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585 lines
23 KiB
C++
585 lines
23 KiB
C++
/*
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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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/* 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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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 <inttypes.h>
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//#include <math.h>
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//#include <stdlib.h>
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#include "Marlin.h"
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#include "Configuration.h"
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#include "pins.h"
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#include "fastio.h"
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#include "planner.h"
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#include "stepper.h"
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#include "temperature.h"
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#include "ultralcd.h"
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unsigned long minsegmenttime;
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float max_feedrate[4]; // set the max speeds
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float axis_steps_per_unit[4];
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long max_acceleration_units_per_sq_second[4]; // Use M201 to override by software
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float minimumfeedrate;
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float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT ACCELERATION for all moves. M204 SXXXX
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float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
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float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
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float max_z_jerk;
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float mintravelfeedrate;
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unsigned long axis_steps_per_sqr_second[NUM_AXIS];
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// Manage heater variables.
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static block_t block_buffer[BLOCK_BUFFER_SIZE]; // A ring buffer for motion instfructions
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static volatile unsigned char block_buffer_head; // Index of the next block to be pushed
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static volatile unsigned char block_buffer_tail; // Index of the block to process now
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// The current position of the tool in absolute steps
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long position[4];
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#define ONE_MINUTE_OF_MICROSECONDS 60000000.0
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// Calculates the distance (not time) it takes to accelerate from initial_rate to target_rate using the
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// given acceleration:
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inline float estimate_acceleration_distance(float initial_rate, float target_rate, float acceleration) {
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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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}
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else {
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return 0.0; // acceleration was 0, set acceleration distance to 0
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}
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}
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// This function gives you the point at which you must start braking (at the rate of -acceleration) if
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// you started at speed initial_rate and accelerated until this point and want to end at the final_rate after
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// a total travel of distance. This can be used to compute the intersection point between acceleration and
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// deceleration in the cases where the trapezoid has no plateau (i.e. never reaches maximum speed)
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inline float intersection_distance(float initial_rate, float final_rate, float acceleration, float distance) {
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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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}
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}
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// Calculates trapezoid parameters so that the entry- and exit-speed is compensated by the provided factors.
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void calculate_trapezoid_for_block(block_t *block, float entry_speed, float exit_speed) {
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if(block->busy == true) return; // If block is busy then bail out.
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float entry_factor = entry_speed / block->nominal_speed;
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float exit_factor = exit_speed / block->nominal_speed;
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long initial_rate = ceil(block->nominal_rate*entry_factor);
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long final_rate = ceil(block->nominal_rate*exit_factor);
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#ifdef ADVANCE
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long initial_advance = block->advance*entry_factor*entry_factor;
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long final_advance = block->advance*exit_factor*exit_factor;
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#endif // ADVANCE
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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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// Calculate the acceleration steps
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long acceleration = block->acceleration_st;
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long accelerate_steps = estimate_acceleration_distance(initial_rate, block->nominal_rate, acceleration);
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long decelerate_steps = estimate_acceleration_distance(final_rate, block->nominal_rate, acceleration);
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// Calculate the size of Plateau of Nominal Rate.
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long 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 = intersection_distance(initial_rate, final_rate, acceleration, block->step_event_count);
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plateau_steps = 0;
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}
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long 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 = decelerate_after;
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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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}
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CRITICAL_SECTION_END;
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}
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// Calculates the maximum allowable speed at this point when you must be able to reach target_velocity using the
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// acceleration within the allotted distance.
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inline float max_allowable_speed(float acceleration, float target_velocity, float distance) {
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return(
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sqrt(target_velocity*target_velocity-2*acceleration*60*60*distance)
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);
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}
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// "Junction jerk" in this context is the immediate change in speed at the junction of two blocks.
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// This method will calculate the junction jerk as the euclidean distance between the nominal
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// velocities of the respective blocks.
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inline float junction_jerk(block_t *before, block_t *after) {
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return(sqrt(
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pow((before->speed_x-after->speed_x), 2)+
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pow((before->speed_y-after->speed_y), 2)));
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}
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// Return the safe speed which is max_jerk/2, e.g. the
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// speed under which you cannot exceed max_jerk no matter what you do.
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float safe_speed(block_t *block) {
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float safe_speed;
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safe_speed = max_xy_jerk/2;
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if(abs(block->speed_z) > max_z_jerk/2) safe_speed = max_z_jerk/2;
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if (safe_speed > block->nominal_speed) safe_speed = block->nominal_speed;
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return safe_speed;
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}
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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) {
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return;
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}
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float entry_speed = current->nominal_speed;
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float exit_factor;
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float exit_speed;
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if (next) {
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exit_speed = next->entry_speed;
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}
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else {
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exit_speed = safe_speed(current);
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}
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// Calculate the entry_factor for the current block.
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if (previous) {
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// Reduce speed so that junction_jerk is within the maximum allowed
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float jerk = junction_jerk(previous, current);
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if((previous->steps_x == 0) && (previous->steps_y == 0)) {
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entry_speed = safe_speed(current);
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}
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else if (jerk > max_xy_jerk) {
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entry_speed = (max_xy_jerk/jerk) * entry_speed;
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}
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if(abs(previous->speed_z - current->speed_z) > max_z_jerk) {
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entry_speed = (max_z_jerk/abs(previous->speed_z - current->speed_z)) * entry_speed;
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}
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// If the required deceleration across the block is too rapid, reduce the entry_factor accordingly.
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if (entry_speed > exit_speed) {
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float max_entry_speed = max_allowable_speed(-current->acceleration,exit_speed, current->millimeters);
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if (max_entry_speed < entry_speed) {
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entry_speed = max_entry_speed;
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}
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}
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}
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else {
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entry_speed = safe_speed(current);
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}
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// Store result
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current->entry_speed = entry_speed;
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the reverse pass.
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void planner_reverse_pass() {
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char 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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block_index = (block_buffer_head - 3) & (BLOCK_BUFFER_SIZE - 1);
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block_t *block[5] = {
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NULL, NULL, NULL, NULL, NULL };
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while(block_index != block_buffer_tail) {
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block_index = (block_index-1) & (BLOCK_BUFFER_SIZE -1);
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block[2]= block[1];
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block[1]= block[0];
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block[0] = &block_buffer[block_index];
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planner_reverse_pass_kernel(block[0], block[1], block[2]);
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}
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planner_reverse_pass_kernel(NULL, block[0], block[1]);
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}
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}
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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(!current) {
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return;
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}
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if(previous) {
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// If the previous block is an acceleration block, but it is not long enough to
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// complete the full speed change within the block, we need to adjust out entry
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// speed accordingly. Remember current->entry_factor equals the exit factor of
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// the previous block.
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if(previous->entry_speed < current->entry_speed) {
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float max_entry_speed = max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters);
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if (max_entry_speed < current->entry_speed) {
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current->entry_speed = max_entry_speed;
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}
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}
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}
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}
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// planner_recalculate() needs to go over the current plan twice. Once in reverse and once forward. This
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// implements the forward pass.
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void planner_forward_pass() {
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char 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 != block_buffer_head) {
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block[0] = block[1];
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block[1] = block[2];
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block[2] = &block_buffer[block_index];
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planner_forward_pass_kernel(block[0],block[1],block[2]);
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block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
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}
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planner_forward_pass_kernel(block[1], block[2], NULL);
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}
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// Recalculates the trapezoid speed profiles for all blocks in the plan according to the
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// entry_factor for each junction. Must be called by planner_recalculate() after
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// updating the blocks.
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void planner_recalculate_trapezoids() {
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char 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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if (current) {
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calculate_trapezoid_for_block(current, current->entry_speed, next->entry_speed);
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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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calculate_trapezoid_for_block(next, next->entry_speed, safe_speed(next));
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}
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// Recalculates the motion plan according to the following algorithm:
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//
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// 1. Go over every block in reverse order and calculate a junction speed reduction (i.e. block_t.entry_factor)
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// so that:
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// a. The junction jerk is within the set limit
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// b. No speed reduction within one block requires faster deceleration than the one, true constant
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// acceleration.
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// 2. Go over every block in chronological order and dial down junction speed reduction values if
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// a. The speed increase within one block would require faster accelleration than the one, true
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// constant acceleration.
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//
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// When these stages are complete all blocks have an entry_factor that will allow all speed changes to
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// be performed using only the one, true constant acceleration, and where no junction jerk is jerkier than
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// the set limit. Finally it will:
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//
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// 3. Recalculate trapezoids for all blocks.
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void planner_recalculate() {
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planner_reverse_pass();
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planner_forward_pass();
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planner_recalculate_trapezoids();
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}
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void plan_init() {
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block_buffer_head = 0;
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block_buffer_tail = 0;
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memset(position, 0, sizeof(position)); // clear position
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}
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void plan_discard_current_block() {
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if (block_buffer_head != block_buffer_tail) {
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block_buffer_tail = (block_buffer_tail + 1) & (BLOCK_BUFFER_SIZE - 1);
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}
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}
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block_t *plan_get_current_block() {
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if (block_buffer_head == block_buffer_tail) {
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return(NULL);
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}
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block_t *block = &block_buffer[block_buffer_tail];
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block->busy = true;
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return(block);
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}
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void check_axes_activity() {
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unsigned char x_active = 0;
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unsigned char y_active = 0;
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unsigned char z_active = 0;
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unsigned char e_active = 0;
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block_t *block;
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if(block_buffer_tail != block_buffer_head) {
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char block_index = block_buffer_tail;
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while(block_index != block_buffer_head) {
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block = &block_buffer[block_index];
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if(block->steps_x != 0) x_active++;
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if(block->steps_y != 0) y_active++;
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if(block->steps_z != 0) z_active++;
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if(block->steps_e != 0) e_active++;
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block_index = (block_index+1) & (BLOCK_BUFFER_SIZE - 1);
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}
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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_e();
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}
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// Add a new linear movement to the buffer. steps_x, _y and _z is the absolute position in
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// mm. Microseconds specify how many microseconds the move should take to perform. To aid acceleration
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// calculation the caller must also provide the physical length of the line in millimeters.
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void plan_buffer_line(float x, float y, float z, float e, float feed_rate) {
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// The target position of the tool in absolute steps
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// Calculate target position in absolute steps
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long target[4];
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target[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
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target[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
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target[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
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target[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
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// Calculate the buffer head after we push this byte
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int next_buffer_head = (block_buffer_head + 1) & (BLOCK_BUFFER_SIZE - 1);
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// If the buffer is full: good! That means we are well ahead of the robot.
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// Rest here until there is room in the buffer.
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while(block_buffer_tail == next_buffer_head) {
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manage_heater();
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manage_inactivity(1);
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LCD_STATUS;
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}
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// Prepare to set up new block
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block_t *block = &block_buffer[block_buffer_head];
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// Mark block as not busy (Not executed by the stepper interrupt)
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block->busy = false;
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// Number of steps for each axis
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block->steps_x = labs(target[X_AXIS]-position[X_AXIS]);
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block->steps_y = labs(target[Y_AXIS]-position[Y_AXIS]);
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block->steps_z = labs(target[Z_AXIS]-position[Z_AXIS]);
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block->steps_e = labs(target[E_AXIS]-position[E_AXIS]);
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block->step_event_count = max(block->steps_x, max(block->steps_y, max(block->steps_z, block->steps_e)));
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// Bail if this is a zero-length block
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if (block->step_event_count <=dropsegments) {
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return;
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};
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//enable active axes
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if(block->steps_x != 0) enable_x();
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if(block->steps_y != 0) enable_y();
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if(block->steps_z != 0) enable_z();
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if(block->steps_e != 0) enable_e();
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float delta_x_mm = (target[X_AXIS]-position[X_AXIS])/axis_steps_per_unit[X_AXIS];
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float delta_y_mm = (target[Y_AXIS]-position[Y_AXIS])/axis_steps_per_unit[Y_AXIS];
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float delta_z_mm = (target[Z_AXIS]-position[Z_AXIS])/axis_steps_per_unit[Z_AXIS];
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float delta_e_mm = (target[E_AXIS]-position[E_AXIS])/axis_steps_per_unit[E_AXIS];
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block->millimeters = sqrt(square(delta_x_mm) + square(delta_y_mm) + square(delta_z_mm) + square(delta_e_mm));
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unsigned long microseconds;
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if (block->steps_e == 0) {
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if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
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}
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else {
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if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
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}
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microseconds = lround((block->millimeters/feed_rate)*1000000);
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// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
|
|
// reduces/removes corner blobs as the machine won't come to a full stop.
|
|
int blockcount=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
|
|
|
|
if ((blockcount>0) && (blockcount < (BLOCK_BUFFER_SIZE - 4))) {
|
|
if (microseconds<minsegmenttime) { // buffer is draining, add extra time. The amount of time added increases if the buffer is still emptied more.
|
|
microseconds=microseconds+lround(2*(minsegmenttime-microseconds)/blockcount);
|
|
}
|
|
}
|
|
else {
|
|
if (microseconds<minsegmenttime) microseconds=minsegmenttime;
|
|
}
|
|
// END OF SLOW DOWN SECTION
|
|
|
|
|
|
// Calculate speed in mm/minute for each axis
|
|
float multiplier = 60.0*1000000.0/microseconds;
|
|
block->speed_z = delta_z_mm * multiplier;
|
|
block->speed_x = delta_x_mm * multiplier;
|
|
block->speed_y = delta_y_mm * multiplier;
|
|
block->speed_e = delta_e_mm * multiplier;
|
|
|
|
|
|
// Limit speed per axis
|
|
float speed_factor = 1; //factor <=1 do decrease speed
|
|
if(abs(block->speed_x) > max_feedrate[X_AXIS]) {
|
|
//// [ErikDeBruijn] IS THIS THE BUG WE'RE LOOING FOR????
|
|
//// [bernhard] No its not, according to Zalm.
|
|
//// the if would always be true, since tmp_speedfactor <=0 due the inial if, so its safe to set. the next lines actually compare.
|
|
speed_factor = max_feedrate[X_AXIS] / abs(block->speed_x);
|
|
//if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
|
|
}
|
|
if(abs(block->speed_y) > max_feedrate[Y_AXIS]){
|
|
float tmp_speed_factor = max_feedrate[Y_AXIS] / abs(block->speed_y);
|
|
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
|
|
}
|
|
if(abs(block->speed_z) > max_feedrate[Z_AXIS]){
|
|
float tmp_speed_factor = max_feedrate[Z_AXIS] / abs(block->speed_z);
|
|
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
|
|
}
|
|
if(abs(block->speed_e) > max_feedrate[E_AXIS]){
|
|
float tmp_speed_factor = max_feedrate[E_AXIS] / abs(block->speed_e);
|
|
if(speed_factor > tmp_speed_factor) speed_factor = tmp_speed_factor;
|
|
}
|
|
multiplier = multiplier * speed_factor;
|
|
block->speed_z = delta_z_mm * multiplier;
|
|
block->speed_x = delta_x_mm * multiplier;
|
|
block->speed_y = delta_y_mm * multiplier;
|
|
block->speed_e = delta_e_mm * multiplier;
|
|
block->nominal_speed = block->millimeters * multiplier;
|
|
block->nominal_rate = ceil(block->step_event_count * multiplier / 60);
|
|
|
|
if(block->nominal_rate < 120) block->nominal_rate = 120;
|
|
block->entry_speed = safe_speed(block);
|
|
|
|
// Compute the acceleration rate for the trapezoid generator.
|
|
float travel_per_step = block->millimeters/block->step_event_count;
|
|
if(block->steps_x == 0 && block->steps_y == 0 && block->steps_z == 0) {
|
|
block->acceleration_st = ceil( (retract_acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
|
|
}
|
|
else {
|
|
block->acceleration_st = ceil( (acceleration)/travel_per_step); // convert to: acceleration steps/sec^2
|
|
float tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
|
|
// Limit acceleration per axis
|
|
if((tmp_acceleration * block->steps_x) > axis_steps_per_sqr_second[X_AXIS]) {
|
|
block->acceleration_st = axis_steps_per_sqr_second[X_AXIS];
|
|
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
|
|
}
|
|
if((tmp_acceleration * block->steps_y) > axis_steps_per_sqr_second[Y_AXIS]) {
|
|
block->acceleration_st = axis_steps_per_sqr_second[Y_AXIS];
|
|
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
|
|
}
|
|
if((tmp_acceleration * block->steps_e) > axis_steps_per_sqr_second[E_AXIS]) {
|
|
block->acceleration_st = axis_steps_per_sqr_second[E_AXIS];
|
|
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
|
|
}
|
|
if((tmp_acceleration * block->steps_z) > axis_steps_per_sqr_second[Z_AXIS]) {
|
|
block->acceleration_st = axis_steps_per_sqr_second[Z_AXIS];
|
|
tmp_acceleration = (float)block->acceleration_st / (float)block->step_event_count;
|
|
}
|
|
}
|
|
block->acceleration = block->acceleration_st * travel_per_step;
|
|
block->acceleration_rate = (long)((float)block->acceleration_st * 8.388608);
|
|
|
|
#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) *
|
|
(block->speed_e * block->speed_e * EXTRUTION_AREA * EXTRUTION_AREA / 3600.0)*65536;
|
|
block->advance = advance;
|
|
if(acc_dist == 0) {
|
|
block->advance_rate = 0;
|
|
}
|
|
else {
|
|
block->advance_rate = advance / (float)acc_dist;
|
|
}
|
|
}
|
|
#endif // ADVANCE
|
|
|
|
// compute a preliminary conservative acceleration trapezoid
|
|
float safespeed = safe_speed(block);
|
|
calculate_trapezoid_for_block(block, safespeed, safespeed);
|
|
|
|
// 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);
|
|
}
|
|
|
|
// Move buffer head
|
|
block_buffer_head = next_buffer_head;
|
|
|
|
// Update position
|
|
memcpy(position, target, sizeof(target)); // position[] = target[]
|
|
|
|
planner_recalculate();
|
|
st_wake_up();
|
|
}
|
|
|
|
void plan_set_position(float x, float y, float z, float e)
|
|
{
|
|
position[X_AXIS] = lround(x*axis_steps_per_unit[X_AXIS]);
|
|
position[Y_AXIS] = lround(y*axis_steps_per_unit[Y_AXIS]);
|
|
position[Z_AXIS] = lround(z*axis_steps_per_unit[Z_AXIS]);
|
|
position[E_AXIS] = lround(e*axis_steps_per_unit[E_AXIS]);
|
|
}
|
|
|