planner.cpp 50 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. //===========================================================================
  47. //=============================public variables ============================
  48. //===========================================================================
  49. unsigned long minsegmenttime;
  50. float max_feedrate[NUM_AXIS]; // set the max speeds
  51. float axis_steps_per_unit[NUM_AXIS];
  52. unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
  53. float minimumfeedrate;
  54. float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
  55. float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
  56. // Jerk is a maximum immediate velocity change.
  57. float max_jerk[NUM_AXIS];
  58. float mintravelfeedrate;
  59. unsigned long axis_steps_per_sqr_second[NUM_AXIS];
  60. #ifdef ENABLE_AUTO_BED_LEVELING
  61. // this holds the required transform to compensate for bed level
  62. matrix_3x3 plan_bed_level_matrix = {
  63. 1.0, 0.0, 0.0,
  64. 0.0, 1.0, 0.0,
  65. 0.0, 0.0, 1.0,
  66. };
  67. #endif // #ifdef ENABLE_AUTO_BED_LEVELING
  68. // The current position of the tool in absolute steps
  69. long position[NUM_AXIS]; //rescaled from extern when axis_steps_per_unit are changed by gcode
  70. static float previous_speed[NUM_AXIS]; // Speed of previous path line segment
  71. static float previous_nominal_speed; // Nominal speed of previous path line segment
  72. static float previous_safe_speed; // Exit speed limited by a jerk to full halt of a previous last segment.
  73. #ifdef AUTOTEMP
  74. float autotemp_max=250;
  75. float autotemp_min=210;
  76. float autotemp_factor=0.1;
  77. bool autotemp_enabled=false;
  78. #endif
  79. unsigned char g_uc_extruder_last_move[3] = {0,0,0};
  80. //===========================================================================
  81. //=================semi-private variables, used in inline functions =====
  82. //===========================================================================
  83. block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
  84. volatile unsigned char block_buffer_head; // Index of the next block to be pushed
  85. volatile unsigned char block_buffer_tail; // Index of the block to process now
  86. #ifdef PLANNER_DIAGNOSTICS
  87. // Diagnostic function: Minimum number of planned moves since the last
  88. static uint8_t g_cntr_planner_queue_min = 0;
  89. #endif /* PLANNER_DIAGNOSTICS */
  90. //===========================================================================
  91. //=============================private variables ============================
  92. //===========================================================================
  93. #ifdef PREVENT_DANGEROUS_EXTRUDE
  94. float extrude_min_temp=EXTRUDE_MINTEMP;
  95. #endif
  96. #ifdef FILAMENT_SENSOR
  97. static char meas_sample; //temporary variable to hold filament measurement sample
  98. #endif
  99. // Returns the index of the next block in the ring buffer
  100. // NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
  101. static inline int8_t next_block_index(int8_t block_index) {
  102. if (++ block_index == BLOCK_BUFFER_SIZE)
  103. block_index = 0;
  104. return block_index;
  105. }
  106. // Returns the index of the previous block in the ring buffer
  107. static inline int8_t prev_block_index(int8_t block_index) {
  108. if (block_index == 0)
  109. block_index = BLOCK_BUFFER_SIZE;
  110. -- block_index;
  111. return block_index;
  112. }
  113. //===========================================================================
  114. //=============================functions ============================
  115. //===========================================================================
  116. // Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
  117. // given acceleration:
  118. FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  119. {
  120. if (acceleration!=0) {
  121. return((target_rate*target_rate-initial_rate*initial_rate)/
  122. (2.0*acceleration));
  123. }
  124. else {
  125. return 0.0; // acceleration was 0, set acceleration distance to 0
  126. }
  127. }
  128. // This function gives you the point at which you must start braking (at the rate of -acceleration) if
  129. // you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
  130. // a total travel of distance. This can be used to compute the intersection point between acceleration and
  131. // deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
  132. FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  133. {
  134. if (acceleration!=0) {
  135. return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
  136. (4.0*acceleration) );
  137. }
  138. else {
  139. return 0.0; // acceleration was 0, set intersection distance to 0
  140. }
  141. }
  142. #define MINIMAL_STEP_RATE 120
  143. // Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
  144. void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed)
  145. {
  146. // These two lines are the only floating point calculations performed in this routine.
  147. uint32_t initial_rate = ceil(entry_speed * block->speed_factor); // (step/min)
  148. uint32_t final_rate = ceil(exit_speed * block->speed_factor); // (step/min)
  149. // Limit minimal step rate (Otherwise the timer will overflow.)
  150. if (initial_rate < MINIMAL_STEP_RATE)
  151. initial_rate = MINIMAL_STEP_RATE;
  152. if (initial_rate > block->nominal_rate)
  153. initial_rate = block->nominal_rate;
  154. if (final_rate < MINIMAL_STEP_RATE)
  155. final_rate = MINIMAL_STEP_RATE;
  156. if (final_rate > block->nominal_rate)
  157. final_rate = block->nominal_rate;
  158. uint32_t acceleration = block->acceleration_st;
  159. if (acceleration == 0)
  160. // Don't allow zero acceleration.
  161. acceleration = 1;
  162. // estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
  163. // (target_rate*target_rate-initial_rate*initial_rate)/(2.0*acceleration));
  164. uint32_t initial_rate_sqr = initial_rate*initial_rate;
  165. //FIXME assert that this result fits a 64bit unsigned int.
  166. uint32_t nominal_rate_sqr = block->nominal_rate*block->nominal_rate;
  167. uint32_t final_rate_sqr = final_rate*final_rate;
  168. uint32_t acceleration_x2 = acceleration << 1;
  169. // ceil(estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration));
  170. uint32_t accelerate_steps = (nominal_rate_sqr - initial_rate_sqr + acceleration_x2 - 1) / acceleration_x2;
  171. // floor(estimate_acceleration_distance(block->nominal_rate, final_rate, -acceleration));
  172. uint32_t decelerate_steps = (nominal_rate_sqr - final_rate_sqr) / acceleration_x2;
  173. uint32_t accel_decel_steps = accelerate_steps + decelerate_steps;
  174. // Size of Plateau of Nominal Rate.
  175. uint32_t plateau_steps = 0;
  176. // Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
  177. // have to use intersection_distance() to calculate when to abort acceleration and start braking
  178. // in order to reach the final_rate exactly at the end of this block.
  179. if (accel_decel_steps < block->step_event_count) {
  180. plateau_steps = block->step_event_count - accel_decel_steps;
  181. } else {
  182. uint32_t acceleration_x4 = acceleration << 2;
  183. // Avoid negative numbers
  184. if (final_rate_sqr >= initial_rate_sqr) {
  185. // accelerate_steps = ceil(intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count));
  186. // intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
  187. // (2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/(4.0*acceleration);
  188. #if 0
  189. 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;
  190. #else
  191. accelerate_steps = final_rate_sqr - initial_rate_sqr + acceleration_x4 - 1;
  192. if (block->step_event_count & 1)
  193. accelerate_steps += acceleration_x2;
  194. accelerate_steps /= acceleration_x4;
  195. accelerate_steps += (block->step_event_count >> 1);
  196. #endif
  197. if (accelerate_steps > block->step_event_count)
  198. accelerate_steps = block->step_event_count;
  199. } else {
  200. #if 0
  201. decelerate_steps = (block->step_event_count >> 1) + (initial_rate_sqr - final_rate_sqr + (block->step_event_count & 1) * acceleration_x2) / acceleration_x4;
  202. #else
  203. decelerate_steps = initial_rate_sqr - final_rate_sqr;
  204. if (block->step_event_count & 1)
  205. decelerate_steps += acceleration_x2;
  206. decelerate_steps /= acceleration_x4;
  207. decelerate_steps += (block->step_event_count >> 1);
  208. #endif
  209. if (decelerate_steps > block->step_event_count)
  210. decelerate_steps = block->step_event_count;
  211. accelerate_steps = block->step_event_count - decelerate_steps;
  212. }
  213. }
  214. CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
  215. if (! block->busy) { // Don't update variables if block is busy.
  216. block->accelerate_until = accelerate_steps;
  217. block->decelerate_after = accelerate_steps+plateau_steps;
  218. block->initial_rate = initial_rate;
  219. block->final_rate = final_rate;
  220. }
  221. CRITICAL_SECTION_END;
  222. }
  223. // Calculates the maximum allowable entry speed, when you must be able to reach target_velocity using the
  224. // decceleration within the allotted distance.
  225. FORCE_INLINE float max_allowable_entry_speed(float decceleration, float target_velocity, float distance)
  226. {
  227. // assert(decceleration < 0);
  228. return sqrt(target_velocity*target_velocity-2*decceleration*distance);
  229. }
  230. // Recalculates the motion plan according to the following algorithm:
  231. //
  232. // 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
  233. // so that:
  234. // a. The junction jerk is within the set limit
  235. // b. No speed reduction within one block requires faster deceleration than the one, true constant
  236. // acceleration.
  237. // 2. Go over every block in chronological order and dial down junction speed reduction values if
  238. // a. The speed increase within one block would require faster accelleration than the one, true
  239. // constant acceleration.
  240. //
  241. // When these stages are complete all blocks have an entry_factor that will allow all speed changes to
  242. // be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
  243. // the set limit. Finally it will:
  244. //
  245. // 3. Recalculate trapezoids for all blocks.
  246. //
  247. //FIXME This routine is called 15x every time a new line is added to the planner,
  248. // therefore it is a bottle neck and it shall be rewritten into a Fixed Point arithmetics,
  249. // if the CPU is found lacking computational power.
  250. //
  251. // Following sources may be used to optimize the 8-bit AVR code:
  252. // http://www.mikrocontroller.net/articles/AVR_Arithmetik
  253. // http://darcy.rsgc.on.ca/ACES/ICE4M/FixedPoint/avrfix.pdf
  254. //
  255. // https://github.com/gcc-mirror/gcc/blob/master/libgcc/config/avr/lib1funcs-fixed.S
  256. // https://gcc.gnu.org/onlinedocs/gcc/Fixed-Point.html
  257. // https://gcc.gnu.org/onlinedocs/gccint/Fixed-point-fractional-library-routines.html
  258. //
  259. // https://ucexperiment.wordpress.com/2015/04/04/arduino-s15-16-fixed-point-math-routines/
  260. // https://mekonik.wordpress.com/2009/03/18/arduino-avr-gcc-multiplication/
  261. // https://github.com/rekka/avrmultiplication
  262. //
  263. // https://people.ece.cornell.edu/land/courses/ece4760/Math/Floating_point/
  264. // https://courses.cit.cornell.edu/ee476/Math/
  265. // https://courses.cit.cornell.edu/ee476/Math/GCC644/fixedPt/multASM.S
  266. //
  267. void planner_recalculate(const float &safe_final_speed)
  268. {
  269. // Reverse pass
  270. // Make a local copy of block_buffer_tail, because the interrupt can alter it
  271. // by consuming the blocks, therefore shortening the queue.
  272. unsigned char tail = block_buffer_tail;
  273. uint8_t block_index;
  274. block_t *prev, *current, *next;
  275. // SERIAL_ECHOLNPGM("planner_recalculate - 1");
  276. // At least three blocks are in the queue?
  277. unsigned char n_blocks = (block_buffer_head + BLOCK_BUFFER_SIZE - tail) & (BLOCK_BUFFER_SIZE - 1);
  278. if (n_blocks >= 3) {
  279. // Initialize the last tripple of blocks.
  280. block_index = prev_block_index(block_buffer_head);
  281. next = block_buffer + block_index;
  282. current = block_buffer + (block_index = prev_block_index(block_index));
  283. // No need to recalculate the last block, it has already been set by the plan_buffer_line() function.
  284. // Vojtech thinks, that one shall not touch the entry speed of the very first block as well, because
  285. // 1) it may already be running at the stepper interrupt,
  286. // 2) there is no way to limit it when going in the forward direction.
  287. while (block_index != tail) {
  288. if (current->flag & BLOCK_FLAG_START_FROM_FULL_HALT) {
  289. // Don't modify the entry velocity of the starting block.
  290. // Also don't modify the trapezoids before this block, they are finalized already, prepared
  291. // for the stepper interrupt routine to use them.
  292. tail = block_index;
  293. // Update the number of blocks to process.
  294. n_blocks = (block_buffer_head + BLOCK_BUFFER_SIZE - tail) & (BLOCK_BUFFER_SIZE - 1);
  295. // SERIAL_ECHOLNPGM("START");
  296. break;
  297. }
  298. // If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
  299. // If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
  300. // check for maximum allowable speed reductions to ensure maximum possible planned speed.
  301. if (current->entry_speed != current->max_entry_speed) {
  302. // assert(current->entry_speed < current->max_entry_speed);
  303. // Entry speed could be increased up to the max_entry_speed, limited by the length of the current
  304. // segment and the maximum acceleration allowed for this segment.
  305. // If nominal length true, max junction speed is guaranteed to be reached even if decelerating to a jerk-from-zero velocity.
  306. // Only compute for max allowable speed if block is decelerating and nominal length is false.
  307. // entry_speed is uint16_t, 24 bits would be sufficient for block->acceleration and block->millimiteres, if scaled to um.
  308. // therefore an optimized assembly 24bit x 24bit -> 32bit multiply would be more than sufficient
  309. // together with an assembly 32bit->16bit sqrt function.
  310. current->entry_speed = ((current->flag & BLOCK_FLAG_NOMINAL_LENGTH) || current->max_entry_speed <= next->entry_speed) ?
  311. current->max_entry_speed :
  312. // min(current->max_entry_speed, sqrt(next->entry_speed*next->entry_speed+2*current->acceleration*current->millimeters));
  313. min(current->max_entry_speed, max_allowable_entry_speed(-current->acceleration,next->entry_speed,current->millimeters));
  314. current->flag |= BLOCK_FLAG_RECALCULATE;
  315. }
  316. next = current;
  317. current = block_buffer + (block_index = prev_block_index(block_index));
  318. }
  319. }
  320. // SERIAL_ECHOLNPGM("planner_recalculate - 2");
  321. // Forward pass and recalculate the trapezoids.
  322. if (n_blocks >= 2) {
  323. // Better to limit the velocities using the already processed block, if it is available, so rather use the saved tail.
  324. block_index = tail;
  325. prev = block_buffer + block_index;
  326. current = block_buffer + (block_index = next_block_index(block_index));
  327. do {
  328. // If the previous block is an acceleration block, but it is not long enough to complete the
  329. // full speed change within the block, we need to adjust the entry speed accordingly. Entry
  330. // speeds have already been reset, maximized, and reverse planned by reverse planner.
  331. // If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
  332. if (! (prev->flag & BLOCK_FLAG_NOMINAL_LENGTH) && prev->entry_speed < current->entry_speed) {
  333. float entry_speed = min(current->entry_speed, max_allowable_entry_speed(-prev->acceleration,prev->entry_speed,prev->millimeters));
  334. // Check for junction speed change
  335. if (current->entry_speed != entry_speed) {
  336. current->entry_speed = entry_speed;
  337. current->flag |= BLOCK_FLAG_RECALCULATE;
  338. }
  339. }
  340. // Recalculate if current block entry or exit junction speed has changed.
  341. if ((prev->flag | current->flag) & BLOCK_FLAG_RECALCULATE) {
  342. // NOTE: Entry and exit factors always > 0 by all previous logic operations.
  343. calculate_trapezoid_for_block(prev, prev->entry_speed, current->entry_speed);
  344. // Reset current only to ensure next trapezoid is computed.
  345. prev->flag &= ~BLOCK_FLAG_RECALCULATE;
  346. }
  347. prev = current;
  348. current = block_buffer + (block_index = next_block_index(block_index));
  349. } while (block_index != block_buffer_head);
  350. }
  351. // SERIAL_ECHOLNPGM("planner_recalculate - 3");
  352. // Last/newest block in buffer. Exit speed is set with safe_final_speed. Always recalculated.
  353. current = block_buffer + prev_block_index(block_buffer_head);
  354. calculate_trapezoid_for_block(current, current->entry_speed, safe_final_speed);
  355. current->flag &= ~BLOCK_FLAG_RECALCULATE;
  356. // SERIAL_ECHOLNPGM("planner_recalculate - 4");
  357. }
  358. void plan_init() {
  359. block_buffer_head = 0;
  360. block_buffer_tail = 0;
  361. memset(position, 0, sizeof(position)); // clear position
  362. previous_speed[0] = 0.0;
  363. previous_speed[1] = 0.0;
  364. previous_speed[2] = 0.0;
  365. previous_speed[3] = 0.0;
  366. previous_nominal_speed = 0.0;
  367. }
  368. #ifdef AUTOTEMP
  369. void getHighESpeed()
  370. {
  371. static float oldt=0;
  372. if(!autotemp_enabled){
  373. return;
  374. }
  375. if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
  376. return; //do nothing
  377. }
  378. float high=0.0;
  379. uint8_t block_index = block_buffer_tail;
  380. while(block_index != block_buffer_head) {
  381. if((block_buffer[block_index].steps_x != 0) ||
  382. (block_buffer[block_index].steps_y != 0) ||
  383. (block_buffer[block_index].steps_z != 0)) {
  384. float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
  385. //se; mm/sec;
  386. if(se>high)
  387. {
  388. high=se;
  389. }
  390. }
  391. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  392. }
  393. float g=autotemp_min+high*autotemp_factor;
  394. float t=g;
  395. if(t<autotemp_min)
  396. t=autotemp_min;
  397. if(t>autotemp_max)
  398. t=autotemp_max;
  399. if(oldt>t)
  400. {
  401. t=AUTOTEMP_OLDWEIGHT*oldt+(1-AUTOTEMP_OLDWEIGHT)*t;
  402. }
  403. oldt=t;
  404. setTargetHotend0(t);
  405. }
  406. #endif
  407. void check_axes_activity()
  408. {
  409. unsigned char x_active = 0;
  410. unsigned char y_active = 0;
  411. unsigned char z_active = 0;
  412. unsigned char e_active = 0;
  413. unsigned char tail_fan_speed = fanSpeed;
  414. block_t *block;
  415. if(block_buffer_tail != block_buffer_head)
  416. {
  417. uint8_t block_index = block_buffer_tail;
  418. tail_fan_speed = block_buffer[block_index].fan_speed;
  419. while(block_index != block_buffer_head)
  420. {
  421. block = &block_buffer[block_index];
  422. if(block->steps_x != 0) x_active++;
  423. if(block->steps_y != 0) y_active++;
  424. if(block->steps_z != 0) z_active++;
  425. if(block->steps_e != 0) e_active++;
  426. block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
  427. }
  428. }
  429. if((DISABLE_X) && (x_active == 0)) disable_x();
  430. if((DISABLE_Y) && (y_active == 0)) disable_y();
  431. if((DISABLE_Z) && (z_active == 0)) disable_z();
  432. if((DISABLE_E) && (e_active == 0))
  433. {
  434. disable_e0();
  435. disable_e1();
  436. disable_e2();
  437. }
  438. #if defined(FAN_PIN) && FAN_PIN > -1
  439. #ifdef FAN_KICKSTART_TIME
  440. static unsigned long fan_kick_end;
  441. if (tail_fan_speed) {
  442. if (fan_kick_end == 0) {
  443. // Just starting up fan - run at full power.
  444. fan_kick_end = millis() + FAN_KICKSTART_TIME;
  445. tail_fan_speed = 255;
  446. } else if (fan_kick_end > millis())
  447. // Fan still spinning up.
  448. tail_fan_speed = 255;
  449. } else {
  450. fan_kick_end = 0;
  451. }
  452. #endif//FAN_KICKSTART_TIME
  453. #ifdef FAN_SOFT_PWM
  454. fanSpeedSoftPwm = tail_fan_speed;
  455. #else
  456. analogWrite(FAN_PIN,tail_fan_speed);
  457. #endif//!FAN_SOFT_PWM
  458. #endif//FAN_PIN > -1
  459. #ifdef AUTOTEMP
  460. getHighESpeed();
  461. #endif
  462. }
  463. bool waiting_inside_plan_buffer_line_print_aborted = false;
  464. /*
  465. void planner_abort_soft()
  466. {
  467. // Empty the queue.
  468. while (blocks_queued()) plan_discard_current_block();
  469. // Relay to planner wait routine, that the current line shall be canceled.
  470. waiting_inside_plan_buffer_line_print_aborted = true;
  471. //current_position[i]
  472. }
  473. */
  474. #ifdef PLANNER_DIAGNOSTICS
  475. static inline void planner_update_queue_min_counter()
  476. {
  477. uint8_t new_counter = moves_planned();
  478. if (new_counter < g_cntr_planner_queue_min)
  479. g_cntr_planner_queue_min = new_counter;
  480. }
  481. #endif /* PLANNER_DIAGNOSTICS */
  482. void planner_abort_hard()
  483. {
  484. // Abort the stepper routine and flush the planner queue.
  485. quickStop();
  486. // Now the front-end (the Marlin_main.cpp with its current_position) is out of sync.
  487. // First update the planner's current position in the physical motor steps.
  488. position[X_AXIS] = st_get_position(X_AXIS);
  489. position[Y_AXIS] = st_get_position(Y_AXIS);
  490. position[Z_AXIS] = st_get_position(Z_AXIS);
  491. position[E_AXIS] = st_get_position(E_AXIS);
  492. // Second update the current position of the front end.
  493. current_position[X_AXIS] = st_get_position_mm(X_AXIS);
  494. current_position[Y_AXIS] = st_get_position_mm(Y_AXIS);
  495. current_position[Z_AXIS] = st_get_position_mm(Z_AXIS);
  496. current_position[E_AXIS] = st_get_position_mm(E_AXIS);
  497. // Apply the mesh bed leveling correction to the Z axis.
  498. #ifdef MESH_BED_LEVELING
  499. if (mbl.active)
  500. current_position[Z_AXIS] -= mbl.get_z(current_position[X_AXIS], current_position[Y_AXIS]);
  501. #endif
  502. // Apply inverse world correction matrix.
  503. machine2world(current_position[X_AXIS], current_position[Y_AXIS]);
  504. memcpy(destination, current_position, sizeof(destination));
  505. // Resets planner junction speeds. Assumes start from rest.
  506. previous_nominal_speed = 0.0;
  507. previous_speed[0] = 0.0;
  508. previous_speed[1] = 0.0;
  509. previous_speed[2] = 0.0;
  510. previous_speed[3] = 0.0;
  511. // Relay to planner wait routine, that the current line shall be canceled.
  512. waiting_inside_plan_buffer_line_print_aborted = true;
  513. }
  514. float junction_deviation = 0.1;
  515. // Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
  516. // mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
  517. // calculation the caller must also provide the physical length of the line in millimeters.
  518. void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const uint8_t &extruder)
  519. {
  520. // Calculate the buffer head after we push this byte
  521. int next_buffer_head = next_block_index(block_buffer_head);
  522. // If the buffer is full: good! That means we are well ahead of the robot.
  523. // Rest here until there is room in the buffer.
  524. if (block_buffer_tail == next_buffer_head) {
  525. waiting_inside_plan_buffer_line_print_aborted = false;
  526. do {
  527. manage_heater();
  528. // Vojtech: Don't disable motors inside the planner!
  529. manage_inactivity(false);
  530. lcd_update();
  531. } while (block_buffer_tail == next_buffer_head);
  532. if (waiting_inside_plan_buffer_line_print_aborted) {
  533. // Inside the lcd_update() routine the print has been aborted.
  534. // Cancel the print, do not plan the current line this routine is waiting on.
  535. #ifdef PLANNER_DIAGNOSTICS
  536. planner_update_queue_min_counter();
  537. #endif /* PLANNER_DIAGNOSTICS */
  538. return;
  539. }
  540. }
  541. #ifdef PLANNER_DIAGNOSTICS
  542. planner_update_queue_min_counter();
  543. #endif /* PLANNER_DIAGNOSTICS */
  544. #ifdef ENABLE_AUTO_BED_LEVELING
  545. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  546. #endif // ENABLE_AUTO_BED_LEVELING
  547. // Apply the machine correction matrix.
  548. {
  549. #if 0
  550. SERIAL_ECHOPGM("Planner, current position - servos: ");
  551. MYSERIAL.print(st_get_position_mm(X_AXIS), 5);
  552. SERIAL_ECHOPGM(", ");
  553. MYSERIAL.print(st_get_position_mm(Y_AXIS), 5);
  554. SERIAL_ECHOPGM(", ");
  555. MYSERIAL.print(st_get_position_mm(Z_AXIS), 5);
  556. SERIAL_ECHOLNPGM("");
  557. SERIAL_ECHOPGM("Planner, target position, initial: ");
  558. MYSERIAL.print(x, 5);
  559. SERIAL_ECHOPGM(", ");
  560. MYSERIAL.print(y, 5);
  561. SERIAL_ECHOLNPGM("");
  562. SERIAL_ECHOPGM("Planner, world2machine: ");
  563. MYSERIAL.print(world2machine_rotation_and_skew[0][0], 5);
  564. SERIAL_ECHOPGM(", ");
  565. MYSERIAL.print(world2machine_rotation_and_skew[0][1], 5);
  566. SERIAL_ECHOPGM(", ");
  567. MYSERIAL.print(world2machine_rotation_and_skew[1][0], 5);
  568. SERIAL_ECHOPGM(", ");
  569. MYSERIAL.print(world2machine_rotation_and_skew[1][1], 5);
  570. SERIAL_ECHOLNPGM("");
  571. SERIAL_ECHOPGM("Planner, offset: ");
  572. MYSERIAL.print(world2machine_shift[0], 5);
  573. SERIAL_ECHOPGM(", ");
  574. MYSERIAL.print(world2machine_shift[1], 5);
  575. SERIAL_ECHOLNPGM("");
  576. #endif
  577. world2machine(x, y);
  578. #if 0
  579. SERIAL_ECHOPGM("Planner, target position, corrected: ");
  580. MYSERIAL.print(x, 5);
  581. SERIAL_ECHOPGM(", ");
  582. MYSERIAL.print(y, 5);
  583. SERIAL_ECHOLNPGM("");
  584. #endif
  585. }
  586. // The target position of the tool in absolute steps
  587. // Calculate target position in absolute steps
  588. //this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
  589. long target[4];
  590. target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  591. target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  592. #ifdef MESH_BED_LEVELING
  593. if (mbl.active){
  594. target[Z_AXIS] = lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
  595. }else{
  596. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  597. }
  598. #else
  599. target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  600. #endif // ENABLE_MESH_BED_LEVELING
  601. target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  602. #ifdef PREVENT_DANGEROUS_EXTRUDE
  603. if(target[E_AXIS]!=position[E_AXIS])
  604. {
  605. if(degHotend(active_extruder)<extrude_min_temp)
  606. {
  607. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  608. SERIAL_ECHO_START;
  609. SERIAL_ECHOLNRPGM(MSG_ERR_COLD_EXTRUDE_STOP);
  610. }
  611. #ifdef PREVENT_LENGTHY_EXTRUDE
  612. if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
  613. {
  614. position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
  615. SERIAL_ECHO_START;
  616. SERIAL_ECHOLNRPGM(MSG_ERR_LONG_EXTRUDE_STOP);
  617. }
  618. #endif
  619. }
  620. #endif
  621. // Prepare to set up new block
  622. block_t *block = &block_buffer[block_buffer_head];
  623. // Mark block as not busy (Not executed by the stepper interrupt, could be still tinkered with.)
  624. block->busy = false;
  625. // Number of steps for each axis
  626. #ifndef COREXY
  627. // default non-h-bot planning
  628. block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
  629. block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
  630. #else
  631. // corexy planning
  632. // these equations follow the form of the dA and dB equations on http://www.corexy.com/theory.html
  633. block->steps_x = labs((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]));
  634. block->steps_y = labs((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]));
  635. #endif
  636. block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
  637. block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
  638. if (volumetric_multiplier[active_extruder] != 1.f)
  639. block->steps_e *= volumetric_multiplier[active_extruder];
  640. if (extrudemultiply != 100) {
  641. block->steps_e *= extrudemultiply;
  642. block->steps_e /= 100;
  643. }
  644. block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
  645. // Bail if this is a zero-length block
  646. if (block->step_event_count <= dropsegments)
  647. {
  648. #ifdef PLANNER_DIAGNOSTICS
  649. planner_update_queue_min_counter();
  650. #endif /* PLANNER_DIAGNOSTICS */
  651. return;
  652. }
  653. block->fan_speed = fanSpeed;
  654. // Compute direction bits for this block
  655. block->direction_bits = 0;
  656. #ifndef COREXY
  657. if (target[X_AXIS] < position[X_AXIS])
  658. {
  659. block->direction_bits |= (1<<X_AXIS);
  660. }
  661. if (target[Y_AXIS] < position[Y_AXIS])
  662. {
  663. block->direction_bits |= (1<<Y_AXIS);
  664. }
  665. #else
  666. if ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]) < 0)
  667. {
  668. block->direction_bits |= (1<<X_AXIS);
  669. }
  670. if ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]) < 0)
  671. {
  672. block->direction_bits |= (1<<Y_AXIS);
  673. }
  674. #endif
  675. if (target[Z_AXIS] < position[Z_AXIS])
  676. {
  677. block->direction_bits |= (1<<Z_AXIS);
  678. }
  679. if (target[E_AXIS] < position[E_AXIS])
  680. {
  681. block->direction_bits |= (1<<E_AXIS);
  682. }
  683. block->active_extruder = extruder;
  684. //enable active axes
  685. #ifdef COREXY
  686. if((block->steps_x != 0) || (block->steps_y != 0))
  687. {
  688. enable_x();
  689. enable_y();
  690. }
  691. #else
  692. if(block->steps_x != 0) enable_x();
  693. if(block->steps_y != 0) enable_y();
  694. #endif
  695. #ifndef Z_LATE_ENABLE
  696. if(block->steps_z != 0) enable_z();
  697. #endif
  698. // Enable extruder(s)
  699. if(block->steps_e != 0)
  700. {
  701. if (DISABLE_INACTIVE_EXTRUDER) //enable only selected extruder
  702. {
  703. if(g_uc_extruder_last_move[0] > 0) g_uc_extruder_last_move[0]--;
  704. if(g_uc_extruder_last_move[1] > 0) g_uc_extruder_last_move[1]--;
  705. if(g_uc_extruder_last_move[2] > 0) g_uc_extruder_last_move[2]--;
  706. switch(extruder)
  707. {
  708. case 0:
  709. enable_e0();
  710. g_uc_extruder_last_move[0] = BLOCK_BUFFER_SIZE*2;
  711. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  712. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  713. break;
  714. case 1:
  715. enable_e1();
  716. g_uc_extruder_last_move[1] = BLOCK_BUFFER_SIZE*2;
  717. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  718. if(g_uc_extruder_last_move[2] == 0) disable_e2();
  719. break;
  720. case 2:
  721. enable_e2();
  722. g_uc_extruder_last_move[2] = BLOCK_BUFFER_SIZE*2;
  723. if(g_uc_extruder_last_move[0] == 0) disable_e0();
  724. if(g_uc_extruder_last_move[1] == 0) disable_e1();
  725. break;
  726. }
  727. }
  728. else //enable all
  729. {
  730. enable_e0();
  731. enable_e1();
  732. enable_e2();
  733. }
  734. }
  735. if (block->steps_e == 0)
  736. {
  737. if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
  738. }
  739. else
  740. {
  741. if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
  742. }
  743. /* This part of the code calculates the total length of the movement.
  744. For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
  745. But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
  746. and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
  747. So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
  748. Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
  749. */
  750. #ifndef COREXY
  751. float delta_mm[4];
  752. delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  753. delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  754. #else
  755. float delta_mm[6];
  756. delta_mm[X_HEAD] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
  757. delta_mm[Y_HEAD] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
  758. delta_mm[X_AXIS] = ((target[X_AXIS]-position[X_AXIS]) + (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[X_AXIS];
  759. delta_mm[Y_AXIS] = ((target[X_AXIS]-position[X_AXIS]) - (target[Y_AXIS]-position[Y_AXIS]))/axis_steps_per_unit[Y_AXIS];
  760. #endif
  761. delta_mm[Z_AXIS] = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
  762. delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*volumetric_multiplier[active_extruder]*extrudemultiply/100.0;
  763. if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments )
  764. {
  765. block->millimeters = fabs(delta_mm[E_AXIS]);
  766. }
  767. else
  768. {
  769. #ifndef COREXY
  770. block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
  771. #else
  772. block->millimeters = sqrt(square(delta_mm[X_HEAD]) + square(delta_mm[Y_HEAD]) + square(delta_mm[Z_AXIS]));
  773. #endif
  774. }
  775. float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
  776. // Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
  777. float inverse_second = feed_rate * inverse_millimeters;
  778. int moves_queued = moves_planned();
  779. // slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
  780. #ifdef SLOWDOWN
  781. //FIXME Vojtech: Why moves_queued > 1? Why not >=1?
  782. // Can we somehow differentiate the filling of the buffer at the start of a g-code from a buffer draining situation?
  783. if (moves_queued > 1 && moves_queued < (BLOCK_BUFFER_SIZE >> 1)) {
  784. // segment time in micro seconds
  785. unsigned long segment_time = lround(1000000.0/inverse_second);
  786. if (segment_time < minsegmenttime)
  787. // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
  788. inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
  789. }
  790. #endif // SLOWDOWN
  791. block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
  792. block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
  793. #ifdef FILAMENT_SENSOR
  794. //FMM update ring buffer used for delay with filament measurements
  795. if((extruder==FILAMENT_SENSOR_EXTRUDER_NUM) && (delay_index2 > -1)) //only for extruder with filament sensor and if ring buffer is initialized
  796. {
  797. delay_dist = delay_dist + delta_mm[E_AXIS]; //increment counter with next move in e axis
  798. while (delay_dist >= (10*(MAX_MEASUREMENT_DELAY+1))) //check if counter is over max buffer size in mm
  799. delay_dist = delay_dist - 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
  800. while (delay_dist<0)
  801. delay_dist = delay_dist + 10*(MAX_MEASUREMENT_DELAY+1); //loop around the buffer
  802. delay_index1=delay_dist/10.0; //calculate index
  803. //ensure the number is within range of the array after converting from floating point
  804. if(delay_index1<0)
  805. delay_index1=0;
  806. else if (delay_index1>MAX_MEASUREMENT_DELAY)
  807. delay_index1=MAX_MEASUREMENT_DELAY;
  808. if(delay_index1 != delay_index2) //moved index
  809. {
  810. meas_sample=widthFil_to_size_ratio()-100; //subtract off 100 to reduce magnitude - to store in a signed char
  811. }
  812. while( delay_index1 != delay_index2)
  813. {
  814. delay_index2 = delay_index2 + 1;
  815. if(delay_index2>MAX_MEASUREMENT_DELAY)
  816. delay_index2=delay_index2-(MAX_MEASUREMENT_DELAY+1); //loop around buffer when incrementing
  817. if(delay_index2<0)
  818. delay_index2=0;
  819. else if (delay_index2>MAX_MEASUREMENT_DELAY)
  820. delay_index2=MAX_MEASUREMENT_DELAY;
  821. measurement_delay[delay_index2]=meas_sample;
  822. }
  823. }
  824. #endif
  825. // Calculate and limit speed in mm/sec for each axis
  826. float current_speed[4];
  827. float speed_factor = 1.0; //factor <=1 do decrease speed
  828. for(int i=0; i < 4; i++)
  829. {
  830. current_speed[i] = delta_mm[i] * inverse_second;
  831. if(fabs(current_speed[i]) > max_feedrate[i])
  832. speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
  833. }
  834. // Correct the speed
  835. if( speed_factor < 1.0)
  836. {
  837. for(unsigned char i=0; i < 4; i++)
  838. {
  839. current_speed[i] *= speed_factor;
  840. }
  841. block->nominal_speed *= speed_factor;
  842. block->nominal_rate *= speed_factor;
  843. }
  844. // Compute and limit the acceleration rate for the trapezoid generator.
  845. // block->step_event_count ... event count of the fastest axis
  846. // block->millimeters ... Euclidian length of the XYZ movement or the E length, if no XYZ movement.
  847. float steps_per_mm = block->step_event_count/block->millimeters;
  848. if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)
  849. {
  850. block->acceleration_st = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  851. }
  852. else
  853. {
  854. block->acceleration_st = ceil(acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
  855. // Limit acceleration per axis
  856. //FIXME Vojtech: One shall rather limit a projection of the acceleration vector instead of using the limit.
  857. if(((float)block->acceleration_st * (float)block->steps_x / (float)block->step_event_count) > axis_steps_per_sqr_second[X_AXIS])
  858. block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
  859. if(((float)block->acceleration_st * (float)block->steps_y / (float)block->step_event_count) > axis_steps_per_sqr_second[Y_AXIS])
  860. block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
  861. if(((float)block->acceleration_st * (float)block->steps_e / (float)block->step_event_count) > axis_steps_per_sqr_second[E_AXIS])
  862. block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
  863. if(((float)block->acceleration_st * (float)block->steps_z / (float)block->step_event_count ) > axis_steps_per_sqr_second[Z_AXIS])
  864. block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
  865. }
  866. // Acceleration of the segment, in mm/sec^2
  867. block->acceleration = block->acceleration_st / steps_per_mm;
  868. #if 0
  869. // Oversample diagonal movements by a power of 2 up to 8x
  870. // to achieve more accurate diagonal movements.
  871. uint8_t bresenham_oversample = 1;
  872. for (uint8_t i = 0; i < 3; ++ i) {
  873. if (block->nominal_rate >= 5000) // 5kHz
  874. break;
  875. block->nominal_rate << 1;
  876. bresenham_oversample << 1;
  877. block->step_event_count << 1;
  878. }
  879. if (bresenham_oversample > 1)
  880. // Lower the acceleration steps/sec^2 to account for the oversampling.
  881. block->acceleration_st = (block->acceleration_st + (bresenham_oversample >> 1)) / bresenham_oversample;
  882. #endif
  883. block->acceleration_rate = (long)((float)block->acceleration_st * (16777216.0 / (F_CPU / 8.0)));
  884. // Start with a safe speed.
  885. // Safe speed is the speed, from which the machine may halt to stop immediately.
  886. float safe_speed = block->nominal_speed;
  887. bool limited = false;
  888. for (uint8_t axis = 0; axis < 4; ++ axis) {
  889. float jerk = fabs(current_speed[axis]);
  890. if (jerk > max_jerk[axis]) {
  891. // The actual jerk is lower, if it has been limited by the XY jerk.
  892. if (limited) {
  893. // Spare one division by a following gymnastics:
  894. // Instead of jerk *= safe_speed / block->nominal_speed,
  895. // multiply max_jerk[axis] by the divisor.
  896. jerk *= safe_speed;
  897. float mjerk = max_jerk[axis] * block->nominal_speed;
  898. if (jerk > mjerk) {
  899. safe_speed *= mjerk / jerk;
  900. limited = true;
  901. }
  902. } else {
  903. safe_speed = max_jerk[axis];
  904. limited = true;
  905. }
  906. }
  907. }
  908. // Reset the block flag.
  909. block->flag = 0;
  910. // Initial limit on the segment entry velocity.
  911. float vmax_junction;
  912. //FIXME Vojtech: Why only if at least two lines are planned in the queue?
  913. // Is it because we don't want to tinker with the first buffer line, which
  914. // is likely to be executed by the stepper interrupt routine soon?
  915. if (moves_queued > 1 && previous_nominal_speed > 0.0001f) {
  916. // Estimate a maximum velocity allowed at a joint of two successive segments.
  917. // If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
  918. // then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
  919. // The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
  920. bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
  921. float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
  922. // Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
  923. vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
  924. // Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
  925. float v_factor = 1.f;
  926. limited = false;
  927. // Now limit the jerk in all axes.
  928. for (uint8_t axis = 0; axis < 4; ++ axis) {
  929. // Limit an axis. We have to differentiate coasting from the reversal of an axis movement, or a full stop.
  930. float v_exit = previous_speed[axis];
  931. float v_entry = current_speed [axis];
  932. if (prev_speed_larger)
  933. v_exit *= smaller_speed_factor;
  934. if (limited) {
  935. v_exit *= v_factor;
  936. v_entry *= v_factor;
  937. }
  938. // Calculate the jerk depending on whether the axis is coasting in the same direction or reversing a direction.
  939. float jerk =
  940. (v_exit > v_entry) ?
  941. ((v_entry > 0.f || v_exit < 0.f) ?
  942. // coasting
  943. (v_exit - v_entry) :
  944. // axis reversal
  945. max(v_exit, - v_entry)) :
  946. // v_exit <= v_entry
  947. ((v_entry < 0.f || v_exit > 0.f) ?
  948. // coasting
  949. (v_entry - v_exit) :
  950. // axis reversal
  951. max(- v_exit, v_entry));
  952. if (jerk > max_jerk[axis]) {
  953. v_factor *= max_jerk[axis] / jerk;
  954. limited = true;
  955. }
  956. }
  957. if (limited)
  958. vmax_junction *= v_factor;
  959. // Now the transition velocity is known, which maximizes the shared exit / entry velocity while
  960. // respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
  961. float vmax_junction_threshold = vmax_junction * 0.99f;
  962. if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
  963. // Not coasting. The machine will stop and start the movements anyway,
  964. // better to start the segment from start.
  965. block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
  966. vmax_junction = safe_speed;
  967. }
  968. } else {
  969. block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
  970. vmax_junction = safe_speed;
  971. }
  972. // Max entry speed of this block equals the max exit speed of the previous block.
  973. block->max_entry_speed = vmax_junction;
  974. // Initialize block entry speed. Compute based on deceleration to safe_speed.
  975. double v_allowable = max_allowable_entry_speed(-block->acceleration,safe_speed,block->millimeters);
  976. block->entry_speed = min(vmax_junction, v_allowable);
  977. // Initialize planner efficiency flags
  978. // Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
  979. // If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
  980. // the current block and next block junction speeds are guaranteed to always be at their maximum
  981. // junction speeds in deceleration and acceleration, respectively. This is due to how the current
  982. // block nominal speed limits both the current and next maximum junction speeds. Hence, in both
  983. // the reverse and forward planners, the corresponding block junction speed will always be at the
  984. // the maximum junction speed and may always be ignored for any speed reduction checks.
  985. // Always calculate trapezoid for new block
  986. block->flag |= (block->nominal_speed <= v_allowable) ? (BLOCK_FLAG_NOMINAL_LENGTH | BLOCK_FLAG_RECALCULATE) : BLOCK_FLAG_RECALCULATE;
  987. // Update previous path unit_vector and nominal speed
  988. memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
  989. previous_nominal_speed = block->nominal_speed;
  990. previous_safe_speed = safe_speed;
  991. // Precalculate the division, so when all the trapezoids in the planner queue get recalculated, the division is not repeated.
  992. block->speed_factor = block->nominal_rate / block->nominal_speed;
  993. calculate_trapezoid_for_block(block, block->entry_speed, safe_speed);
  994. // Move the buffer head. From now the block may be picked up by the stepper interrupt controller.
  995. block_buffer_head = next_buffer_head;
  996. // Update position
  997. memcpy(position, target, sizeof(target)); // position[] = target[]
  998. // Recalculate the trapezoids to maximize speed at the segment transitions while respecting
  999. // the machine limits (maximum acceleration and maximum jerk).
  1000. // This runs asynchronously with the stepper interrupt controller, which may
  1001. // interfere with the process.
  1002. planner_recalculate(safe_speed);
  1003. // SERIAL_ECHOPGM("Q");
  1004. // SERIAL_ECHO(int(moves_planned()));
  1005. // SERIAL_ECHOLNPGM("");
  1006. #ifdef PLANNER_DIAGNOSTICS
  1007. planner_update_queue_min_counter();
  1008. #endif /* PLANNER_DIAGNOSTIC */
  1009. st_wake_up();
  1010. }
  1011. #ifdef ENABLE_AUTO_BED_LEVELING
  1012. vector_3 plan_get_position() {
  1013. vector_3 position = vector_3(st_get_position_mm(X_AXIS), st_get_position_mm(Y_AXIS), st_get_position_mm(Z_AXIS));
  1014. //position.debug("in plan_get position");
  1015. //plan_bed_level_matrix.debug("in plan_get bed_level");
  1016. matrix_3x3 inverse = matrix_3x3::transpose(plan_bed_level_matrix);
  1017. //inverse.debug("in plan_get inverse");
  1018. position.apply_rotation(inverse);
  1019. //position.debug("after rotation");
  1020. return position;
  1021. }
  1022. #endif // ENABLE_AUTO_BED_LEVELING
  1023. void plan_set_position(float x, float y, float z, const float &e)
  1024. {
  1025. #ifdef ENABLE_AUTO_BED_LEVELING
  1026. apply_rotation_xyz(plan_bed_level_matrix, x, y, z);
  1027. #endif // ENABLE_AUTO_BED_LEVELING
  1028. // Apply the machine correction matrix.
  1029. {
  1030. float tmpx = x;
  1031. float tmpy = y;
  1032. x = world2machine_rotation_and_skew[0][0] * tmpx + world2machine_rotation_and_skew[0][1] * tmpy + world2machine_shift[0];
  1033. y = world2machine_rotation_and_skew[1][0] * tmpx + world2machine_rotation_and_skew[1][1] * tmpy + world2machine_shift[1];
  1034. }
  1035. position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
  1036. position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
  1037. #ifdef MESH_BED_LEVELING
  1038. if (mbl.active){
  1039. position[Z_AXIS] = lround((z+mbl.get_z(x, y))*axis_steps_per_unit[Z_AXIS]);
  1040. }else{
  1041. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  1042. }
  1043. #else
  1044. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  1045. #endif // ENABLE_MESH_BED_LEVELING
  1046. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  1047. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  1048. previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
  1049. previous_speed[0] = 0.0;
  1050. previous_speed[1] = 0.0;
  1051. previous_speed[2] = 0.0;
  1052. previous_speed[3] = 0.0;
  1053. }
  1054. // Only useful in the bed leveling routine, when the mesh bed leveling is off.
  1055. void plan_set_z_position(const float &z)
  1056. {
  1057. position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
  1058. st_set_position(position[X_AXIS], position[Y_AXIS], position[Z_AXIS], position[E_AXIS]);
  1059. }
  1060. void plan_set_e_position(const float &e)
  1061. {
  1062. position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
  1063. st_set_e_position(position[E_AXIS]);
  1064. }
  1065. #ifdef PREVENT_DANGEROUS_EXTRUDE
  1066. void set_extrude_min_temp(float temp)
  1067. {
  1068. extrude_min_temp=temp;
  1069. }
  1070. #endif
  1071. // Calculate the steps/s^2 acceleration rates, based on the mm/s^s
  1072. void reset_acceleration_rates()
  1073. {
  1074. for(int8_t i=0; i < NUM_AXIS; i++)
  1075. {
  1076. axis_steps_per_sqr_second[i] = max_acceleration_units_per_sq_second[i] * axis_steps_per_unit[i];
  1077. }
  1078. }
  1079. unsigned char number_of_blocks() {
  1080. return (block_buffer_head + BLOCK_BUFFER_SIZE - block_buffer_tail) & (BLOCK_BUFFER_SIZE - 1);
  1081. }
  1082. #ifdef PLANNER_DIAGNOSTICS
  1083. uint8_t planner_queue_min()
  1084. {
  1085. return g_cntr_planner_queue_min;
  1086. }
  1087. void planner_queue_min_reset()
  1088. {
  1089. g_cntr_planner_queue_min = moves_planned();
  1090. }
  1091. #endif /* PLANNER_DIAGNOSTICS */