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1662 lines
60 KiB
1662 lines
60 KiB
/**
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* Marlin 3D Printer Firmware
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* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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/**
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* planner.cpp
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*
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* Buffer movement commands and manage the acceleration profile plan
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*
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* Derived from Grbl
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* Copyright (c) 2009-2011 Simen Svale Skogsrud
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*
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* The ring buffer implementation gleaned from the wiring_serial library by David A. Mellis.
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*
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*
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* Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
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*
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* s == speed, a == acceleration, t == time, d == distance
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*
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* Basic definitions:
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* Speed[s_, a_, t_] := s + (a*t)
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* Travel[s_, a_, t_] := Integrate[Speed[s, a, t], t]
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*
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* Distance to reach a specific speed with a constant acceleration:
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* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, d, t]
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* d -> (m^2 - s^2)/(2 a) --> estimate_acceleration_distance()
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*
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* Speed after a given distance of travel with constant acceleration:
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* Solve[{Speed[s, a, t] == m, Travel[s, a, t] == d}, m, t]
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* m -> Sqrt[2 a d + s^2]
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*
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* DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
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*
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* When to start braking (di) to reach a specified destination speed (s2) after accelerating
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* from initial speed s1 without ever stopping at a plateau:
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* Solve[{DestinationSpeed[s1, a, di] == DestinationSpeed[s2, a, d - di]}, di]
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* di -> (2 a d - s1^2 + s2^2)/(4 a) --> intersection_distance()
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*
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* IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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*
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*/
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#include "MarlinConfig.h"
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#include "planner.h"
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#include "stepper.h"
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#include "temperature.h"
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#include "ultralcd.h"
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#include "language.h"
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#include "ubl.h"
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#include "gcode.h"
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#include "Marlin.h"
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#if ENABLED(MESH_BED_LEVELING)
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#include "mesh_bed_leveling.h"
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#endif
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LULZBOT_BACKLASH_MEASUREMENT_EXTERN
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Planner planner;
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// public:
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/**
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* A ring buffer of moves described in steps
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*/
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block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
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volatile uint8_t Planner::block_buffer_head = 0, // Index of the next block to be pushed
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Planner::block_buffer_tail = 0;
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float Planner::max_feedrate_mm_s[XYZE_N], // Max speeds in mm per second
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Planner::axis_steps_per_mm[XYZE_N],
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Planner::steps_to_mm[XYZE_N];
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#if ENABLED(DISTINCT_E_FACTORS)
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uint8_t Planner::last_extruder = 0; // Respond to extruder change
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#endif
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int16_t Planner::flow_percentage[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(100); // Extrusion factor for each extruder
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float Planner::e_factor[EXTRUDERS] = ARRAY_BY_EXTRUDERS1(1.0); // The flow percentage and volumetric multiplier combine to scale E movement
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#if DISABLED(NO_VOLUMETRICS)
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float Planner::filament_size[EXTRUDERS], // diameter of filament (in millimeters), typically around 1.75 or 2.85, 0 disables the volumetric calculations for the extruder
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Planner::volumetric_area_nominal = CIRCLE_AREA((DEFAULT_NOMINAL_FILAMENT_DIA) * 0.5), // Nominal cross-sectional area
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Planner::volumetric_multiplier[EXTRUDERS]; // Reciprocal of cross-sectional area of filament (in mm^2). Pre-calculated to reduce computation in the planner
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#endif
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uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
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Planner::max_acceleration_mm_per_s2[XYZE_N]; // Use M201 to override by software
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uint32_t Planner::min_segment_time_us;
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// Initialized by settings.load()
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float Planner::min_feedrate_mm_s,
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Planner::acceleration, // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
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Planner::retract_acceleration, // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
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Planner::travel_acceleration, // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
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Planner::max_jerk[XYZE], // The largest speed change requiring no acceleration
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Planner::min_travel_feedrate_mm_s;
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#if HAS_LEVELING
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bool Planner::leveling_active = false; // Flag that auto bed leveling is enabled
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#if ABL_PLANAR
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matrix_3x3 Planner::bed_level_matrix; // Transform to compensate for bed level
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#endif
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#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
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float Planner::z_fade_height, // Initialized by settings.load()
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Planner::inverse_z_fade_height,
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Planner::last_fade_z;
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#endif
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#else
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constexpr bool Planner::leveling_active;
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#endif
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#if ENABLED(SKEW_CORRECTION)
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#if ENABLED(SKEW_CORRECTION_GCODE)
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float Planner::xy_skew_factor;
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#else
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constexpr float Planner::xy_skew_factor;
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#endif
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#if ENABLED(SKEW_CORRECTION_FOR_Z) && ENABLED(SKEW_CORRECTION_GCODE)
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float Planner::xz_skew_factor, Planner::yz_skew_factor;
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#else
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constexpr float Planner::xz_skew_factor, Planner::yz_skew_factor;
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#endif
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#endif
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#if ENABLED(AUTOTEMP)
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float Planner::autotemp_max = 250,
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Planner::autotemp_min = 210,
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Planner::autotemp_factor = 0.1;
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bool Planner::autotemp_enabled = false;
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#endif
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// private:
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int32_t Planner::position[NUM_AXIS] = { 0 };
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uint32_t Planner::cutoff_long;
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float Planner::previous_speed[NUM_AXIS],
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Planner::previous_nominal_speed;
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#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
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uint8_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 };
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#endif
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#ifdef XY_FREQUENCY_LIMIT
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// Old direction bits. Used for speed calculations
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unsigned char Planner::old_direction_bits = 0;
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// Segment times (in µs). Used for speed calculations
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uint32_t Planner::axis_segment_time_us[2][3] = { { MAX_FREQ_TIME_US + 1, 0, 0 }, { MAX_FREQ_TIME_US + 1, 0, 0 } };
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#endif
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#if ENABLED(LIN_ADVANCE)
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float Planner::extruder_advance_k, // Initialized by settings.load()
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Planner::advance_ed_ratio, // Initialized by settings.load()
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Planner::position_float[XYZE], // Needed for accurate maths. Steps cannot be used!
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Planner::lin_dist_xy,
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Planner::lin_dist_e;
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#endif
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#if ENABLED(ULTRA_LCD)
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volatile uint32_t Planner::block_buffer_runtime_us = 0;
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#endif
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/**
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* Class and Instance Methods
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*/
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Planner::Planner() { init(); }
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void Planner::init() {
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block_buffer_head = block_buffer_tail = 0;
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ZERO(position);
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#if ENABLED(LIN_ADVANCE)
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ZERO(position_float);
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#endif
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ZERO(previous_speed);
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previous_nominal_speed = 0.0;
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#if ABL_PLANAR
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bed_level_matrix.set_to_identity();
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#endif
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}
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#define MINIMAL_STEP_RATE 120
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/**
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* Calculate trapezoid parameters, multiplying the entry- and exit-speeds
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* by the provided factors.
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*/
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void Planner::calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor) {
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uint32_t initial_rate = CEIL(block->nominal_rate * entry_factor),
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final_rate = CEIL(block->nominal_rate * exit_factor); // (steps per second)
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// Limit minimal step rate (Otherwise the timer will overflow.)
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NOLESS(initial_rate, MINIMAL_STEP_RATE);
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NOLESS(final_rate, MINIMAL_STEP_RATE);
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const int32_t accel = block->acceleration_steps_per_s2;
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// Steps required for acceleration, deceleration to/from nominal rate
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int32_t accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
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decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)),
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// Steps between acceleration and deceleration, if any
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plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
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// Does accelerate_steps + decelerate_steps exceed step_event_count?
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// Then we can't possibly reach the nominal rate, there will be no cruising.
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// Use intersection_distance() to calculate accel / braking time in order to
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// reach the final_rate exactly at the end of this block.
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if (plateau_steps < 0) {
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accelerate_steps = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
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NOLESS(accelerate_steps, 0); // Check limits due to numerical round-off
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accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);//(We can cast here to unsigned, because the above line ensures that we are above zero)
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plateau_steps = 0;
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}
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// block->accelerate_until = accelerate_steps;
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// block->decelerate_after = accelerate_steps+plateau_steps;
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CRITICAL_SECTION_START; // Fill variables used by the stepper in a critical section
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if (!TEST(block->flag, BLOCK_BIT_BUSY)) { // Don't update variables if block is busy.
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block->accelerate_until = accelerate_steps;
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block->decelerate_after = accelerate_steps + plateau_steps;
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block->initial_rate = initial_rate;
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block->final_rate = final_rate;
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}
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CRITICAL_SECTION_END;
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}
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// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
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// This method will calculate the junction jerk as the euclidean distance between the nominal
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// velocities of the respective blocks.
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//inline float junction_jerk(block_t *before, block_t *after) {
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// return SQRT(
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// POW((before->speed_x-after->speed_x), 2)+POW((before->speed_y-after->speed_y), 2));
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//}
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// The kernel called by recalculate() when scanning the plan from last to first entry.
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void Planner::reverse_pass_kernel(block_t* const current, const block_t * const next) {
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if (!current || !next) return;
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// If entry speed is already at the maximum entry speed, no need to recheck. Block is cruising.
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// If not, block in state of acceleration or deceleration. Reset entry speed to maximum and
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// check for maximum allowable speed reductions to ensure maximum possible planned speed.
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float max_entry_speed = current->max_entry_speed;
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if (current->entry_speed != max_entry_speed) {
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// If nominal length true, max junction speed is guaranteed to be reached. Only compute
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// for max allowable speed if block is decelerating and nominal length is false.
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current->entry_speed = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
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? max_entry_speed
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: min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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/**
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* recalculate() needs to go over the current plan twice.
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* Once in reverse and once forward. This implements the reverse pass.
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*/
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void Planner::reverse_pass() {
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if (movesplanned() > 3) {
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const uint8_t endnr = BLOCK_MOD(block_buffer_tail + 2); // tail is running. tail+1 shouldn't be altered because it's connected to the running block.
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// tail+2 because the index is not yet advanced when checked
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uint8_t blocknr = prev_block_index(block_buffer_head);
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block_t* current = &block_buffer[blocknr];
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do {
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const block_t * const next = current;
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blocknr = prev_block_index(blocknr);
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current = &block_buffer[blocknr];
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if (TEST(current->flag, BLOCK_BIT_START_FROM_FULL_HALT)) // Up to this every block is already optimized.
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break;
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reverse_pass_kernel(current, next);
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} while (blocknr != endnr);
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}
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}
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// The kernel called by recalculate() when scanning the plan from first to last entry.
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void Planner::forward_pass_kernel(const block_t * const previous, block_t* const current) {
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if (!previous) return;
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// If the previous block is an acceleration block, but it is not long enough to complete the
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// full speed change within the block, we need to adjust the entry speed accordingly. Entry
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// speeds have already been reset, maximized, and reverse planned by reverse planner.
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// If nominal length is true, max junction speed is guaranteed to be reached. No need to recheck.
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if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) {
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if (previous->entry_speed < current->entry_speed) {
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float entry_speed = min(current->entry_speed,
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max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
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// Check for junction speed change
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if (current->entry_speed != entry_speed) {
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current->entry_speed = entry_speed;
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SBI(current->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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}
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}
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/**
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* recalculate() needs to go over the current plan twice.
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* Once in reverse and once forward. This implements the forward pass.
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*/
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void Planner::forward_pass() {
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block_t* block[3] = { NULL, NULL, NULL };
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for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
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block[0] = block[1];
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block[1] = block[2];
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block[2] = &block_buffer[b];
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forward_pass_kernel(block[0], block[1]);
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}
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forward_pass_kernel(block[1], block[2]);
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}
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/**
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* Recalculate the trapezoid speed profiles for all blocks in the plan
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* according to the entry_factor for each junction. Must be called by
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* recalculate() after updating the blocks.
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*/
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void Planner::recalculate_trapezoids() {
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int8_t block_index = block_buffer_tail;
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block_t *current, *next = NULL;
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while (block_index != block_buffer_head) {
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current = next;
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next = &block_buffer[block_index];
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if (current) {
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// Recalculate if current block entry or exit junction speed has changed.
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if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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const float nomr = 1.0 / current->nominal_speed;
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calculate_trapezoid_for_block(current, current->entry_speed * nomr, next->entry_speed * nomr);
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CBI(current->flag, BLOCK_BIT_RECALCULATE); // Reset current only to ensure next trapezoid is computed
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}
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}
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block_index = next_block_index(block_index);
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}
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// Last/newest block in buffer. Exit speed is set with MINIMUM_PLANNER_SPEED. Always recalculated.
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if (next) {
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const float nomr = 1.0 / next->nominal_speed;
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calculate_trapezoid_for_block(next, next->entry_speed * nomr, (MINIMUM_PLANNER_SPEED) * nomr);
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CBI(next->flag, BLOCK_BIT_RECALCULATE);
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}
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}
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/*
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* Recalculate the motion plan according to the following algorithm:
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*
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* 1. Go over every block in reverse order...
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*
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* Calculate a junction speed reduction (block_t.entry_factor) so:
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*
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* a. The junction jerk is within the set limit, and
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*
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* b. No speed reduction within one block requires faster
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* deceleration than the one, true constant acceleration.
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*
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* 2. Go over every block in chronological order...
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*
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* Dial down junction speed reduction values if:
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* a. The speed increase within one block would require faster
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* acceleration than the one, true constant acceleration.
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*
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* After that, all blocks will have an entry_factor allowing all speed changes to
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* be performed using only the one, true constant acceleration, and where no junction
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* jerk is jerkier than the set limit, Jerky. Finally it will:
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*
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* 3. Recalculate "trapezoids" for all blocks.
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*/
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void Planner::recalculate() {
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reverse_pass();
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forward_pass();
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recalculate_trapezoids();
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}
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#if ENABLED(AUTOTEMP)
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void Planner::getHighESpeed() {
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static float oldt = 0;
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if (!autotemp_enabled) return;
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if (thermalManager.degTargetHotend(0) + 2 < autotemp_min) return; // probably temperature set to zero.
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float high = 0.0;
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for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
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block_t* block = &block_buffer[b];
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if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
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float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed; // mm/sec;
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NOLESS(high, se);
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}
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}
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float t = autotemp_min + high * autotemp_factor;
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t = constrain(t, autotemp_min, autotemp_max);
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if (t < oldt) t = t * (1 - (AUTOTEMP_OLDWEIGHT)) + oldt * (AUTOTEMP_OLDWEIGHT);
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oldt = t;
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thermalManager.setTargetHotend(t, 0);
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}
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#endif // AUTOTEMP
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/**
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* Maintain fans, paste extruder pressure,
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*/
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void Planner::check_axes_activity() {
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unsigned char axis_active[NUM_AXIS] = { 0 },
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tail_fan_speed[FAN_COUNT];
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#if ENABLED(BARICUDA)
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#if HAS_HEATER_1
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uint8_t tail_valve_pressure;
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#endif
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#if HAS_HEATER_2
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uint8_t tail_e_to_p_pressure;
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|
#endif
|
|
#endif
|
|
|
|
if (blocks_queued()) {
|
|
|
|
#if FAN_COUNT > 0
|
|
for (uint8_t i = 0; i < FAN_COUNT; i++)
|
|
tail_fan_speed[i] = block_buffer[block_buffer_tail].fan_speed[i];
|
|
#endif
|
|
|
|
block_t* block;
|
|
|
|
#if ENABLED(BARICUDA)
|
|
block = &block_buffer[block_buffer_tail];
|
|
#if HAS_HEATER_1
|
|
tail_valve_pressure = block->valve_pressure;
|
|
#endif
|
|
#if HAS_HEATER_2
|
|
tail_e_to_p_pressure = block->e_to_p_pressure;
|
|
#endif
|
|
#endif
|
|
|
|
for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
|
|
block = &block_buffer[b];
|
|
LOOP_XYZE(i) if (block->steps[i]) axis_active[i]++;
|
|
}
|
|
}
|
|
else {
|
|
#if FAN_COUNT > 0
|
|
for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = fanSpeeds[i];
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
#if HAS_HEATER_1
|
|
tail_valve_pressure = baricuda_valve_pressure;
|
|
#endif
|
|
#if HAS_HEATER_2
|
|
tail_e_to_p_pressure = baricuda_e_to_p_pressure;
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if ENABLED(DISABLE_X)
|
|
if (!axis_active[X_AXIS]) disable_X();
|
|
#endif
|
|
#if ENABLED(DISABLE_Y)
|
|
if (!axis_active[Y_AXIS]) disable_Y();
|
|
#endif
|
|
#if ENABLED(DISABLE_Z)
|
|
if (!axis_active[Z_AXIS]) disable_Z();
|
|
#endif
|
|
#if ENABLED(DISABLE_E)
|
|
if (!axis_active[E_AXIS]) disable_e_steppers();
|
|
#endif
|
|
|
|
#if FAN_COUNT > 0
|
|
|
|
#if FAN_KICKSTART_TIME > 0
|
|
|
|
static millis_t fan_kick_end[FAN_COUNT] = { 0 };
|
|
|
|
#define KICKSTART_FAN(f) \
|
|
if (tail_fan_speed[f]) { \
|
|
millis_t ms = millis(); \
|
|
if (fan_kick_end[f] == 0) { \
|
|
fan_kick_end[f] = ms + FAN_KICKSTART_TIME; \
|
|
tail_fan_speed[f] = 255; \
|
|
} else if (PENDING(ms, fan_kick_end[f])) \
|
|
tail_fan_speed[f] = 255; \
|
|
} else fan_kick_end[f] = 0
|
|
|
|
#if HAS_FAN0
|
|
KICKSTART_FAN(0);
|
|
#endif
|
|
#if HAS_FAN1
|
|
KICKSTART_FAN(1);
|
|
#endif
|
|
#if HAS_FAN2
|
|
KICKSTART_FAN(2);
|
|
#endif
|
|
|
|
#endif // FAN_KICKSTART_TIME > 0
|
|
|
|
#ifdef FAN_MIN_PWM
|
|
#define CALC_FAN_SPEED(f) (tail_fan_speed[f] ? ( FAN_MIN_PWM + (tail_fan_speed[f] * (255 - FAN_MIN_PWM)) / 255 ) : 0)
|
|
#else
|
|
#define CALC_FAN_SPEED(f) tail_fan_speed[f]
|
|
#endif
|
|
|
|
#if ENABLED(FAN_SOFT_PWM)
|
|
#if HAS_FAN0
|
|
thermalManager.soft_pwm_amount_fan[0] = CALC_FAN_SPEED(0);
|
|
#endif
|
|
#if HAS_FAN1
|
|
thermalManager.soft_pwm_amount_fan[1] = CALC_FAN_SPEED(1);
|
|
#endif
|
|
#if HAS_FAN2
|
|
thermalManager.soft_pwm_amount_fan[2] = CALC_FAN_SPEED(2);
|
|
#endif
|
|
#else
|
|
#if HAS_FAN0
|
|
analogWrite(FAN_PIN, CALC_FAN_SPEED(0));
|
|
#endif
|
|
#if HAS_FAN1
|
|
analogWrite(FAN1_PIN, CALC_FAN_SPEED(1));
|
|
#endif
|
|
#if HAS_FAN2
|
|
analogWrite(FAN2_PIN, CALC_FAN_SPEED(2));
|
|
#endif
|
|
#endif
|
|
|
|
#endif // FAN_COUNT > 0
|
|
|
|
#if ENABLED(AUTOTEMP)
|
|
getHighESpeed();
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
#if HAS_HEATER_1
|
|
analogWrite(HEATER_1_PIN, tail_valve_pressure);
|
|
#endif
|
|
#if HAS_HEATER_2
|
|
analogWrite(HEATER_2_PIN, tail_e_to_p_pressure);
|
|
#endif
|
|
#endif
|
|
}
|
|
|
|
#if DISABLED(NO_VOLUMETRICS)
|
|
|
|
/**
|
|
* Get a volumetric multiplier from a filament diameter.
|
|
* This is the reciprocal of the circular cross-section area.
|
|
* Return 1.0 with volumetric off or a diameter of 0.0.
|
|
*/
|
|
inline float calculate_volumetric_multiplier(const float &diameter) {
|
|
return (parser.volumetric_enabled && diameter) ? 1.0 / CIRCLE_AREA(diameter * 0.5) : 1.0;
|
|
}
|
|
|
|
/**
|
|
* Convert the filament sizes into volumetric multipliers.
|
|
* The multiplier converts a given E value into a length.
|
|
*/
|
|
void Planner::calculate_volumetric_multipliers() {
|
|
for (uint8_t i = 0; i < COUNT(filament_size); i++) {
|
|
volumetric_multiplier[i] = calculate_volumetric_multiplier(filament_size[i]);
|
|
refresh_e_factor(i);
|
|
}
|
|
}
|
|
|
|
#endif // !NO_VOLUMETRICS
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
/**
|
|
* Convert the ratio value given by the filament width sensor
|
|
* into a volumetric multiplier. Conversion differs when using
|
|
* linear extrusion vs volumetric extrusion.
|
|
*/
|
|
void Planner::calculate_volumetric_for_width_sensor(const int8_t encoded_ratio) {
|
|
// Reconstitute the nominal/measured ratio
|
|
const float nom_meas_ratio = 1.0 + 0.01 * encoded_ratio,
|
|
ratio_2 = sq(nom_meas_ratio);
|
|
|
|
volumetric_multiplier[FILAMENT_SENSOR_EXTRUDER_NUM] = parser.volumetric_enabled
|
|
? ratio_2 / CIRCLE_AREA(filament_width_nominal * 0.5) // Volumetric uses a true volumetric multiplier
|
|
: ratio_2; // Linear squares the ratio, which scales the volume
|
|
|
|
refresh_e_factor(FILAMENT_SENSOR_EXTRUDER_NUM);
|
|
}
|
|
#endif
|
|
|
|
#if PLANNER_LEVELING
|
|
/**
|
|
* rx, ry, rz - Cartesian positions in mm
|
|
* Leveled XYZ on completion
|
|
*/
|
|
void Planner::apply_leveling(float &rx, float &ry, float &rz) {
|
|
|
|
#if ENABLED(SKEW_CORRECTION)
|
|
skew(rx, ry, rz);
|
|
#endif
|
|
|
|
if (!leveling_active) return;
|
|
|
|
#if ABL_PLANAR
|
|
|
|
float dx = rx - (X_TILT_FULCRUM),
|
|
dy = ry - (Y_TILT_FULCRUM);
|
|
|
|
apply_rotation_xyz(bed_level_matrix, dx, dy, rz);
|
|
|
|
rx = dx + X_TILT_FULCRUM;
|
|
ry = dy + Y_TILT_FULCRUM;
|
|
|
|
#else
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
const float fade_scaling_factor = fade_scaling_factor_for_z(rz);
|
|
if (!fade_scaling_factor) return;
|
|
#elif HAS_MESH
|
|
constexpr float fade_scaling_factor = 1.0;
|
|
#endif
|
|
|
|
#if ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
const float raw[XYZ] = { rx, ry, 0 };
|
|
#endif
|
|
|
|
rz += (
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
ubl.get_z_correction(rx, ry) * fade_scaling_factor
|
|
#elif ENABLED(MESH_BED_LEVELING)
|
|
mbl.get_z(rx, ry
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
, fade_scaling_factor
|
|
#endif
|
|
)
|
|
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
bilinear_z_offset(raw) * fade_scaling_factor
|
|
#else
|
|
0
|
|
#endif
|
|
);
|
|
|
|
#endif
|
|
}
|
|
|
|
void Planner::unapply_leveling(float raw[XYZ]) {
|
|
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
const float fade_scaling_factor = fade_scaling_factor_for_z(raw[Z_AXIS]);
|
|
#else
|
|
constexpr float fade_scaling_factor = 1.0;
|
|
#endif
|
|
|
|
if (leveling_active && fade_scaling_factor) {
|
|
|
|
#if ABL_PLANAR
|
|
|
|
matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
|
|
|
|
float dx = raw[X_AXIS] - (X_TILT_FULCRUM),
|
|
dy = raw[Y_AXIS] - (Y_TILT_FULCRUM);
|
|
|
|
apply_rotation_xyz(inverse, dx, dy, raw[Z_AXIS]);
|
|
|
|
raw[X_AXIS] = dx + X_TILT_FULCRUM;
|
|
raw[Y_AXIS] = dy + Y_TILT_FULCRUM;
|
|
|
|
#else // !ABL_PLANAR
|
|
|
|
raw[Z_AXIS] -= (
|
|
#if ENABLED(AUTO_BED_LEVELING_UBL)
|
|
ubl.get_z_correction(raw[X_AXIS], raw[Y_AXIS]) * fade_scaling_factor
|
|
#elif ENABLED(MESH_BED_LEVELING)
|
|
mbl.get_z(raw[X_AXIS], raw[Y_AXIS]
|
|
#if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
|
|
, fade_scaling_factor
|
|
#endif
|
|
)
|
|
#elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
|
|
bilinear_z_offset(raw) * fade_scaling_factor
|
|
#else
|
|
0
|
|
#endif
|
|
);
|
|
|
|
#endif // !ABL_PLANAR
|
|
}
|
|
|
|
#if ENABLED(SKEW_CORRECTION)
|
|
unskew(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS]);
|
|
#endif
|
|
}
|
|
|
|
#endif // PLANNER_LEVELING
|
|
|
|
/**
|
|
* Planner::_buffer_steps
|
|
*
|
|
* Add a new linear movement to the buffer (in terms of steps).
|
|
*
|
|
* target - target position in steps units
|
|
* fr_mm_s - (target) speed of the move
|
|
* extruder - target extruder
|
|
*/
|
|
void Planner::_buffer_steps(const int32_t (&target)[XYZE], float fr_mm_s, const uint8_t extruder) {
|
|
|
|
#if defined(LULZBOT_USE_Z_BACKLASH_COMPENSATION)
|
|
int32_t da = target[X_AXIS] - position[X_AXIS],
|
|
db = target[Y_AXIS] - position[Y_AXIS],
|
|
dc = target[Z_AXIS] - position[Z_AXIS];
|
|
#else
|
|
const int32_t da = target[X_AXIS] - position[X_AXIS],
|
|
db = target[Y_AXIS] - position[Y_AXIS],
|
|
dc = target[Z_AXIS] - position[Z_AXIS];
|
|
#endif
|
|
|
|
int32_t de = target[E_AXIS] - position[E_AXIS];
|
|
|
|
/* <-- add a slash to enable
|
|
SERIAL_ECHOPAIR(" _buffer_steps FR:", fr_mm_s);
|
|
SERIAL_ECHOPAIR(" A:", target[A_AXIS]);
|
|
SERIAL_ECHOPAIR(" (", da);
|
|
SERIAL_ECHOPAIR(" steps) B:", target[B_AXIS]);
|
|
SERIAL_ECHOPAIR(" (", db);
|
|
SERIAL_ECHOPAIR(" steps) C:", target[C_AXIS]);
|
|
SERIAL_ECHOPAIR(" (", dc);
|
|
SERIAL_ECHOPAIR(" steps) E:", target[E_AXIS]);
|
|
SERIAL_ECHOPAIR(" (", de);
|
|
SERIAL_ECHOLNPGM(" steps)");
|
|
//*/
|
|
|
|
// If LIN_ADVANCE is disabled then do E move prevention with integers
|
|
// Otherwise it's done in _buffer_segment.
|
|
#if DISABLED(LIN_ADVANCE) && (ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE))
|
|
if (de) {
|
|
#if ENABLED(PREVENT_COLD_EXTRUSION)
|
|
if (thermalManager.tooColdToExtrude(extruder)) {
|
|
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
|
|
de = 0; // no difference
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
|
|
}
|
|
#endif // PREVENT_COLD_EXTRUSION
|
|
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
|
|
if (labs(de * e_factor[extruder]) > (int32_t)axis_steps_per_mm[E_AXIS_N] * (EXTRUDE_MAXLENGTH)) { // It's not important to get max. extrusion length in a precision < 1mm, so save some cycles and cast to int
|
|
position[E_AXIS] = target[E_AXIS]; // Behave as if the move really took place, but ignore E part
|
|
de = 0; // no difference
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
|
|
}
|
|
#endif // PREVENT_LENGTHY_EXTRUDE
|
|
}
|
|
#endif // !LIN_ADVANCE && (PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE)
|
|
|
|
// Compute direction bit-mask for this block
|
|
uint8_t dm = 0;
|
|
#if CORE_IS_XY
|
|
if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
|
|
if (db < 0) SBI(dm, Y_HEAD); // ...and Y
|
|
if (dc < 0) SBI(dm, Z_AXIS);
|
|
if (da + db < 0) SBI(dm, A_AXIS); // Motor A direction
|
|
if (CORESIGN(da - db) < 0) SBI(dm, B_AXIS); // Motor B direction
|
|
#elif CORE_IS_XZ
|
|
if (da < 0) SBI(dm, X_HEAD); // Save the real Extruder (head) direction in X Axis
|
|
if (db < 0) SBI(dm, Y_AXIS);
|
|
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
|
|
if (da + dc < 0) SBI(dm, A_AXIS); // Motor A direction
|
|
if (CORESIGN(da - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
|
|
#elif CORE_IS_YZ
|
|
if (da < 0) SBI(dm, X_AXIS);
|
|
if (db < 0) SBI(dm, Y_HEAD); // Save the real Extruder (head) direction in Y Axis
|
|
if (dc < 0) SBI(dm, Z_HEAD); // ...and Z
|
|
if (db + dc < 0) SBI(dm, B_AXIS); // Motor B direction
|
|
if (CORESIGN(db - dc) < 0) SBI(dm, C_AXIS); // Motor C direction
|
|
#else
|
|
if (da < 0) SBI(dm, X_AXIS);
|
|
if (db < 0) SBI(dm, Y_AXIS);
|
|
if (dc < 0) SBI(dm, Z_AXIS);
|
|
#endif
|
|
if (de < 0) SBI(dm, E_AXIS);
|
|
|
|
LULZBOT_BACKLASH_COMPENSATION
|
|
|
|
const float esteps_float = de * e_factor[extruder];
|
|
const int32_t esteps = abs(esteps_float) + 0.5;
|
|
|
|
// Calculate the buffer head after we push this byte
|
|
const uint8_t next_buffer_head = next_block_index(block_buffer_head);
|
|
|
|
// If the buffer is full: good! That means we are well ahead of the robot.
|
|
// Rest here until there is room in the buffer.
|
|
while (block_buffer_tail == next_buffer_head) idle();
|
|
|
|
// Prepare to set up new block
|
|
block_t* block = &block_buffer[block_buffer_head];
|
|
|
|
// Clear all flags, including the "busy" bit
|
|
block->flag = 0x00;
|
|
|
|
// Set direction bits
|
|
block->direction_bits = dm;
|
|
|
|
// Number of steps for each axis
|
|
// See http://www.corexy.com/theory.html
|
|
#if CORE_IS_XY
|
|
block->steps[A_AXIS] = labs(da + db);
|
|
block->steps[B_AXIS] = labs(da - db);
|
|
block->steps[Z_AXIS] = labs(dc);
|
|
#elif CORE_IS_XZ
|
|
block->steps[A_AXIS] = labs(da + dc);
|
|
block->steps[Y_AXIS] = labs(db);
|
|
block->steps[C_AXIS] = labs(da - dc);
|
|
#elif CORE_IS_YZ
|
|
block->steps[X_AXIS] = labs(da);
|
|
block->steps[B_AXIS] = labs(db + dc);
|
|
block->steps[C_AXIS] = labs(db - dc);
|
|
#else
|
|
// default non-h-bot planning
|
|
block->steps[X_AXIS] = labs(da);
|
|
block->steps[Y_AXIS] = labs(db);
|
|
block->steps[Z_AXIS] = labs(dc);
|
|
#endif
|
|
|
|
block->steps[E_AXIS] = esteps;
|
|
block->step_event_count = MAX4(block->steps[X_AXIS], block->steps[Y_AXIS], block->steps[Z_AXIS], esteps);
|
|
|
|
// Bail if this is a zero-length block
|
|
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
|
|
|
|
// For a mixing extruder, get a magnified step_event_count for each
|
|
#if ENABLED(MIXING_EXTRUDER)
|
|
for (uint8_t i = 0; i < MIXING_STEPPERS; i++)
|
|
block->mix_event_count[i] = mixing_factor[i] * block->step_event_count;
|
|
#endif
|
|
|
|
#if FAN_COUNT > 0
|
|
for (uint8_t i = 0; i < FAN_COUNT; i++) block->fan_speed[i] = fanSpeeds[i];
|
|
#endif
|
|
|
|
#if ENABLED(BARICUDA)
|
|
block->valve_pressure = baricuda_valve_pressure;
|
|
block->e_to_p_pressure = baricuda_e_to_p_pressure;
|
|
#endif
|
|
|
|
block->active_extruder = extruder;
|
|
|
|
//enable active axes
|
|
#if CORE_IS_XY
|
|
if (block->steps[A_AXIS] || block->steps[B_AXIS]) {
|
|
enable_X();
|
|
enable_Y();
|
|
}
|
|
#if DISABLED(Z_LATE_ENABLE)
|
|
if (block->steps[Z_AXIS]) enable_Z();
|
|
#endif
|
|
#elif CORE_IS_XZ
|
|
if (block->steps[A_AXIS] || block->steps[C_AXIS]) {
|
|
enable_X();
|
|
enable_Z();
|
|
}
|
|
if (block->steps[Y_AXIS]) enable_Y();
|
|
#elif CORE_IS_YZ
|
|
if (block->steps[B_AXIS] || block->steps[C_AXIS]) {
|
|
enable_Y();
|
|
enable_Z();
|
|
}
|
|
if (block->steps[X_AXIS]) enable_X();
|
|
#else
|
|
if (block->steps[X_AXIS]) enable_X();
|
|
if (block->steps[Y_AXIS]) enable_Y();
|
|
#if DISABLED(Z_LATE_ENABLE)
|
|
if (block->steps[Z_AXIS]) enable_Z();
|
|
#endif
|
|
#endif
|
|
|
|
// Enable extruder(s)
|
|
if (esteps) {
|
|
|
|
#if ENABLED(DISABLE_INACTIVE_EXTRUDER) // Enable only the selected extruder
|
|
|
|
#define DISABLE_IDLE_E(N) if (!g_uc_extruder_last_move[N]) disable_E##N();
|
|
|
|
for (uint8_t i = 0; i < EXTRUDERS; i++)
|
|
if (g_uc_extruder_last_move[i] > 0) g_uc_extruder_last_move[i]--;
|
|
|
|
switch(extruder) {
|
|
case 0:
|
|
enable_E0();
|
|
g_uc_extruder_last_move[0] = (BLOCK_BUFFER_SIZE) * 2;
|
|
#if ENABLED(DUAL_X_CARRIAGE) || ENABLED(DUAL_NOZZLE_DUPLICATION_MODE)
|
|
if (extruder_duplication_enabled) {
|
|
enable_E1();
|
|
g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
|
|
}
|
|
#endif
|
|
#if EXTRUDERS > 1
|
|
DISABLE_IDLE_E(1);
|
|
#if EXTRUDERS > 2
|
|
DISABLE_IDLE_E(2);
|
|
#if EXTRUDERS > 3
|
|
DISABLE_IDLE_E(3);
|
|
#if EXTRUDERS > 4
|
|
DISABLE_IDLE_E(4);
|
|
#endif // EXTRUDERS > 4
|
|
#endif // EXTRUDERS > 3
|
|
#endif // EXTRUDERS > 2
|
|
#endif // EXTRUDERS > 1
|
|
break;
|
|
#if EXTRUDERS > 1
|
|
case 1:
|
|
enable_E1();
|
|
g_uc_extruder_last_move[1] = (BLOCK_BUFFER_SIZE) * 2;
|
|
DISABLE_IDLE_E(0);
|
|
#if EXTRUDERS > 2
|
|
DISABLE_IDLE_E(2);
|
|
#if EXTRUDERS > 3
|
|
DISABLE_IDLE_E(3);
|
|
#if EXTRUDERS > 4
|
|
DISABLE_IDLE_E(4);
|
|
#endif // EXTRUDERS > 4
|
|
#endif // EXTRUDERS > 3
|
|
#endif // EXTRUDERS > 2
|
|
break;
|
|
#if EXTRUDERS > 2
|
|
case 2:
|
|
enable_E2();
|
|
g_uc_extruder_last_move[2] = (BLOCK_BUFFER_SIZE) * 2;
|
|
DISABLE_IDLE_E(0);
|
|
DISABLE_IDLE_E(1);
|
|
#if EXTRUDERS > 3
|
|
DISABLE_IDLE_E(3);
|
|
#if EXTRUDERS > 4
|
|
DISABLE_IDLE_E(4);
|
|
#endif
|
|
#endif
|
|
break;
|
|
#if EXTRUDERS > 3
|
|
case 3:
|
|
enable_E3();
|
|
g_uc_extruder_last_move[3] = (BLOCK_BUFFER_SIZE) * 2;
|
|
DISABLE_IDLE_E(0);
|
|
DISABLE_IDLE_E(1);
|
|
DISABLE_IDLE_E(2);
|
|
#if EXTRUDERS > 4
|
|
DISABLE_IDLE_E(4);
|
|
#endif
|
|
break;
|
|
#if EXTRUDERS > 4
|
|
case 4:
|
|
enable_E4();
|
|
g_uc_extruder_last_move[4] = (BLOCK_BUFFER_SIZE) * 2;
|
|
DISABLE_IDLE_E(0);
|
|
DISABLE_IDLE_E(1);
|
|
DISABLE_IDLE_E(2);
|
|
DISABLE_IDLE_E(3);
|
|
break;
|
|
#endif // EXTRUDERS > 4
|
|
#endif // EXTRUDERS > 3
|
|
#endif // EXTRUDERS > 2
|
|
#endif // EXTRUDERS > 1
|
|
}
|
|
#else
|
|
enable_E0();
|
|
enable_E1();
|
|
enable_E2();
|
|
enable_E3();
|
|
enable_E4();
|
|
#endif
|
|
}
|
|
|
|
if (esteps)
|
|
NOLESS(fr_mm_s, min_feedrate_mm_s);
|
|
else
|
|
NOLESS(fr_mm_s, min_travel_feedrate_mm_s);
|
|
|
|
/**
|
|
* This part of the code calculates the total length of the movement.
|
|
* For cartesian bots, the X_AXIS is the real X movement and same for Y_AXIS.
|
|
* But for corexy bots, that is not true. The "X_AXIS" and "Y_AXIS" motors (that should be named to A_AXIS
|
|
* and B_AXIS) cannot be used for X and Y length, because A=X+Y and B=X-Y.
|
|
* So we need to create other 2 "AXIS", named X_HEAD and Y_HEAD, meaning the real displacement of the Head.
|
|
* Having the real displacement of the head, we can calculate the total movement length and apply the desired speed.
|
|
*/
|
|
#if IS_CORE
|
|
float delta_mm[Z_HEAD + 1];
|
|
#if CORE_IS_XY
|
|
delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
|
|
delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
|
|
delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
|
|
delta_mm[A_AXIS] = (da + db) * steps_to_mm[A_AXIS];
|
|
delta_mm[B_AXIS] = CORESIGN(da - db) * steps_to_mm[B_AXIS];
|
|
#elif CORE_IS_XZ
|
|
delta_mm[X_HEAD] = da * steps_to_mm[A_AXIS];
|
|
delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
|
|
delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
|
|
delta_mm[A_AXIS] = (da + dc) * steps_to_mm[A_AXIS];
|
|
delta_mm[C_AXIS] = CORESIGN(da - dc) * steps_to_mm[C_AXIS];
|
|
#elif CORE_IS_YZ
|
|
delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
|
|
delta_mm[Y_HEAD] = db * steps_to_mm[B_AXIS];
|
|
delta_mm[Z_HEAD] = dc * steps_to_mm[C_AXIS];
|
|
delta_mm[B_AXIS] = (db + dc) * steps_to_mm[B_AXIS];
|
|
delta_mm[C_AXIS] = CORESIGN(db - dc) * steps_to_mm[C_AXIS];
|
|
#endif
|
|
#else
|
|
float delta_mm[XYZE];
|
|
delta_mm[X_AXIS] = da * steps_to_mm[X_AXIS];
|
|
delta_mm[Y_AXIS] = db * steps_to_mm[Y_AXIS];
|
|
delta_mm[Z_AXIS] = dc * steps_to_mm[Z_AXIS];
|
|
#endif
|
|
delta_mm[E_AXIS] = esteps_float * steps_to_mm[E_AXIS_N];
|
|
|
|
if (block->steps[X_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Y_AXIS] < MIN_STEPS_PER_SEGMENT && block->steps[Z_AXIS] < MIN_STEPS_PER_SEGMENT) {
|
|
block->millimeters = FABS(delta_mm[E_AXIS]);
|
|
}
|
|
else {
|
|
block->millimeters = SQRT(
|
|
#if CORE_IS_XY
|
|
sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_AXIS])
|
|
#elif CORE_IS_XZ
|
|
sq(delta_mm[X_HEAD]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_HEAD])
|
|
#elif CORE_IS_YZ
|
|
sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_HEAD]) + sq(delta_mm[Z_HEAD])
|
|
#else
|
|
sq(delta_mm[X_AXIS]) + sq(delta_mm[Y_AXIS]) + sq(delta_mm[Z_AXIS])
|
|
#endif
|
|
);
|
|
}
|
|
const float inverse_millimeters = 1.0 / block->millimeters; // Inverse millimeters to remove multiple divides
|
|
|
|
// Calculate inverse time for this move. No divide by zero due to previous checks.
|
|
// Example: At 120mm/s a 60mm move takes 0.5s. So this will give 2.0.
|
|
float inverse_secs = fr_mm_s * inverse_millimeters;
|
|
|
|
const uint8_t moves_queued = movesplanned();
|
|
|
|
// Slow down when the buffer starts to empty, rather than wait at the corner for a buffer refill
|
|
#if ENABLED(SLOWDOWN) || ENABLED(ULTRA_LCD) || defined(XY_FREQUENCY_LIMIT)
|
|
// Segment time im micro seconds
|
|
uint32_t segment_time_us = LROUND(1000000.0 / inverse_secs);
|
|
#endif
|
|
|
|
#if ENABLED(SLOWDOWN)
|
|
if (WITHIN(moves_queued, 2, (BLOCK_BUFFER_SIZE) / 2 - 1)) {
|
|
if (segment_time_us < min_segment_time_us) {
|
|
// buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
|
|
const uint32_t nst = segment_time_us + LROUND(2 * (min_segment_time_us - segment_time_us) / moves_queued);
|
|
inverse_secs = 1000000.0 / nst;
|
|
#if defined(XY_FREQUENCY_LIMIT) || ENABLED(ULTRA_LCD)
|
|
segment_time_us = nst;
|
|
#endif
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#if ENABLED(ULTRA_LCD)
|
|
CRITICAL_SECTION_START
|
|
block_buffer_runtime_us += segment_time_us;
|
|
CRITICAL_SECTION_END
|
|
#endif
|
|
|
|
block->nominal_speed = block->millimeters * inverse_secs; // (mm/sec) Always > 0
|
|
block->nominal_rate = CEIL(block->step_event_count * inverse_secs); // (step/sec) Always > 0
|
|
|
|
#if ENABLED(FILAMENT_WIDTH_SENSOR)
|
|
static float filwidth_e_count = 0, filwidth_delay_dist = 0;
|
|
|
|
//FMM update ring buffer used for delay with filament measurements
|
|
if (extruder == FILAMENT_SENSOR_EXTRUDER_NUM && filwidth_delay_index[1] >= 0) { //only for extruder with filament sensor and if ring buffer is initialized
|
|
|
|
constexpr int MMD_CM = MAX_MEASUREMENT_DELAY + 1, MMD_MM = MMD_CM * 10;
|
|
|
|
// increment counters with next move in e axis
|
|
filwidth_e_count += delta_mm[E_AXIS];
|
|
filwidth_delay_dist += delta_mm[E_AXIS];
|
|
|
|
// Only get new measurements on forward E movement
|
|
if (!UNEAR_ZERO(filwidth_e_count)) {
|
|
|
|
// Loop the delay distance counter (modulus by the mm length)
|
|
while (filwidth_delay_dist >= MMD_MM) filwidth_delay_dist -= MMD_MM;
|
|
|
|
// Convert into an index into the measurement array
|
|
filwidth_delay_index[0] = int8_t(filwidth_delay_dist * 0.1);
|
|
|
|
// If the index has changed (must have gone forward)...
|
|
if (filwidth_delay_index[0] != filwidth_delay_index[1]) {
|
|
filwidth_e_count = 0; // Reset the E movement counter
|
|
const int8_t meas_sample = thermalManager.widthFil_to_size_ratio();
|
|
do {
|
|
filwidth_delay_index[1] = (filwidth_delay_index[1] + 1) % MMD_CM; // The next unused slot
|
|
measurement_delay[filwidth_delay_index[1]] = meas_sample; // Store the measurement
|
|
} while (filwidth_delay_index[0] != filwidth_delay_index[1]); // More slots to fill?
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
// Calculate and limit speed in mm/sec for each axis
|
|
float current_speed[NUM_AXIS], speed_factor = 1.0; // factor <1 decreases speed
|
|
LOOP_XYZE(i) {
|
|
const float cs = FABS((current_speed[i] = delta_mm[i] * inverse_secs));
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
if (i == E_AXIS) i += extruder;
|
|
#endif
|
|
if (cs > max_feedrate_mm_s[i]) NOMORE(speed_factor, max_feedrate_mm_s[i] / cs);
|
|
}
|
|
|
|
// Max segment time in µs.
|
|
#ifdef XY_FREQUENCY_LIMIT
|
|
|
|
// Check and limit the xy direction change frequency
|
|
const unsigned char direction_change = block->direction_bits ^ old_direction_bits;
|
|
old_direction_bits = block->direction_bits;
|
|
segment_time_us = LROUND((float)segment_time_us / speed_factor);
|
|
|
|
uint32_t xs0 = axis_segment_time_us[X_AXIS][0],
|
|
xs1 = axis_segment_time_us[X_AXIS][1],
|
|
xs2 = axis_segment_time_us[X_AXIS][2],
|
|
ys0 = axis_segment_time_us[Y_AXIS][0],
|
|
ys1 = axis_segment_time_us[Y_AXIS][1],
|
|
ys2 = axis_segment_time_us[Y_AXIS][2];
|
|
|
|
if (TEST(direction_change, X_AXIS)) {
|
|
xs2 = axis_segment_time_us[X_AXIS][2] = xs1;
|
|
xs1 = axis_segment_time_us[X_AXIS][1] = xs0;
|
|
xs0 = 0;
|
|
}
|
|
xs0 = axis_segment_time_us[X_AXIS][0] = xs0 + segment_time_us;
|
|
|
|
if (TEST(direction_change, Y_AXIS)) {
|
|
ys2 = axis_segment_time_us[Y_AXIS][2] = axis_segment_time_us[Y_AXIS][1];
|
|
ys1 = axis_segment_time_us[Y_AXIS][1] = axis_segment_time_us[Y_AXIS][0];
|
|
ys0 = 0;
|
|
}
|
|
ys0 = axis_segment_time_us[Y_AXIS][0] = ys0 + segment_time_us;
|
|
|
|
const uint32_t max_x_segment_time = MAX3(xs0, xs1, xs2),
|
|
max_y_segment_time = MAX3(ys0, ys1, ys2),
|
|
min_xy_segment_time = min(max_x_segment_time, max_y_segment_time);
|
|
if (min_xy_segment_time < MAX_FREQ_TIME_US) {
|
|
const float low_sf = speed_factor * min_xy_segment_time / (MAX_FREQ_TIME_US);
|
|
NOMORE(speed_factor, low_sf);
|
|
}
|
|
#endif // XY_FREQUENCY_LIMIT
|
|
|
|
// Correct the speed
|
|
if (speed_factor < 1.0) {
|
|
LOOP_XYZE(i) current_speed[i] *= speed_factor;
|
|
block->nominal_speed *= speed_factor;
|
|
block->nominal_rate *= speed_factor;
|
|
}
|
|
|
|
// Compute and limit the acceleration rate for the trapezoid generator.
|
|
const float steps_per_mm = block->step_event_count * inverse_millimeters;
|
|
uint32_t accel;
|
|
if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
|
|
// convert to: acceleration steps/sec^2
|
|
accel = CEIL(retract_acceleration * steps_per_mm);
|
|
}
|
|
else {
|
|
#define LIMIT_ACCEL_LONG(AXIS,INDX) do{ \
|
|
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
|
|
const uint32_t comp = max_acceleration_steps_per_s2[AXIS+INDX] * block->step_event_count; \
|
|
if (accel * block->steps[AXIS] > comp) accel = comp / block->steps[AXIS]; \
|
|
} \
|
|
}while(0)
|
|
|
|
#define LIMIT_ACCEL_FLOAT(AXIS,INDX) do{ \
|
|
if (block->steps[AXIS] && max_acceleration_steps_per_s2[AXIS+INDX] < accel) { \
|
|
const float comp = (float)max_acceleration_steps_per_s2[AXIS+INDX] * (float)block->step_event_count; \
|
|
if ((float)accel * (float)block->steps[AXIS] > comp) accel = comp / (float)block->steps[AXIS]; \
|
|
} \
|
|
}while(0)
|
|
|
|
// Start with print or travel acceleration
|
|
accel = CEIL((esteps ? acceleration : travel_acceleration) * steps_per_mm);
|
|
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
#define ACCEL_IDX extruder
|
|
#else
|
|
#define ACCEL_IDX 0
|
|
#endif
|
|
|
|
// Limit acceleration per axis
|
|
if (block->step_event_count <= cutoff_long) {
|
|
LIMIT_ACCEL_LONG(X_AXIS, 0);
|
|
LIMIT_ACCEL_LONG(Y_AXIS, 0);
|
|
LIMIT_ACCEL_LONG(Z_AXIS, 0);
|
|
LIMIT_ACCEL_LONG(E_AXIS, ACCEL_IDX);
|
|
}
|
|
else {
|
|
LIMIT_ACCEL_FLOAT(X_AXIS, 0);
|
|
LIMIT_ACCEL_FLOAT(Y_AXIS, 0);
|
|
LIMIT_ACCEL_FLOAT(Z_AXIS, 0);
|
|
LIMIT_ACCEL_FLOAT(E_AXIS, ACCEL_IDX);
|
|
}
|
|
}
|
|
block->acceleration_steps_per_s2 = accel;
|
|
block->acceleration = accel / steps_per_mm;
|
|
block->acceleration_rate = (long)(accel * 16777216.0 / ((F_CPU) * 0.125)); // * 8.388608
|
|
|
|
// Initial limit on the segment entry velocity
|
|
float vmax_junction;
|
|
|
|
#if 0 // Use old jerk for now
|
|
|
|
float junction_deviation = 0.1;
|
|
|
|
// Compute path unit vector
|
|
double unit_vec[XYZ] = {
|
|
delta_mm[X_AXIS] * inverse_millimeters,
|
|
delta_mm[Y_AXIS] * inverse_millimeters,
|
|
delta_mm[Z_AXIS] * inverse_millimeters
|
|
};
|
|
|
|
/*
|
|
Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
|
|
|
|
Let a circle be tangent to both previous and current path line segments, where the junction
|
|
deviation is defined as the distance from the junction to the closest edge of the circle,
|
|
collinear with the circle center.
|
|
|
|
The circular segment joining the two paths represents the path of centripetal acceleration.
|
|
Solve for max velocity based on max acceleration about the radius of the circle, defined
|
|
indirectly by junction deviation.
|
|
|
|
This may be also viewed as path width or max_jerk in the previous grbl version. This approach
|
|
does not actually deviate from path, but used as a robust way to compute cornering speeds, as
|
|
it takes into account the nonlinearities of both the junction angle and junction velocity.
|
|
*/
|
|
|
|
vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
|
|
|
|
// Skip first block or when previous_nominal_speed is used as a flag for homing and offset cycles.
|
|
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
|
|
// Compute cosine of angle between previous and current path. (prev_unit_vec is negative)
|
|
// NOTE: Max junction velocity is computed without sin() or acos() by trig half angle identity.
|
|
const float cos_theta = - previous_unit_vec[X_AXIS] * unit_vec[X_AXIS]
|
|
- previous_unit_vec[Y_AXIS] * unit_vec[Y_AXIS]
|
|
- previous_unit_vec[Z_AXIS] * unit_vec[Z_AXIS];
|
|
// Skip and use default max junction speed for 0 degree acute junction.
|
|
if (cos_theta < 0.95) {
|
|
vmax_junction = min(previous_nominal_speed, block->nominal_speed);
|
|
// Skip and avoid divide by zero for straight junctions at 180 degrees. Limit to min() of nominal speeds.
|
|
if (cos_theta > -0.95) {
|
|
// Compute maximum junction velocity based on maximum acceleration and junction deviation
|
|
float sin_theta_d2 = SQRT(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
|
|
NOMORE(vmax_junction, SQRT(block->acceleration * junction_deviation * sin_theta_d2 / (1.0 - sin_theta_d2)));
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* Adapted from Průša MKS firmware
|
|
* https://github.com/prusa3d/Prusa-Firmware
|
|
*
|
|
* Start with a safe speed (from which the machine may halt to stop immediately).
|
|
*/
|
|
|
|
// Exit speed limited by a jerk to full halt of a previous last segment
|
|
static float previous_safe_speed;
|
|
|
|
float safe_speed = block->nominal_speed;
|
|
uint8_t limited = 0;
|
|
LOOP_XYZE(i) {
|
|
const float jerk = FABS(current_speed[i]), maxj = max_jerk[i];
|
|
if (jerk > maxj) {
|
|
if (limited) {
|
|
const float mjerk = maxj * block->nominal_speed;
|
|
if (jerk * safe_speed > mjerk) safe_speed = mjerk / jerk;
|
|
}
|
|
else {
|
|
++limited;
|
|
safe_speed = maxj;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (moves_queued && !UNEAR_ZERO(previous_nominal_speed)) {
|
|
// Estimate a maximum velocity allowed at a joint of two successive segments.
|
|
// If this maximum velocity allowed is lower than the minimum of the entry / exit safe velocities,
|
|
// then the machine is not coasting anymore and the safe entry / exit velocities shall be used.
|
|
|
|
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
|
|
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
|
|
vmax_junction = min(block->nominal_speed, previous_nominal_speed);
|
|
|
|
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
|
|
float v_factor = 1;
|
|
limited = 0;
|
|
|
|
// Now limit the jerk in all axes.
|
|
const float smaller_speed_factor = vmax_junction / previous_nominal_speed;
|
|
LOOP_XYZE(axis) {
|
|
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
|
|
float v_exit = previous_speed[axis] * smaller_speed_factor,
|
|
v_entry = current_speed[axis];
|
|
if (limited) {
|
|
v_exit *= v_factor;
|
|
v_entry *= v_factor;
|
|
}
|
|
|
|
// Calculate jerk depending on whether the axis is coasting in the same direction or reversing.
|
|
const float jerk = (v_exit > v_entry)
|
|
? // coasting axis reversal
|
|
( (v_entry > 0 || v_exit < 0) ? (v_exit - v_entry) : max(v_exit, -v_entry) )
|
|
: // v_exit <= v_entry coasting axis reversal
|
|
( (v_entry < 0 || v_exit > 0) ? (v_entry - v_exit) : max(-v_exit, v_entry) );
|
|
|
|
if (jerk > max_jerk[axis]) {
|
|
v_factor *= max_jerk[axis] / jerk;
|
|
++limited;
|
|
}
|
|
}
|
|
if (limited) vmax_junction *= v_factor;
|
|
// Now the transition velocity is known, which maximizes the shared exit / entry velocity while
|
|
// respecting the jerk factors, it may be possible, that applying separate safe exit / entry velocities will achieve faster prints.
|
|
const float vmax_junction_threshold = vmax_junction * 0.99f;
|
|
if (previous_safe_speed > vmax_junction_threshold && safe_speed > vmax_junction_threshold) {
|
|
// Not coasting. The machine will stop and start the movements anyway,
|
|
// better to start the segment from start.
|
|
SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
|
|
vmax_junction = safe_speed;
|
|
}
|
|
}
|
|
else {
|
|
SBI(block->flag, BLOCK_BIT_START_FROM_FULL_HALT);
|
|
vmax_junction = safe_speed;
|
|
}
|
|
|
|
// Max entry speed of this block equals the max exit speed of the previous block.
|
|
block->max_entry_speed = vmax_junction;
|
|
|
|
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
|
|
const float v_allowable = max_allowable_speed(-block->acceleration, MINIMUM_PLANNER_SPEED, block->millimeters);
|
|
block->entry_speed = min(vmax_junction, v_allowable);
|
|
|
|
// Initialize planner efficiency flags
|
|
// Set flag if block will always reach maximum junction speed regardless of entry/exit speeds.
|
|
// If a block can de/ac-celerate from nominal speed to zero within the length of the block, then
|
|
// the current block and next block junction speeds are guaranteed to always be at their maximum
|
|
// junction speeds in deceleration and acceleration, respectively. This is due to how the current
|
|
// block nominal speed limits both the current and next maximum junction speeds. Hence, in both
|
|
// the reverse and forward planners, the corresponding block junction speed will always be at the
|
|
// the maximum junction speed and may always be ignored for any speed reduction checks.
|
|
block->flag |= BLOCK_FLAG_RECALCULATE | (block->nominal_speed <= v_allowable ? BLOCK_FLAG_NOMINAL_LENGTH : 0);
|
|
|
|
// Update previous path unit_vector and nominal speed
|
|
COPY(previous_speed, current_speed);
|
|
previous_nominal_speed = block->nominal_speed;
|
|
previous_safe_speed = safe_speed;
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
/**
|
|
*
|
|
* Use LIN_ADVANCE for blocks if all these are true:
|
|
*
|
|
* esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS]) : This is a print move
|
|
*
|
|
* extruder_advance_k : There is an advance factor set.
|
|
*
|
|
* esteps != block->step_event_count : A problem occurs if the move before a retract is too small.
|
|
* In that case, the retract and move will be executed together.
|
|
* This leads to too many advance steps due to a huge e_acceleration.
|
|
* The math is good, but we must avoid retract moves with advance!
|
|
* lin_dist_e > 0 : Extruder is running forward (e.g., for "Wipe while retracting" (Slic3r) or "Combing" (Cura) moves)
|
|
*/
|
|
block->use_advance_lead = esteps && (block->steps[X_AXIS] || block->steps[Y_AXIS])
|
|
&& extruder_advance_k
|
|
&& (uint32_t)esteps != block->step_event_count
|
|
&& lin_dist_e > 0;
|
|
if (block->use_advance_lead)
|
|
block->abs_adv_steps_multiplier8 = LROUND(
|
|
extruder_advance_k
|
|
* (UNEAR_ZERO(advance_ed_ratio) ? lin_dist_e / lin_dist_xy : advance_ed_ratio) // Use the fixed ratio, if set
|
|
* (block->nominal_speed / (float)block->nominal_rate)
|
|
* axis_steps_per_mm[E_AXIS_N] * 256.0
|
|
);
|
|
|
|
#endif // LIN_ADVANCE
|
|
|
|
const float bnsr = 1.0 / block->nominal_speed;
|
|
calculate_trapezoid_for_block(block, block->entry_speed * bnsr, safe_speed * bnsr);
|
|
|
|
// Move buffer head
|
|
block_buffer_head = next_buffer_head;
|
|
|
|
// Update the position (only when a move was queued)
|
|
static_assert(COUNT(target) > 1, "Parameter to _buffer_steps must be (&target)[XYZE]!");
|
|
COPY(position, target);
|
|
|
|
recalculate();
|
|
|
|
} // _buffer_steps()
|
|
|
|
/**
|
|
* Planner::buffer_segment
|
|
*
|
|
* Add a new linear movement to the buffer in axis units.
|
|
*
|
|
* Leveling and kinematics should be applied ahead of calling this.
|
|
*
|
|
* a,b,c,e - target positions in mm and/or degrees
|
|
* fr_mm_s - (target) speed of the move
|
|
* extruder - target extruder
|
|
*/
|
|
void Planner::buffer_segment(const float &a, const float &b, const float &c, const float &e, const float &fr_mm_s, const uint8_t extruder) {
|
|
// When changing extruders recalculate steps corresponding to the E position
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
|
|
position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
|
|
last_extruder = extruder;
|
|
}
|
|
#endif
|
|
|
|
// The target position of the tool in absolute steps
|
|
// Calculate target position in absolute steps
|
|
const int32_t target[XYZE] = {
|
|
LROUND(a * axis_steps_per_mm[X_AXIS]),
|
|
LROUND(b * axis_steps_per_mm[Y_AXIS]),
|
|
LROUND(c * axis_steps_per_mm[Z_AXIS]),
|
|
LROUND(e * axis_steps_per_mm[E_AXIS_N])
|
|
};
|
|
|
|
// DRYRUN prevents E moves from taking place
|
|
if (DEBUGGING(DRYRUN)) {
|
|
position[E_AXIS] = target[E_AXIS];
|
|
#if ENABLED(LIN_ADVANCE)
|
|
position_float[E_AXIS] = e;
|
|
#endif
|
|
}
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
lin_dist_e = e - position_float[E_AXIS];
|
|
#endif
|
|
|
|
// If LIN_ADVANCE is enabled then do E move prevention with floats
|
|
// Otherwise it's done in _buffer_steps.
|
|
#if ENABLED(LIN_ADVANCE) && (ENABLED(PREVENT_COLD_EXTRUSION) || ENABLED(PREVENT_LENGTHY_EXTRUDE))
|
|
if (lin_dist_e) {
|
|
#if ENABLED(PREVENT_COLD_EXTRUSION)
|
|
if (thermalManager.tooColdToExtrude(extruder)) {
|
|
position_float[E_AXIS] = e; // Behave as if the move really took place, but ignore E part
|
|
position[E_AXIS] = target[E_AXIS];
|
|
lin_dist_e = 0;
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
|
|
}
|
|
#endif // PREVENT_COLD_EXTRUSION
|
|
#if ENABLED(PREVENT_LENGTHY_EXTRUDE)
|
|
if (lin_dist_e * e_factor[extruder] > (EXTRUDE_MAXLENGTH)) {
|
|
position_float[E_AXIS] = e; // Behave as if the move really took place, but ignore E part
|
|
position[E_AXIS] = target[E_AXIS];
|
|
lin_dist_e = 0;
|
|
SERIAL_ECHO_START();
|
|
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
|
|
}
|
|
#endif // PREVENT_LENGTHY_EXTRUDE
|
|
}
|
|
#endif // LIN_ADVANCE && (PREVENT_COLD_EXTRUSION || PREVENT_LENGTHY_EXTRUDE)
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
if (lin_dist_e > 0)
|
|
lin_dist_xy = HYPOT(a - position_float[X_AXIS], b - position_float[Y_AXIS]);
|
|
#endif
|
|
|
|
/* <-- add a slash to enable
|
|
SERIAL_ECHOPAIR(" buffer_segment FR:", fr_mm_s);
|
|
#if IS_KINEMATIC
|
|
SERIAL_ECHOPAIR(" A:", a);
|
|
SERIAL_ECHOPAIR(" (", position[A_AXIS]);
|
|
SERIAL_ECHOPAIR("->", target[A_AXIS]);
|
|
SERIAL_ECHOPAIR(") B:", b);
|
|
#else
|
|
SERIAL_ECHOPAIR(" X:", a);
|
|
SERIAL_ECHOPAIR(" (", position[X_AXIS]);
|
|
SERIAL_ECHOPAIR("->", target[X_AXIS]);
|
|
SERIAL_ECHOPAIR(") Y:", b);
|
|
#endif
|
|
SERIAL_ECHOPAIR(" (", position[Y_AXIS]);
|
|
SERIAL_ECHOPAIR("->", target[Y_AXIS]);
|
|
#if ENABLED(DELTA)
|
|
SERIAL_ECHOPAIR(") C:", c);
|
|
#else
|
|
SERIAL_ECHOPAIR(") Z:", c);
|
|
#endif
|
|
SERIAL_ECHOPAIR(" (", position[Z_AXIS]);
|
|
SERIAL_ECHOPAIR("->", target[Z_AXIS]);
|
|
SERIAL_ECHOPAIR(") E:", e);
|
|
SERIAL_ECHOPAIR(" (", position[E_AXIS]);
|
|
SERIAL_ECHOPAIR("->", target[E_AXIS]);
|
|
SERIAL_ECHOLNPGM(")");
|
|
//*/
|
|
|
|
// Always split the first move into two (if not homing or probing)
|
|
if (!blocks_queued()) {
|
|
|
|
#define _BETWEEN(A) (position[A##_AXIS] + target[A##_AXIS]) >> 1
|
|
const int32_t between[XYZE] = { _BETWEEN(X), _BETWEEN(Y), _BETWEEN(Z), _BETWEEN(E) };
|
|
DISABLE_STEPPER_DRIVER_INTERRUPT();
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
lin_dist_xy *= 0.5;
|
|
lin_dist_e *= 0.5;
|
|
#endif
|
|
|
|
_buffer_steps(between, fr_mm_s, extruder);
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
position_float[X_AXIS] = (position_float[X_AXIS] + a) * 0.5;
|
|
position_float[Y_AXIS] = (position_float[Y_AXIS] + b) * 0.5;
|
|
//position_float[Z_AXIS] = (position_float[Z_AXIS] + c) * 0.5;
|
|
position_float[E_AXIS] = (position_float[E_AXIS] + e) * 0.5;
|
|
#endif
|
|
|
|
const uint8_t next = block_buffer_head;
|
|
_buffer_steps(target, fr_mm_s, extruder);
|
|
SBI(block_buffer[next].flag, BLOCK_BIT_CONTINUED);
|
|
ENABLE_STEPPER_DRIVER_INTERRUPT();
|
|
}
|
|
else
|
|
_buffer_steps(target, fr_mm_s, extruder);
|
|
|
|
stepper.wake_up();
|
|
|
|
#if ENABLED(LIN_ADVANCE)
|
|
position_float[X_AXIS] = a;
|
|
position_float[Y_AXIS] = b;
|
|
//position_float[Z_AXIS] = c;
|
|
position_float[E_AXIS] = e;
|
|
#endif
|
|
} // buffer_segment()
|
|
|
|
/**
|
|
* Directly set the planner XYZ position (and stepper positions)
|
|
* converting mm (or angles for SCARA) into steps.
|
|
*
|
|
* On CORE machines stepper ABC will be translated from the given XYZ.
|
|
*/
|
|
|
|
void Planner::_set_position_mm(const float &a, const float &b, const float &c, const float &e) {
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
#define _EINDEX (E_AXIS + active_extruder)
|
|
last_extruder = active_extruder;
|
|
#else
|
|
#define _EINDEX E_AXIS
|
|
#endif
|
|
const int32_t na = position[X_AXIS] = LROUND(a * axis_steps_per_mm[X_AXIS]),
|
|
nb = position[Y_AXIS] = LROUND(b * axis_steps_per_mm[Y_AXIS]),
|
|
nc = position[Z_AXIS] = LROUND(c * axis_steps_per_mm[Z_AXIS]),
|
|
ne = position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
|
|
#if ENABLED(LIN_ADVANCE)
|
|
position_float[X_AXIS] = a;
|
|
position_float[Y_AXIS] = b;
|
|
//position_float[Z_AXIS] = c;
|
|
position_float[E_AXIS] = e;
|
|
#endif
|
|
stepper.set_position(na, nb, nc, ne);
|
|
previous_nominal_speed = 0.0; // Resets planner junction speeds. Assumes start from rest.
|
|
ZERO(previous_speed);
|
|
}
|
|
|
|
void Planner::set_position_mm_kinematic(const float (&cart)[XYZE]) {
|
|
#if PLANNER_LEVELING
|
|
float raw[XYZ] = { cart[X_AXIS], cart[Y_AXIS], cart[Z_AXIS] };
|
|
apply_leveling(raw);
|
|
#else
|
|
const float (&raw)[XYZE] = cart;
|
|
#endif
|
|
#if IS_KINEMATIC
|
|
inverse_kinematics(raw);
|
|
_set_position_mm(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], cart[E_AXIS]);
|
|
#else
|
|
_set_position_mm(raw[X_AXIS], raw[Y_AXIS], raw[Z_AXIS], cart[E_AXIS]);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* Sync from the stepper positions. (e.g., after an interrupted move)
|
|
*/
|
|
void Planner::sync_from_steppers() {
|
|
LOOP_XYZE(i) {
|
|
position[i] = stepper.position((AxisEnum)i);
|
|
#if ENABLED(LIN_ADVANCE)
|
|
position_float[i] = position[i] * steps_to_mm[i
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
+ (i == E_AXIS ? active_extruder : 0)
|
|
#endif
|
|
];
|
|
#endif
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Setters for planner position (also setting stepper position).
|
|
*/
|
|
void Planner::set_position_mm(const AxisEnum axis, const float &v) {
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
const uint8_t axis_index = axis + (axis == E_AXIS ? active_extruder : 0);
|
|
last_extruder = active_extruder;
|
|
#else
|
|
const uint8_t axis_index = axis;
|
|
#endif
|
|
position[axis] = LROUND(v * axis_steps_per_mm[axis_index]);
|
|
#if ENABLED(LIN_ADVANCE)
|
|
position_float[axis] = v;
|
|
#endif
|
|
stepper.set_position(axis, v);
|
|
previous_speed[axis] = 0.0;
|
|
}
|
|
|
|
// Recalculate the steps/s^2 acceleration rates, based on the mm/s^2
|
|
void Planner::reset_acceleration_rates() {
|
|
#if ENABLED(DISTINCT_E_FACTORS)
|
|
#define HIGHEST_CONDITION (i < E_AXIS || i == E_AXIS + active_extruder)
|
|
#else
|
|
#define HIGHEST_CONDITION true
|
|
#endif
|
|
uint32_t highest_rate = 1;
|
|
LOOP_XYZE_N(i) {
|
|
max_acceleration_steps_per_s2[i] = max_acceleration_mm_per_s2[i] * axis_steps_per_mm[i];
|
|
if (HIGHEST_CONDITION) NOLESS(highest_rate, max_acceleration_steps_per_s2[i]);
|
|
}
|
|
cutoff_long = 4294967295UL / highest_rate;
|
|
}
|
|
|
|
// Recalculate position, steps_to_mm if axis_steps_per_mm changes!
|
|
void Planner::refresh_positioning() {
|
|
LOOP_XYZE_N(i) steps_to_mm[i] = 1.0 / axis_steps_per_mm[i];
|
|
set_position_mm_kinematic(current_position);
|
|
reset_acceleration_rates();
|
|
}
|
|
|
|
#if ENABLED(AUTOTEMP)
|
|
|
|
void Planner::autotemp_M104_M109() {
|
|
autotemp_enabled = parser.seen('F');
|
|
if (autotemp_enabled) autotemp_factor = parser.value_celsius_diff();
|
|
if (parser.seen('S')) autotemp_min = parser.value_celsius();
|
|
if (parser.seen('B')) autotemp_max = parser.value_celsius();
|
|
}
|
|
|
|
#endif
|