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Adapt speed/jerk code based on Prusa MK2 branch

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This commit is contained in:
Scott Lahteine 2016-10-11 02:00:29 -05:00
parent 8e1cc9332a
commit 1092319b19
1 changed files with 139 additions and 56 deletions
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195
Marlin/planner.cpp
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@ -85,8 +85,8 @@ float Planner::max_feedrate_mm_s[NUM_AXIS], // Max speeds in mm per second
Planner::axis_steps_per_mm[NUM_AXIS],
Planner::steps_to_mm[NUM_AXIS];
unsigned long Planner::max_acceleration_steps_per_s2[NUM_AXIS],
Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
uint32_t Planner::max_acceleration_steps_per_s2[NUM_AXIS],
Planner::max_acceleration_mm_per_s2[NUM_AXIS]; // Use M201 to override by software
millis_t Planner::min_segment_time;
float Planner::min_feedrate_mm_s,
@ -236,6 +236,7 @@ void Planner::reverse_pass() {
uint8_t b = BLOCK_MOD(block_buffer_head - 3);
while (b != tail) {
if (block[0] && (block[0]->flag & BLOCK_FLAG_START_FROM_FULL_HALT)) break;
b = prev_block_index(b);
block[2] = block[1];
block[1] = block[0];
@ -696,6 +697,9 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Bail if this is a zero-length block
if (block->step_event_count < MIN_STEPS_PER_SEGMENT) return;
// Clear the block flags
block->flag = 0;
// 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++)
@ -1011,90 +1015,170 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// Compute and limit the acceleration rate for the trapezoid generator.
float steps_per_mm = block->step_event_count / block->millimeters;
uint32_t accel;
if (!block->steps[X_AXIS] && !block->steps[Y_AXIS] && !block->steps[Z_AXIS]) {
block->acceleration_steps_per_s2 = ceil(retract_acceleration * steps_per_mm); // convert to: acceleration steps/sec^2
// convert to: acceleration steps/sec^2
accel = ceil(retract_acceleration * steps_per_mm);
}
else {
#define LIMIT_ACCEL(AXIS) do{ \
const uint32_t comp = max_acceleration_steps_per_s2[AXIS] * block->step_event_count; \
if (accel * block->steps[AXIS] > comp) accel = comp / block->steps[AXIS]; \
}while(0)
// Start with print or travel acceleration
accel = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
// Limit acceleration per axis
block->acceleration_steps_per_s2 = ceil((block->steps[E_AXIS] ? acceleration : travel_acceleration) * steps_per_mm);
if (max_acceleration_steps_per_s2[X_AXIS] < (block->acceleration_steps_per_s2 * block->steps[X_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[X_AXIS] * block->step_event_count) / block->steps[X_AXIS];
if (max_acceleration_steps_per_s2[Y_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Y_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Y_AXIS] * block->step_event_count) / block->steps[Y_AXIS];
if (max_acceleration_steps_per_s2[Z_AXIS] < (block->acceleration_steps_per_s2 * block->steps[Z_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[Z_AXIS] * block->step_event_count) / block->steps[Z_AXIS];
if (max_acceleration_steps_per_s2[E_AXIS] < (block->acceleration_steps_per_s2 * block->steps[E_AXIS]) / block->step_event_count)
block->acceleration_steps_per_s2 = (max_acceleration_steps_per_s2[E_AXIS] * block->step_event_count) / block->steps[E_AXIS];
LIMIT_ACCEL(X_AXIS);
LIMIT_ACCEL(Y_AXIS);
LIMIT_ACCEL(Z_AXIS);
LIMIT_ACCEL(E_AXIS);
}
block->acceleration = block->acceleration_steps_per_s2 / steps_per_mm;
block->acceleration_rate = (long)(block->acceleration_steps_per_s2 * 16777216.0 / ((F_CPU) * 0.125));
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];
double unit_vec[XYZ] = {
delta_mm[X_AXIS] * inverse_millimeters,
delta_mm[Y_AXIS] * inverse_millimeters,
delta_mm[Z_AXIS] * inverse_millimeters
};
unit_vec[X_AXIS] = delta_mm[X_AXIS] * inverse_millimeters;
unit_vec[Y_AXIS] = delta_mm[Y_AXIS] * inverse_millimeters;
unit_vec[Z_AXIS] = delta_mm[Z_AXIS] * inverse_millimeters;
/*
Compute maximum allowable entry speed at junction by centripetal acceleration approximation.
// 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.
double vmax_junction = MINIMUM_PLANNER_SPEED; // Set default max junction speed
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 ((block_buffer_head != block_buffer_tail) && (previous_nominal_speed > 0.0)) {
if (block_buffer_head != block_buffer_tail && previous_nominal_speed > 0.0) {
// 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.
double 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] ;
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
double sin_theta_d2 = sqrt(0.5 * (1.0 - cos_theta)); // Trig half angle identity. Always positive.
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
// Start with a safe speed
float vmax_junction = max_jerk[X_AXIS] * 0.5, vmax_junction_factor = 1.0;
if (max_jerk[Y_AXIS] * 0.5 < fabs(current_speed[Y_AXIS])) NOMORE(vmax_junction, max_jerk[Y_AXIS] * 0.5);
if (max_jerk[Z_AXIS] * 0.5 < fabs(current_speed[Z_AXIS])) NOMORE(vmax_junction, max_jerk[Z_AXIS] * 0.5);
if (max_jerk[E_AXIS] * 0.5 < fabs(current_speed[E_AXIS])) NOMORE(vmax_junction, max_jerk[E_AXIS] * 0.5);
NOMORE(vmax_junction, block->nominal_speed);
float safe_speed = vmax_junction;
/**
* Adapted from Prusa MKS 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;
bool limited = false;
LOOP_XYZE(i) {
float jerk = fabs(current_speed[i]);
if (jerk > max_jerk[i]) {
// The actual jerk is lower if it has been limited by the XY jerk.
if (limited) {
// Spare one division by a following gymnastics:
// Instead of jerk *= safe_speed / block->nominal_speed,
// multiply max_jerk[i] by the divisor.
jerk *= safe_speed;
float mjerk = max_jerk[i] * block->nominal_speed;
if (jerk > mjerk) safe_speed *= mjerk / jerk;
}
else {
safe_speed = max_jerk[i];
limited = true;
}
}
}
if (moves_queued > 1 && previous_nominal_speed > 0.0001) {
//if ((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
vmax_junction = block->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.
float dsx = fabs(current_speed[X_AXIS] - previous_speed[X_AXIS]),
dsy = fabs(current_speed[Y_AXIS] - previous_speed[Y_AXIS]),
dsz = fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]),
dse = fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]);
if (dsx > max_jerk[X_AXIS]) NOMORE(vmax_junction_factor, max_jerk[X_AXIS] / dsx);
if (dsy > max_jerk[Y_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Y_AXIS] / dsy);
if (dsz > max_jerk[Z_AXIS]) NOMORE(vmax_junction_factor, max_jerk[Z_AXIS] / dsz);
if (dse > max_jerk[E_AXIS]) NOMORE(vmax_junction_factor, max_jerk[E_AXIS] / dse);
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
// The junction velocity will be shared between successive segments. Limit the junction velocity to their minimum.
bool prev_speed_larger = previous_nominal_speed > block->nominal_speed;
float smaller_speed_factor = prev_speed_larger ? (block->nominal_speed / previous_nominal_speed) : (previous_nominal_speed / block->nominal_speed);
// Pick the smaller of the nominal speeds. Higher speed shall not be achieved at the junction during coasting.
vmax_junction = prev_speed_larger ? block->nominal_speed : previous_nominal_speed;
// Factor to multiply the previous / current nominal velocities to get componentwise limited velocities.
float v_factor = 1.f;
limited = false;
// Now limit the jerk in all axes.
LOOP_XYZE(axis) {
// Limit an axis. We have to differentiate: coasting, reversal of an axis, full stop.
float v_exit = previous_speed[axis], v_entry = current_speed[axis];
if (prev_speed_larger) v_exit *= smaller_speed_factor;
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.
float jerk =
(v_exit > v_entry) ?
((v_entry > 0.f || v_exit < 0.f) ?
// coasting
(v_exit - v_entry) :
// axis reversal
max(v_exit, -v_entry)) :
// v_exit <= v_entry
((v_entry < 0.f || v_exit > 0.f) ?
// coasting
(v_entry - v_exit) :
// axis reversal
max(-v_exit, v_entry));
if (jerk > max_jerk[axis]) {
v_factor *= max_jerk[axis] / jerk;
limited = true;
}
}
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.
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.
block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
vmax_junction = safe_speed;
}
}
else {
block->flag |= BLOCK_FLAG_START_FROM_FULL_HALT;
vmax_junction = safe_speed;
}
// 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.
@ -1109,13 +1193,12 @@ void Planner::_buffer_line(const float &a, const float &b, const float &c, const
// 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_NOMINAL_LENGTH;
if (block->nominal_speed <= v_allowable) block->flag |= BLOCK_FLAG_NOMINAL_LENGTH;
block->flag |= BLOCK_FLAG_RECALCULATE; // Always calculate trapezoid for new block
block->flag |= BLOCK_FLAG_RECALCULATE | (block->nominal_speed <= v_allowable ? BLOCK_FLAG_NOMINAL_LENGTH : 0);
// Update previous path unit_vector and nominal speed
memcpy(previous_speed, current_speed, sizeof(previous_speed));
previous_nominal_speed = block->nominal_speed;
previous_safe_speed = safe_speed;
#if ENABLED(LIN_ADVANCE)