan(fan_speed, ms, F); _FAN_SET(F); }while(0) #define FAN_SET(F) do{ kickstart_fan(fan_speed, ms, F); _FAN_SET(F); }while(0)
const millis_t ms = millis(); const millis_t ms = millis();
TERN_(HAS_FAN0, FAN_SET(0)); TERN_(HAS_FAN0, FAN_SET(0)); TERN_(HAS_FAN1, FAN_SET(1));
TERN_(HAS_FAN1, FAN_SET(1)); TERN_(HAS_FAN2, FAN_SET(2)); TERN_(HAS_FAN3, FAN_SET(3));
TERN_(HAS_FAN2, FAN_SET(2)); TERN_(HAS_FAN4, FAN_SET(4)); TERN_(HAS_FAN5, FAN_SET(5));
TERN_(HAS_FAN3, FAN_SET(3)); TERN_(HAS_FAN6, FAN_SET(6)); TERN_(HAS_FAN7, FAN_SET(7));
TERN_(HAS_FAN4, FAN_SET(4));
TERN_(HAS_FAN5, FAN_SET(5));
TERN_(HAS_FAN6, FAN_SET(6));
TERN_(HAS_FAN7, FAN_SET(7));
} }
#if FAN_KICKSTART_TIME #if FAN_KICKSTART_TIME
@ -1479,7 +1483,7 @@ void Planner::check_axes_activity() {
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) { for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
const block_t * const block = &block_buffer[b]; const block_t * const block = &block_buffer[b];
if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, || block->steps.i, || block->steps.j, || block->steps.k)) { if (LINEAR_AXIS_GANG(block->steps.x, || block->steps.y, || block->steps.z, || block->steps.i, || block->steps.j, || block->steps.k)) {
const float se = (float)block->steps.e / block->step_event_count * SQRT(block->nominal_speed_sqr); // mm/sec const float se = float(block->steps.e) / block->step_event_count * block->nominal_speed; // mm/sec
NOLESS(high, se); NOLESS(high, se);
} }
} }
@ -1919,7 +1923,7 @@ bool Planner::_populate_block(
#if ENABLED(MIXING_EXTRUDER) #if ENABLED(MIXING_EXTRUDER)
bool ignore_e = false; bool ignore_e = false;
float collector[MIXING_STEPPERS]; float collector[MIXING_STEPPERS];
mixer.refresh_collector(1.0, mixer.get_current_vtool(), collector); mixer.refresh_collector(1.0f, mixer.get_current_vtool(), collector);
MIXER_STEPPER_LOOP(e) MIXER_STEPPER_LOOP(e)
if (e_steps * collector[e] > max_e_steps) { ignore_e = true; break; } if (e_steps * collector[e] > max_e_steps) { ignore_e = true; break; }
#else #else
@ -2081,9 +2085,6 @@ bool Planner::_populate_block(
steps_dist_mm.b = (db + dc) * mm_per_step[B_AXIS]; steps_dist_mm.b = (db + dc) * mm_per_step[B_AXIS];
steps_dist_mm.c = CORESIGN(db - dc) * mm_per_step[C_AXIS]; steps_dist_mm.c = CORESIGN(db - dc) * mm_per_step[C_AXIS];
#endif #endif
TERN_(HAS_I_AXIS, steps_dist_mm.i = di * mm_per_step[I_AXIS]);
TERN_(HAS_J_AXIS, steps_dist_mm.j = dj * mm_per_step[J_AXIS]);
TERN_(HAS_K_AXIS, steps_dist_mm.k = dk * mm_per_step[K_AXIS]);
#elif ENABLED(MARKFORGED_XY) #elif ENABLED(MARKFORGED_XY)
steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS]; steps_dist_mm.a = (da - db) * mm_per_step[A_AXIS];
steps_dist_mm.b = db * mm_per_step[B_AXIS]; steps_dist_mm.b = db * mm_per_step[B_AXIS];
@ -2123,40 +2124,50 @@ bool Planner::_populate_block(
if (hints.millimeters) if (hints.millimeters)
block->millimeters = hints.millimeters; block->millimeters = hints.millimeters;
else { else {
block->millimeters = SQRT( /**
* Distance for interpretation of feedrate in accordance with LinuxCNC (the successor of NIST
* RS274NGC interpreter - version 3) and its default CANON_XYZ feed reference mode.
* Assume that X, Y, Z are the primary linear axes and U, V, W are secondary linear axes and A, B, C are
* rotational axes. Then dX, dY, dZ are the displacements of the primary linear axes and dU, dV, dW are the displacements of linear axes and
* dA, dB, dC are the displacements of rotational axes.
* The time it takes to execute move command with feedrate F is t = D/F, where D is the total distance, calculated as follows:
* D^2 = dX^2 + dY^2 + dZ^2
* if D^2 == 0 (none of XYZ move but any secondary linear axes move, whether other axes are moved or not):
* D^2 = dU^2 + dV^2 + dW^2
* if D^2 == 0 (only rotational axes are moved):
* D^2 = dA^2 + dB^2 + dC^2
*/
float distance_sqr = (
#if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX) #if ANY(CORE_IS_XY, MARKFORGED_XY, MARKFORGED_YX)
LINEAR_AXIS_GANG( XYZ_GANG(sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z))
sq(steps_dist_mm.head.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.z),
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
)
#elif CORE_IS_XZ #elif CORE_IS_XZ
LINEAR_AXIS_GANG( XYZ_GANG(sq(steps_dist_mm.head.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.head.z))
sq(steps_dist_mm.head.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.head.z),
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
)
#elif CORE_IS_YZ #elif CORE_IS_YZ
LINEAR_AXIS_GANG( XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.head.y), + sq(steps_dist_mm.head.z))
sq(steps_dist_mm.x) + sq(steps_dist_mm.head.y) + sq(steps_dist_mm.head.z)
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
)
#elif ENABLED(FOAMCUTTER_XYUV)
// Return the largest distance move from either X/Y or I/J plane
#if HAS_J_AXIS
_MAX(sq(steps_dist_mm.x) + sq(steps_dist_mm.y), sq(steps_dist_mm.i) + sq(steps_dist_mm.j))
#else
sq(steps_dist_mm.x) + sq(steps_dist_mm.y)
#endif
#else #else
XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z)) XYZ_GANG(sq(steps_dist_mm.x), + sq(steps_dist_mm.y), + sq(steps_dist_mm.z))
#endif #endif
); );
#if SECONDARY_AXES >= 1
if (NEAR_ZERO(distance_sqr)) {
// Move does not involve any primary linear axes (xyz) but might involve secondary linear axes
distance_sqr = (0.0f
SECONDARY_AXIS_GANG(
+ sq(steps_dist_mm.i), + sq(steps_dist_mm.j), + sq(steps_dist_mm.k)
)
);
}
#endif
block->millimeters = SQRT(distance_sqr);
} }
/** /**
* At this point at least one of the axes has more steps than * At this point at least one of the axes has more steps than
* MIN_STEPS_PER_SEGMENT, ensuring the segment won't get dropped * MIN_STEPS_PER_SEGMENT, ensuring the segment won't get dropped as
* as zero-length. It's important to not apply corrections to blocks * zero-length. It's important to not apply corrections
* that would get dropped! * to blocks that would get dropped!
* *
* A correction function is permitted to add steps to an axis, it * A correction function is permitted to add steps to an axis, it
* should *never* remove steps! * should *never* remove steps!
@ -2277,7 +2288,8 @@ bool Planner::_populate_block(
const float inverse_millimeters = 1.0f / block->millimeters; // Inverse millimeters to remove multiple divides const float inverse_millimeters = 1.0f / block->millimeters; // Inverse millimeters to remove multiple divides
// Calculate inverse time for this move. No divide by zero due to previous checks. // Calculate inverse time for this move. No divide by zero due to previous checks.
// Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0. // Example: At 120mm/s a 60mm move involving XYZ axes takes 0.5s. So this will give 2.0.
// Example 2: At 120°/s a 60° move involving only rotational axes takes 0.5s. So this will give 2.0.
float inverse_secs = fr_mm_s * inverse_millimeters; float inverse_secs = fr_mm_s * inverse_millimeters;
// Get the number of non busy movements in queue (non busy means that they can be altered) // Get the number of non busy movements in queue (non busy means that they can be altered)
@ -2316,7 +2328,7 @@ bool Planner::_populate_block(
if (was_enabled) stepper.wake_up(); if (was_enabled) stepper.wake_up();
#endif #endif
block->nominal_speed_sqr = sq(block->millimeters * inverse_secs); // (mm/sec)^2 Always > 0 block->nominal_speed = block->millimeters * inverse_secs; // (mm/sec) Always > 0
block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0 block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0
#if ENABLED(FILAMENT_WIDTH_SENSOR) #if ENABLED(FILAMENT_WIDTH_SENSOR)
@ -2412,7 +2424,7 @@ bool Planner::_populate_block(
if (speed_factor < 1.0f) { if (speed_factor < 1.0f) {
current_speed *= speed_factor; current_speed *= speed_factor;
block->nominal_rate *= speed_factor; block->nominal_rate *= speed_factor;
block->nominal_speed_sqr = block->nominal_speed_sqr * sq(speed_factor); block->nominal_speed *= speed_factor;
} }
// Compute and limit the acceleration rate for the trapezoid generator. // Compute and limit the acceleration rate for the trapezoid generator.
@ -2509,7 +2521,7 @@ bool Planner::_populate_block(
if (block->use_advance_lead) { if (block->use_advance_lead) {
block->advance_speed = (STEPPER_TIMER_RATE) / (extruder_advance_K[active_extruder] * block->e_D_ratio * block->acceleration * settings.axis_steps_per_mm[E_AXIS_N(extruder)]); block->advance_speed = (STEPPER_TIMER_RATE) / (extruder_advance_K[active_extruder] * block->e_D_ratio * block->acceleration * settings.axis_steps_per_mm[E_AXIS_N(extruder)]);
#if ENABLED(LA_DEBUG) #if ENABLED(LA_DEBUG)
if (extruder_advance_K[active_extruder] * block->e_D_ratio * block->acceleration * 2 < SQRT(block->nominal_speed_sqr) * block->e_D_ratio) if (extruder_advance_K[active_extruder] * block->e_D_ratio * block->acceleration * 2 < block->nominal_speed * block->e_D_ratio)
SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed."); SERIAL_ECHOLNPGM("More than 2 steps per eISR loop executed.");
if (block->advance_speed < 200) if (block->advance_speed < 200)
SERIAL_ECHOLNPGM("eISR running at > 10kHz."); SERIAL_ECHOLNPGM("eISR running at > 10kHz.");
@ -2577,7 +2589,7 @@ bool Planner::_populate_block(
unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2)) unit_vec *= inverse_millimeters; // Use pre-calculated (1 / SQRT(x^2 + y^2 + z^2))
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles. // Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) { if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative) // 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. // NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
float junction_cos_theta = LOGICAL_AXIS_GANG( float junction_cos_theta = LOGICAL_AXIS_GANG(
@ -2703,7 +2715,7 @@ bool Planner::_populate_block(
} }
// Get the lowest speed // Get the lowest speed
vmax_junction_sqr = _MIN(vmax_junction_sqr, block->nominal_speed_sqr, previous_nominal_speed_sqr); vmax_junction_sqr = _MIN(vmax_junction_sqr, sq(block->nominal_speed), sq(previous_nominal_speed));
} }
else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later. else // Init entry speed to zero. Assume it starts from rest. Planner will correct this later.
vmax_junction_sqr = 0; vmax_junction_sqr = 0;
@ -2712,27 +2724,17 @@ bool Planner::_populate_block(
#endif #endif
#ifdef USE_CACHED_SQRT
#define CACHED_SQRT(N, V) \
static float saved_V, N; \
if (V != saved_V) { N = SQRT(V); saved_V = V; }
#else
#define CACHED_SQRT(N, V) const float N = SQRT(V)
#endif
#if HAS_CLASSIC_JERK #if HAS_CLASSIC_JERK
/** /**
* Adapted from Průša MKS firmware * Adapted from Průša MKS firmware
* https://github.com/prusa3d/Prusa-Firmware * https://github.com/prusa3d/Prusa-Firmware
*/ */
CACHED_SQRT(nominal_speed, block->nominal_speed_sqr);
// Exit speed limited by a jerk to full halt of a previous last segment // Exit speed limited by a jerk to full halt of a previous last segment
static float previous_safe_speed; static float previous_safe_speed;
// Start with a safe speed (from which the machine may halt to stop immediately). // Start with a safe speed (from which the machine may halt to stop immediately).
float safe_speed = nominal_speed; float safe_speed = block->nominal_speed;
#ifndef TRAVEL_EXTRA_XYJERK #ifndef TRAVEL_EXTRA_XYJERK
#define TRAVEL_EXTRA_XYJERK 0 #define TRAVEL_EXTRA_XYJERK 0
@ -2745,7 +2747,7 @@ bool Planner::_populate_block(
maxj = (max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f)); // mj : The max jerk setting for this axis maxj = (max_jerk[i] + (i == X_AXIS || i == Y_AXIS ? extra_xyjerk : 0.0f)); // mj : The max jerk setting for this axis
if (jerk > maxj) { // cs > mj : New current speed too fast? if (jerk > maxj) { // cs > mj : New current speed too fast?
if (limited) { // limited already? if (limited) { // limited already?
const float mjerk = nominal_speed * maxj; // ns*mj const float mjerk = block->nominal_speed * maxj; // ns*mj
if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk; // ns*mj/cs if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk; // ns*mj/cs
} }
else { else {
@ -2756,7 +2758,7 @@ bool Planner::_populate_block(
} }
float vmax_junction; float vmax_junction;
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed_sqr)) { if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
// Estimate a maximum velocity allowed at a joint of two successive segments. // Estimate a maximum velocity allowed at a joint of two successive segments.
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities, // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used. // then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
@ -2767,11 +2769,9 @@ bool Planner::_populate_block(
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum. // The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting. // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
CACHED_SQRT(previous_nominal_speed, previous_nominal_speed_sqr);
float smaller_speed_factor = 1.0f; float smaller_speed_factor = 1.0f;
if (nominal_speed < previous_nominal_speed) { if (block->nominal_speed < previous_nominal_speed) {
vmax_junction = nominal_speed; vmax_junction = block->nominal_speed;
smaller_speed_factor = vmax_junction / previous_nominal_speed; smaller_speed_factor = vmax_junction / previous_nominal_speed;
} }
else else
@ -2838,11 +2838,11 @@ bool Planner::_populate_block(
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both // 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 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. // the maximum junction speed and may always be ignored for any speed reduction checks.
block->flag.set_nominal(block->nominal_speed_sqr <= v_allowable_sqr); block->flag.set_nominal(sq(block->nominal_speed) <= v_allowable_sqr);
// Update previous path unit_vector and nominal speed // Update previous path unit_vector and nominal speed
previous_speed = current_speed; previous_speed = current_speed;
previous_nominal_speed_sqr = block->nominal_speed_sqr; previous_nominal_speed = block->nominal_speed;
position = target; // Update the position position = target; // Update the position
@ -3039,12 +3039,12 @@ bool Planner::buffer_line(const xyze_pos_t &cart, const_feedRate_t fr_mm_s
const xyze_pos_t cart_dist_mm = LOGICAL_AXIS_ARRAY( const xyze_pos_t cart_dist_mm = LOGICAL_AXIS_ARRAY(
cart.e - position_cart.e, cart.e - position_cart.e,
cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z, cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z,
cart.i - position_cart.i, cart.j - position_cart.j, cart.j - position_cart.k cart.i - position_cart.i, cart.j - position_cart.j, cart.k - position_cart.k
); );
#else #else
const xyz_pos_t cart_dist_mm = LINEAR_AXIS_ARRAY( const xyz_pos_t cart_dist_mm = LINEAR_AXIS_ARRAY(
cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z, cart.x - position_cart.x, cart.y - position_cart.y, cart.z - position_cart.z,
cart.i - position_cart.i, cart.j - position_cart.j, cart.j - position_cart.k cart.i - position_cart.i, cart.j - position_cart.j, cart.k - position_cart.k
); );
#endif #endif
@ -3156,7 +3156,7 @@ void Planner::set_machine_position_mm(const abce_pos_t &abce) {
); );
if (has_blocks_queued()) { if (has_blocks_queued()) {
//previous_nominal_speed_sqr = 0.0; // Reset planner junction speeds. Assume start from rest. //previous_nominal_speed = 0.0f; // Reset planner junction speeds. Assume start from rest.
//previous_speed.reset(); //previous_speed.reset();
buffer_sync_block(BLOCK_BIT_SYNC_POSITION); buffer_sync_block(BLOCK_BIT_SYNC_POSITION);
} }
@ -3232,7 +3232,7 @@ void Planner::refresh_positioning() {
inline void limit_and_warn(float &val, const AxisEnum axis, PGM_P const setting_name, const xyze_float_t &max_limit) { inline void limit_and_warn(float &val, const AxisEnum axis, PGM_P const setting_name, const xyze_float_t &max_limit) {
const uint8_t lim_axis = TERN_(HAS_EXTRUDERS, axis > E_AXIS ? E_AXIS :) axis; const uint8_t lim_axis = TERN_(HAS_EXTRUDERS, axis > E_AXIS ? E_AXIS :) axis;
const float before = val; const float before = val;
LIMIT(val, 0.1, max_limit[lim_axis]); LIMIT(val, 0.1f, max_limit[lim_axis]);
if (before != val) { if (before != val) {
SERIAL_CHAR(AXIS_CHAR(lim_axis)); SERIAL_CHAR(AXIS_CHAR(lim_axis));
SERIAL_ECHOPGM(" Max "); SERIAL_ECHOPGM(" Max ");

26
Marlin/src/module/planner.h
View File

@ -198,7 +198,7 @@ typedef struct PlannerBlock {
volatile bool is_move() { return !(is_sync() || is_page()); } volatile bool is_move() { return !(is_sync() || is_page()); }
// Fields used by the motion planner to manage acceleration // Fields used by the motion planner to manage acceleration
float nominal_speed_sqr, // The nominal speed for this block in (mm/sec)^2 float nominal_speed, // The nominal speed for this block in (mm/sec)
entry_speed_sqr, // Entry speed at previous-current junction in (mm/sec)^2 entry_speed_sqr, // Entry speed at previous-current junction in (mm/sec)^2
max_entry_speed_sqr, // Maximum allowable junction entry speed in (mm/sec)^2 max_entry_speed_sqr, // Maximum allowable junction entry speed in (mm/sec)^2
millimeters, // The total travel of this block in mm millimeters, // The total travel of this block in mm
@ -509,7 +509,7 @@ class Planner {
/** /**
* Nominal speed of previous path line segment (mm/s)^2 * Nominal speed of previous path line segment (mm/s)^2
*/ */
static float previous_nominal_speed_sqr; static float previous_nominal_speed;
/** /**
* Limit where 64bit math is necessary for acceleration calculation * Limit where 64bit math is necessary for acceleration calculation
@ -1007,28 +1007,6 @@ class Planner {
static constexpr uint8_t next_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index + 1); } static constexpr uint8_t next_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index + 1); }
static constexpr uint8_t prev_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index - 1); } static constexpr uint8_t prev_block_index(const uint8_t block_index) { return BLOCK_MOD(block_index - 1); }
/**
* Calculate the distance (not time) it takes to accelerate
* from initial_rate to target_rate using the given acceleration:
*/
static float estimate_acceleration_distance(const_float_t initial_rate, const_float_t target_rate, const_float_t accel) {
if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
}
/**
* Return the point at which you must start braking (at the rate of -'accel') if
* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
* 'final_rate' after traveling 'distance'.
*
* This is used to compute the intersection point between acceleration and deceleration
* in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
*/
static float intersection_distance(const_float_t initial_rate, const_float_t final_rate, const_float_t accel, const_float_t distance) {
if (accel == 0) return 0; // accel was 0, set intersection distance to 0
return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
}
/** /**
* Calculate the maximum allowable speed squared at this point, in order * Calculate the maximum allowable speed squared at this point, in order
* to reach 'target_velocity_sqr' using 'acceleration' within a given * to reach 'target_velocity_sqr' using 'acceleration' within a given