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- #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
- unsigned long minsegmenttime;
- float max_feedrate_normal[NUM_AXIS];
- float max_feedrate_silent[NUM_AXIS];
- float* max_feedrate = max_feedrate_normal;
- float axis_steps_per_unit[NUM_AXIS];
- unsigned long max_acceleration_units_per_sq_second_normal[NUM_AXIS];
- unsigned long max_acceleration_units_per_sq_second_silent[NUM_AXIS];
- unsigned long* max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_normal;
- float minimumfeedrate;
- float acceleration;
- float retract_acceleration;
- float max_jerk[NUM_AXIS];
- float mintravelfeedrate;
- unsigned long axis_steps_per_sqr_second[NUM_AXIS];
- #ifdef ENABLE_AUTO_BED_LEVELING
- 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
- long position[NUM_AXIS];
- static float previous_speed[NUM_AXIS];
- static float previous_nominal_speed;
- static float previous_safe_speed;
- uint8_t maxlimit_status;
- #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};
- block_t block_buffer[BLOCK_BUFFER_SIZE];
- volatile unsigned char block_buffer_head;
- volatile unsigned char block_buffer_tail;
- #ifdef PLANNER_DIAGNOSTICS
- static uint8_t g_cntr_planner_queue_min = 0;
- #endif
- #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
- static inline int8_t next_block_index(int8_t block_index) {
- if (++ block_index == BLOCK_BUFFER_SIZE)
- block_index = 0;
- return block_index;
- }
- 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;
- }
- 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;
- }
- }
- 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;
- }
- }
- #define MINIMAL_STEP_RATE 120
- void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed)
- {
-
-
-
-
- uint32_t initial_rate = ceil(entry_speed * block->speed_factor);
- uint32_t final_rate = ceil(exit_speed * block->speed_factor);
-
- 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)
-
- acceleration = 1;
-
-
- uint32_t initial_rate_sqr = initial_rate*initial_rate;
-
- 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;
-
- uint32_t accelerate_steps = (nominal_rate_sqr - initial_rate_sqr + acceleration_x2 - 1) / acceleration_x2;
-
- uint32_t decelerate_steps = (nominal_rate_sqr - final_rate_sqr) / acceleration_x2;
- uint32_t accel_decel_steps = accelerate_steps + decelerate_steps;
-
- uint32_t plateau_steps = 0;
-
-
-
- if (accel_decel_steps < block->step_event_count.wide) {
- plateau_steps = block->step_event_count.wide - accel_decel_steps;
- } else {
- uint32_t acceleration_x4 = acceleration << 2;
-
- if (final_rate_sqr >= initial_rate_sqr) {
-
-
-
- #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.wide & 1)
- accelerate_steps += acceleration_x2;
- accelerate_steps /= acceleration_x4;
- accelerate_steps += (block->step_event_count.wide >> 1);
- #endif
- if (accelerate_steps > block->step_event_count.wide)
- accelerate_steps = block->step_event_count.wide;
- } 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.wide & 1)
- decelerate_steps += acceleration_x2;
- decelerate_steps /= acceleration_x4;
- decelerate_steps += (block->step_event_count.wide >> 1);
- #endif
- if (decelerate_steps > block->step_event_count.wide)
- decelerate_steps = block->step_event_count.wide;
- accelerate_steps = block->step_event_count.wide - decelerate_steps;
- }
- }
- CRITICAL_SECTION_START;
-
-
-
-
- if (! block->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;
- }
- FORCE_INLINE float max_allowable_entry_speed(float decceleration, float target_velocity, float distance)
- {
-
- return sqrt(target_velocity*target_velocity-2*decceleration*distance);
- }
- void planner_recalculate(const float &safe_final_speed)
- {
-
-
-
- unsigned char tail = block_buffer_tail;
- uint8_t block_index;
- block_t *prev, *current, *next;
-
- unsigned char n_blocks = (block_buffer_head + BLOCK_BUFFER_SIZE - tail) & (BLOCK_BUFFER_SIZE - 1);
- if (n_blocks >= 3) {
-
- block_index = prev_block_index(block_buffer_head);
- next = block_buffer + block_index;
- current = block_buffer + (block_index = prev_block_index(block_index));
-
-
-
-
- while (block_index != tail) {
- if (current->flag & BLOCK_FLAG_START_FROM_FULL_HALT) {
-
-
-
- tail = block_index;
-
- n_blocks = (block_buffer_head + BLOCK_BUFFER_SIZE - tail) & (BLOCK_BUFFER_SIZE - 1);
-
- break;
- }
-
-
-
- if (current->entry_speed != current->max_entry_speed) {
-
-
-
-
-
-
-
-
- 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, 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));
- }
- }
-
- if (n_blocks >= 2) {
-
- block_index = tail;
- prev = block_buffer + block_index;
- current = block_buffer + (block_index = next_block_index(block_index));
- do {
-
-
-
-
- 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));
-
- if (current->entry_speed != entry_speed) {
- current->entry_speed = entry_speed;
- current->flag |= BLOCK_FLAG_RECALCULATE;
- }
- }
-
- if ((prev->flag | current->flag) & BLOCK_FLAG_RECALCULATE) {
-
- calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed);
-
- prev->flag &= ~BLOCK_FLAG_RECALCULATE;
- }
- prev = current;
- current = block_buffer + (block_index = next_block_index(block_index));
- } while (block_index != block_buffer_head);
- }
-
- 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;
- }
- void plan_init() {
- block_buffer_head = 0;
- block_buffer_tail = 0;
- memset(position, 0, sizeof(position));
- #ifdef LIN_ADVANCE
- memset(position_float, 0, sizeof(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) {
- return;
- }
- float high=0.0;
- uint8_t block_index = block_buffer_tail;
- while(block_index != block_buffer_head) {
- if((block_buffer[block_index].steps_x.wide != 0) ||
- (block_buffer[block_index].steps_y.wide != 0) ||
- (block_buffer[block_index].steps_z.wide != 0)) {
- 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;
-
- 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.wide != 0) x_active++;
- if(block->steps_y.wide != 0) y_active++;
- if(block->steps_z.wide != 0) z_active++;
- if(block->steps_e.wide != 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) {
-
- fan_kick_end = millis() + FAN_KICKSTART_TIME;
- tail_fan_speed = 255;
- } else if (fan_kick_end > millis())
-
- tail_fan_speed = 255;
- } else {
- fan_kick_end = 0;
- }
- #endif
- #ifdef FAN_SOFT_PWM
- fanSpeedSoftPwm = tail_fan_speed;
- #else
- analogWrite(FAN_PIN,tail_fan_speed);
- #endif
- #endif
- #ifdef AUTOTEMP
- getHighESpeed();
- #endif
- }
- bool waiting_inside_plan_buffer_line_print_aborted = false;
- #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
- extern volatile uint32_t step_events_completed;
- void planner_abort_hard()
- {
-
- DISABLE_STEPPER_DRIVER_INTERRUPT();
-
-
- 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);
-
- 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);
-
- #ifdef MESH_BED_LEVELING
- if (mbl.active) {
- #if 1
-
-
- current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
- #else
-
- 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
-
- quickStop();
-
- machine2world(current_position[X_AXIS], current_position[Y_AXIS]);
- memcpy(destination, current_position, sizeof(destination));
-
- 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;
-
- waiting_inside_plan_buffer_line_print_aborted = true;
- }
- float junction_deviation = 0.1;
- void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
- {
-
- int next_buffer_head = next_block_index(block_buffer_head);
-
-
- if (block_buffer_tail == next_buffer_head) {
- waiting_inside_plan_buffer_line_print_aborted = false;
- do {
- manage_heater();
-
- manage_inactivity(false);
- lcd_update(0);
- } while (block_buffer_tail == next_buffer_head);
- if (waiting_inside_plan_buffer_line_print_aborted) {
-
-
- #ifdef PLANNER_DIAGNOSTICS
- planner_update_queue_min_counter();
- #endif
- return;
- }
- }
- #ifdef PLANNER_DIAGNOSTICS
- planner_update_queue_min_counter();
- #endif
- #ifdef ENABLE_AUTO_BED_LEVELING
- apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
- #endif
-
- {
- #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
- }
-
-
-
- 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
- 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];
- #ifdef LIN_ADVANCE
- position_float[E_AXIS] = e;
- de_float = 0;
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(_i(" cold extrusion prevented"));
- }
-
- #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];
- #ifdef LIN_ADVANCE
- position_float[E_AXIS] = e;
- de_float = 0;
- #endif
- SERIAL_ECHO_START;
- SERIAL_ECHOLNRPGM(_n(" too long extrusion prevented"));
- }
- #endif
- }
- #endif
-
- block_t *block = &block_buffer[block_buffer_head];
-
- block->sdlen = 0;
-
- block->busy = false;
-
- #ifndef COREXY
- block->steps_x.wide = labs(target[X_AXIS]-position[X_AXIS]);
- block->steps_y.wide = labs(target[Y_AXIS]-position[Y_AXIS]);
- #else
- block->steps_x.wide = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
- block->steps_y.wide = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
- #endif
- block->steps_z.wide = labs(target[Z_AXIS]-position[Z_AXIS]);
- block->steps_e.wide = labs(target[E_AXIS]-position[E_AXIS]);
- block->step_event_count.wide = max(block->steps_x.wide, max(block->steps_y.wide, max(block->steps_z.wide, block->steps_e.wide)));
-
- if (block->step_event_count.wide <= dropsegments)
- {
- #ifdef PLANNER_DIAGNOSTICS
- planner_update_queue_min_counter();
- #endif
- return;
- }
- block->fan_speed = fanSpeed;
-
- 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;
-
- #ifdef COREXY
- if((block->steps_x.wide != 0) || (block->steps_y.wide != 0))
- {
- enable_x();
- enable_y();
- }
- #else
- if(block->steps_x.wide != 0) enable_x();
- if(block->steps_y.wide != 0) enable_y();
- #endif
- if(block->steps_z.wide != 0) enable_z();
-
- if(block->steps_e.wide != 0)
- {
- if (DISABLE_INACTIVE_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_e0();
- enable_e1();
- enable_e2();
- }
- }
- if (block->steps_e.wide == 0)
- {
- if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
- }
- else
- {
- if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
- }
-
- #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.wide <=dropsegments && block->steps_y.wide <=dropsegments && block->steps_z.wide <=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;
-
- float inverse_second = feed_rate * inverse_millimeters;
- int moves_queued = moves_planned();
-
- #ifdef SLOWDOWN
-
-
- if (moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE >> 1)) {
-
- unsigned long segment_time = lround(1000000.0/inverse_second);
- if (segment_time < minsegmenttime)
-
- inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
- }
- #endif
- block->nominal_speed = block->millimeters * inverse_second;
- block->nominal_rate = ceil(block->step_event_count.wide * inverse_second);
-
- float current_speed[4];
- float speed_factor = 1.0;
- for(int i=0; i < 4; i++)
- {
- current_speed[i] = delta_mm[i] * inverse_second;
- if(fabs(current_speed[i]) > max_feedrate[i])
- {
- speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
- maxlimit_status |= (1 << i);
- }
- }
-
- 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;
- }
-
-
-
- float steps_per_mm = block->step_event_count.wide/block->millimeters;
- if(block->steps_x.wide == 0 && block->steps_y.wide == 0 && block->steps_z.wide == 0)
- {
- block->acceleration_st = ceil(retract_acceleration * steps_per_mm);
- }
- else
- {
- block->acceleration_st = ceil(acceleration * steps_per_mm);
-
-
- if(((float)block->acceleration_st * (float)block->steps_x.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[X_AXIS])
- { block->acceleration_st = axis_steps_per_sqr_second[X_AXIS]; maxlimit_status |= (X_AXIS_MASK << 4); }
- if(((float)block->acceleration_st * (float)block->steps_y.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[Y_AXIS])
- { block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS]; maxlimit_status |= (Y_AXIS_MASK << 4); }
- if(((float)block->acceleration_st * (float)block->steps_e.wide / (float)block->step_event_count.wide) > axis_steps_per_sqr_second[E_AXIS])
- { block->acceleration_st = axis_steps_per_sqr_second[E_AXIS]; maxlimit_status |= (Z_AXIS_MASK << 4); }
- if(((float)block->acceleration_st * (float)block->steps_z.wide / (float)block->step_event_count.wide ) > axis_steps_per_sqr_second[Z_AXIS])
- { block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS]; maxlimit_status |= (E_AXIS_MASK << 4); }
- }
-
- block->acceleration = block->acceleration_st / steps_per_mm;
- #if 0
-
-
- uint8_t bresenham_oversample = 1;
- for (uint8_t i = 0; i < 3; ++ i) {
- if (block->nominal_rate >= 5000)
- break;
- block->nominal_rate << 1;
- bresenham_oversample << 1;
- block->step_event_count << 1;
- }
- if (bresenham_oversample > 1)
-
- 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)));
-
-
- 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]) {
-
- if (limited) {
-
-
-
- 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;
- }
- }
- }
-
- block->flag = 0;
-
- float vmax_junction;
-
-
-
- if (moves_queued > 1 && previous_nominal_speed > 0.0001f) {
-
-
-
-
- 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);
-
- vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
-
- float v_factor = 1.f;
- limited = false;
-
- for (uint8_t axis = 0; axis < 4; ++ axis) {
-
- 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;
- }
-
- float jerk =
- (v_exit > v_entry) ?
- ((v_entry > 0.f || v_exit < 0.f) ?
-
- (v_exit - v_entry) :
-
- max(v_exit, - v_entry)) :
-
- ((v_entry < 0.f || v_exit > 0.f) ?
-
- (v_entry - v_exit) :
-
- max(- v_exit, v_entry));
- if (jerk > max_jerk[axis]) {
- v_factor *= max_jerk[axis] / jerk;
- limited = true;
- }
- }
- if (limited)
- vmax_junction *= v_factor;
-
-
- float vmax_junction_threshold = vmax_junction * 0.99f;
- if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
-
-
- 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;
- }
-
- block->max_entry_speed = vmax_junction;
-
- double v_allowable = max_allowable_entry_speed(-block->acceleration,safe_speed,block->millimeters);
- block->entry_speed = min(vmax_junction, v_allowable);
-
-
-
-
-
-
-
-
-
- block->flag |= (block->nominal_speed <= v_allowable) ? (BLOCK_FLAG_NOMINAL_LENGTH | BLOCK_FLAG_RECALCULATE) : BLOCK_FLAG_RECALCULATE;
-
- memcpy(previous_speed, current_speed, sizeof(previous_speed));
- previous_nominal_speed = block->nominal_speed;
- previous_safe_speed = safe_speed;
- #ifdef LIN_ADVANCE
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- block->use_advance_lead = block->steps_e.wide
- && (block->steps_x.wide || block->steps_y.wide)
- && extruder_advance_k
- && (uint32_t)block->steps_e.wide != block->step_event_count.wide
- && 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)
- * (block->nominal_speed / (float)block->nominal_rate)
- * axis_steps_per_unit[E_AXIS] * 256.0
- );
- #endif
-
-
- block->speed_factor = block->nominal_rate / block->nominal_speed;
- calculate_trapezoid_for_block(block, block->entry_speed, safe_speed);
- if (block->step_event_count.wide <= 32767)
- block->flag |= BLOCK_FLAG_DDA_LOWRES;
-
- block_buffer_head = next_buffer_head;
-
- memcpy(position, target, sizeof(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
-
-
-
-
-
- planner_recalculate(safe_speed);
- #ifdef PLANNER_DIAGNOSTICS
- planner_update_queue_min_counter();
- #endif
-
-
-
-
- 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));
-
-
- matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
-
- position.apply_rotation(inverse);
-
- return position;
- }
- #endif
- 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
-
- 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
- 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;
- previous_speed[0] = 0.0;
- previous_speed[1] = 0.0;
- previous_speed[2] = 0.0;
- previous_speed[3] = 0.0;
- }
- 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
- 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];
- }
- #ifdef TMC2130
- void update_mode_profile()
- {
- if (tmc2130_mode == TMC2130_MODE_NORMAL)
- {
- max_feedrate = max_feedrate_normal;
- max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_normal;
- }
- else if (tmc2130_mode == TMC2130_MODE_SILENT)
- {
- max_feedrate = max_feedrate_silent;
- max_acceleration_units_per_sq_second = max_acceleration_units_per_sq_second_silent;
- }
- reset_acceleration_rates();
- }
- #endif
- 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
- void planner_add_sd_length(uint16_t sdlen)
- {
- if (block_buffer_head != block_buffer_tail) {
-
-
- block_buffer[prev_block_index(block_buffer_head)].sdlen += sdlen;
- } else {
-
-
- }
- }
- 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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