Fixed AD595 define
This commit is contained in:
Erik van der Zalm
parent
d3002ef741
commit
b67dacdc8f
@ -1,56 +1,56 @@
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/*
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planner.c - buffers movement commands and manages the acceleration profile plan
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl 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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Grbl 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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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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*/
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Part of Grbl
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Copyright (c) 2009-2011 Simen Svale Skogsrud
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Grbl 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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Grbl 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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You should have received a copy of the GNU General Public License
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along with Grbl. If not, see <http://www.gnu.org/licenses/>.
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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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Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
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s == speed, a == acceleration, t == time, d == distance
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Reasoning behind the mathematics in this module (in the key of 'Mathematica'):
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s == speed, a == acceleration, t == time, d == distance
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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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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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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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DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
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When to start braking (di) to reach a specified destionation 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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IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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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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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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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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DestinationSpeed[s_, a_, d_] := Sqrt[2 a d + s^2]
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When to start braking (di) to reach a specified destionation 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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IntersectionDistance[s1_, s2_, a_, d_] := (2 a d - s1^2 + s2^2)/(4 a)
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*/
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#include "Marlin.h"
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#include "planner.h"
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#include "stepper.h"
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@ -83,10 +83,10 @@ static float previous_nominal_speed; // Nominal speed of previous path line segm
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extern volatile int extrudemultiply; // Sets extrude multiply factor (in percent)
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#ifdef AUTOTEMP
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float autotemp_max=250;
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float autotemp_min=210;
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float autotemp_factor=0.1;
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bool autotemp_enabled=false;
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float autotemp_max=250;
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float autotemp_min=210;
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float autotemp_factor=0.1;
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bool autotemp_enabled=false;
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#endif
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//===========================================================================
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@ -100,27 +100,33 @@ volatile unsigned char block_buffer_tail; // Index of the block to pro
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//=============================private variables ============================
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//===========================================================================
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#ifdef PREVENT_DANGEROUS_EXTRUDE
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bool allow_cold_extrude=false;
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bool allow_cold_extrude=false;
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#endif
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#ifdef XY_FREQUENCY_LIMIT
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// Used for the frequency limit
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static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
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static long x_segment_time[3]={0,0,0}; // Segment times (in us). Used for speed calculations
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static long y_segment_time[3]={0,0,0};
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// Used for the frequency limit
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static unsigned char old_direction_bits = 0; // Old direction bits. Used for speed calculations
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static long x_segment_time[3]={
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0,0,0}; // Segment times (in us). Used for speed calculations
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static long y_segment_time[3]={
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0,0,0};
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#endif
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// Returns the index of the next block in the ring buffer
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// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
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static int8_t next_block_index(int8_t block_index) {
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block_index++;
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if (block_index == BLOCK_BUFFER_SIZE) { block_index = 0; }
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if (block_index == BLOCK_BUFFER_SIZE) {
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block_index = 0;
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}
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return(block_index);
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}
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// Returns the index of the previous block in the ring buffer
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static int8_t prev_block_index(int8_t block_index) {
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if (block_index == 0) { block_index = BLOCK_BUFFER_SIZE; }
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if (block_index == 0) {
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block_index = BLOCK_BUFFER_SIZE;
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}
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block_index--;
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return(block_index);
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}
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@ -134,8 +140,8 @@ static int8_t prev_block_index(int8_t block_index) {
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FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration)
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{
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if (acceleration!=0) {
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return((target_rate*target_rate-initial_rate*initial_rate)/
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(2.0*acceleration));
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return((target_rate*target_rate-initial_rate*initial_rate)/
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(2.0*acceleration));
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}
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else {
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return 0.0; // acceleration was 0, set acceleration distance to 0
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@ -149,9 +155,9 @@ FORCE_INLINE float estimate_acceleration_distance(float initial_rate, float targ
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FORCE_INLINE float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance)
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{
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if (acceleration!=0) {
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return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
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(4.0*acceleration) );
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if (acceleration!=0) {
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return((2.0*acceleration*distance-initial_rate*initial_rate+final_rate*final_rate)/
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(4.0*acceleration) );
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}
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else {
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return 0.0; // acceleration was 0, set intersection distance to 0
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@ -165,46 +171,50 @@ void calculate_trapezoid_for_block(block_t *block, float entry_factor, float exi
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unsigned long final_rate = ceil(block->nominal_rate*exit_factor); // (step/min)
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// Limit minimal step rate (Otherwise the timer will overflow.)
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if(initial_rate <120) {initial_rate=120; }
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if(final_rate < 120) {final_rate=120; }
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if(initial_rate <120) {
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initial_rate=120;
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}
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if(final_rate < 120) {
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final_rate=120;
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}
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long acceleration = block->acceleration_st;
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int32_t accelerate_steps =
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ceil(estimate_acceleration_distance(block->initial_rate, block->nominal_rate, acceleration));
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int32_t decelerate_steps =
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floor(estimate_acceleration_distance(block->nominal_rate, block->final_rate, -acceleration));
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// Calculate the size of Plateau of Nominal Rate.
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int32_t plateau_steps = block->step_event_count-accelerate_steps-decelerate_steps;
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// Is the Plateau of Nominal Rate smaller than nothing? That means no cruising, and we will
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// have to use intersection_distance() to calculate when to abort acceleration and start braking
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// in order to 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(
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intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
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intersection_distance(block->initial_rate, block->final_rate, acceleration, block->step_event_count));
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accelerate_steps = max(accelerate_steps,0); // Check limits due to numerical round-off
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accelerate_steps = min(accelerate_steps,block->step_event_count);
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plateau_steps = 0;
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}
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#ifdef ADVANCE
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volatile long initial_advance = block->advance*entry_factor*entry_factor;
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volatile long final_advance = block->advance*exit_factor*exit_factor;
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#endif // ADVANCE
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// block->accelerate_until = accelerate_steps;
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// block->decelerate_after = accelerate_steps+plateau_steps;
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#ifdef ADVANCE
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volatile long initial_advance = block->advance*entry_factor*entry_factor;
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volatile long final_advance = block->advance*exit_factor*exit_factor;
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#endif // ADVANCE
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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(block->busy == false) { // 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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#ifdef ADVANCE
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block->initial_advance = initial_advance;
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block->final_advance = final_advance;
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#endif //ADVANCE
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#ifdef ADVANCE
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block->initial_advance = initial_advance;
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block->final_advance = final_advance;
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#endif //ADVANCE
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}
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CRITICAL_SECTION_END;
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}
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@ -226,24 +236,27 @@ FORCE_INLINE float max_allowable_speed(float acceleration, float target_velocity
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// The kernel called by planner_recalculate() when scanning the plan from last to first entry.
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void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if(!current) { return; }
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if (next) {
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if(!current) {
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return;
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}
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if (next) {
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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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if (current->entry_speed != current->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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if ((!current->nominal_length_flag) && (current->max_entry_speed > next->entry_speed)) {
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current->entry_speed = min( current->max_entry_speed,
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max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
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} else {
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max_allowable_speed(-current->acceleration,next->entry_speed,current->millimeters));
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}
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else {
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current->entry_speed = current->max_entry_speed;
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}
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current->recalculate_flag = true;
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}
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} // Skip last block. Already initialized and set for recalculation.
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}
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@ -252,10 +265,17 @@ void planner_reverse_pass_kernel(block_t *previous, block_t *current, block_t *n
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// implements the reverse pass.
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void planner_reverse_pass() {
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uint8_t block_index = block_buffer_head;
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if(((block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
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//Make a local copy of block_buffer_tail, because the interrupt can alter it
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CRITICAL_SECTION_START;
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unsigned char tail = block_buffer_tail;
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CRITICAL_SECTION_END
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if(((block_buffer_head-tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1)) > 3) {
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block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
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block_t *block[3] = { NULL, NULL, NULL };
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while(block_index != block_buffer_tail) {
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block_t *block[3] = {
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NULL, NULL, NULL };
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while(block_index != tail) {
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block_index = prev_block_index(block_index);
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block[2]= block[1];
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block[1]= block[0];
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@ -267,8 +287,10 @@ void planner_reverse_pass() {
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// The kernel called by planner_recalculate() when scanning the plan from first to last entry.
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void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *next) {
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if(!previous) { return; }
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if(!previous) {
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return;
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}
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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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@ -276,7 +298,7 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
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if (!previous->nominal_length_flag) {
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if (previous->entry_speed < current->entry_speed) {
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double entry_speed = min( current->entry_speed,
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max_allowable_speed(-previous->acceleration,previous->entry_speed,previous->millimeters) );
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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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@ -291,7 +313,8 @@ void planner_forward_pass_kernel(block_t *previous, block_t *current, block_t *n
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// implements the forward pass.
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void planner_forward_pass() {
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uint8_t block_index = block_buffer_tail;
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block_t *block[3] = { NULL, NULL, NULL };
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block_t *block[3] = {
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NULL, NULL, NULL };
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while(block_index != block_buffer_head) {
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block[0] = block[1];
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@ -310,7 +333,7 @@ void planner_recalculate_trapezoids() {
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int8_t block_index = block_buffer_tail;
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block_t *current;
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block_t *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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@ -319,7 +342,7 @@ void planner_recalculate_trapezoids() {
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if (current->recalculate_flag || next->recalculate_flag) {
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// NOTE: Entry and exit factors always > 0 by all previous logic operations.
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calculate_trapezoid_for_block(current, current->entry_speed/current->nominal_speed,
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next->entry_speed/current->nominal_speed);
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next->entry_speed/current->nominal_speed);
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current->recalculate_flag = false; // Reset current only to ensure next trapezoid is computed
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}
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}
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@ -328,7 +351,7 @@ void planner_recalculate_trapezoids() {
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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 != NULL) {
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calculate_trapezoid_for_block(next, next->entry_speed/next->nominal_speed,
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MINIMUM_PLANNER_SPEED/next->nominal_speed);
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MINIMUM_PLANNER_SPEED/next->nominal_speed);
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next->recalculate_flag = false;
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}
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}
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@ -380,14 +403,14 @@ void getHighESpeed()
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if(degTargetHotend0()+2<autotemp_min) { //probably temperature set to zero.
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return; //do nothing
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}
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float high=0.0;
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uint8_t block_index = block_buffer_tail;
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while(block_index != block_buffer_head) {
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if((block_buffer[block_index].steps_x != 0) ||
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(block_buffer[block_index].steps_y != 0) ||
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(block_buffer[block_index].steps_z != 0)) {
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(block_buffer[block_index].steps_y != 0) ||
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(block_buffer[block_index].steps_z != 0)) {
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float se=(float(block_buffer[block_index].steps_e)/float(block_buffer[block_index].step_event_count))*block_buffer[block_index].nominal_speed;
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//se; mm/sec;
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if(se>high)
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@ -397,7 +420,7 @@ void getHighESpeed()
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}
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block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
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}
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float g=autotemp_min+high*autotemp_factor;
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float t=g;
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if(t<autotemp_min)
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@ -436,17 +459,21 @@ void check_axes_activity() {
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}
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}
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else {
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#if FAN_PIN > -1
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if (FanSpeed != 0){
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analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed
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}
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#endif
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#if FAN_PIN > -1
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if (FanSpeed != 0){
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analogWrite(FAN_PIN,FanSpeed); // If buffer is empty use current fan speed
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}
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#endif
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}
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if((DISABLE_X) && (x_active == 0)) disable_x();
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if((DISABLE_Y) && (y_active == 0)) disable_y();
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if((DISABLE_Z) && (z_active == 0)) disable_z();
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if((DISABLE_E) && (e_active == 0)) { disable_e0();disable_e1();disable_e2(); }
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#if FAN_PIN > -1
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if((DISABLE_E) && (e_active == 0)) {
|
||||
disable_e0();
|
||||
disable_e1();
|
||||
disable_e2();
|
||||
}
|
||||
#if FAN_PIN > -1
|
||||
if((FanSpeed == 0) && (fan_speed ==0)) {
|
||||
analogWrite(FAN_PIN, 0);
|
||||
}
|
||||
@ -454,10 +481,10 @@ void check_axes_activity() {
|
||||
if (FanSpeed != 0 && tail_fan_speed !=0) {
|
||||
analogWrite(FAN_PIN,tail_fan_speed);
|
||||
}
|
||||
#endif
|
||||
#ifdef AUTOTEMP
|
||||
getHighESpeed();
|
||||
#endif
|
||||
#endif
|
||||
#ifdef AUTOTEMP
|
||||
getHighESpeed();
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@ -477,7 +504,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
manage_inactivity(1);
|
||||
LCD_STATUS;
|
||||
}
|
||||
|
||||
|
||||
// The target position of the tool in absolute steps
|
||||
// Calculate target position in absolute steps
|
||||
//this should be done after the wait, because otherwise a M92 code within the gcode disrupts this calculation somehow
|
||||
@ -486,28 +513,28 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
|
||||
target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
|
||||
target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
|
||||
|
||||
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
||||
if(target[E_AXIS]!=position[E_AXIS])
|
||||
|
||||
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
||||
if(target[E_AXIS]!=position[E_AXIS])
|
||||
if(degHotend(active_extruder)<EXTRUDE_MINTEMP && !allow_cold_extrude)
|
||||
{
|
||||
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOLNPGM(MSG_ERR_COLD_EXTRUDE_STOP);
|
||||
}
|
||||
#ifdef PREVENT_LENGTHY_EXTRUDE
|
||||
if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
|
||||
{
|
||||
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#ifdef PREVENT_LENGTHY_EXTRUDE
|
||||
if(labs(target[E_AXIS]-position[E_AXIS])>axis_steps_per_unit[E_AXIS]*EXTRUDE_MAXLENGTH)
|
||||
{
|
||||
position[E_AXIS]=target[E_AXIS]; //behave as if the move really took place, but ignore E part
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOLNPGM(MSG_ERR_LONG_EXTRUDE_STOP);
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// Prepare to set up new block
|
||||
block_t *block = &block_buffer[block_buffer_head];
|
||||
|
||||
|
||||
// Mark block as not busy (Not executed by the stepper interrupt)
|
||||
block->busy = false;
|
||||
|
||||
@ -521,36 +548,50 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
|
||||
|
||||
// Bail if this is a zero-length block
|
||||
if (block->step_event_count <= dropsegments) { return; };
|
||||
if (block->step_event_count <= dropsegments) {
|
||||
return;
|
||||
};
|
||||
|
||||
block->fan_speed = FanSpeed;
|
||||
|
||||
|
||||
// Compute direction bits for this block
|
||||
block->direction_bits = 0;
|
||||
if (target[X_AXIS] < position[X_AXIS]) { block->direction_bits |= (1<<X_AXIS); }
|
||||
if (target[Y_AXIS] < position[Y_AXIS]) { block->direction_bits |= (1<<Y_AXIS); }
|
||||
if (target[Z_AXIS] < position[Z_AXIS]) { block->direction_bits |= (1<<Z_AXIS); }
|
||||
if (target[E_AXIS] < position[E_AXIS]) { block->direction_bits |= (1<<E_AXIS); }
|
||||
|
||||
if (target[X_AXIS] < position[X_AXIS]) {
|
||||
block->direction_bits |= (1<<X_AXIS);
|
||||
}
|
||||
if (target[Y_AXIS] < position[Y_AXIS]) {
|
||||
block->direction_bits |= (1<<Y_AXIS);
|
||||
}
|
||||
if (target[Z_AXIS] < position[Z_AXIS]) {
|
||||
block->direction_bits |= (1<<Z_AXIS);
|
||||
}
|
||||
if (target[E_AXIS] < position[E_AXIS]) {
|
||||
block->direction_bits |= (1<<E_AXIS);
|
||||
}
|
||||
|
||||
block->active_extruder = extruder;
|
||||
|
||||
|
||||
//enable active axes
|
||||
if(block->steps_x != 0) enable_x();
|
||||
if(block->steps_y != 0) enable_y();
|
||||
#ifndef Z_LATE_ENABLE
|
||||
if(block->steps_z != 0) enable_z();
|
||||
#endif
|
||||
#ifndef Z_LATE_ENABLE
|
||||
if(block->steps_z != 0) enable_z();
|
||||
#endif
|
||||
|
||||
// Enable all
|
||||
if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
|
||||
if(block->steps_e != 0) {
|
||||
enable_e0();
|
||||
enable_e1();
|
||||
enable_e2();
|
||||
}
|
||||
|
||||
if (block->steps_e == 0) {
|
||||
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
|
||||
if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
|
||||
}
|
||||
else {
|
||||
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
|
||||
if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
|
||||
}
|
||||
|
||||
|
||||
float delta_mm[4];
|
||||
delta_mm[X_AXIS] = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
|
||||
delta_mm[Y_AXIS] = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
|
||||
@ -558,37 +599,38 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
delta_mm[E_AXIS] = ((target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS])*extrudemultiply/100.0;
|
||||
if ( block->steps_x <=dropsegments && block->steps_y <=dropsegments && block->steps_z <=dropsegments ) {
|
||||
block->millimeters = fabs(delta_mm[E_AXIS]);
|
||||
} else {
|
||||
}
|
||||
else {
|
||||
block->millimeters = sqrt(square(delta_mm[X_AXIS]) + square(delta_mm[Y_AXIS]) + square(delta_mm[Z_AXIS]));
|
||||
}
|
||||
float inverse_millimeters = 1.0/block->millimeters; // Inverse millimeters to remove multiple divides
|
||||
|
||||
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
|
||||
float inverse_second = feed_rate * inverse_millimeters;
|
||||
|
||||
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
||||
|
||||
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
|
||||
#ifdef OLD_SLOWDOWN
|
||||
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
|
||||
#endif
|
||||
|
||||
#ifdef SLOWDOWN
|
||||
// Calculate speed in mm/second for each axis. No divide by zero due to previous checks.
|
||||
float inverse_second = feed_rate * inverse_millimeters;
|
||||
|
||||
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
||||
|
||||
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
|
||||
#ifdef OLD_SLOWDOWN
|
||||
if(moves_queued < (BLOCK_BUFFER_SIZE * 0.5) && moves_queued > 1) feed_rate = feed_rate*moves_queued / (BLOCK_BUFFER_SIZE * 0.5);
|
||||
#endif
|
||||
|
||||
#ifdef SLOWDOWN
|
||||
// segment time im micro seconds
|
||||
unsigned long segment_time = lround(1000000.0/inverse_second);
|
||||
if ((moves_queued > 1) && (moves_queued < (BLOCK_BUFFER_SIZE * 0.5))) {
|
||||
if (segment_time < minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
|
||||
inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
|
||||
inverse_second=1000000.0/(segment_time+lround(2*(minsegmenttime-segment_time)/moves_queued));
|
||||
}
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
// END OF SLOW DOWN SECTION
|
||||
|
||||
|
||||
|
||||
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
|
||||
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
|
||||
|
||||
// Calculate and limit speed in mm/sec for each axis
|
||||
// Calculate and limit speed in mm/sec for each axis
|
||||
float current_speed[4];
|
||||
float speed_factor = 1.0; //factor <=1 do decrease speed
|
||||
for(int i=0; i < 4; i++) {
|
||||
@ -597,7 +639,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
speed_factor = min(speed_factor, max_feedrate[i] / fabs(current_speed[i]));
|
||||
}
|
||||
|
||||
// Max segement time in us.
|
||||
// Max segement time in us.
|
||||
#ifdef XY_FREQUENCY_LIMIT
|
||||
#define MAX_FREQ_TIME (1000000.0/XY_FREQUENCY_LIMIT)
|
||||
|
||||
@ -606,7 +648,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
old_direction_bits = block->direction_bits;
|
||||
|
||||
if((direction_change & (1<<X_AXIS)) == 0) {
|
||||
x_segment_time[0] += segment_time;
|
||||
x_segment_time[0] += segment_time;
|
||||
}
|
||||
else {
|
||||
x_segment_time[2] = x_segment_time[1];
|
||||
@ -614,7 +656,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
x_segment_time[0] = segment_time;
|
||||
}
|
||||
if((direction_change & (1<<Y_AXIS)) == 0) {
|
||||
y_segment_time[0] += segment_time;
|
||||
y_segment_time[0] += segment_time;
|
||||
}
|
||||
else {
|
||||
y_segment_time[2] = y_segment_time[1];
|
||||
@ -655,7 +697,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
}
|
||||
block->acceleration = block->acceleration_st / steps_per_mm;
|
||||
block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
|
||||
|
||||
|
||||
#if 0 // Use old jerk for now
|
||||
// Compute path unit vector
|
||||
double unit_vec[3];
|
||||
@ -663,7 +705,7 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
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.
|
||||
// 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,
|
||||
@ -680,9 +722,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
// 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] ;
|
||||
|
||||
- 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);
|
||||
@ -691,36 +733,39 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
// 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.
|
||||
vmax_junction = min(vmax_junction,
|
||||
sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
|
||||
sqrt(block->acceleration * junction_deviation * sin_theta_d2/(1.0-sin_theta_d2)) );
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
// Start with a safe speed
|
||||
float vmax_junction = max_xy_jerk/2;
|
||||
float vmax_junction = max_xy_jerk/2;
|
||||
float vmax_junction_factor = 1.0;
|
||||
if(fabs(current_speed[Z_AXIS]) > max_z_jerk/2)
|
||||
vmax_junction = max_z_jerk/2;
|
||||
vmax_junction = min(vmax_junction, block->nominal_speed);
|
||||
vmax_junction = min(vmax_junction, max_z_jerk/2);
|
||||
if(fabs(current_speed[E_AXIS]) > max_e_jerk/2)
|
||||
vmax_junction = min(vmax_junction, max_e_jerk/2);
|
||||
|
||||
vmax_junction = min(vmax_junction, block->nominal_speed);
|
||||
float safe_speed = vmax_junction;
|
||||
|
||||
if ((moves_queued > 1) && (previous_nominal_speed > 0.0001)) {
|
||||
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
|
||||
if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
|
||||
vmax_junction = block->nominal_speed;
|
||||
}
|
||||
// if((fabs(previous_speed[X_AXIS]) > 0.0001) || (fabs(previous_speed[Y_AXIS]) > 0.0001)) {
|
||||
vmax_junction = block->nominal_speed;
|
||||
// }
|
||||
if (jerk > max_xy_jerk) {
|
||||
vmax_junction *= (max_xy_jerk/jerk);
|
||||
vmax_junction_factor = (max_xy_jerk/jerk);
|
||||
}
|
||||
if(fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
|
||||
vmax_junction *= (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
|
||||
vmax_junction_factor= min(vmax_junction_factor, (max_z_jerk/fabs(current_speed[Z_AXIS] - previous_speed[Z_AXIS])));
|
||||
}
|
||||
if(fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
|
||||
vmax_junction *= (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
|
||||
vmax_junction_factor = min(vmax_junction_factor, (max_e_jerk/fabs(current_speed[E_AXIS] - previous_speed[E_AXIS])));
|
||||
}
|
||||
vmax_junction = min(previous_nominal_speed, vmax_junction * vmax_junction_factor); // Limit speed to max previous speed
|
||||
}
|
||||
block->max_entry_speed = vmax_junction;
|
||||
|
||||
|
||||
// Initialize block entry speed. Compute based on deceleration to user-defined MINIMUM_PLANNER_SPEED.
|
||||
double v_allowable = max_allowable_speed(-block->acceleration,MINIMUM_PLANNER_SPEED,block->millimeters);
|
||||
block->entry_speed = min(vmax_junction, v_allowable);
|
||||
@ -733,48 +778,52 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
|
||||
// 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.
|
||||
if (block->nominal_speed <= v_allowable) { block->nominal_length_flag = true; }
|
||||
else { block->nominal_length_flag = false; }
|
||||
if (block->nominal_speed <= v_allowable) {
|
||||
block->nominal_length_flag = true;
|
||||
}
|
||||
else {
|
||||
block->nominal_length_flag = false;
|
||||
}
|
||||
block->recalculate_flag = true; // Always calculate trapezoid for new block
|
||||
|
||||
|
||||
// Update previous path unit_vector and nominal speed
|
||||
memcpy(previous_speed, current_speed, sizeof(previous_speed)); // previous_speed[] = current_speed[]
|
||||
previous_nominal_speed = block->nominal_speed;
|
||||
|
||||
|
||||
#ifdef ADVANCE
|
||||
// Calculate advance rate
|
||||
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
|
||||
|
||||
#ifdef ADVANCE
|
||||
// Calculate advance rate
|
||||
if((block->steps_e == 0) || (block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0)) {
|
||||
block->advance_rate = 0;
|
||||
block->advance = 0;
|
||||
}
|
||||
else {
|
||||
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
|
||||
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
|
||||
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
|
||||
block->advance = advance;
|
||||
if(acc_dist == 0) {
|
||||
block->advance_rate = 0;
|
||||
block->advance = 0;
|
||||
}
|
||||
}
|
||||
else {
|
||||
long acc_dist = estimate_acceleration_distance(0, block->nominal_rate, block->acceleration_st);
|
||||
float advance = (STEPS_PER_CUBIC_MM_E * EXTRUDER_ADVANCE_K) *
|
||||
(current_speed[E_AXIS] * current_speed[E_AXIS] * EXTRUTION_AREA * EXTRUTION_AREA)*256;
|
||||
block->advance = advance;
|
||||
if(acc_dist == 0) {
|
||||
block->advance_rate = 0;
|
||||
}
|
||||
else {
|
||||
block->advance_rate = advance / (float)acc_dist;
|
||||
}
|
||||
block->advance_rate = advance / (float)acc_dist;
|
||||
}
|
||||
/*
|
||||
}
|
||||
/*
|
||||
SERIAL_ECHO_START;
|
||||
SERIAL_ECHOPGM("advance :");
|
||||
SERIAL_ECHO(block->advance/256.0);
|
||||
SERIAL_ECHOPGM("advance rate :");
|
||||
SERIAL_ECHOLN(block->advance_rate/256.0);
|
||||
*/
|
||||
#endif // ADVANCE
|
||||
SERIAL_ECHOPGM("advance :");
|
||||
SERIAL_ECHO(block->advance/256.0);
|
||||
SERIAL_ECHOPGM("advance rate :");
|
||||
SERIAL_ECHOLN(block->advance_rate/256.0);
|
||||
*/
|
||||
#endif // ADVANCE
|
||||
|
||||
calculate_trapezoid_for_block(block, block->entry_speed/block->nominal_speed,
|
||||
MINIMUM_PLANNER_SPEED/block->nominal_speed);
|
||||
|
||||
safe_speed/block->nominal_speed);
|
||||
|
||||
// Move buffer head
|
||||
block_buffer_head = next_buffer_head;
|
||||
|
||||
|
||||
// Update position
|
||||
memcpy(position, target, sizeof(target)); // position[] = target[]
|
||||
|
||||
@ -805,12 +854,13 @@ void plan_set_e_position(const float &e)
|
||||
|
||||
uint8_t movesplanned()
|
||||
{
|
||||
return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
||||
return (block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
||||
}
|
||||
|
||||
void allow_cold_extrudes(bool allow)
|
||||
{
|
||||
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
||||
allow_cold_extrude=allow;
|
||||
#endif
|
||||
#ifdef PREVENT_DANGEROUS_EXTRUDE
|
||||
allow_cold_extrude=allow;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@ -261,12 +261,10 @@ FORCE_INLINE void trapezoid_generator_reset() {
|
||||
#endif
|
||||
deceleration_time = 0;
|
||||
// step_rate to timer interval
|
||||
OCR1A_nominal = calc_timer(current_block->nominal_rate);
|
||||
acc_step_rate = current_block->initial_rate;
|
||||
acceleration_time = calc_timer(acc_step_rate);
|
||||
OCR1A = acceleration_time;
|
||||
OCR1A_nominal = calc_timer(current_block->nominal_rate);
|
||||
|
||||
|
||||
|
||||
// SERIAL_ECHO_START;
|
||||
// SERIAL_ECHOPGM("advance :");
|
||||
|
||||
@ -957,7 +957,7 @@ enum {
|
||||
#if EXTRUDERS > 2
|
||||
ItemCT_nozzle2,
|
||||
#endif
|
||||
#if defined BED_USES_THERMISTOR || BED_USES_AD595
|
||||
#if defined BED_USES_THERMISTOR || defined BED_USES_AD595
|
||||
ItemCT_bed,
|
||||
#endif
|
||||
ItemCT_fan,
|
||||
@ -1212,7 +1212,7 @@ void MainMenu::showControlTemp()
|
||||
|
||||
}break;
|
||||
#endif //autotemp
|
||||
#if defined BED_USES_THERMISTOR || BED_USES_AD595
|
||||
#if defined BED_USES_THERMISTOR || defined BED_USES_AD595
|
||||
case ItemCT_bed:
|
||||
{
|
||||
if(force_lcd_update)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user