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Planner singleton class

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This commit is contained in:
Scott Lahteine
2016-04-27 18:06:32 -07:00
parent 5076d12344
commit 96f51f400f
10 changed files with 587 additions and 499 deletions
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302
Marlin/planner.h
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@@ -48,17 +48,36 @@
#include "Marlin.h"
// This struct is used when buffering the setup for each linear movement "nominal" values are as specified in
// the source g-code and may never actually be reached if acceleration management is active.
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#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 {
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
unsigned long step_event_count; // The number of step events required to complete this block
long accelerate_until; // The index of the step event on which to stop acceleration
long decelerate_after; // The index of the step event on which to start decelerating
long acceleration_rate; // The acceleration rate used for acceleration calculation
unsigned char direction_bits; // The direction bit set for this block (refers to *_DIRECTION_BIT in config.h)
unsigned char active_extruder; // Selects the active extruder
#if ENABLED(ADVANCE)
long advance_rate;
volatile long initial_advance;
@@ -67,7 +86,6 @@ typedef struct {
#endif
// Fields used by the motion planner to manage acceleration
// float speed_x, speed_y, speed_z, speed_e; // Nominal mm/sec for each axis
float nominal_speed; // The nominal speed for this block in mm/sec
float entry_speed; // Entry speed at previous-current junction in mm/sec
float max_entry_speed; // Maximum allowable junction entry speed in mm/sec
@@ -97,102 +115,220 @@ typedef struct {
#define BLOCK_MOD(n) ((n)&(BLOCK_BUFFER_SIZE-1))
// Initialize the motion plan subsystem
void plan_init();
class Planner {
void check_axes_activity();
// Get the number of buffered moves
extern volatile unsigned char block_buffer_head;
extern volatile unsigned char block_buffer_tail;
FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
#include "vector_3.h"
// Transform required to compensate for bed level
extern matrix_3x3 plan_bed_level_matrix;
public:
/**
* Get the position applying the bed level matrix
* A ring buffer of moves described in steps
*/
vector_3 plan_get_position();
#endif // AUTO_BED_LEVELING_FEATURE
block_t block_buffer[BLOCK_BUFFER_SIZE];
volatile uint8_t block_buffer_head = 0; // Index of the next block to be pushed
volatile uint8_t block_buffer_tail = 0;
/**
* Add a new linear movement to the buffer. x, y, z are the signed, absolute target position in
* millimeters. Feed rate specifies the (target) speed of the motion.
*/
void plan_buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder);
float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
float axis_steps_per_unit[NUM_AXIS];
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
/**
* Set the planner positions. Used for G92 instructions.
* Multiplies by axis_steps_per_unit[] to set stepper positions.
* Clears previous speed values.
*/
void plan_set_position(float x, float y, float z, const float& e);
millis_t min_segment_time;
float min_feedrate;
float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
float max_xy_jerk; // The largest speed change requiring no acceleration
float max_z_jerk;
float max_e_jerk;
float min_travel_feedrate;
#else
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
matrix_3x3 bed_level_matrix; // Transform to compensate for bed level
#endif
void plan_buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder);
void plan_set_position(const float& x, const float& y, const float& z, const float& e);
private:
#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
/**
* The current position of the tool in absolute steps
* Reclculated if any axis_steps_per_unit are changed by gcode
*/
long position[NUM_AXIS] = { 0 };
void plan_set_e_position(const float& e);
/**
* Speed of previous path line segment
*/
float previous_speed[NUM_AXIS];
//===========================================================================
//============================= public variables ============================
//===========================================================================
/**
* Nominal speed of previous path line segment
*/
float previous_nominal_speed;
extern millis_t minsegmenttime;
extern float max_feedrate[NUM_AXIS]; // Max speeds in mm per minute
extern float axis_steps_per_unit[NUM_AXIS];
extern unsigned long max_acceleration_units_per_sq_second[NUM_AXIS]; // Use M201 to override by software
extern float minimumfeedrate;
extern float acceleration; // Normal acceleration mm/s^2 DEFAULT ACCELERATION for all printing moves. M204 SXXXX
extern float retract_acceleration; // Retract acceleration mm/s^2 filament pull-back and push-forward while standing still in the other axes M204 TXXXX
extern float travel_acceleration; // Travel acceleration mm/s^2 DEFAULT ACCELERATION for all NON printing moves. M204 MXXXX
extern float max_xy_jerk; // The largest speed change requiring no acceleration
extern float max_z_jerk;
extern float max_e_jerk;
extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];
#if ENABLED(DISABLE_INACTIVE_EXTRUDER)
/**
* Counters to manage disabling inactive extruders
*/
uint8_t g_uc_extruder_last_move[EXTRUDERS] = { 0 };
#endif // DISABLE_INACTIVE_EXTRUDER
#if ENABLED(AUTOTEMP)
extern bool autotemp_enabled;
extern float autotemp_max;
extern float autotemp_min;
extern float autotemp_factor;
#endif
#ifdef XY_FREQUENCY_LIMIT
// Used for the frequency limit
#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
// Old direction bits. Used for speed calculations
static unsigned char old_direction_bits = 0;
// Segment times (in µs). Used for speed calculations
static long axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
#endif
extern block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instructions
extern volatile unsigned char block_buffer_head; // Index of the next block to be pushed
extern volatile unsigned char block_buffer_tail;
#if ENABLED(DUAL_X_CARRIAGE)
extern bool extruder_duplication_enabled;
#endif
// Returns true if the buffer has a queued block, false otherwise
FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
public:
// Called when the current block is no longer needed. Discards
// the block and makes the memory available for new blocks.
FORCE_INLINE void plan_discard_current_block() {
if (blocks_queued())
block_buffer_tail = BLOCK_MOD(block_buffer_tail + 1);
}
Planner();
// Gets the current block. Returns NULL if buffer empty
FORCE_INLINE block_t* plan_get_current_block() {
if (blocks_queued()) {
block_t* block = &block_buffer[block_buffer_tail];
block->busy = true;
return block;
}
else
return NULL;
}
void init();
void reset_acceleration_rates();
void reset_acceleration_rates();
// Manage fans, paste pressure, etc.
void check_axes_activity();
/**
* Number of moves currently in the planner
*/
FORCE_INLINE uint8_t movesplanned() { return BLOCK_MOD(block_buffer_head - block_buffer_tail + BLOCK_BUFFER_SIZE); }
#if ENABLED(AUTO_BED_LEVELING_FEATURE) || ENABLED(MESH_BED_LEVELING)
#if ENABLED(AUTO_BED_LEVELING_FEATURE)
/**
* The corrected position, applying the bed level matrix
*/
vector_3 adjusted_position();
#endif
/**
* Add a new linear movement to the buffer.
*
* x,y,z,e - target position in mm
* feed_rate - (target) speed of the move
* extruder - target extruder
*/
void buffer_line(float x, float y, float z, const float& e, float feed_rate, const uint8_t extruder);
/**
* Set the planner.position and individual stepper positions.
* Used by G92, G28, G29, and other procedures.
*
* Multiplies by axis_steps_per_unit[] and does necessary conversion
* for COREXY / COREXZ to set the corresponding stepper positions.
*
* Clears previous speed values.
*/
void set_position(float x, float y, float z, const float& e);
#else
void buffer_line(const float& x, const float& y, const float& z, const float& e, float feed_rate, const uint8_t extruder);
void set_position(const float& x, const float& y, const float& z, const float& e);
#endif // AUTO_BED_LEVELING_FEATURE || MESH_BED_LEVELING
/**
* Set the E position (mm) of the planner (and the E stepper)
*/
void set_e_position(const float& e);
/**
* Does the buffer have any blocks queued?
*/
FORCE_INLINE bool blocks_queued() { return (block_buffer_head != block_buffer_tail); }
/**
* "Discards" the block and "releases" the memory.
* Called when the current block is no longer needed.
*/
FORCE_INLINE void discard_current_block() {
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.
*/
FORCE_INLINE block_t* get_current_block() {
if (blocks_queued()) {
block_t* block = &block_buffer[block_buffer_tail];
block->busy = true;
return block;
}
else
return NULL;
}
/**
* Get the index of the next / previous block in the ring buffer
*/
FORCE_INLINE int8_t next_block_index(int8_t block_index) { return BLOCK_MOD(block_index + 1); }
FORCE_INLINE int8_t prev_block_index(int8_t block_index) { return BLOCK_MOD(block_index - 1); }
/**
* Calculate the distance (not time) it takes to accelerate
* from initial_rate to target_rate using the given acceleration:
*/
FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
if (acceleration == 0) return 0; // acceleration was 0, set acceleration distance to 0
return (target_rate * target_rate - initial_rate * initial_rate) / (acceleration * 2);
}
/**
* 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)
*/
FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
if (acceleration == 0) return 0; // acceleration was 0, set intersection distance to 0
return (acceleration * 2 * distance - initial_rate * initial_rate + final_rate * final_rate) / (acceleration * 4);
}
/**
* Calculate the maximum allowable speed at this point, in order
* to reach 'target_velocity' using 'acceleration' within a given
* 'distance'.
*/
FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity, float distance) {
return sqrt(target_velocity * target_velocity - 2 * acceleration * distance);
}
#if ENABLED(AUTOTEMP)
float autotemp_max = 250;
float autotemp_min = 210;
float autotemp_factor = 0.1;
bool autotemp_enabled = false;
void getHighESpeed();
void autotemp_M109();
#endif
private:
void calculate_trapezoid_for_block(block_t* block, float entry_factor, float exit_factor);
void reverse_pass_kernel(block_t* previous, block_t* current, block_t* next);
void forward_pass_kernel(block_t* previous, block_t* current, block_t* next);
void reverse_pass();
void forward_pass();
void recalculate_trapezoids();
void recalculate();
};
#endif // PLANNER_H