planner.cpp 55 KB

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  1. /*
  2. planner.c - buffers movement commands and manages the acceleration profile plan
  3. Part of Grbl
  4. Copyright (c) 2009-2011 Simen Svale Skogsrud
  5. Grbl is free software: you can redistribute it and/or modify
  6. it under the terms of the GNU General Public License as published by
  7. the Free Software Foundation, either version 3 of the License, or
  8. (at your option) any later version.
  9. Grbl is distributed in the hope that it will be useful,
  10. but WITHOUT ANY WARRANTY; without even the implied warranty of
  11. MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12. GNU General Public License for more details.
  13. You should have received a copy of the GNU General Public License
  14. along with Grbl. If not, see <http://www.gnu.org/licenses/>.
  15. */
  16. /* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis. */
  17. /*
  18. Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
  19. s == speed, a == acceleration, t == time, d == distance
  20. Basic definitions:
  21. Speed[s_, a_, t_] := s + (a*t)
  22. Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
  23. Distance to reach a specific speed with a constant acceleration:
  24. Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
  25. d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
  26. Speed after a given distance of travel with constant acceleration:
  27. Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
  28. m -> Sqrt[2 a d + s^2]
  29. DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
  30. When to start braking (di) to reach a specified destionation speed (s2) after accelerating
  31. from initial speed s1 without ever stopping at a plateau:
  32. Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
  33. di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
  34. IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
  35. */
  36. #include "Marlin.h"
  37. #include "planner.h"
  38. #include "stepper.h"
  39. #include "temperature.h"
  40. #include "ultralcd.h"
  41. #include "language.h"
  42. #ifdef MESH_BED_LEVELING
  43. #include "mesh_bed_leveling.h"
  44. #include "mesh_bed_calibration.h"
  45. #endif
  46. #ifdef TMC2130
  47. #include "tmc2130.h"
  48. #endif //TMC2130
  49. //===========================================================================
  50. //=============================public variables ============================
  51. //===========================================================================
  52. unsigned long minsegmenttime;
  53. // Use M203 to override by software
  54. float max_feedrate_normal[NUM_AXIS]; // max speeds for normal mode
  55. float max_feedrate_silent[NUM_AXIS]; // max speeds for silent mode
  56. float* max_feedrate = max_feedrate_normal;
  57. // Use M92 to override by software
  58. float axis_steps_per_unit[NUM_AXIS];
  59. // Use M201 to override by software
  60. unsigned long max_acceleration_units_per_sq_second_normal[NUM_AXIS];
  61. unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
  62. unsigned long* max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_normal;
  63. float minimumfeedrate;
  64. float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
  65. float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  66. // Jerk is a maximum immediate velocity change.
  67. float max_jerk[NUM_AXIS];
  68. float mintravelfeedrate;
  69. unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  70. #ifdef ENABLE_AUTO_BED_LEVELING
  71. // this holds the required transform to compensate for bed level
  72. matrix_3x3 plan_bed_level_matrix = {
  73. 1.0, 0.0, 0.0,
  74. 0.0, 1.0, 0.0,
  75. 0.0, 0.0, 1.0,
  76. };
  77. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  78. // The current position of the tool in absolute steps
  79. long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
  80. static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
  81. static float previous_nominal_speed; // Nominal speed of previous path line segment
  82. static float previous_safe_speed; // Exit speed limited by a jerk to full halt of a previous last segment.
  83. #ifdef AUTOTEMP
  84. float autotemp_max=250;
  85. float autotemp_min=210;
  86. float autotemp_factor=0.1;
  87. bool autotemp_enabled=false;
  88. #endif
  89. unsigned char g_uc_extruder_last_move[3] = {0,0,0};
  90. //===========================================================================
  91. //=================semi-private variables, used in inline functions =====
  92. //===========================================================================
  93. block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  94. volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  95. volatile unsigned char block_buffer_tail; // Index of the block to process now
  96. #ifdef PLANNER_DIAGNOSTICS
  97. // Diagnostic function: Minimum number of planned moves since the last
  98. static uint8_t g_cntr_planner_queue_min = 0;
  99. #endif /* PLANNER_DIAGNOSTICS */
  100. //===========================================================================
  101. //=============================private variables ============================
  102. //===========================================================================
  103. #ifdef PREVENT_DANGEROUS_EXTRUDE
  104. float extrude_min_temp=EXTRUDE_MINTEMP;
  105. #endif
  106. #ifdef LIN_ADVANCE
  107. float extruder_advance_k = LIN_ADVANCE_K,
  108. advance_ed_ratio = LIN_ADVANCE_E_D_RATIO,
  109. position_float[NUM_AXIS] = { 0 };
  110. #endif
  111. // Returns the index of the next block in the ring buffer
  112. // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
  113. static inline int8_t next_block_index(int8_t block_index) {
  114. if (++ block_index == BLOCK_BUFFER_SIZE)
  115. block_index = 0;
  116. return block_index;
  117. }
  118. // Returns the index of the previous block in the ring buffer
  119. static inline int8_t prev_block_index(int8_t block_index) {
  120. if (block_index == 0)
  121. block_index = BLOCK_BUFFER_SIZE;
  122. -- block_index;
  123. return block_index;
  124. }
  125. //===========================================================================
  126. //=============================functions ============================
  127. //===========================================================================
  128. // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
  129. // given acceleration:
  130. FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  131. {
  132. if (acceleration!=0) {
  133. return((target_rate*target_rate-initial_rate*initial_rate)/
  134. (2.0*acceleration));
  135. }
  136. else {
  137. return 0.0; // acceleration was 0, set acceleration distance to 0
  138. }
  139. }
  140. // This function gives you the point at which you must start braking (at the rate of -acceleration) if
  141. // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
  142. // a total travel of distance. This can be used to compute the intersection point between acceleration and
  143. // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
  144. FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  145. {
  146. if (acceleration!=0) {
  147. return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
  148. (4.0*acceleration) );
  149. }
  150. else {
  151. return 0.0; // acceleration was 0, set intersection distance to 0
  152. }
  153. }
  154. // Minimum stepper rate 120Hz.
  155. #define MINIMAL_STEP_RATE 120
  156. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
  157. void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed)
  158. {
  159. // These two lines are the only floating point calculations performed in this routine.
  160. // initial_rate, final_rate in Hz.
  161. // Minimum stepper rate 120Hz, maximum 40kHz. If the stepper rate goes above 10kHz,
  162. // the stepper interrupt routine groups the pulses by 2 or 4 pulses per interrupt tick.
  163. uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min)
  164. uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min)
  165. // Limit minimal step rate (Otherwise the timer will overflow.)
  166. if (initial_rate < MINIMAL_STEP_RATE)
  167. initial_rate = MINIMAL_STEP_RATE;
  168. if (initial_rate > block->nominal_rate)
  169. initial_rate = block->nominal_rate;
  170. if (final_rate < MINIMAL_STEP_RATE)
  171. final_rate = MINIMAL_STEP_RATE;
  172. if (final_rate > block->nominal_rate)
  173. final_rate = block->nominal_rate;
  174. uint32_t acceleration = block->acceleration_st;
  175. if (acceleration == 0)
  176. // Don't allow zero acceleration.
  177. acceleration = 1;
  178. // estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  179. // (target_rate*target_rate-initial_rate*initial_rate)/(2.0*acceleration));
  180. uint32_t initial_rate_sqr = initial_rate*initial_rate;
  181. //FIXME assert that this result fits a 64bit unsigned int.
  182. uint32_t nominal_rate_sqr = block->nominal_rate*block->nominal_rate;
  183. uint32_t final_rate_sqr = final_rate*final_rate;
  184. uint32_t acceleration_x2 = acceleration << 1;
  185. // ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
  186. uint32_t accelerate_steps = (nominal_rate_sqr - initial_rate_sqr + acceleration_x2 - 1) / acceleration_x2;
  187. // floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
  188. uint32_t decelerate_steps = (nominal_rate_sqr - final_rate_sqr) / acceleration_x2;
  189. uint32_t accel_decel_steps = accelerate_steps + decelerate_steps;
  190. // Size of Plateau of Nominal Rate.
  191. uint32_t plateau_steps = 0;
  192. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  193. // have to use intersection_distance() to calculate when to abort acceleration and start braking
  194. // in order to reach the final_rate exactly at the end of this block.
  195. if (accel_decel_steps < block->step_event_count.wide) {
  196. plateau_steps = block->step_event_count.wide - accel_decel_steps;
  197. } else {
  198. uint32_t acceleration_x4 = acceleration << 2;
  199. // Avoid negative numbers
  200. if (final_rate_sqr >= initial_rate_sqr) {
  201. // accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
  202. // intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  203. // (2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4.0*acceleration);
  204. #if 0
  205. 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;
  206. #else
  207. accelerate_steps = final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1;
  208. if (block->step_event_count.wide & 1)
  209. accelerate_steps += acceleration_x2;
  210. accelerate_steps /= acceleration_x4;
  211. accelerate_steps += (block->step_event_count.wide >> 1);
  212. #endif
  213. if (accelerate_steps > block->step_event_count.wide)
  214. accelerate_steps = block->step_event_count.wide;
  215. } else {
  216. #if 0
  217. decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
  218. #else
  219. decelerate_steps = initial_rate_sqr - final_rate_sqr;
  220. if (block->step_event_count.wide & 1)
  221. decelerate_steps += acceleration_x2;
  222. decelerate_steps /= acceleration_x4;
  223. decelerate_steps += (block->step_event_count.wide >> 1);
  224. #endif
  225. if (decelerate_steps > block->step_event_count.wide)
  226. decelerate_steps = block->step_event_count.wide;
  227. accelerate_steps = block->step_event_count.wide - decelerate_steps;
  228. }
  229. }
  230. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  231. // This block locks the interrupts globally for 4.38 us,
  232. // which corresponds to a maximum repeat frequency of 228.57 kHz.
  233. // This blocking is safe in the context of a 10kHz stepper driver interrupt
  234. // or a 115200 Bd serial line receive interrupt, which will not trigger faster than 12kHz.
  235. if (! block->busy) { // Don't update variables if block is busy.
  236. block->accelerate_until = accelerate_steps;
  237. block->decelerate_after = accelerate_steps+plateau_steps;
  238. block->initial_rate = initial_rate;
  239. block->final_rate = final_rate;
  240. }
  241. CRITICAL_SECTION_END;
  242. }
  243. // Calculates the maximum allowable entry speed, when you must be able to reach target_velocity using the
  244. // decceleration within the allotted distance.
  245. FORCE_INLINE float max_allowable_entry_speed(float decceleration, float target_velocity, float distance)
  246. {
  247. // assert(decceleration < 0);
  248. return sqrt(target_velocity*target_velocity-2*decceleration*distance);
  249. }
  250. // Recalculates the motion plan according to the following algorithm:
  251. //
  252. // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
  253. // so that:
  254. // a. The junction jerk is within the set limit
  255. // b. No speed reduction within one block requires faster deceleration than the one, true constant
  256. // acceleration.
  257. // 2. Go over every block in chronological order and dial down junction speed reduction values if
  258. // a. The speed increase within one block would require faster accelleration than the one, true
  259. // constant acceleration.
  260. //
  261. // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
  262. // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
  263. // the set limit. Finally it will:
  264. //
  265. // 3. Recalculate trapezoids for all blocks.
  266. //
  267. //FIXME This routine is called 15x every time a new line is added to the planner,
  268. // therefore it is a bottle neck and it shall be rewritten into a Fixed Point arithmetics,
  269. // if the CPU is found lacking computational power.
  270. //
  271. // Following sources may be used to optimize the 8-bit AVR code:
  272. // http://www.mikrocontroller.net/articles/AVR_Arithmetik
  273. // http://darcy.rsgc.on.ca/ACES/ICE4M/FixedPoint/avrfix.pdf
  274. //
  275. // https://github.com/gcc-mirror/gcc/blob/master/libgcc/config/avr/lib1funcs-fixed.S
  276. // https://gcc.gnu.org/onlinedocs/gcc/Fixed-Point.html
  277. // https://gcc.gnu.org/onlinedocs/gccint/Fixed-point-fractional-library-routines.html
  278. //
  279. // https://ucexperiment.wordpress.com/2015/04/04/arduino-s15-16-fixed-point-math-routines/
  280. // https://mekonik.wordpress.com/2009/03/18/arduino-avr-gcc-multiplication/
  281. // https://github.com/rekka/avrmultiplication
  282. //
  283. // https://people.ece.cornell.edu/land/courses/ece4760/Math/Floating_point/
  284. // https://courses.cit.cornell.edu/ee476/Math/
  285. // https://courses.cit.cornell.edu/ee476/Math/GCC644/fixedPt/multASM.S
  286. //
  287. void planner_recalculate(const float &safe_final_speed)
  288. {
  289. // Reverse pass
  290. // Make a local copy of block_buffer_tail, because the interrupt can alter it
  291. // by consuming the blocks, therefore shortening the queue.
  292. unsigned char tail = block_buffer_tail;
  293. uint8_t block_index;
  294. block_t *prev, *current, *next;
  295. // SERIAL_ECHOLNPGM("planner_recalculate - 1");
  296. // At least three blocks are in the queue?
  297. unsigned char n_blocks = (block_buffer_head + BLOCK_BUFFER_SIZE - tail) & (BLOCK_BUFFER_SIZE - 1);
  298. if (n_blocks >= 3) {
  299. // Initialize the last tripple of blocks.
  300. block_index = prev_block_index(block_buffer_head);
  301. next = block_buffer + block_index;
  302. current = block_buffer + (block_index = prev_block_index(block_index));
  303. // No need to recalculate the last block, it has already been set by the plan_buffer_line() function.
  304. // Vojtech thinks, that one shall not touch the entry speed of the very first block as well, because
  305. // 1) it may already be running at the stepper interrupt,
  306. // 2) there is no way to limit it when going in the forward direction.
  307. while (block_index != tail) {
  308. if (current->flag & BLOCK_FLAG_START_FROM_FULL_HALT) {
  309. // Don't modify the entry velocity of the starting block.
  310. // Also don't modify the trapezoids before this block, they are finalized already, prepared
  311. // for the stepper interrupt routine to use them.
  312. tail = block_index;
  313. // Update the number of blocks to process.
  314. n_blocks = (block_buffer_head + BLOCK_BUFFER_SIZE - tail) & (BLOCK_BUFFER_SIZE - 1);
  315. // SERIAL_ECHOLNPGM("START");
  316. break;
  317. }
  318. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  319. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  320. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  321. if (current->entry_speed != current->max_entry_speed) {
  322. // assert(current->entry_speed < current->max_entry_speed);
  323. // Entry speed could be increased up to the max_entry_speed, limited by the length of the current
  324. // segment and the maximum acceleration allowed for this segment.
  325. // If nominal length true, max junction speed is guaranteed to be reached even if decelerating to a jerk-from-zero velocity.
  326. // Only compute for max allowable speed if block is decelerating and nominal length is false.
  327. // entry_speed is uint16_t, 24 bits would be sufficient for block->acceleration and block->millimiteres, if scaled to um.
  328. // therefore an optimized assembly 24bit x 24bit -> 32bit multiply would be more than sufficient
  329. // together with an assembly 32bit->16bit sqrt function.
  330. current->entry_speed = ((current->flag & BLOCK_FLAG_NOMINAL_LENGTH) || current->max_entry_speed <= next->entry_speed) ?
  331. current->max_entry_speed :
  332. // min(current->max_entry_speed, sqrt(next->entry_speed*next->entry_speed+2*current->acceleration*current->millimeters));
  333. min(current->max_entry_speed, max_allowable_entry_speed(-current->acceleration,next->entry_speed,current->millimeters));
  334. current->flag |= BLOCK_FLAG_RECALCULATE;
  335. }
  336. next = current;
  337. current = block_buffer + (block_index = prev_block_index(block_index));
  338. }
  339. }
  340. // SERIAL_ECHOLNPGM("planner_recalculate - 2");
  341. // Forward pass and recalculate the trapezoids.
  342. if (n_blocks >= 2) {
  343. // Better to limit the velocities using the already processed block, if it is available, so rather use the saved tail.
  344. block_index = tail;
  345. prev = block_buffer + block_index;
  346. current = block_buffer + (block_index = next_block_index(block_index));
  347. do {
  348. // If the previous block is an acceleration block, but it is not long enough to complete the
  349. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  350. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  351. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  352. if (! (prev->flag & BLOCK_FLAG_NOMINAL_LENGTH) && prev->entry_speed < current->entry_speed) {
  353. float entry_speed = min(current->entry_speed, max_allowable_entry_speed(-prev->acceleration,prev->entry_speed,prev->millimeters));
  354. // Check for junction speed change
  355. if (current->entry_speed != entry_speed) {
  356. current->entry_speed = entry_speed;
  357. current->flag |= BLOCK_FLAG_RECALCULATE;
  358. }
  359. }
  360. // Recalculate if current block entry or exit junction speed has changed.
  361. if ((prev->flag | current->flag) & BLOCK_FLAG_RECALCULATE) {
  362. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
  363. calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed);
  364. // Reset current only to ensure next trapezoid is computed.
  365. prev->flag &= ~BLOCK_FLAG_RECALCULATE;
  366. }
  367. prev = current;
  368. current = block_buffer + (block_index = next_block_index(block_index));
  369. } while (block_index != block_buffer_head);
  370. }
  371. // SERIAL_ECHOLNPGM("planner_recalculate - 3");
  372. // Last/newest block in buffer. Exit speed is set with safe_final_speed. Always recalculated.
  373. current = block_buffer + prev_block_index(block_buffer_head);
  374. calculate_trapezoid_for_block(current, current->entry_speed, safe_final_speed);
  375. current->flag &= ~BLOCK_FLAG_RECALCULATE;
  376. // SERIAL_ECHOLNPGM("planner_recalculate - 4");
  377. }
  378. void plan_init() {
  379. block_buffer_head = 0;
  380. block_buffer_tail = 0;
  381. memset(position, 0, sizeof(position)); // clear position
  382. #ifdef LIN_ADVANCE
  383. memset(position_float, 0, sizeof(position)); // clear position
  384. #endif
  385. previous_speed[0] = 0.0;
  386. previous_speed[1] = 0.0;
  387. previous_speed[2] = 0.0;
  388. previous_speed[3] = 0.0;
  389. previous_nominal_speed = 0.0;
  390. }
  391. #ifdef AUTOTEMP
  392. void getHighESpeed()
  393. {
  394. static float oldt=0;
  395. if(!autotemp_enabled){
  396. return;
  397. }
  398. if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
  399. return; //do nothing
  400. }
  401. float high=0.0;
  402. uint8_t block_index = block_buffer_tail;
  403. while(block_index != block_buffer_head) {
  404. if((block_buffer[block_index].steps_x.wide != 0) ||
  405. (block_buffer[block_index].steps_y.wide != 0) ||
  406. (block_buffer[block_index].steps_z.wide != 0)) {
  407. float se=(float(block_buffer[block_index].steps_e.wide)/float(block_buffer[block_index].step_event_count.wide))*block_buffer[block_index].nominal_speed;
  408. //se; mm/sec;
  409. if(se>high)
  410. {
  411. high=se;
  412. }
  413. }
  414. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  415. }
  416. float g=autotemp_min+high*autotemp_factor;
  417. float t=g;
  418. if(t<autotemp_min)
  419. t=autotemp_min;
  420. if(t>autotemp_max)
  421. t=autotemp_max;
  422. if(oldt>t)
  423. {
  424. t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
  425. }
  426. oldt=t;
  427. setTargetHotend0(t);
  428. }
  429. #endif
  430. void check_axes_activity()
  431. {
  432. unsigned char x_active = 0;
  433. unsigned char y_active = 0;
  434. unsigned char z_active = 0;
  435. unsigned char e_active = 0;
  436. unsigned char tail_fan_speed = fanSpeed;
  437. block_t *block;
  438. if(block_buffer_tail != block_buffer_head)
  439. {
  440. uint8_t block_index = block_buffer_tail;
  441. tail_fan_speed = block_buffer[block_index].fan_speed;
  442. while(block_index != block_buffer_head)
  443. {
  444. block = &block_buffer[block_index];
  445. if(block->steps_x.wide != 0) x_active++;
  446. if(block->steps_y.wide != 0) y_active++;
  447. if(block->steps_z.wide != 0) z_active++;
  448. if(block->steps_e.wide != 0) e_active++;
  449. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  450. }
  451. }
  452. if((DISABLE_X) && (x_active == 0)) disable_x();
  453. if((DISABLE_Y) && (y_active == 0)) disable_y();
  454. if((DISABLE_Z) && (z_active == 0)) disable_z();
  455. if((DISABLE_E) && (e_active == 0))
  456. {
  457. disable_e0();
  458. disable_e1();
  459. disable_e2();
  460. }
  461. #if defined(FAN_PIN) && FAN_PIN > -1
  462. #ifdef FAN_KICKSTART_TIME
  463. static unsigned long fan_kick_end;
  464. if (tail_fan_speed) {
  465. if (fan_kick_end == 0) {
  466. // Just starting up fan - run at full power.
  467. fan_kick_end = millis() + FAN_KICKSTART_TIME;
  468. tail_fan_speed = 255;
  469. } else if (fan_kick_end > millis())
  470. // Fan still spinning up.
  471. tail_fan_speed = 255;
  472. } else {
  473. fan_kick_end = 0;
  474. }
  475. #endif//FAN_KICKSTART_TIME
  476. #ifdef FAN_SOFT_PWM
  477. fanSpeedSoftPwm = tail_fan_speed;
  478. #else
  479. analogWrite(FAN_PIN,tail_fan_speed);
  480. #endif//!FAN_SOFT_PWM
  481. #endif//FAN_PIN > -1
  482. #ifdef AUTOTEMP
  483. getHighESpeed();
  484. #endif
  485. }
  486. bool waiting_inside_plan_buffer_line_print_aborted = false;
  487. /*
  488. void planner_abort_soft()
  489. {
  490. // Empty the queue.
  491. while (blocks_queued()) plan_discard_current_block();
  492. // Relay to planner wait routine, that the current line shall be canceled.
  493. waiting_inside_plan_buffer_line_print_aborted = true;
  494. //current_position[i]
  495. }
  496. */
  497. #ifdef PLANNER_DIAGNOSTICS
  498. static inline void planner_update_queue_min_counter()
  499. {
  500. uint8_t new_counter = moves_planned();
  501. if (new_counter < g_cntr_planner_queue_min)
  502. g_cntr_planner_queue_min = new_counter;
  503. }
  504. #endif /* PLANNER_DIAGNOSTICS */
  505. extern volatile uint32_t step_events_completed; // The number of step events executed in the current block
  506. void planner_abort_hard()
  507. {
  508. // Abort the stepper routine and flush the planner queue.
  509. DISABLE_STEPPER_DRIVER_INTERRUPT();
  510. // Now the front-end (the Marlin_main.cpp with its current_position) is out of sync.
  511. // First update the planner's current position in the physical motor steps.
  512. position[X_AXIS] = st_get_position(X_AXIS);
  513. position[Y_AXIS] = st_get_position(Y_AXIS);
  514. position[Z_AXIS] = st_get_position(Z_AXIS);
  515. position[E_AXIS] = st_get_position(E_AXIS);
  516. // Second update the current position of the front end.
  517. current_position[X_AXIS] = st_get_position_mm(X_AXIS);
  518. current_position[Y_AXIS] = st_get_position_mm(Y_AXIS);
  519. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  520. current_position[E_AXIS] = st_get_position_mm(E_AXIS);
  521. // Apply the mesh bed leveling correction to the Z axis.
  522. #ifdef MESH_BED_LEVELING
  523. if (mbl.active) {
  524. #if 1
  525. // Undo the bed level correction so the current Z position is reversible wrt. the machine coordinates.
  526. // This does not necessary mean that the Z position will be the same as linearly interpolated from the source G-code line.
  527. current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
  528. #else
  529. // Undo the bed level correction so that the current Z position is the same as linearly interpolated from the source G-code line.
  530. if (current_block == NULL || (current_block->steps_x == 0 && current_block->steps_y == 0))
  531. current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
  532. else {
  533. float t = float(step_events_completed) / float(current_block->step_event_count);
  534. float vec[3] = {
  535. current_block->steps_x / axis_steps_per_unit[X_AXIS],
  536. current_block->steps_y / axis_steps_per_unit[Y_AXIS],
  537. current_block->steps_z / axis_steps_per_unit[Z_AXIS]
  538. };
  539. float pos1[3], pos2[3];
  540. for (int8_t i = 0; i < 3; ++ i) {
  541. if (current_block->direction_bits & (1<<i))
  542. vec[i] = - vec[i];
  543. pos1[i] = current_position[i] - vec[i] * t;
  544. pos2[i] = current_position[i] + vec[i] * (1.f - t);
  545. }
  546. pos1[Z_AXIS] -= mbl.get_z(pos1[X_AXIS], pos1[Y_AXIS]);
  547. pos2[Z_AXIS] -= mbl.get_z(pos2[X_AXIS], pos2[Y_AXIS]);
  548. current_position[Z_AXIS] = pos1[Z_AXIS] * t + pos2[Z_AXIS] * (1.f - t);
  549. }
  550. #endif
  551. }
  552. #endif
  553. // Clear the planner queue, reset and re-enable the stepper timer.
  554. quickStop();
  555. // Apply inverse world correction matrix.
  556. machine2world(current_position[X_AXIS], current_position[Y_AXIS]);
  557. memcpy(destination, current_position, sizeof(destination));
  558. // Resets planner junction speeds. Assumes start from rest.
  559. previous_nominal_speed = 0.0;
  560. previous_speed[0] = 0.0;
  561. previous_speed[1] = 0.0;
  562. previous_speed[2] = 0.0;
  563. previous_speed[3] = 0.0;
  564. // Relay to planner wait routine, that the current line shall be canceled.
  565. waiting_inside_plan_buffer_line_print_aborted = true;
  566. }
  567. float junction_deviation = 0.1;
  568. // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
  569. // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
  570. // calculation the caller must also provide the physical length of the line in millimeters.
  571. void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
  572. {
  573. // Calculate the buffer head after we push this byte
  574. int next_buffer_head = next_block_index(block_buffer_head);
  575. // If the buffer is full: good! That means we are well ahead of the robot.
  576. // Rest here until there is room in the buffer.
  577. if (block_buffer_tail == next_buffer_head) {
  578. waiting_inside_plan_buffer_line_print_aborted = false;
  579. do {
  580. manage_heater();
  581. // Vojtech: Don't disable motors inside the planner!
  582. manage_inactivity(false);
  583. lcd_update(0);
  584. } while (block_buffer_tail == next_buffer_head);
  585. if (waiting_inside_plan_buffer_line_print_aborted) {
  586. // Inside the lcd_update(0) routine the print has been aborted.
  587. // Cancel the print, do not plan the current line this routine is waiting on.
  588. #ifdef PLANNER_DIAGNOSTICS
  589. planner_update_queue_min_counter();
  590. #endif /* PLANNER_DIAGNOSTICS */
  591. return;
  592. }
  593. }
  594. #ifdef PLANNER_DIAGNOSTICS
  595. planner_update_queue_min_counter();
  596. #endif /* PLANNER_DIAGNOSTICS */
  597. #ifdef ENABLE_AUTO_BED_LEVELING
  598. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  599. #endif // ENABLE_AUTO_BED_LEVELING
  600. // Apply the machine correction matrix.
  601. {
  602. #if 0
  603. SERIAL_ECHOPGM("Planner, current position - servos: ");
  604. MYSERIAL.print(st_get_position_mm(X_AXIS), 5);
  605. SERIAL_ECHOPGM(", ");
  606. MYSERIAL.print(st_get_position_mm(Y_AXIS), 5);
  607. SERIAL_ECHOPGM(", ");
  608. MYSERIAL.print(st_get_position_mm(Z_AXIS), 5);
  609. SERIAL_ECHOLNPGM("");
  610. SERIAL_ECHOPGM("Planner, target position, initial: ");
  611. MYSERIAL.print(x, 5);
  612. SERIAL_ECHOPGM(", ");
  613. MYSERIAL.print(y, 5);
  614. SERIAL_ECHOLNPGM("");
  615. SERIAL_ECHOPGM("Planner, world2machine: ");
  616. MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5);
  617. SERIAL_ECHOPGM(", ");
  618. MYSERIAL.print(world2machine_rotation_and_skew[0][1], 5);
  619. SERIAL_ECHOPGM(", ");
  620. MYSERIAL.print(world2machine_rotation_and_skew[1][0], 5);
  621. SERIAL_ECHOPGM(", ");
  622. MYSERIAL.print(world2machine_rotation_and_skew[1][1], 5);
  623. SERIAL_ECHOLNPGM("");
  624. SERIAL_ECHOPGM("Planner, offset: ");
  625. MYSERIAL.print(world2machine_shift[0], 5);
  626. SERIAL_ECHOPGM(", ");
  627. MYSERIAL.print(world2machine_shift[1], 5);
  628. SERIAL_ECHOLNPGM("");
  629. #endif
  630. world2machine(x, y);
  631. #if 0
  632. SERIAL_ECHOPGM("Planner, target position, corrected: ");
  633. MYSERIAL.print(x, 5);
  634. SERIAL_ECHOPGM(", ");
  635. MYSERIAL.print(y, 5);
  636. SERIAL_ECHOLNPGM("");
  637. #endif
  638. }
  639. // The target position of the tool in absolute steps
  640. // Calculate target position in absolute steps
  641. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  642. long target[4];
  643. target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  644. target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  645. #ifdef MESH_BED_LEVELING
  646. if (mbl.active){
  647. target[Z_AXIS] = lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
  648. }else{
  649. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  650. }
  651. #else
  652. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  653. #endif // ENABLE_MESH_BED_LEVELING
  654. target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  655. #ifdef LIN_ADVANCE
  656. const float mm_D_float = sqrt(sq(x - position_float[X_AXIS]) + sq(y - position_float[Y_AXIS]));
  657. float de_float = e - position_float[E_AXIS];
  658. #endif
  659. #ifdef PREVENT_DANGEROUS_EXTRUDE
  660. if(target[E_AXIS]!=position[E_AXIS])
  661. {
  662. if(degHotend(active_extruder)<extrude_min_temp)
  663. {
  664. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  665. #ifdef LIN_ADVANCE
  666. position_float[E_AXIS] = e;
  667. de_float = 0;
  668. #endif
  669. SERIAL_ECHO_START;
  670. SERIAL_ECHOLNRPGM(_i(" cold extrusion prevented"));////MSG_ERR_COLD_EXTRUDE_STOP c=0 r=0
  671. }
  672. #ifdef PREVENT_LENGTHY_EXTRUDE
  673. if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
  674. {
  675. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  676. #ifdef LIN_ADVANCE
  677. position_float[E_AXIS] = e;
  678. de_float = 0;
  679. #endif
  680. SERIAL_ECHO_START;
  681. SERIAL_ECHOLNRPGM(_n(" too long extrusion prevented"));////MSG_ERR_LONG_EXTRUDE_STOP c=0 r=0
  682. }
  683. #endif
  684. }
  685. #endif
  686. // Prepare to set up new block
  687. block_t *block = &block_buffer[block_buffer_head];
  688. // Set sdlen for calculating sd position
  689. block->sdlen = 0;
  690. // Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.)
  691. block->busy = false;
  692. // Number of steps for each axis
  693. #ifndef COREXY
  694. // default non-h-bot planning
  695. block->steps_x.wide = labs(target[X_AXIS]-position[X_AXIS]);
  696. block->steps_y.wide = labs(target[Y_AXIS]-position[Y_AXIS]);
  697. #else
  698. // corexy planning
  699. // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
  700. block->steps_x.wide = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
  701. block->steps_y.wide = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
  702. #endif
  703. block->steps_z.wide = labs(target[Z_AXIS]-position[Z_AXIS]);
  704. block->steps_e.wide = labs(target[E_AXIS]-position[E_AXIS]);
  705. block->step_event_count.wide = max(block->steps_x.wide, max(block->steps_y.wide, max(block->steps_z.wide, block->steps_e.wide)));
  706. // Bail if this is a zero-length block
  707. if (block->step_event_count.wide <= dropsegments)
  708. {
  709. #ifdef PLANNER_DIAGNOSTICS
  710. planner_update_queue_min_counter();
  711. #endif /* PLANNER_DIAGNOSTICS */
  712. return;
  713. }
  714. block->fan_speed = fanSpeed;
  715. // Compute direction bits for this block
  716. block->direction_bits = 0;
  717. #ifndef COREXY
  718. if (target[X_AXIS] < position[X_AXIS])
  719. {
  720. block->direction_bits |= (1<<X_AXIS);
  721. }
  722. if (target[Y_AXIS] < position[Y_AXIS])
  723. {
  724. block->direction_bits |= (1<<Y_AXIS);
  725. }
  726. #else
  727. if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
  728. {
  729. block->direction_bits |= (1<<X_AXIS);
  730. }
  731. if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
  732. {
  733. block->direction_bits |= (1<<Y_AXIS);
  734. }
  735. #endif
  736. if (target[Z_AXIS] < position[Z_AXIS])
  737. {
  738. block->direction_bits |= (1<<Z_AXIS);
  739. }
  740. if (target[E_AXIS] < position[E_AXIS])
  741. {
  742. block->direction_bits |= (1<<E_AXIS);
  743. }
  744. block->active_extruder = extruder;
  745. //enable active axes
  746. #ifdef COREXY
  747. if((block->steps_x.wide != 0) || (block->steps_y.wide != 0))
  748. {
  749. enable_x();
  750. enable_y();
  751. }
  752. #else
  753. if(block->steps_x.wide != 0) enable_x();
  754. if(block->steps_y.wide != 0) enable_y();
  755. #endif
  756. if(block->steps_z.wide != 0) enable_z();
  757. // Enable extruder(s)
  758. if(block->steps_e.wide != 0)
  759. {
  760. if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
  761. {
  762. if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
  763. if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
  764. if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
  765. switch(extruder)
  766. {
  767. case 0:
  768. enable_e0();
  769. g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
  770. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  771. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  772. break;
  773. case 1:
  774. enable_e1();
  775. g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
  776. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  777. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  778. break;
  779. case 2:
  780. enable_e2();
  781. g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
  782. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  783. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  784. break;
  785. }
  786. }
  787. else //enable all
  788. {
  789. enable_e0();
  790. enable_e1();
  791. enable_e2();
  792. }
  793. }
  794. if (block->steps_e.wide == 0)
  795. {
  796. if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
  797. }
  798. else
  799. {
  800. if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
  801. }
  802. /* This part of the code calculates the total length of the movement.
  803. For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
  804. But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
  805. and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
  806. So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
  807. Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
  808. */
  809. #ifndef COREXY
  810. float delta_mm[4];
  811. delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  812. delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  813. #else
  814. float delta_mm[6];
  815. delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  816. delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  817. delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
  818. delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
  819. #endif
  820. delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
  821. delta_mm[E_AXIS] = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
  822. if ( block->steps_x.wide <=dropsegments && block->steps_y.wide <=dropsegments && block->steps_z.wide <=dropsegments )
  823. {
  824. block->millimeters = fabs(delta_mm[E_AXIS]);
  825. }
  826. else
  827. {
  828. #ifndef COREXY
  829. block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
  830. #else
  831. block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
  832. #endif
  833. }
  834. float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
  835. // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
  836. float inverse_second = feed_rate * inverse_millimeters;
  837. int moves_queued = moves_planned();
  838. // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
  839. #ifdef SLOWDOWN
  840. //FIXME Vojtech: Why moves_queued > 1? Why not >=1?
  841. // Can we somehow differentiate the filling of the buffer at the start of a g-code from a buffer draining situation?
  842. if (moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE >> 1)) {
  843. // segment time in micro seconds
  844. unsigned long segment_time = lround(1000000.0/inverse_second);
  845. if (segment_time < minsegmenttime)
  846. // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  847. inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
  848. }
  849. #endif // SLOWDOWN
  850. block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
  851. block->nominal_rate = ceil(block->step_event_count.wide * inverse_second); // (step/sec) Always > 0
  852. // Calculate and limit speed in mm/sec for each axis
  853. float current_speed[4];
  854. float speed_factor = 1.0; //factor <=1 do decrease speed
  855. for(int i=0; i < 4; i++)
  856. {
  857. current_speed[i] = delta_mm[i] * inverse_second;
  858. if(fabs(current_speed[i]) > max_feedrate[i])
  859. speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
  860. }
  861. // Correct the speed
  862. if( speed_factor < 1.0)
  863. {
  864. for(unsigned char i=0; i < 4; i++)
  865. {
  866. current_speed[i] *= speed_factor;
  867. }
  868. block->nominal_speed *= speed_factor;
  869. block->nominal_rate *= speed_factor;
  870. }
  871. // Compute and limit the acceleration rate for the trapezoid generator.
  872. // block->step_event_count ... event count of the fastest axis
  873. // block->millimeters ... Euclidian length of the XYZ movement or the E length, if no XYZ movement.
  874. float steps_per_mm = block->step_event_count.wide/block->millimeters;
  875. if(block->steps_x.wide == 0 && block->steps_y.wide == 0 && block->steps_z.wide == 0)
  876. {
  877. block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  878. }
  879. else
  880. {
  881. block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  882. // Limit acceleration per axis
  883. //FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
  884. if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
  885. block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
  886. if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
  887. block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
  888. if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
  889. block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
  890. if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS])
  891. block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  892. }
  893. // Acceleration of the segment, in mm/sec^2
  894. block->acceleration = block->acceleration_st / steps_per_mm;
  895. #if 0
  896. // Oversample diagonal movements by a power of 2 up to 8x
  897. // to achieve more accurate diagonal movements.
  898. uint8_t bresenham_oversample = 1;
  899. for (uint8_t i = 0; i < 3; ++ i) {
  900. if (block->nominal_rate >= 5000) // 5kHz
  901. break;
  902. block->nominal_rate << 1;
  903. bresenham_oversample << 1;
  904. block->step_event_count << 1;
  905. }
  906. if (bresenham_oversample > 1)
  907. // Lower the acceleration steps/sec^2 to account for the oversampling.
  908. block->acceleration_st = (block->acceleration_st + (bresenham_oversample >> 1)) / bresenham_oversample;
  909. #endif
  910. block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
  911. // Start with a safe speed.
  912. // Safe speed is the speed, from which the machine may halt to stop immediately.
  913. float safe_speed = block->nominal_speed;
  914. bool limited = false;
  915. for (uint8_t axis = 0; axis < 4; ++ axis) {
  916. float jerk = fabs(current_speed[axis]);
  917. if (jerk > max_jerk[axis]) {
  918. // The actual jerk is lower, if it has been limited by the XY jerk.
  919. if (limited) {
  920. // Spare one division by a following gymnastics:
  921. // Instead of jerk *= safe_speed / block->nominal_speed,
  922. // multiply max_jerk[axis] by the divisor.
  923. jerk *= safe_speed;
  924. float mjerk = max_jerk[axis] * block->nominal_speed;
  925. if (jerk > mjerk) {
  926. safe_speed *= mjerk / jerk;
  927. limited = true;
  928. }
  929. } else {
  930. safe_speed = max_jerk[axis];
  931. limited = true;
  932. }
  933. }
  934. }
  935. // Reset the block flag.
  936. block->flag = 0;
  937. // Initial limit on the segment entry velocity.
  938. float vmax_junction;
  939. //FIXME Vojtech: Why only if at least two lines are planned in the queue?
  940. // Is it because we don't want to tinker with the first buffer line, which
  941. // is likely to be executed by the stepper interrupt routine soon?
  942. if (moves_queued > 1 && previous_nominal_speed > 0.0001f) {
  943. // Estimate a maximum velocity allowed at a joint of two successive segments.
  944. // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
  945. // then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
  946. // The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
  947. bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
  948. float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
  949. // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
  950. vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
  951. // Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
  952. float v_factor = 1.f;
  953. limited = false;
  954. // Now limit the jerk in all axes.
  955. for (uint8_t axis = 0; axis < 4; ++ axis) {
  956. // Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop.
  957. float v_exit = previous_speed[axis];
  958. float v_entry = current_speed [axis];
  959. if (prev_speed_larger)
  960. v_exit *= smaller_speed_factor;
  961. if (limited) {
  962. v_exit *= v_factor;
  963. v_entry *= v_factor;
  964. }
  965. // Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction.
  966. float jerk =
  967. (v_exit > v_entry) ?
  968. ((v_entry > 0.f || v_exit < 0.f) ?
  969. // coasting
  970. (v_exit - v_entry) :
  971. // axis reversal
  972. max(v_exit, - v_entry)) :
  973. // v_exit <= v_entry
  974. ((v_entry < 0.f || v_exit > 0.f) ?
  975. // coasting
  976. (v_entry - v_exit) :
  977. // axis reversal
  978. max(- v_exit, v_entry));
  979. if (jerk > max_jerk[axis]) {
  980. v_factor *= max_jerk[axis] / jerk;
  981. limited = true;
  982. }
  983. }
  984. if (limited)
  985. vmax_junction *= v_factor;
  986. // Now the transition velocity is known, which maximizes the shared exit / entry velocity while
  987. // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
  988. float vmax_junction_threshold = vmax_junction * 0.99f;
  989. if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
  990. // Not coasting. The machine will stop and start the movements anyway,
  991. // better to start the segment from start.
  992. block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
  993. vmax_junction = safe_speed;
  994. }
  995. } else {
  996. block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
  997. vmax_junction = safe_speed;
  998. }
  999. // Max entry speed of this block equals the max exit speed of the previous block.
  1000. block->max_entry_speed = vmax_junction;
  1001. // Initialize block entry speed. Compute based on deceleration to safe_speed.
  1002. double v_allowable = max_allowable_entry_speed(-block->acceleration,safe_speed,block->millimeters);
  1003. block->entry_speed = min(vmax_junction, v_allowable);
  1004. // Initialize planner efficiency flags
  1005. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  1006. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  1007. // the current block and next block junction speeds are guaranteed to always be at their maximum
  1008. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  1009. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  1010. // the reverse and forward planners, the corresponding block junction speed will always be at the
  1011. // the maximum junction speed and may always be ignored for any speed reduction checks.
  1012. // Always calculate trapezoid for new block
  1013. block->flag |= (block->nominal_speed <= v_allowable) ? (BLOCK_FLAG_NOMINAL_LENGTH | BLOCK_FLAG_RECALCULATE) : BLOCK_FLAG_RECALCULATE;
  1014. // Update previous path unit_vector and nominal speed
  1015. memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
  1016. previous_nominal_speed = block->nominal_speed;
  1017. previous_safe_speed = safe_speed;
  1018. #ifdef LIN_ADVANCE
  1019. //
  1020. // Use LIN_ADVANCE for blocks if all these are true:
  1021. //
  1022. // esteps : We have E steps todo (a printing move)
  1023. //
  1024. // block->steps[X_AXIS] || block->steps[Y_AXIS] : We have a movement in XY direction (i.e., not retract / prime).
  1025. //
  1026. // extruder_advance_k : There is an advance factor set.
  1027. //
  1028. // block->steps[E_AXIS] != block->step_event_count : A problem occurs if the move before a retract is too small.
  1029. // In that case, the retract and move will be executed together.
  1030. // This leads to too many advance steps due to a huge e_acceleration.
  1031. // The math is good, but we must avoid retract moves with advance!
  1032. // de_float > 0.0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
  1033. //
  1034. block->use_advance_lead = block->steps_e.wide
  1035. && (block->steps_x.wide || block->steps_y.wide)
  1036. && extruder_advance_k
  1037. && (uint32_t)block->steps_e.wide != block->step_event_count.wide
  1038. && de_float > 0.0;
  1039. if (block->use_advance_lead)
  1040. block->abs_adv_steps_multiplier8 = lround(
  1041. extruder_advance_k
  1042. * ((advance_ed_ratio < 0.000001) ? de_float / mm_D_float : advance_ed_ratio) // Use the fixed ratio, if set
  1043. * (block->nominal_speed / (float)block->nominal_rate)
  1044. * axis_steps_per_unit[E_AXIS] * 256.0
  1045. );
  1046. #endif
  1047. // Precalculate the division, so when all the trapezoids in the planner queue get recalculated, the division is not repeated.
  1048. block->speed_factor = block->nominal_rate / block->nominal_speed;
  1049. calculate_trapezoid_for_block(block, block->entry_speed, safe_speed);
  1050. if (block->step_event_count.wide <= 32767)
  1051. block->flag |= BLOCK_FLAG_DDA_LOWRES;
  1052. // Move the buffer head. From now the block may be picked up by the stepper interrupt controller.
  1053. block_buffer_head = next_buffer_head;
  1054. // Update position
  1055. memcpy(position, target, sizeof(target)); // position[] = target[]
  1056. #ifdef LIN_ADVANCE
  1057. position_float[X_AXIS] = x;
  1058. position_float[Y_AXIS] = y;
  1059. position_float[Z_AXIS] = z;
  1060. position_float[E_AXIS] = e;
  1061. #endif
  1062. // Recalculate the trapezoids to maximize speed at the segment transitions while respecting
  1063. // the machine limits (maximum acceleration and maximum jerk).
  1064. // This runs asynchronously with the stepper interrupt controller, which may
  1065. // interfere with the process.
  1066. planner_recalculate(safe_speed);
  1067. // SERIAL_ECHOPGM("Q");
  1068. // SERIAL_ECHO(int(moves_planned()));
  1069. // SERIAL_ECHOLNPGM("");
  1070. #ifdef PLANNER_DIAGNOSTICS
  1071. planner_update_queue_min_counter();
  1072. #endif /* PLANNER_DIAGNOSTIC */
  1073. // The stepper timer interrupt will run continuously from now on.
  1074. // If there are no planner blocks to be executed by the stepper routine,
  1075. // the stepper interrupt ticks at 1kHz to wake up and pick a block
  1076. // from the planner queue if available.
  1077. ENABLE_STEPPER_DRIVER_INTERRUPT();
  1078. }
  1079. #ifdef ENABLE_AUTO_BED_LEVELING
  1080. vector_3 plan_get_position() {
  1081. vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
  1082. //position.debug("in plan_get position");
  1083. //plan_bed_level_matrix.debug("in plan_get bed_level");
  1084. matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
  1085. //inverse.debug("in plan_get inverse");
  1086. position.apply_rotation(inverse);
  1087. //position.debug("after rotation");
  1088. return position;
  1089. }
  1090. #endif // ENABLE_AUTO_BED_LEVELING
  1091. void plan_set_position(float x, float y, float z, const float &e)
  1092. {
  1093. #ifdef ENABLE_AUTO_BED_LEVELING
  1094. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  1095. #endif // ENABLE_AUTO_BED_LEVELING
  1096. // Apply the machine correction matrix.
  1097. if (world2machine_correction_mode != WORLD2MACHINE_CORRECTION_NONE)
  1098. {
  1099. float tmpx = x;
  1100. float tmpy = y;
  1101. x = world2machine_rotation_and_skew[0][0] * tmpx + world2machine_rotation_and_skew[0][1] * tmpy + world2machine_shift[0];
  1102. y = world2machine_rotation_and_skew[1][0] * tmpx + world2machine_rotation_and_skew[1][1] * tmpy + world2machine_shift[1];
  1103. }
  1104. position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  1105. position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  1106. #ifdef MESH_BED_LEVELING
  1107. position[Z_AXIS] = mbl.active ?
  1108. lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]) :
  1109. lround(z*axis_steps_per_unit[Z_AXIS]);
  1110. #else
  1111. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  1112. #endif // ENABLE_MESH_BED_LEVELING
  1113. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  1114. #ifdef LIN_ADVANCE
  1115. position_float[X_AXIS] = x;
  1116. position_float[Y_AXIS] = y;
  1117. position_float[Z_AXIS] = z;
  1118. position_float[E_AXIS] = e;
  1119. #endif
  1120. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  1121. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  1122. previous_speed[0] = 0.0;
  1123. previous_speed[1] = 0.0;
  1124. previous_speed[2] = 0.0;
  1125. previous_speed[3] = 0.0;
  1126. }
  1127. // Only useful in the bed leveling routine, when the mesh bed leveling is off.
  1128. void plan_set_z_position(const float &z)
  1129. {
  1130. #ifdef LIN_ADVANCE
  1131. position_float[Z_AXIS] = z;
  1132. #endif
  1133. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  1134. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  1135. }
  1136. void plan_set_e_position(const float &e)
  1137. {
  1138. #ifdef LIN_ADVANCE
  1139. position_float[E_AXIS] = e;
  1140. #endif
  1141. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  1142. st_set_e_position(position[E_AXIS]);
  1143. }
  1144. #ifdef PREVENT_DANGEROUS_EXTRUDE
  1145. void set_extrude_min_temp(float temp)
  1146. {
  1147. extrude_min_temp=temp;
  1148. }
  1149. #endif
  1150. // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
  1151. void reset_acceleration_rates()
  1152. {
  1153. for(int8_t i=0; i < NUM_AXIS; i++)
  1154. axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
  1155. }
  1156. #ifdef TMC2130
  1157. void update_mode_profile()
  1158. {
  1159. if (tmc2130_mode == TMC2130_MODE_NORMAL)
  1160. {
  1161. max_feedrate = max_feedrate_normal;
  1162. max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_normal;
  1163. }
  1164. else if (tmc2130_mode == TMC2130_MODE_SILENT)
  1165. {
  1166. max_feedrate = max_feedrate_silent;
  1167. max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_silent;
  1168. }
  1169. reset_acceleration_rates();
  1170. }
  1171. #endif //TMC2130
  1172. unsigned char number_of_blocks()
  1173. {
  1174. return (block_buffer_head + BLOCK_BUFFER_SIZE - block_buffer_tail) & (BLOCK_BUFFER_SIZE - 1);
  1175. }
  1176. #ifdef PLANNER_DIAGNOSTICS
  1177. uint8_t planner_queue_min()
  1178. {
  1179. return g_cntr_planner_queue_min;
  1180. }
  1181. void planner_queue_min_reset()
  1182. {
  1183. g_cntr_planner_queue_min = moves_planned();
  1184. }
  1185. #endif /* PLANNER_DIAGNOSTICS */
  1186. void planner_add_sd_length(uint16_t sdlen)
  1187. {
  1188. if (block_buffer_head != block_buffer_tail) {
  1189. // The planner buffer is not empty. Get the index of the last buffer line entered,
  1190. // which is (block_buffer_head - 1) modulo BLOCK_BUFFER_SIZE.
  1191. block_buffer[prev_block_index(block_buffer_head)].sdlen += sdlen;
  1192. } else {
  1193. // There is no line stored in the planner buffer, which means the last command does not need to be revertible,
  1194. // at a power panic, so the length of this command may be forgotten.
  1195. }
  1196. }
  1197. uint16_t planner_calc_sd_length()
  1198. {
  1199. unsigned char _block_buffer_head = block_buffer_head;
  1200. unsigned char _block_buffer_tail = block_buffer_tail;
  1201. uint16_t sdlen = 0;
  1202. while (_block_buffer_head != _block_buffer_tail)
  1203. {
  1204. sdlen += block_buffer[_block_buffer_tail].sdlen;
  1205. _block_buffer_tail = (_block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
  1206. }
  1207. return sdlen;
  1208. }