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535 lines
18 KiB
C++
535 lines
18 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* planner.h
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*
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* Buffer movement commands and manage the acceleration profile plan
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*
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* Derived from Grbl
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*/
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#ifndef PLANNER_H
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#define PLANNER_H
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#include "types.h"
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#include "enum.h"
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#include "Marlin.h"
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#if HAS_ABL
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#include "vector_3.h"
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#endif
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enum BlockFlagBit {
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// Recalculate trapezoids on entry junction. For optimization.
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BLOCK_BIT_RECALCULATE,
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// Nominal speed always reached.
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// i.e., The segment is long enough, so the nominal speed is reachable if accelerating
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// from a safe speed (in consideration of jerking from zero speed).
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BLOCK_BIT_NOMINAL_LENGTH,
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// Start from a halt at the start of this block, respecting the maximum allowed jerk.
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BLOCK_BIT_START_FROM_FULL_HALT,
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// The block is busy
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BLOCK_BIT_BUSY
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};
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enum BlockFlag {
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BLOCK_FLAG_RECALCULATE = _BV(BLOCK_BIT_RECALCULATE),
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BLOCK_FLAG_NOMINAL_LENGTH = _BV(BLOCK_BIT_NOMINAL_LENGTH),
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BLOCK_FLAG_START_FROM_FULL_HALT = _BV(BLOCK_BIT_START_FROM_FULL_HALT),
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BLOCK_FLAG_BUSY = _BV(BLOCK_BIT_BUSY)
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};
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/**
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* struct block_t
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*
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* A single entry in the planner buffer.
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* Tracks linear movement over multiple axes.
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*
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* The "nominal" values are as-specified by gcode, and
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* may never actually be reached due to acceleration limits.
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*/
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typedef struct {
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uint8_t flag; // Block flags (See BlockFlag enum above)
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unsigned char active_extruder; // The extruder to move (if E move)
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// Fields used by the Bresenham algorithm for tracing the line
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int32_t steps[NUM_AXIS]; // Step count along each axis
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uint32_t step_event_count; // The number of step events required to complete this block
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#if ENABLED(MIXING_EXTRUDER)
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uint32_t mix_event_count[MIXING_STEPPERS]; // Scaled step_event_count for the mixing steppers
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#endif
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int32_t accelerate_until, // The index of the step event on which to stop acceleration
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decelerate_after, // The index of the step event on which to start decelerating
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acceleration_rate; // The acceleration rate used for acceleration calculation
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uint8_t direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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// Advance extrusion
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#if ENABLED(LIN_ADVANCE)
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bool use_advance_lead;
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uint32_t abs_adv_steps_multiplier8; // Factorised by 2^8 to avoid float
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#endif
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// Fields used by the motion planner to manage acceleration
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float nominal_speed, // The nominal speed for this block in mm/sec
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entry_speed, // Entry speed at previous-current junction in mm/sec
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max_entry_speed, // Maximum allowable junction entry speed in mm/sec
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millimeters, // The total travel of this block in mm
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acceleration; // acceleration mm/sec^2
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// Settings for the trapezoid generator
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uint32_t nominal_rate, // The nominal step rate for this block in step_events/sec
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initial_rate, // The jerk-adjusted step rate at start of block
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final_rate, // The minimal rate at exit
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acceleration_steps_per_s2; // acceleration steps/sec^2
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#if FAN_COUNT > 0
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uint16_t fan_speed[FAN_COUNT];
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#endif
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#if ENABLED(BARICUDA)
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uint8_t valve_pressure, e_to_p_pressure;
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#endif
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uint32_t segment_time_us;
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} block_t;
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#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
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class Planner {
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public:
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/**
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* A ring buffer of moves described in steps
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*/
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static block_t block_buffer[BLOCK_BUFFER_SIZE];
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static volatile uint8_t block_buffer_head, // Index of the next block to be pushed
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block_buffer_tail;
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#if ENABLED(DISTINCT_E_FACTORS)
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static uint8_t last_extruder; // Respond to extruder change
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#endif
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static int16_t flow_percentage[EXTRUDERS]; // Extrusion factor for each extruder
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static float e_factor[EXTRUDERS], // The flow percentage and volumetric multiplier combine to scale E movement
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filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
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volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
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// May be auto-adjusted by a filament width sensor
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static float max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
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axis_steps_per_mm[XYZE_N],
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steps_to_mm[XYZE_N];
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static uint32_t max_acceleration_steps_per_s2[XYZE_N],
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max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override
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static uint32_t min_segment_time_us; // Use 'M205 B<µs>' to override
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static float min_feedrate_mm_s,
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acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
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retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
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travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
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max_jerk[XYZE], // The largest speed change requiring no acceleration
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min_travel_feedrate_mm_s;
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#if HAS_LEVELING
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static bool leveling_active; // Flag that bed leveling is enabled
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#if ABL_PLANAR
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static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
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#endif
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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static float z_fade_height, inverse_z_fade_height;
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#endif
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#endif
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#if ENABLED(LIN_ADVANCE)
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static float extruder_advance_k, advance_ed_ratio;
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#endif
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private:
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/**
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* The current position of the tool in absolute steps
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* Recalculated if any axis_steps_per_mm are changed by gcode
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*/
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static long position[NUM_AXIS];
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/**
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* Speed of previous path line segment
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*/
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static float previous_speed[NUM_AXIS];
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/**
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* Nominal speed of previous path line segment
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*/
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static float previous_nominal_speed;
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/**
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* Limit where 64bit math is necessary for acceleration calculation
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*/
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static uint32_t cutoff_long;
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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static float last_fade_z;
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#endif
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#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
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/**
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* Counters to manage disabling inactive extruders
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*/
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static uint8_t g_uc_extruder_last_move[EXTRUDERS];
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#endif // DISABLE_INACTIVE_EXTRUDER
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#ifdef XY_FREQUENCY_LIMIT
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// Used for the frequency limit
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#define MAX_FREQ_TIME_US (uint32_t)(1000000.0 / XY_FREQUENCY_LIMIT)
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// Old direction bits. Used for speed calculations
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static unsigned char old_direction_bits;
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// Segment times (in µs). Used for speed calculations
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static uint32_t axis_segment_time_us[2][3];
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#endif
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#if ENABLED(LIN_ADVANCE)
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static float position_float[NUM_AXIS];
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#endif
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#if ENABLED(ULTRA_LCD)
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volatile static uint32_t block_buffer_runtime_us; //Theoretical block buffer runtime in µs
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#endif
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public:
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/**
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* Instance Methods
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*/
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Planner();
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void init();
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/**
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* Static (class) Methods
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*/
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static void reset_acceleration_rates();
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static void refresh_positioning();
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FORCE_INLINE static void refresh_e_factor(const uint8_t e) {
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e_factor[e] = volumetric_multiplier[e] * flow_percentage[e] * 0.01;
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}
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// Manage fans, paste pressure, etc.
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static void check_axes_activity();
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static void calculate_volumetric_multipliers();
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/**
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* Number of moves currently in the planner
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*/
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static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
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static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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/**
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* Get the Z leveling fade factor based on the given Z height,
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* re-calculating only when needed.
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*
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* Returns 1.0 if planner.z_fade_height is 0.0.
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* Returns 0.0 if Z is past the specified 'Fade Height'.
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*/
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inline static float fade_scaling_factor_for_z(const float &rz) {
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static float z_fade_factor = 1.0;
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if (z_fade_height) {
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if (rz >= z_fade_height) return 0.0;
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if (last_fade_z != rz) {
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last_fade_z = rz;
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z_fade_factor = 1.0 - rz * inverse_z_fade_height;
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}
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return z_fade_factor;
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}
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return 1.0;
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}
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FORCE_INLINE static void force_fade_recalc() { last_fade_z = -999.999; }
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FORCE_INLINE static void set_z_fade_height(const float &zfh) {
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z_fade_height = zfh > 0 ? zfh : 0;
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inverse_z_fade_height = RECIPROCAL(z_fade_height);
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force_fade_recalc();
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}
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FORCE_INLINE static bool leveling_active_at_z(const float &rz) {
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return !z_fade_height || rz < z_fade_height;
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}
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#else
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FORCE_INLINE static float fade_scaling_factor_for_z(const float &rz) {
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UNUSED(rz);
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return 1.0;
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}
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FORCE_INLINE static bool leveling_active_at_z(const float &rz) { UNUSED(rz); return true; }
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#endif
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#if PLANNER_LEVELING
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#define ARG_X float rx
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#define ARG_Y float ry
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#define ARG_Z float rz
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/**
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* Apply leveling to transform a cartesian position
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* as it will be given to the planner and steppers.
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*/
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static void apply_leveling(float &rx, float &ry, float &rz);
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static void apply_leveling(float raw[XYZ]) { apply_leveling(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]); }
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static void unapply_leveling(float raw[XYZ]);
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#else
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#define ARG_X const float &rx
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#define ARG_Y const float &ry
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#define ARG_Z const float &rz
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#endif
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/**
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* Planner::_buffer_line
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*
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* Add a new direct linear movement to the buffer.
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*
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* Leveling and kinematics should be applied ahead of this.
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*
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* a,b,c,e - target position in mm or degrees
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* fr_mm_s - (target) speed of the move (mm/s)
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* extruder - target extruder
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*/
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static void _buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder);
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static void _set_position_mm(const float &a, const float &b, const float &c, const float &e);
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/**
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* Add a new linear movement to the buffer.
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* The target is NOT translated to delta/scara
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*
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* Leveling will be applied to input on cartesians.
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* Kinematic machines should call buffer_line_kinematic (for leveled moves).
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* (Cartesians may also call buffer_line_kinematic.)
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*
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* rx,ry,rz,e - target position in mm or degrees
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* fr_mm_s - (target) speed of the move (mm/s)
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* extruder - target extruder
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*/
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static FORCE_INLINE void buffer_line(ARG_X, ARG_Y, ARG_Z, const float &e, const float &fr_mm_s, const uint8_t extruder) {
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#if PLANNER_LEVELING && IS_CARTESIAN
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apply_leveling(rx, ry, rz);
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#endif
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_buffer_line(rx, ry, rz, e, fr_mm_s, extruder);
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}
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/**
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* Add a new linear movement to the buffer.
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* The target is cartesian, it's translated to delta/scara if
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* needed.
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*
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* rtarget - x,y,z,e CARTESIAN target in mm
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* fr_mm_s - (target) speed of the move (mm/s)
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* extruder - target extruder
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*/
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static FORCE_INLINE void buffer_line_kinematic(const float cart[XYZE], const float &fr_mm_s, const uint8_t extruder) {
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#if PLANNER_LEVELING
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float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
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apply_leveling(raw);
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#else
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const float * const raw = cart;
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#endif
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#if IS_KINEMATIC
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inverse_kinematics(raw);
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_buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS], fr_mm_s, extruder);
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#else
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_buffer_line(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS], fr_mm_s, extruder);
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#endif
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}
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/**
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* Set the planner.position and individual stepper positions.
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* Used by G92, G28, G29, and other procedures.
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*
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* Multiplies by axis_steps_per_mm[] and does necessary conversion
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* for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
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*
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* Clears previous speed values.
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*/
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static FORCE_INLINE void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float &e) {
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#if PLANNER_LEVELING && IS_CARTESIAN
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apply_leveling(rx, ry, rz);
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#endif
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_set_position_mm(rx, ry, rz, e);
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}
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static void set_position_mm_kinematic(const float position[NUM_AXIS]);
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static void set_position_mm(const AxisEnum axis, const float &v);
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static FORCE_INLINE void set_z_position_mm(const float &z) { set_position_mm(Z_AXIS, z); }
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static FORCE_INLINE void set_e_position_mm(const float &e) { set_position_mm(AxisEnum(E_AXIS), e); }
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/**
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* Sync from the stepper positions. (e.g., after an interrupted move)
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*/
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static void sync_from_steppers();
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/**
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* Does the buffer have any blocks queued?
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*/
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static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
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/**
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* "Discards" the block and "releases" the memory.
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* Called when the current block is no longer needed.
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*/
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static void discard_current_block() {
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if (blocks_queued())
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block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
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}
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/**
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* The current block. NULL if the buffer is empty.
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* This also marks the block as busy.
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*/
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static block_t* get_current_block() {
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if (blocks_queued()) {
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block_t* block = &block_buffer[block_buffer_tail];
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#if ENABLED(ULTRA_LCD)
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block_buffer_runtime_us -= block->segment_time_us; // We can't be sure how long an active block will take, so don't count it.
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#endif
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SBI(block->flag, BLOCK_BIT_BUSY);
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return block;
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}
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else {
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#if ENABLED(ULTRA_LCD)
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clear_block_buffer_runtime(); // paranoia. Buffer is empty now - so reset accumulated time to zero.
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#endif
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return NULL;
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}
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}
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#if ENABLED(ULTRA_LCD)
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static uint16_t block_buffer_runtime() {
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CRITICAL_SECTION_START
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millis_t bbru = block_buffer_runtime_us;
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CRITICAL_SECTION_END
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// To translate µs to ms a division by 1000 would be required.
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// We introduce 2.4% error here by dividing by 1024.
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// Doesn't matter because block_buffer_runtime_us is already too small an estimation.
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bbru >>= 10;
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// limit to about a minute.
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NOMORE(bbru, 0xFFFFul);
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return bbru;
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}
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static void clear_block_buffer_runtime(){
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CRITICAL_SECTION_START
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block_buffer_runtime_us = 0;
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CRITICAL_SECTION_END
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}
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#endif
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#if ENABLED(AUTOTEMP)
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static float autotemp_min, autotemp_max, autotemp_factor;
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static bool autotemp_enabled;
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static void getHighESpeed();
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static void autotemp_M104_M109();
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#endif
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private:
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/**
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* Get the index of the next / previous block in the ring buffer
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*/
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static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
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static int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
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/**
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* Calculate the distance (not time) it takes to accelerate
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* from initial_rate to target_rate using the given acceleration:
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*/
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static float estimate_acceleration_distance(const float &initial_rate, const float &target_rate, const float &accel) {
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if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
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return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
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}
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/**
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* Return the point at which you must start braking (at the rate of -'acceleration') if
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* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
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* 'final_rate' after traveling 'distance'.
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*
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* This is used to compute the intersection point between acceleration and deceleration
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* in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
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*/
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static float intersection_distance(const float &initial_rate, const float &final_rate, const float &accel, const float &distance) {
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if (accel == 0) return 0; // accel was 0, set intersection distance to 0
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return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
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}
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/**
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* Calculate the maximum allowable speed at this point, in order
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* to reach 'target_velocity' using 'acceleration' within a given
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* 'distance'.
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*/
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static float max_allowable_speed(const float &accel, const float &target_velocity, const float &distance) {
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return SQRT(sq(target_velocity) - 2 * accel * distance);
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}
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static void calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor);
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static void reverse_pass_kernel(block_t* const current, const block_t *next);
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static void forward_pass_kernel(const block_t *previous, block_t* const current);
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static void reverse_pass();
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static void forward_pass();
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static void recalculate_trapezoids();
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static void recalculate();
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};
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#define PLANNER_XY_FEEDRATE() (min(planner.max_feedrate_mm_s[X_AXIS], planner.max_feedrate_mm_s[Y_AXIS]))
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extern Planner planner;
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#endif // PLANNER_H
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