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- #include "planner.h"
- #include "stepper.h"
- #include "temperature.h"
- #include "ultralcd.h"
- #include "language.h"
- #include "ubl.h"
- #include "gcode.h"
- #include "Marlin.h"
- #if ENABLED(MESH_BED_LEVELING)
- #include "mesh_bed_leveling.h"
- #endif
- Planner planner;
-
- block_t Planner::block_buffer[BLOCK_BUFFER_SIZE];
- volatile uint8_t Planner::block_buffer_head = 0,
- Planner::block_buffer_tail = 0;
- float Planner::max_feedrate_mm_s[XYZE_N],
- Planner::axis_steps_per_mm[XYZE_N],
- Planner::steps_to_mm[XYZE_N];
- #if ENABLED(DISTINCT_E_FACTORS)
- uint8_t Planner::last_extruder = 0;
- #endif
- uint32_t Planner::max_acceleration_steps_per_s2[XYZE_N],
- Planner::max_acceleration_mm_per_s2[XYZE_N];
- millis_t Planner::min_segment_time;
- float Planner::min_feedrate_mm_s,
- Planner::acceleration,
- Planner::retract_acceleration,
- Planner::travel_acceleration,
- Planner::max_jerk[XYZE],
- Planner::min_travel_feedrate_mm_s;
- #if HAS_ABL
- bool Planner::abl_enabled = false;
- #endif
- #if ABL_PLANAR
- matrix_3x3 Planner::bed_level_matrix;
- #endif
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- float Planner::z_fade_height,
- Planner::inverse_z_fade_height;
- #endif
- #if ENABLED(AUTOTEMP)
- float Planner::autotemp_max = 250,
- Planner::autotemp_min = 210,
- Planner::autotemp_factor = 0.1;
- bool Planner::autotemp_enabled = false;
- #endif
- long Planner::position[NUM_AXIS] = { 0 };
- uint32_t Planner::cutoff_long;
- float Planner::previous_speed[NUM_AXIS],
- Planner::previous_nominal_speed;
- #if ENABLED(DISABLE_INACTIVE_EXTRUDER)
- uint8_t Planner::g_uc_extruder_last_move[EXTRUDERS] = { 0 };
- #endif
- #ifdef XY_FREQUENCY_LIMIT
-
- unsigned char Planner::old_direction_bits = 0;
-
- long Planner::axis_segment_time[2][3] = { {MAX_FREQ_TIME + 1, 0, 0}, {MAX_FREQ_TIME + 1, 0, 0} };
- #endif
- #if ENABLED(LIN_ADVANCE)
- float Planner::extruder_advance_k,
- Planner::advance_ed_ratio,
- Planner::position_float[NUM_AXIS] = { 0 };
- #endif
- #if ENABLED(ULTRA_LCD)
- volatile uint32_t Planner::block_buffer_runtime_us = 0;
- #endif
- Planner::Planner() { init(); }
- void Planner::init() {
- block_buffer_head = block_buffer_tail = 0;
- ZERO(position);
- #if ENABLED(LIN_ADVANCE)
- ZERO(position_float);
- #endif
- ZERO(previous_speed);
- previous_nominal_speed = 0.0;
- #if ABL_PLANAR
- bed_level_matrix.set_to_identity();
- #endif
- }
- #define MINIMAL_STEP_RATE 120
- void Planner::calculate_trapezoid_for_block(block_t* const block, const float &entry_factor, const float &exit_factor) {
- uint32_t initial_rate = CEIL(block->nominal_rate * entry_factor),
- final_rate = CEIL(block->nominal_rate * exit_factor);
-
- NOLESS(initial_rate, MINIMAL_STEP_RATE);
- NOLESS(final_rate, MINIMAL_STEP_RATE);
- int32_t accel = block->acceleration_steps_per_s2,
- accelerate_steps = CEIL(estimate_acceleration_distance(initial_rate, block->nominal_rate, accel)),
- decelerate_steps = FLOOR(estimate_acceleration_distance(block->nominal_rate, final_rate, -accel)),
- plateau_steps = block->step_event_count - accelerate_steps - decelerate_steps;
-
-
-
- if (plateau_steps < 0) {
- accelerate_steps = CEIL(intersection_distance(initial_rate, final_rate, accel, block->step_event_count));
- NOLESS(accelerate_steps, 0);
- accelerate_steps = min((uint32_t)accelerate_steps, block->step_event_count);
- plateau_steps = 0;
- }
-
-
- CRITICAL_SECTION_START;
- if (!TEST(block->flag, BLOCK_BIT_BUSY)) {
- block->accelerate_until = accelerate_steps;
- block->decelerate_after = accelerate_steps + plateau_steps;
- block->initial_rate = initial_rate;
- block->final_rate = final_rate;
- }
- CRITICAL_SECTION_END;
- }
- void Planner::reverse_pass_kernel(block_t* const current, const block_t *next) {
- if (!current || !next) return;
-
-
-
- float max_entry_speed = current->max_entry_speed;
- if (current->entry_speed != max_entry_speed) {
-
-
- current->entry_speed = (TEST(current->flag, BLOCK_BIT_NOMINAL_LENGTH) || max_entry_speed <= next->entry_speed)
- ? max_entry_speed
- : min(max_entry_speed, max_allowable_speed(-current->acceleration, next->entry_speed, current->millimeters));
- SBI(current->flag, BLOCK_BIT_RECALCULATE);
- }
- }
- void Planner::reverse_pass() {
- if (movesplanned() > 3) {
- block_t* block[3] = { NULL, NULL, NULL };
-
-
-
- uint8_t tail = block_buffer_tail;
-
- uint8_t b = BLOCK_MOD(block_buffer_head - 3);
- while (b != tail) {
- if (block[0] && TEST(block[0]->flag, BLOCK_BIT_START_FROM_FULL_HALT)) break;
- b = prev_block_index(b);
- block[2] = block[1];
- block[1] = block[0];
- block[0] = &block_buffer[b];
- reverse_pass_kernel(block[1], block[2]);
- }
- }
- }
- void Planner::forward_pass_kernel(const block_t* previous, block_t* const current) {
- if (!previous) return;
-
-
-
-
- if (!TEST(previous->flag, BLOCK_BIT_NOMINAL_LENGTH)) {
- if (previous->entry_speed < current->entry_speed) {
- float entry_speed = min(current->entry_speed,
- max_allowable_speed(-previous->acceleration, previous->entry_speed, previous->millimeters));
-
- if (current->entry_speed != entry_speed) {
- current->entry_speed = entry_speed;
- SBI(current->flag, BLOCK_BIT_RECALCULATE);
- }
- }
- }
- }
- void Planner::forward_pass() {
- block_t* block[3] = { NULL, NULL, NULL };
- for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
- block[0] = block[1];
- block[1] = block[2];
- block[2] = &block_buffer[b];
- forward_pass_kernel(block[0], block[1]);
- }
- forward_pass_kernel(block[1], block[2]);
- }
- void Planner::recalculate_trapezoids() {
- int8_t block_index = block_buffer_tail;
- block_t *current, *next = NULL;
- while (block_index != block_buffer_head) {
- current = next;
- next = &block_buffer[block_index];
- if (current) {
-
- if (TEST(current->flag, BLOCK_BIT_RECALCULATE) || TEST(next->flag, BLOCK_BIT_RECALCULATE)) {
-
- float nom = current->nominal_speed;
- calculate_trapezoid_for_block(current, current->entry_speed / nom, next->entry_speed / nom);
- CBI(current->flag, BLOCK_BIT_RECALCULATE);
- }
- }
- block_index = next_block_index(block_index);
- }
-
- if (next) {
- float nom = next->nominal_speed;
- calculate_trapezoid_for_block(next, next->entry_speed / nom, (MINIMUM_PLANNER_SPEED) / nom);
- CBI(next->flag, BLOCK_BIT_RECALCULATE);
- }
- }
- void Planner::recalculate() {
- reverse_pass();
- forward_pass();
- recalculate_trapezoids();
- }
- #if ENABLED(AUTOTEMP)
- void Planner::getHighESpeed() {
- static float oldt = 0;
- if (!autotemp_enabled) return;
- if (thermalManager.degTargetHotend(0) + 2 < autotemp_min) return;
- float high = 0.0;
- for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
- block_t* block = &block_buffer[b];
- if (block->steps[X_AXIS] || block->steps[Y_AXIS] || block->steps[Z_AXIS]) {
- float se = (float)block->steps[E_AXIS] / block->step_event_count * block->nominal_speed;
- NOLESS(high, se);
- }
- }
- float t = autotemp_min + high * autotemp_factor;
- t = constrain(t, autotemp_min, autotemp_max);
- if (t < oldt) t = t * (1 - (AUTOTEMP_OLDWEIGHT)) + oldt * (AUTOTEMP_OLDWEIGHT);
- oldt = t;
- thermalManager.setTargetHotend(t, 0);
- }
- #endif
- void Planner::check_axes_activity() {
- unsigned char axis_active[NUM_AXIS] = { 0 },
- tail_fan_speed[FAN_COUNT];
- #if FAN_COUNT > 0
- for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = fanSpeeds[i];
- #endif
- #if ENABLED(BARICUDA)
- #if HAS_HEATER_1
- uint8_t tail_valve_pressure = baricuda_valve_pressure;
- #endif
- #if HAS_HEATER_2
- uint8_t tail_e_to_p_pressure = baricuda_e_to_p_pressure;
- #endif
- #endif
- if (blocks_queued()) {
- #if FAN_COUNT > 0
- for (uint8_t i = 0; i < FAN_COUNT; i++) tail_fan_speed[i] = block_buffer[block_buffer_tail].fan_speed[i];
- #endif
- block_t* block;
- #if ENABLED(BARICUDA)
- block = &block_buffer[block_buffer_tail];
- #if HAS_HEATER_1
- tail_valve_pressure = block->valve_pressure;
- #endif
- #if HAS_HEATER_2
- tail_e_to_p_pressure = block->e_to_p_pressure;
- #endif
- #endif
- for (uint8_t b = block_buffer_tail; b != block_buffer_head; b = next_block_index(b)) {
- block = &block_buffer[b];
- LOOP_XYZE(i) if (block->steps[i]) axis_active[i]++;
- }
- }
- #if ENABLED(DISABLE_X)
- if (!axis_active[X_AXIS]) disable_X();
- #endif
- #if ENABLED(DISABLE_Y)
- if (!axis_active[Y_AXIS]) disable_Y();
- #endif
- #if ENABLED(DISABLE_Z)
- if (!axis_active[Z_AXIS]) disable_Z();
- #endif
- #if ENABLED(DISABLE_E)
- if (!axis_active[E_AXIS]) disable_e_steppers();
- #endif
- #if FAN_COUNT > 0
- #ifdef FAN_MIN_PWM
- #define CALC_FAN_SPEED(f) (tail_fan_speed[f] ? ( FAN_MIN_PWM + (tail_fan_speed[f] * (255 - FAN_MIN_PWM)) / 255 ) : 0)
- #else
- #define CALC_FAN_SPEED(f) tail_fan_speed[f]
- #endif
- #ifdef FAN_KICKSTART_TIME
- static millis_t fan_kick_end[FAN_COUNT] = { 0 };
- #define KICKSTART_FAN(f) \
- if (tail_fan_speed[f]) { \
- millis_t ms = millis(); \
- if (fan_kick_end[f] == 0) { \
- fan_kick_end[f] = ms + FAN_KICKSTART_TIME; \
- tail_fan_speed[f] = 255; \
- } else if (PENDING(ms, fan_kick_end[f])) \
- tail_fan_speed[f] = 255; \
- } else fan_kick_end[f] = 0
- #if HAS_FAN0
- KICKSTART_FAN(0);
- #endif
- #if HAS_FAN1
- KICKSTART_FAN(1);
- #endif
- #if HAS_FAN2
- KICKSTART_FAN(2);
- #endif
- #endif
- #if ENABLED(FAN_SOFT_PWM)
- #if HAS_FAN0
- thermalManager.soft_pwm_amount_fan[0] = CALC_FAN_SPEED(0);
- #endif
- #if HAS_FAN1
- thermalManager.soft_pwm_amount_fan[1] = CALC_FAN_SPEED(1);
- #endif
- #if HAS_FAN2
- thermalManager.soft_pwm_amount_fan[2] = CALC_FAN_SPEED(2);
- #endif
- #else
- #if HAS_FAN0
- analogWrite(FAN_PIN, CALC_FAN_SPEED(0));
- #endif
- #if HAS_FAN1
- analogWrite(FAN1_PIN, CALC_FAN_SPEED(1));
- #endif
- #if HAS_FAN2
- analogWrite(FAN2_PIN, CALC_FAN_SPEED(2));
- #endif
- #endif
- #endif
- #if ENABLED(AUTOTEMP)
- getHighESpeed();
- #endif
- #if ENABLED(BARICUDA)
- #if HAS_HEATER_1
- analogWrite(HEATER_1_PIN, tail_valve_pressure);
- #endif
- #if HAS_HEATER_2
- analogWrite(HEATER_2_PIN, tail_e_to_p_pressure);
- #endif
- #endif
- }
- #if PLANNER_LEVELING
-
- void Planner::apply_leveling(float &lx, float &ly, float &lz) {
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- if (!ubl.state.active) return;
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-
- if (planner.z_fade_height && planner.z_fade_height <= RAW_Z_POSITION(lz)) return;
- lz += ubl.state.z_offset + ubl.get_z_correction(lx, ly) * ubl.fade_scaling_factor_for_z(lz);
- #else
- lz += ubl.state.z_offset + ubl.get_z_correction(lx, ly);
- #endif
- #endif
- #if HAS_ABL
- if (!abl_enabled) return;
- #endif
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT) && DISABLED(AUTO_BED_LEVELING_UBL)
- static float z_fade_factor = 1.0, last_raw_lz = -999.0;
- if (z_fade_height) {
- const float raw_lz = RAW_Z_POSITION(lz);
- if (raw_lz >= z_fade_height) return;
- if (last_raw_lz != raw_lz) {
- last_raw_lz = raw_lz;
- z_fade_factor = 1.0 - raw_lz * inverse_z_fade_height;
- }
- }
- else
- z_fade_factor = 1.0;
- #endif
- #if ENABLED(MESH_BED_LEVELING)
- if (mbl.active())
- lz += mbl.get_z(RAW_X_POSITION(lx), RAW_Y_POSITION(ly)
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- , z_fade_factor
- #endif
- );
- #elif ABL_PLANAR
- float dx = RAW_X_POSITION(lx) - (X_TILT_FULCRUM),
- dy = RAW_Y_POSITION(ly) - (Y_TILT_FULCRUM),
- dz = RAW_Z_POSITION(lz);
- apply_rotation_xyz(bed_level_matrix, dx, dy, dz);
- lx = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
- ly = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
- lz = LOGICAL_Z_POSITION(dz);
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- float tmp[XYZ] = { lx, ly, 0 };
- lz += bilinear_z_offset(tmp)
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- * z_fade_factor
- #endif
- ;
- #endif
- }
- void Planner::unapply_leveling(float logical[XYZ]) {
- #if ENABLED(AUTO_BED_LEVELING_UBL)
- if (ubl.state.active) {
- const float z_physical = RAW_Z_POSITION(logical[Z_AXIS]),
- z_correct = ubl.get_z_correction(logical[X_AXIS], logical[Y_AXIS]),
- z_virtual = z_physical - ubl.state.z_offset - z_correct;
- float z_logical = LOGICAL_Z_POSITION(z_virtual);
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
-
-
-
-
-
-
-
- if (planner.z_fade_height) {
- if (z_logical >= planner.z_fade_height)
- z_logical = LOGICAL_Z_POSITION(z_physical - ubl.state.z_offset);
- else
- z_logical /= 1.0 - z_correct * planner.inverse_z_fade_height;
- }
- #endif
- logical[Z_AXIS] = z_logical;
- }
- return;
- #endif
- #if HAS_ABL
- if (!abl_enabled) return;
- #endif
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- if (z_fade_height && RAW_Z_POSITION(logical[Z_AXIS]) >= z_fade_height) return;
- #endif
- #if ENABLED(MESH_BED_LEVELING)
- if (mbl.active()) {
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- const float c = mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]), 1.0);
- logical[Z_AXIS] = (z_fade_height * (RAW_Z_POSITION(logical[Z_AXIS]) - c)) / (z_fade_height - c);
- #else
- logical[Z_AXIS] -= mbl.get_z(RAW_X_POSITION(logical[X_AXIS]), RAW_Y_POSITION(logical[Y_AXIS]));
- #endif
- }
- #elif ABL_PLANAR
- matrix_3x3 inverse = matrix_3x3::transpose(bed_level_matrix);
- float dx = RAW_X_POSITION(logical[X_AXIS]) - (X_TILT_FULCRUM),
- dy = RAW_Y_POSITION(logical[Y_AXIS]) - (Y_TILT_FULCRUM),
- dz = RAW_Z_POSITION(logical[Z_AXIS]);
- apply_rotation_xyz(inverse, dx, dy, dz);
- logical[X_AXIS] = LOGICAL_X_POSITION(dx + X_TILT_FULCRUM);
- logical[Y_AXIS] = LOGICAL_Y_POSITION(dy + Y_TILT_FULCRUM);
- logical[Z_AXIS] = LOGICAL_Z_POSITION(dz);
- #elif ENABLED(AUTO_BED_LEVELING_BILINEAR)
- #if ENABLED(ENABLE_LEVELING_FADE_HEIGHT)
- const float c = bilinear_z_offset(logical);
- logical[Z_AXIS] = (z_fade_height * (RAW_Z_POSITION(logical[Z_AXIS]) - c)) / (z_fade_height - c);
- #else
- logical[Z_AXIS] -= bilinear_z_offset(logical);
- #endif
- #endif
- }
- #endif
- void Planner::_buffer_line(const float &a, const float &b, const float &c, const float &e, float fr_mm_s, const uint8_t extruder) {
-
-
-
- const long target[XYZE] = {
- LROUND(a * axis_steps_per_mm[X_AXIS]),
- LROUND(b * axis_steps_per_mm[Y_AXIS]),
- LROUND(c * axis_steps_per_mm[Z_AXIS]),
- LROUND(e * axis_steps_per_mm[E_AXIS_N])
- };
-
- #if ENABLED(DISTINCT_E_FACTORS)
- if (last_extruder != extruder && axis_steps_per_mm[E_AXIS_N] != axis_steps_per_mm[E_AXIS + last_extruder]) {
- position[E_AXIS] = LROUND(position[E_AXIS] * axis_steps_per_mm[E_AXIS_N] * steps_to_mm[E_AXIS + last_extruder]);
- last_extruder = extruder;
- }
- #endif
- #if ENABLED(LIN_ADVANCE)
- const float mm_D_float = SQRT(sq(a - position_float[X_AXIS]) + sq(b - position_float[Y_AXIS]));
- #endif
- const long da = target[X_AXIS] - position[X_AXIS],
- db = target[Y_AXIS] - position[Y_AXIS],
- dc = target[Z_AXIS] - position[Z_AXIS];
-
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