Marlin_Firmware/Marlin/planner.h

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/**
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* Marlin 3D Printer Firmware
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
*
* Based on Sprinter and grbl.
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*/
/**
* planner.h
*
* Buffer movement commands and manage the acceleration profile plan
*
* Derived from Grbl
* Copyright (c) 2009-2011 Simen Svale Skogsrud
*/
#ifndef PLANNER_H
#define PLANNER_H
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#include "types.h"
#include "MarlinConfig.h"
#if HAS_ABL
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#include "vector_3.h"
#endif
class Planner;
extern Planner planner;
/**
* struct block_t
*
* A single entry in the planner buffer.
* Tracks linear movement over multiple axes.
*
* The "nominal" values are as-specified by gcode, and
* may never actually be reached due to acceleration limits.
*/
typedef struct {
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unsigned char active_extruder; // The extruder to move (if E move)
// Fields used by the bresenham algorithm for tracing the line
long steps[NUM_AXIS]; // Step count along each axis
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unsigned long step_event_count; // The number of step events required to complete this block
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#if ENABLED(MIXING_EXTRUDER)
unsigned long mix_event_count[MIXING_STEPPERS]; // Scaled step_event_count for the mixing steppers
#endif
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long accelerate_until, // The index of the step event on which to stop acceleration
decelerate_after, // The index of the step event on which to start decelerating
acceleration_rate; // The acceleration rate used for acceleration calculation
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unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
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// Advance extrusion
#if ENABLED(LIN_ADVANCE)
bool use_advance_lead;
int e_speed_multiplier8; // Factorised by 2^8 to avoid float
#elif ENABLED(ADVANCE)
long advance_rate;
volatile long initial_advance;
volatile long final_advance;
float advance;
#endif
// Fields used by the motion planner to manage acceleration
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float nominal_speed, // The nominal speed for this block in mm/sec
entry_speed, // Entry speed at previous-current junction in mm/sec
max_entry_speed, // Maximum allowable junction entry speed in mm/sec
millimeters, // The total travel of this block in mm
acceleration; // acceleration mm/sec^2
unsigned char recalculate_flag, // Planner flag to recalculate trapezoids on entry junction
nominal_length_flag; // Planner flag for nominal speed always reached
// Settings for the trapezoid generator
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unsigned long nominal_rate, // The nominal step rate for this block in step_events/sec
initial_rate, // The jerk-adjusted step rate at start of block
final_rate, // The minimal rate at exit
acceleration_steps_per_s2; // acceleration steps/sec^2
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#if FAN_COUNT > 0
unsigned long fan_speed[FAN_COUNT];
#endif
#if ENABLED(BARICUDA)
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unsigned long valve_pressure, e_to_p_pressure;
#endif
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volatile char busy;
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} block_t;
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
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class Planner {
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public:
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/**
* A ring buffer of moves described in steps
*/
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static block_t block_buffer[BLOCK_BUFFER_SIZE];
static volatile uint8_t block_buffer_head; // Index of the next block to be pushed
static volatile uint8_t block_buffer_tail;
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static float max_feedrate_mm_s[NUM_AXIS]; // Max speeds in mm per second
static float axis_steps_per_mm[NUM_AXIS];
static float steps_to_mm[NUM_AXIS];
static unsigned long max_acceleration_steps_per_s2[NUM_AXIS];
static unsigned long max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
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static millis_t min_segment_time;
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static float min_feedrate_mm_s;
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static float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
static float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
static float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
static float max_xy_jerk; // The largest speed change requiring no acceleration
static float max_z_jerk;
static float max_e_jerk;
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static float min_travel_feedrate_mm_s;
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#if HAS_ABL
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static bool abl_enabled; // Flag that bed leveling is enabled
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static matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
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#endif
private:
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/**
* The current position of the tool in absolute steps
* Recalculated if any axis_steps_per_mm are changed by gcode
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*/
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static long position[NUM_AXIS];
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/**
* Speed of previous path line segment
*/
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static float previous_speed[NUM_AXIS];
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/**
* Nominal speed of previous path line segment
*/
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static float previous_nominal_speed;
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#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
/**
* Counters to manage disabling inactive extruders
*/
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static uint8_t g_uc_extruder_last_move[EXTRUDERS];
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#endif // DISABLE_INACTIVE_EXTRUDER
#ifdef XY_FREQUENCY_LIMIT
// Used for the frequency limit
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#define MAX_FREQ_TIME long(1000000.0/XY_FREQUENCY_LIMIT)
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// Old direction bits. Used for speed calculations
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static unsigned char old_direction_bits;
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// Segment times (in µs). Used for speed calculations
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static long axis_segment_time[2][3];
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#endif
public:
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/**
* Instance Methods
*/
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Planner();
void init();
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/**
* Static (class) Methods
*/
static void reset_acceleration_rates();
static void refresh_positioning();
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// Manage fans, paste pressure, etc.
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static void check_axes_activity();
/**
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* Number of moves currently in the planner
*/
static uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
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static bool is_full() { return (block_buffer_tail == BLOCK_MOD(block_buffer_head + 1)); }
#if HAS_ABL || ENABLED(MESH_BED_LEVELING)
#define ARG_X float lx
#define ARG_Y float ly
#define ARG_Z float lz
#else
#define ARG_X const float &lx
#define ARG_Y const float &ly
#define ARG_Z const float &lz
#endif
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#if PLANNER_LEVELING
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/**
* Apply leveling to transform a cartesian position
* as it will be given to the planner and steppers.
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*/
static void apply_leveling(float &lx, float &ly, float &lz);
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static void unapply_leveling(float logical[XYZ]);
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#endif
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/**
* Add a new linear movement to the buffer.
*
* x,y,z,e - target position in mm
* fr_mm_s - (target) speed of the move (mm/s)
* extruder - target extruder
*/
static void buffer_line(ARG_X, ARG_Y, ARG_Z, const float& e, float fr_mm_s, const uint8_t extruder);
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/**
* Set the planner.position and individual stepper positions.
* Used by G92, G28, G29, and other procedures.
*
* Multiplies by axis_steps_per_mm[] and does necessary conversion
* for COREXY / COREXZ / COREYZ to set the corresponding stepper positions.
*
* Clears previous speed values.
*/
static void set_position_mm(ARG_X, ARG_Y, ARG_Z, const float& e);
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/**
* Sync from the stepper positions. (e.g., after an interrupted move)
*/
static void sync_from_steppers();
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/**
* Set the E position (mm) of the planner (and the E stepper)
*/
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static void set_e_position_mm(const float& e);
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/**
* Does the buffer have any blocks queued?
*/
static bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
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/**
* "Discards" the block and "releases" the memory.
* Called when the current block is no longer needed.
*/
static void discard_current_block() {
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if (blocks_queued())
block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
}
/**
* The current block. NULL if the buffer is empty.
* This also marks the block as busy.
*/
static block_t* get_current_block() {
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if (blocks_queued()) {
block_t* block = &block_buffer[block_buffer_tail];
block->busy = true;
return block;
}
else
return NULL;
}
#if ENABLED(AUTOTEMP)
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static float autotemp_max;
static float autotemp_min;
static float autotemp_factor;
static bool autotemp_enabled;
static void getHighESpeed();
static void autotemp_M109();
#endif
private:
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/**
* Get the index of the next / previous block in the ring buffer
*/
static int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
static int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
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/**
* Calculate the distance (not time) it takes to accelerate
* from initial_rate to target_rate using the given acceleration:
*/
static float estimate_acceleration_distance(float initial_rate, float target_rate, float accel) {
if (accel == 0) return 0; // accel was 0, set acceleration distance to 0
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return (sq(target_rate) - sq(initial_rate)) / (accel * 2);
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}
/**
* Return the point at which you must start braking (at the rate of -'acceleration') if
* you start at 'initial_rate', accelerate (until reaching the point), and want to end at
* 'final_rate' after traveling 'distance'.
*
* This is used to compute the intersection point between acceleration and deceleration
* in cases where the "trapezoid" has no plateau (i.e., never reaches maximum speed)
*/
static float intersection_distance(float initial_rate, float final_rate, float accel, float distance) {
if (accel == 0) return 0; // accel was 0, set intersection distance to 0
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return (accel * 2 * distance - sq(initial_rate) + sq(final_rate)) / (accel * 4);
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}
/**
* Calculate the maximum allowable speed at this point, in order
* to reach 'target_velocity' using 'acceleration' within a given
* 'distance'.
*/
static float max_allowable_speed(float accel, float target_velocity, float distance) {
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return sqrt(sq(target_velocity) - 2 * accel * distance);
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}
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static void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);
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static void reverse_pass_kernel(block_t* current, block_t* next);
static void forward_pass_kernel(block_t* previous, block_t* current);
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static void reverse_pass();
static void forward_pass();
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static void recalculate_trapezoids();
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static void recalculate();
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};
#endif // PLANNER_H