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Prusa-Firmware/Firmware/planner.cpp
bubnikv ba49c21f17 Unified the volumetric_multiplier with extrusion_multiply to improve 
numeric accuracy and to reduce compuatitonal load. With this commit,
the numeric rounding is fixed not only for the M221 G-code
(as implemented by the preceding commit), but also for the volumetric
extrusion in general.

Removed the old FILAMENT_SENSOR code, which served the purpose
to modulate the volumetric multiplayer in real time depending
on the measured filament diameter. This feature will certainly not be
used by Prusa Research in the near future as we know of no sensor,
which would offer sufficient accuracy for a reasonable price.
2018-02-21 11:25:21 +01:00

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/*
planner.c - buffers movement commands and manages the acceleration profile plan
Part of Grbl
Copyright (c) 2009-2011 Simen Svale Skogsrud
Grbl is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
Grbl is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Grbl. If not, see <http://www.gnu.org/licenses/>.
*/
/* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
/*
Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
s == speed, a == acceleration, t == time, d == distance
Basic definitions:
Speed[s_, a_, t_] := s + (a*t)
Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
Distance to reach a specific speed with a constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
Speed after a given distance of travel with constant acceleration:
Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
m -> 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 destionation speed (s2) after accelerating
from initial speed s1 without ever stopping at a plateau:
Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
*/
#include "Marlin.h"
#include "planner.h"
#include "stepper.h"
#include "temperature.h"
#include "ultralcd.h"
#include "language.h"
#ifdef MESH_BED_LEVELING
#include "mesh_bed_leveling.h"
#include "mesh_bed_calibration.h"
#endif
#ifdef TMC2130
#include "tmc2130.h"
#endif //TMC2130
//===========================================================================
//=============================public variables ============================
//===========================================================================
unsigned long minsegmenttime;
float max_feedrate[NUM_AXIS]; // set the max speeds
float axis_steps_per_unit[NUM_AXIS];
unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
float minimumfeedrate;
float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
// Jerk is a maximum immediate velocity change.
float max_jerk[NUM_AXIS];
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,
};
#endif // #ifdef ENABLE_AUTO_BED_LEVELING
// The current position of the tool in absolute steps
long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
static float previous_nominal_speed; // Nominal speed of previous path line segment
static float previous_safe_speed; // Exit speed limited by a jerk to full halt of a previous last segment.
#ifdef AUTOTEMP
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[3] = {0,0,0};
//===========================================================================
//=================semi-private variables, used in inline functions =====
//===========================================================================
block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
volatile unsigned char block_buffer_head; // Index of the next block to be pushed
volatile unsigned char block_buffer_tail; // Index of the block to process now
#ifdef PLANNER_DIAGNOSTICS
// Diagnostic function: Minimum number of planned moves since the last
static uint8_t g_cntr_planner_queue_min = 0;
#endif /* PLANNER_DIAGNOSTICS */
//===========================================================================
//=============================private variables ============================
//===========================================================================
#ifdef PREVENT_DANGEROUS_EXTRUDE
float extrude_min_temp=EXTRUDE_MINTEMP;
#endif
#ifdef LIN_ADVANCE
float extruder_advance_k = LIN_ADVANCE_K,
advance_ed_ratio = LIN_ADVANCE_E_D_RATIO,
position_float[NUM_AXIS] = { 0 };
#endif
// Returns the index of the next block in the ring buffer
// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
static inline int8_t next_block_index(int8_t 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 inline int8_t prev_block_index(int8_t block_index) {
if (block_index == 0)
block_index = BLOCK_BUFFER_SIZE;
-- block_index;
return block_index;
}
//===========================================================================
//=============================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
}
}
// This function gives you the point at which you must start braking (at the rate of -acceleration) if
// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
// 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
}
}
#define MINIMAL_STEP_RATE 120
// 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_speed, float exit_speed)
{
// These two lines are the only floating point calculations performed in this routine.
uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min)
uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min)
// Limit minimal step rate (Otherwise the timer will overflow.)
if (initial_rate < MINIMAL_STEP_RATE)
initial_rate = MINIMAL_STEP_RATE;
if (initial_rate > block->nominal_rate)
initial_rate = block->nominal_rate;
if (final_rate < MINIMAL_STEP_RATE)
final_rate = MINIMAL_STEP_RATE;
if (final_rate > block->nominal_rate)
final_rate = block->nominal_rate;
uint32_t acceleration = block->acceleration_st;
if (acceleration == 0)
// Don't allow zero acceleration.
acceleration = 1;
// estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
// (target_rate*target_rate-initial_rate*initial_rate)/(2.0*acceleration));
uint32_t initial_rate_sqr = initial_rate*initial_rate;
//FIXME assert that this result fits a 64bit unsigned int.
uint32_t nominal_rate_sqr = block->nominal_rate*block->nominal_rate;
uint32_t final_rate_sqr = final_rate*final_rate;
uint32_t acceleration_x2 = acceleration << 1;
// ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
uint32_t accelerate_steps = (nominal_rate_sqr - initial_rate_sqr + acceleration_x2 - 1) / acceleration_x2;
// floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
uint32_t decelerate_steps = (nominal_rate_sqr - final_rate_sqr) / acceleration_x2;
uint32_t accel_decel_steps = accelerate_steps + decelerate_steps;
// Size of Plateau of Nominal Rate.
uint32_t plateau_steps = 0;
// 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 (accel_decel_steps < block->step_event_count) {
plateau_steps = block->step_event_count - accel_decel_steps;
} else {
uint32_t acceleration_x4 = acceleration << 2;
// Avoid negative numbers
if (final_rate_sqr >= initial_rate_sqr) {
// accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
// intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
// (2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4.0*acceleration);
#if 0
accelerate_steps = (block->step_event_count >> 1) + (final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1 + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
#else
accelerate_steps = final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1;
if (block->step_event_count & 1)
accelerate_steps += acceleration_x2;
accelerate_steps /= acceleration_x4;
accelerate_steps += (block->step_event_count >> 1);
#endif
if (accelerate_steps > block->step_event_count)
accelerate_steps = block->step_event_count;
} else {
#if 0
decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
#else
decelerate_steps = initial_rate_sqr - final_rate_sqr;
if (block->step_event_count & 1)
decelerate_steps += acceleration_x2;
decelerate_steps /= acceleration_x4;
decelerate_steps += (block->step_event_count >> 1);
#endif
if (decelerate_steps > block->step_event_count)
decelerate_steps = block->step_event_count;
accelerate_steps = block->step_event_count - decelerate_steps;
}
}
CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
// This block locks the interrupts globally for 4.38 us,
// which corresponds to a maximum repeat frequency of 228.57 kHz.
// This blocking is safe in the context of a 10kHz stepper driver interrupt
// or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
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;
}
CRITICAL_SECTION_END;
}
// Calculates the maximum allowable entry speed, when you must be able to reach target_velocity using the
// decceleration within the allotted distance.
FORCE_INLINE float max_allowable_entry_speed(float decceleration, float target_velocity, float distance)
{
// assert(decceleration < 0);
return sqrt(target_velocity*target_velocity-2*decceleration*distance);
}
// Recalculates the motion plan according to the following algorithm:
//
// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
// so that:
// a. The junction jerk is within the set limit
// b. No speed reduction within one block requires faster deceleration than the one, true constant
// acceleration.
// 2. Go over every block in chronological order and dial down junction speed reduction values if
// a. The speed increase within one block would require faster accelleration than the one, true
// constant acceleration.
//
// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
// the set limit. Finally it will:
//
// 3. Recalculate trapezoids for all blocks.
//
//FIXME This routine is called 15x every time a new line is added to the planner,
// therefore it is a bottle neck and it shall be rewritten into a Fixed Point arithmetics,
// if the CPU is found lacking computational power.
//
// Following sources may be used to optimize the 8-bit AVR code:
// http://www.mikrocontroller.net/articles/AVR_Arithmetik
// http://darcy.rsgc.on.ca/ACES/ICE4M/FixedPoint/avrfix.pdf
//
// https://github.com/gcc-mirror/gcc/blob/master/libgcc/config/avr/lib1funcs-fixed.S
// https://gcc.gnu.org/onlinedocs/gcc/Fixed-Point.html
// https://gcc.gnu.org/onlinedocs/gccint/Fixed-point-fractional-library-routines.html
//
// https://ucexperiment.wordpress.com/2015/04/04/arduino-s15-16-fixed-point-math-routines/
// https://mekonik.wordpress.com/2009/03/18/arduino-avr-gcc-multiplication/
// https://github.com/rekka/avrmultiplication
//
// https://people.ece.cornell.edu/land/courses/ece4760/Math/Floating_point/
// https://courses.cit.cornell.edu/ee476/Math/
// https://courses.cit.cornell.edu/ee476/Math/GCC644/fixedPt/multASM.S
//
void planner_recalculate(const float &safe_final_speed)
{
// Reverse pass
// Make a local copy of block_buffer_tail, because the interrupt can alter it
// by consuming the blocks, therefore shortening the queue.
unsigned char tail = block_buffer_tail;
uint8_t block_index;
block_t *prev, *current, *next;
// SERIAL_ECHOLNPGM("planner_recalculate - 1");
// At least three blocks are in the queue?
unsigned char n_blocks = (block_buffer_head + BLOCK_BUFFER_SIZE - tail) & (BLOCK_BUFFER_SIZE - 1);
if (n_blocks >= 3) {
// Initialize the last tripple of blocks.
block_index = prev_block_index(block_buffer_head);
next = block_buffer + block_index;
current = block_buffer + (block_index = prev_block_index(block_index));
// No need to recalculate the last block, it has already been set by the plan_buffer_line() function.
// Vojtech thinks, that one shall not touch the entry speed of the very first block as well, because
// 1) it may already be running at the stepper interrupt,
// 2) there is no way to limit it when going in the forward direction.
while (block_index != tail) {
if (current->flag & BLOCK_FLAG_START_FROM_FULL_HALT) {
// Don't modify the entry velocity of the starting block.
// Also don't modify the trapezoids before this block, they are finalized already, prepared
// for the stepper interrupt routine to use them.
tail = block_index;
// Update the number of blocks to process.
n_blocks = (block_buffer_head + BLOCK_BUFFER_SIZE - tail) & (BLOCK_BUFFER_SIZE - 1);
// SERIAL_ECHOLNPGM("START");
break;
}
// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
// check for maximum allowable speed reductions to ensure maximum possible planned speed.
if (current->entry_speed != current->max_entry_speed) {
// assert(current->entry_speed < current->max_entry_speed);
// Entry speed could be increased up to the max_entry_speed, limited by the length of the current
// segment and the maximum acceleration allowed for this segment.
// If nominal length true, max junction speed is guaranteed to be reached even if decelerating to a jerk-from-zero velocity.
// Only compute for max allowable speed if block is decelerating and nominal length is false.
// entry_speed is uint16_t, 24 bits would be sufficient for block->acceleration and block->millimiteres, if scaled to um.
// therefore an optimized assembly 24bit x 24bit -> 32bit multiply would be more than sufficient
// together with an assembly 32bit->16bit sqrt function.
current->entry_speed = ((current->flag & BLOCK_FLAG_NOMINAL_LENGTH) || current->max_entry_speed <= next->entry_speed) ?
current->max_entry_speed :
// min(current->max_entry_speed, sqrt(next->entry_speed*next->entry_speed+2*current->acceleration*current->millimeters));
min(current->max_entry_speed, max_allowable_entry_speed(-current->acceleration,next->entry_speed,current->millimeters));
current->flag |= BLOCK_FLAG_RECALCULATE;
}
next = current;
current = block_buffer + (block_index = prev_block_index(block_index));
}
}
// SERIAL_ECHOLNPGM("planner_recalculate - 2");
// Forward pass and recalculate the trapezoids.
if (n_blocks >= 2) {
// Better to limit the velocities using the already processed block, if it is available, so rather use the saved tail.
block_index = tail;
prev = block_buffer + block_index;
current = block_buffer + (block_index = next_block_index(block_index));
do {
// 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
// speeds have already been reset, maximized, and reverse planned by reverse planner.
// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
if (! (prev->flag & BLOCK_FLAG_NOMINAL_LENGTH) && prev->entry_speed < current->entry_speed) {
float entry_speed = min(current->entry_speed, max_allowable_entry_speed(-prev->acceleration,prev->entry_speed,prev->millimeters));
// Check for junction speed change
if (current->entry_speed != entry_speed) {
current->entry_speed = entry_speed;
current->flag |= BLOCK_FLAG_RECALCULATE;
}
}
// Recalculate if current block entry or exit junction speed has changed.
if ((prev->flag | current->flag) & BLOCK_FLAG_RECALCULATE) {
// NOTE: Entry and exit factors always > 0 by all previous logic operations.
calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed);
// Reset current only to ensure next trapezoid is computed.
prev->flag &= ~BLOCK_FLAG_RECALCULATE;
}
prev = current;
current = block_buffer + (block_index = next_block_index(block_index));
} while (block_index != block_buffer_head);
}
// SERIAL_ECHOLNPGM("planner_recalculate - 3");
// Last/newest block in buffer. Exit speed is set with safe_final_speed. Always recalculated.
current = block_buffer + prev_block_index(block_buffer_head);
calculate_trapezoid_for_block(current, current->entry_speed, safe_final_speed);
current->flag &= ~BLOCK_FLAG_RECALCULATE;
// SERIAL_ECHOLNPGM("planner_recalculate - 4");
}
void plan_init() {
block_buffer_head = 0;
block_buffer_tail = 0;
memset(position, 0, sizeof(position)); // clear position
#ifdef LIN_ADVANCE
memset(position_float, 0, sizeof(position)); // clear position
#endif
previous_speed[0] = 0.0;
previous_speed[1] = 0.0;
previous_speed[2] = 0.0;
previous_speed[3] = 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
}
float high=0.0;
uint8_t block_index = block_buffer_tail;
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;
}
}
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;
}
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;
block_t *block;
if(block_buffer_tail != block_buffer_head)
{
uint8_t block_index = block_buffer_tail;
tail_fan_speed = block_buffer[block_index].fan_speed;
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);
}
}
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))
{
disable_e0();
disable_e1();
disable_e2();
}
#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
}
bool waiting_inside_plan_buffer_line_print_aborted = false;
/*
void planner_abort_soft()
{
// Empty the queue.
while (blocks_queued()) plan_discard_current_block();
// Relay to planner wait routine, that the current line shall be canceled.
waiting_inside_plan_buffer_line_print_aborted = true;
//current_position[i]
}
*/
#ifdef PLANNER_DIAGNOSTICS
static inline void planner_update_queue_min_counter()
{
uint8_t new_counter = moves_planned();
if (new_counter < g_cntr_planner_queue_min)
g_cntr_planner_queue_min = new_counter;
}
#endif /* PLANNER_DIAGNOSTICS */
extern volatile uint32_t step_events_completed; // The number of step events executed in the current block
void planner_abort_hard()
{
// Abort the stepper routine and flush the planner queue.
DISABLE_STEPPER_DRIVER_INTERRUPT();
// Now the front-end (the Marlin_main.cpp with its current_position) is out of sync.
// First update the planner's current position in the physical motor steps.
position[X_AXIS] = st_get_position(X_AXIS);
position[Y_AXIS] = st_get_position(Y_AXIS);
position[Z_AXIS] = st_get_position(Z_AXIS);
position[E_AXIS] = st_get_position(E_AXIS);
// Second update the current position of the front end.
current_position[X_AXIS] = st_get_position_mm(X_AXIS);
current_position[Y_AXIS] = st_get_position_mm(Y_AXIS);
current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
current_position[E_AXIS] = st_get_position_mm(E_AXIS);
// Apply the mesh bed leveling correction to the Z axis.
#ifdef MESH_BED_LEVELING
if (mbl.active) {
#if 1
// Undo the bed level correction so the current Z position is reversible wrt. the machine coordinates.
// This does not necessary mean that the Z position will be the same as linearly interpolated from the source G-code line.
current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
#else
// Undo the bed level correction so that the current Z position is the same as linearly interpolated from the source G-code line.
if (current_block == NULL || (current_block->steps_x == 0 && current_block->steps_y == 0))
current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
else {
float t = float(step_events_completed) / float(current_block->step_event_count);
float vec[3] = {
current_block->steps_x / axis_steps_per_unit[X_AXIS],
current_block->steps_y / axis_steps_per_unit[Y_AXIS],
current_block->steps_z / axis_steps_per_unit[Z_AXIS]
};
float pos1[3], pos2[3];
for (int8_t i = 0; i < 3; ++ i) {
if (current_block->direction_bits & (1<<i))
vec[i] = - vec[i];
pos1[i] = current_position[i] - vec[i] * t;
pos2[i] = current_position[i] + vec[i] * (1.f - t);
}
pos1[Z_AXIS] -= mbl.get_z(pos1[X_AXIS], pos1[Y_AXIS]);
pos2[Z_AXIS] -= mbl.get_z(pos2[X_AXIS], pos2[Y_AXIS]);
current_position[Z_AXIS] = pos1[Z_AXIS] * t + pos2[Z_AXIS] * (1.f - t);
}
#endif
}
#endif
// Clear the planner queue, reset and re-enable the stepper timer.
quickStop();
// Apply inverse world correction matrix.
machine2world(current_position[X_AXIS], current_position[Y_AXIS]);
memcpy(destination, current_position, sizeof(destination));
// Resets planner junction speeds. Assumes start from rest.
previous_nominal_speed = 0.0;
previous_speed[0] = 0.0;
previous_speed[1] = 0.0;
previous_speed[2] = 0.0;
previous_speed[3] = 0.0;
// Relay to planner wait routine, that the current line shall be canceled.
waiting_inside_plan_buffer_line_print_aborted = true;
}
float junction_deviation = 0.1;
// Add a new linear movement to the buffer. steps_x, _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.
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
{
// Calculate the buffer head after we push this byte
int next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
if (block_buffer_tail == next_buffer_head) {
waiting_inside_plan_buffer_line_print_aborted = false;
do {
manage_heater();
// Vojtech: Don't disable motors inside the planner!
manage_inactivity(false);
lcd_update();
} while (block_buffer_tail == next_buffer_head);
if (waiting_inside_plan_buffer_line_print_aborted) {
// Inside the lcd_update() routine the print has been aborted.
// Cancel the print, do not plan the current line this routine is waiting on.
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTICS */
return;
}
}
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTICS */
#ifdef ENABLE_AUTO_BED_LEVELING
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif // ENABLE_AUTO_BED_LEVELING
// Apply the machine correction matrix.
{
#if 0
SERIAL_ECHOPGM("Planner, current position - servos: ");
MYSERIAL.print(st_get_position_mm(X_AXIS), 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(st_get_position_mm(Y_AXIS), 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(st_get_position_mm(Z_AXIS), 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Planner, target position, initial: ");
MYSERIAL.print(x, 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(y, 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Planner, world2machine: ");
MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[0][1], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[1][0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_rotation_and_skew[1][1], 5);
SERIAL_ECHOLNPGM("");
SERIAL_ECHOPGM("Planner, offset: ");
MYSERIAL.print(world2machine_shift[0], 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(world2machine_shift[1], 5);
SERIAL_ECHOLNPGM("");
#endif
world2machine(x, y);
#if 0
SERIAL_ECHOPGM("Planner, target position, corrected: ");
MYSERIAL.print(x, 5);
SERIAL_ECHOPGM(", ");
MYSERIAL.print(y, 5);
SERIAL_ECHOLNPGM("");
#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]);
#ifdef MESH_BED_LEVELING
if (mbl.active){
target[Z_AXIS] = lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
}else{
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
}
#else
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
#ifdef LIN_ADVANCE
const float mm_D_float = sqrt(sq(x - position_float[X_AXIS]) + sq(y - position_float[Y_AXIS]));
float de_float = e - position_float[E_AXIS];
#endif
#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
#ifdef LIN_ADVANCE
position_float[E_AXIS] = e;
de_float = 0;
#endif
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_ERR_COLD_EXTRUDE_STOP);
}
#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
#ifdef LIN_ADVANCE
position_float[E_AXIS] = e;
de_float = 0;
#endif
SERIAL_ECHO_START;
SERIAL_ECHOLNRPGM(MSG_ERR_LONG_EXTRUDE_STOP);
}
#endif
}
#endif
// Prepare to set up new block
block_t *block = &block_buffer[block_buffer_head];
// Set sdlen for calculating sd position
block->sdlen = 0;
// Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.)
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->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
// Bail if this is a zero-length block
if (block->step_event_count <= dropsegments)
{
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTICS */
return;
}
block->fan_speed = fanSpeed;
// Compute direction bits for this block
block->direction_bits = 0;
#ifndef COREXY
if (target[X_AXIS] < position[X_AXIS])
{
block->direction_bits |= (1<<X_AXIS);
}
if (target[Y_AXIS] < position[Y_AXIS])
{
block->direction_bits |= (1<<Y_AXIS);
}
#else
if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
{
block->direction_bits |= (1<<X_AXIS);
}
if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
{
block->direction_bits |= (1<<Y_AXIS);
}
#endif
if (target[Z_AXIS] < position[Z_AXIS])
{
block->direction_bits |= (1<<Z_AXIS);
}
if (target[E_AXIS] < position[E_AXIS])
{
block->direction_bits |= (1<<E_AXIS);
}
block->active_extruder = extruder;
//enable active axes
#ifdef COREXY
if((block->steps_x != 0) || (block->steps_y != 0))
{
enable_x();
enable_y();
}
#else
if(block->steps_x != 0) enable_x();
if(block->steps_y != 0) enable_y();
#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(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]--;
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();
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();
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();
break;
}
}
else //enable all
{
enable_e0();
enable_e1();
enable_e2();
}
}
if (block->steps_e == 0)
{
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
}
else
{
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
}
/* 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
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];
#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];
if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=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
}
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.
float inverse_second = feed_rate * inverse_millimeters;
int moves_queued = moves_planned();
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
#ifdef SLOWDOWN
//FIXME Vojtech: Why moves_queued > 1? Why not >=1?
// Can we somehow differentiate the filling of the buffer at the start of a g-code from a buffer draining situation?
if (moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE >> 1)) {
// segment time in micro seconds
unsigned long segment_time = lround(1000000.0/inverse_second);
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));
}
#endif // SLOWDOWN
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
// Calculate and limit speed in mm/sec for each axis
float current_speed[4];
float speed_factor = 1.0; //factor <=1 do decrease speed
for(int i=0; i < 4; i++)
{
current_speed[i] = delta_mm[i] * inverse_second;
#ifdef TMC2130
float max_fr = max_feedrate[i];
if (i < 2) // X, Y
{
if (tmc2130_mode == TMC2130_MODE_SILENT)
{
if (max_fr > SILENT_MAX_FEEDRATE)
max_fr = SILENT_MAX_FEEDRATE;
}
else
{
if (max_fr > NORMAL_MAX_FEEDRATE)
max_fr = NORMAL_MAX_FEEDRATE;
}
}
if(fabs(current_speed[i]) > max_fr)
speed_factor = min(speed_factor, max_fr / fabs(current_speed[i]));
#else //TMC2130
if(fabs(current_speed[i]) > max_feedrate[i])
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
#endif //TMC2130
}
// Correct the speed
if( speed_factor < 1.0)
{
for(unsigned char i=0; i < 4; 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.
// block->step_event_count ... event count of the fastest axis
// block->millimeters ... Euclidian length of the XYZ movement or the E length, if no XYZ movement.
float steps_per_mm = block->step_event_count/block->millimeters;
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
{
block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
}
else
{
block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
#ifdef TMC2130
#ifdef SIMPLE_ACCEL_LIMIT // in some cases can be acceleration limited inproperly
if (tmc2130_mode == TMC2130_MODE_SILENT)
{
if (block->steps_x || block->steps_y)
if (block->acceleration_st > SILENT_MAX_ACCEL_ST) block->acceleration_st = SILENT_MAX_ACCEL_ST;
}
else
{
if (block->steps_x || block->steps_y)
if (block->acceleration_st > NORMAL_MAX_ACCEL_ST) block->acceleration_st = NORMAL_MAX_ACCEL_ST;
}
if (block->steps_x && (block->acceleration_st > axis_steps_per_sqr_second[X_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
if (block->steps_y && (block->acceleration_st > axis_steps_per_sqr_second[Y_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
if (block->steps_z && (block->acceleration_st > axis_steps_per_sqr_second[Z_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
if (block->steps_e && (block->acceleration_st > axis_steps_per_sqr_second[E_AXIS])) block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
#else // SIMPLE_ACCEL_LIMIT
if (tmc2130_mode == TMC2130_MODE_SILENT)
{
if ((block->steps_x > block->step_event_count / 2) || (block->steps_y > block->step_event_count / 2))
if (block->acceleration_st > SILENT_MAX_ACCEL_ST) block->acceleration_st = SILENT_MAX_ACCEL_ST;
}
else
{
if ((block->steps_x > block->step_event_count / 2) || (block->steps_y > block->step_event_count / 2))
if (block->acceleration_st > NORMAL_MAX_ACCEL_ST) block->acceleration_st = NORMAL_MAX_ACCEL_ST;
}
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_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
block->acceleration_st = axis_steps_per_sqr_second[Z_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];
#endif // SIMPLE_ACCEL_LIMIT
#else //TMC2130
// Limit acceleration per axis
//FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
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];
#endif //TMC2130
}
// Acceleration of the segment, in mm/sec^2
block->acceleration = block->acceleration_st / steps_per_mm;
#if 0
// Oversample diagonal movements by a power of 2 up to 8x
// to achieve more accurate diagonal movements.
uint8_t bresenham_oversample = 1;
for (uint8_t i = 0; i < 3; ++ i) {
if (block->nominal_rate >= 5000) // 5kHz
break;
block->nominal_rate << 1;
bresenham_oversample << 1;
block->step_event_count << 1;
}
if (bresenham_oversample > 1)
// Lower the acceleration steps/sec^2 to account for the oversampling.
block->acceleration_st = (block->acceleration_st + (bresenham_oversample >> 1)) / bresenham_oversample;
#endif
block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
// Start with a safe speed.
// Safe speed is the speed, from which the machine may halt to stop immediately.
float safe_speed = block->nominal_speed;
bool limited = false;
for (uint8_t axis = 0; axis < 4; ++ axis) {
float jerk = fabs(current_speed[axis]);
if (jerk > max_jerk[axis]) {
// The actual jerk is lower, if it has been limited by the XY jerk.
if (limited) {
// Spare one division by a following gymnastics:
// Instead of jerk *= safe_speed / block->nominal_speed,
// multiply max_jerk[axis] by the divisor.
jerk *= safe_speed;
float mjerk = max_jerk[axis] * block->nominal_speed;
if (jerk > mjerk) {
safe_speed *= mjerk / jerk;
limited = true;
}
} else {
safe_speed = max_jerk[axis];
limited = true;
}
}
}
// Reset the block flag.
block->flag = 0;
// Initial limit on the segment entry velocity.
float vmax_junction;
//FIXME Vojtech: Why only if at least two lines are planned in the queue?
// Is it because we don't want to tinker with the first buffer line, which
// is likely to be executed by the stepper interrupt routine soon?
if (moves_queued > 1 && previous_nominal_speed > 0.0001f) {
// 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,
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
float v_factor = 1.f;
limited = false;
// Now limit the jerk in all axes.
for (uint8_t axis = 0; axis < 4; ++ axis) {
// Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop.
float v_exit = previous_speed[axis];
float v_entry = current_speed [axis];
if (prev_speed_larger)
v_exit *= smaller_speed_factor;
if (limited) {
v_exit *= v_factor;
v_entry *= v_factor;
}
// Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction.
float jerk =
(v_exit > v_entry) ?
((v_entry > 0.f || v_exit < 0.f) ?
// coasting
(v_exit - v_entry) :
// axis reversal
max(v_exit, - v_entry)) :
// v_exit <= v_entry
((v_entry < 0.f || v_exit > 0.f) ?
// coasting
(v_entry - v_exit) :
// axis reversal
max(- v_exit, v_entry));
if (jerk > max_jerk[axis]) {
v_factor *= max_jerk[axis] / jerk;
limited = true;
}
}
if (limited)
vmax_junction *= v_factor;
// Now the transition velocity is known, which maximizes the shared exit / entry velocity while
// respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
float vmax_junction_threshold = vmax_junction * 0.99f;
if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
// Not coasting. The machine will stop and start the movements anyway,
// better to start the segment from start.
block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
vmax_junction = safe_speed;
}
} else {
block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
vmax_junction = safe_speed;
}
// Max entry speed of this block equals the max exit speed of the previous block.
block->max_entry_speed = vmax_junction;
// Initialize block entry speed. Compute based on deceleration to safe_speed.
double v_allowable = max_allowable_entry_speed(-block->acceleration,safe_speed,block->millimeters);
block->entry_speed = min(vmax_junction, v_allowable);
// Initialize planner efficiency flags
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
// the current block and next block junction speeds are guaranteed to always be at their maximum
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
// 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.
// Always calculate trapezoid for new block
block->flag |= (block->nominal_speed <= v_allowable) ? (BLOCK_FLAG_NOMINAL_LENGTH | BLOCK_FLAG_RECALCULATE) : BLOCK_FLAG_RECALCULATE;
// Update previous path unit_vector and nominal speed
memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
previous_nominal_speed = block->nominal_speed;
previous_safe_speed = safe_speed;
#ifdef LIN_ADVANCE
//
// Use LIN_ADVANCE for blocks if all these are true:
//
// esteps : We have E steps todo (a printing move)
//
// block->steps[X_AXIS] || block->steps[Y_AXIS] : We have a movement in XY direction (i.e., not retract / prime).
//
// extruder_advance_k : There is an advance factor set.
//
// block->steps[E_AXIS] != block->step_event_count : A problem occurs if the move before a retract is too small.
// In that case, the retract and move will be executed together.
// This leads to too many advance steps due to a huge e_acceleration.
// The math is good, but we must avoid retract moves with advance!
// de_float > 0.0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
//
block->use_advance_lead = block->steps_e
&& (block->steps_x || block->steps_y)
&& extruder_advance_k
&& (uint32_t)block->steps_e != block->step_event_count
&& de_float > 0.0;
if (block->use_advance_lead)
block->abs_adv_steps_multiplier8 = lround(
extruder_advance_k
* ((advance_ed_ratio < 0.000001) ? de_float / mm_D_float : advance_ed_ratio) // Use the fixed ratio, if set
* (block->nominal_speed / (float)block->nominal_rate)
* axis_steps_per_unit[E_AXIS] * 256.0
);
#endif
// Precalculate the division, so when all the trapezoids in the planner queue get recalculated, the division is not repeated.
block->speed_factor = block->nominal_rate / block->nominal_speed;
calculate_trapezoid_for_block(block, block->entry_speed, safe_speed);
// Move the buffer head. From now the block may be picked up by the stepper interrupt controller.
block_buffer_head = next_buffer_head;
// Update position
memcpy(position, target, sizeof(target)); // position[] = target[]
#ifdef LIN_ADVANCE
position_float[X_AXIS] = x;
position_float[Y_AXIS] = y;
position_float[Z_AXIS] = z;
position_float[E_AXIS] = e;
#endif
// Recalculate the trapezoids to maximize speed at the segment transitions while respecting
// the machine limits (maximum acceleration and maximum jerk).
// This runs asynchronously with the stepper interrupt controller, which may
// interfere with the process.
planner_recalculate(safe_speed);
// SERIAL_ECHOPGM("Q");
// SERIAL_ECHO(int(moves_planned()));
// SERIAL_ECHOLNPGM("");
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTIC */
// The stepper timer interrupt will run continuously from now on.
// If there are no planner blocks to be executed by the stepper routine,
// the stepper interrupt ticks at 1kHz to wake up and pick a block
// from the planner queue if available.
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
#ifdef ENABLE_AUTO_BED_LEVELING
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
void plan_set_position(float x, float y, float z, const float &e)
{
#ifdef ENABLE_AUTO_BED_LEVELING
apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
#endif // ENABLE_AUTO_BED_LEVELING
// Apply the machine correction matrix.
if (world2machine_correction_mode != WORLD2MACHINE_CORRECTION_NONE)
{
float tmpx = x;
float tmpy = y;
x = world2machine_rotation_and_skew[0][0] * tmpx + world2machine_rotation_and_skew[0][1] * tmpy + world2machine_shift[0];
y = world2machine_rotation_and_skew[1][0] * tmpx + world2machine_rotation_and_skew[1][1] * tmpy + world2machine_shift[1];
}
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
#ifdef MESH_BED_LEVELING
position[Z_AXIS] = mbl.active ?
lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]) :
lround(z*axis_steps_per_unit[Z_AXIS]);
#else
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
#endif // ENABLE_MESH_BED_LEVELING
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
#ifdef LIN_ADVANCE
position_float[X_AXIS] = x;
position_float[Y_AXIS] = y;
position_float[Z_AXIS] = z;
position_float[E_AXIS] = e;
#endif
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;
}
// Only useful in the bed leveling routine, when the mesh bed leveling is off.
void plan_set_z_position(const float &z)
{
#ifdef LIN_ADVANCE
position_float[Z_AXIS] = z;
#endif
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
}
void plan_set_e_position(const float &e)
{
#ifdef LIN_ADVANCE
position_float[E_AXIS] = e;
#endif
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
st_set_e_position(position[E_AXIS]);
}
#ifdef PREVENT_DANGEROUS_EXTRUDE
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];
}
}
unsigned char number_of_blocks() {
return (block_buffer_head + BLOCK_BUFFER_SIZE - block_buffer_tail) & (BLOCK_BUFFER_SIZE - 1);
}
#ifdef PLANNER_DIAGNOSTICS
uint8_t planner_queue_min()
{
return g_cntr_planner_queue_min;
}
void planner_queue_min_reset()
{
g_cntr_planner_queue_min = moves_planned();
}
#endif /* PLANNER_DIAGNOSTICS */
void planner_add_sd_length(uint16_t sdlen)
{
if (block_buffer_head != block_buffer_tail) {
// The planner buffer is not empty. Get the index of the last buffer line entered,
// which is (block_buffer_head - 1) modulo BLOCK_BUFFER_SIZE.
block_buffer[prev_block_index(block_buffer_head)].sdlen += sdlen;
} else {
// There is no line stored in the planner buffer, which means the last command does not need to be revertible,
// at a power panic, so the length of this command may be forgotten.
}
}
uint16_t planner_calc_sd_length()
{
unsigned char _block_buffer_head = block_buffer_head;
unsigned char _block_buffer_tail = block_buffer_tail;
uint16_t sdlen = 0;
while (_block_buffer_head != _block_buffer_tail)
{
sdlen += block_buffer[_block_buffer_tail].sdlen;
_block_buffer_tail = (_block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
}
return sdlen;
}
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